CN206587953U - A kind of spraying machine profiling spray boom - Google Patents
A kind of spraying machine profiling spray boom Download PDFInfo
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- CN206587953U CN206587953U CN201621238801.2U CN201621238801U CN206587953U CN 206587953 U CN206587953 U CN 206587953U CN 201621238801 U CN201621238801 U CN 201621238801U CN 206587953 U CN206587953 U CN 206587953U
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Abstract
The utility model discloses a kind of spraying machine profiling spray boom, spray boom side arm including the supporting suspension being connected with spraying machine car body and both sides, the supporting suspension includes active part and passive part, isolate spray boom by the passive part of suspension to be encouraged by the high frequency motion from car body, metastable platform is provided for the athletic posture active control of spray boom, suspension active part can combine the ground line gradient change that sensor, controller, actuator etc. make spray boom track low frequency, the overall posture of regulation spray boom.Spray boom side arm may be designed as being made up of multistage truss, be connected between truss section by movable joint, the movable joint includes orthogonal rotating shaft, under drive device drive, the relative axis of rotation of truss section, realizes the local pose regulation of spray boom side arm, is prevented effectively from spray boom and touches barrier.The utility model can make spray bar type spraying machine adapt to the various complicated landform such as rolling ground, slope, mountain valley, widen the applicable situation of spray bar type spraying machine.
Description
Technical field
The utility model is related to agricultural machinery technological field, specially a kind of spraying machine profiling spray boom.
Background technology
In order to increase agricultural production, crop must carry out the preventing and treating of disease pest and weed, boom sprayer be sprinkling chemical pesticide,
One of important equipment of fertilizer and plant growth regulation etc., is widely used in crop field, lawn, nursery, orchard.Operation is imitated
Fruit and the uniformity height correlation of sprinkling distribution pattern, spray boom are big flexible underdamping structure, the main movement of spray boom during operation
Show as yaw, inclination, concussion etc., significant impact spraying distribution form.
Current existing spray boom shortcoming such as is to be difficult in adapt to tilt, risen and fallen at the complicated field level, and especially large-scale spray boom sprays
Mist machine, as shown in figure 1, when spray boom touches ground projection, influencing whether the progress of dispenser work, being also easy to cause equipment
Damage.
In order to reduce the drain spray of chemicals and respray, spray boom must keep parallel with soil ground/crop canopies, also need
Suppress the weaving of big flexible spray boom, therefore in the road conditions effect of the complicated field such as inclination, fluctuating, driver must not be infrequently
Spray boom is adjusted manually to suitable angle and height.
In order to alleviate the burden of operating personnel, it is set to cause sprayed deposit amount uneven there is no concern that spray boom is rocked, can be with
Drive speed is improved, the utility model proposes a kind of profiling spray boom and its control method.
Utility model content
The problem of existing for prior art, technical purpose of the present utility model, which is to provide one kind, can overcome prior art
The spraying machine profiling spray boom of defect, its disclosed technical scheme is：
A kind of spraying machine profiling spray boom, including the supporting suspension that is connected with spraying machine car body and left installed in supporting suspension
The spray boom side arm of right both sides, it is characterised in that：
The supporting suspension is provided with the second framework, spray boom centre frame and damper mechanism, and the front portion of the second framework is provided with one
Boss, damper mechanism is arranged on the boss；
The spray boom centre frame is located at the front of the second framework, and the spray boom side arm is arranged on the spray boom centre frame,
The top of second framework is connected by two the second connectors in symmetrical left and right with spray boom centre frame, and front and rear the two of the second connector
End is flexibly connected with the second framework, spray boom centre frame using button-head hinge, makes the second framework, two the second connectors and spray booms
Centre frame constitutes four-bar mechanism；
The damper mechanism includes first assembly, the second component and spring part, and the top of the first assembly is held for sector
Splenium, the top surface in the pressure-bearing portion is provided with the horizontal neck in raised arc-shaped, and first assembly bottom is provided with central connector；Institute
State the second component T-shaped, top is head, bottom is cylinder；The central connector of the first assembly passes through pivot pin and second
The head of component is hinged, and the fan-shaped central point in pressure-bearing portion falls on the pivot pin, and the both sides in the pressure-bearing portion pass through symmetrical
The damper of setting and the table top of boss are connected, and upper and lower ends and first assembly, the boss surface of the damper use ten thousand
It is flexibly connected to section, the table top is provided with through hole, the bottom cylinder of the second component is inserted in the through hole, the spring part set
On the cylinder, it is stuck between the second component head undersurface and boss surface；
The spray boom centre frame includes a curved bar laterally set, and the middle part of the curved bar is pressed in first assembly pressure-bearing
The top surface in portion, is stuck in the neck, and the curved bar passes through the inclination drive device and first of executable straight reciprocating motion
Component is connected, and described one end for rolling drive device is hinged on the position that curved bar is partial to middle part, rolls the another of drive device
One end is hinged on the side in first assembly pressure-bearing portion, by controlling to roll drive device execution straight reciprocating motion, can make curved bar
Using first assembly as fulcrum, the inclination drive device is connected with control system.
On the basis of such scheme, further improve or preferred scheme also includes：
Second frame sides are by can perform the yaw drive device of straight reciprocating motion and the side of spray boom centre frame
Side is connected, and one end of the yaw drive device is flexibly connected with the second framework, and the other end is flexibly connected with spray boom centre frame, is led to
Cross yaw drive device and perform straight reciprocating motion, spray boom centre frame can be swung laterally relative to the second framework, the yaw drives
Dynamic device is connected with control system.
Second component coordinates with the through hole for gap, configuration rubber sleeve in the through hole.
The head of second component is connected by connecting rod with the curved bar, the two ends of the connecting rod respectively by shaft member with
Second component, curved bar are hinged, and the axis of the shaft member and the pivot pin of the second component head of connection and connecting rod is on the same line.
The spray boom side arm is made up of multistage truss, is connected between truss section by movable joint, the movable joint is set
Have and be provided with orthogonal two motions rotating shaft, the spray boom side arm：
1）Control the truss section being connected with supporting suspension relative to supporting suspension, outside truss section relative to inner side truss section
Produce the folded/expanded drive device horizontally rotated；
2）Control the truss section being connected with supporting suspension relative to supporting suspension, outside truss section relative to inner side truss section
Produce the tilt adjustment drive device of tilt rotation；
The folded/expanded drive device, tilt adjustment drive device are connected with control system respectively.
The spray boom centre frame includes body frame and extensible frame, and the extensible frame is arranged on before body frame top
Side, is fixedly connected by bindiny mechanism with body frame.
The bindiny mechanism includes two group the 3rd be arranged in the way of specular between extensible frame and body frame
Connector, the 3rd connector includes inside and outside two unit blocks；One end of second connector is connected to the second framework
Top surface, the other end is connected to the top surface of the 3rd connector inside cell component, and the inside cell component is perpendicular to extensible frame
With body frame；The extensible frame apical side height is less than the apical side height of body frame, and the longitudinal section of the components inside is in ladder
Shape, its top horizontal, back side edge is vertically connected in body frame top-side, and front side edge tilts and extends to the extensible frame
Top surface, is fixedly connected with extension top of support；The outer cells component of 3rd connector is straight pipe, and rear end is fixedly connected on
In the top-side of body frame, front end is fixedly connected with the top surface of extensible frame, and the front portion of outer cells component is inwardly rolled
Tiltedly.
The utility model profiling spray boom for the folding of two spray boom side arms provided with the two execution straight reciprocating motions in left and right/
Deploy drive device, the folded/expanded drive device is connected with control system；The spray boom side arm is turned by vertically arranged
Axle is hinged on the side of the body frame, and one end of the folded/expanded drive device is connected by hinge and the extensible frame
Connect, the other end is connected with corresponding spray boom side arm by hinge arrangement, it is past by controlling folded/expanded drive device to perform straight line
Multiple motion, can promote spray boom side arm posteriorly or anteriorly to be rotated centered on the rotating shaft, and control spray boom is folded or deployed.
Further, the inner side of the spray boom side arm passes through axis first rotating shaft on the same line, the second rotating shaft
It is hinged with body frame, the first rotating shaft is located above the second rotating shaft, and first rotating shaft, the axis of the second rotating shaft are same
On straight line；Upper and lower ends on the inside of spray boom side arm are then connected by transition piece with first rotating shaft, the second rotating shaft respectively, described
Transition piece is enclosed in the rotating shaft of first rotating shaft/second, and spray boom side arm upper end is by the 3rd rotating shaft and is enclosed in first rotating shaft
Transition piece is hinged, and the 3rd rotating shaft and first rotating shaft are perpendicular；Spray boom side arm lower end drives provided with inner side tilt adjustment
Device, the inner side tilt adjustment drive device is performs the drive device of straight reciprocating motion, and its one end is cut with scissors with spray boom side arm
Connect, the other end is hinged by the 4th rotating shaft and the transition piece that is enclosed in the second rotating shaft, the 4th rotating shaft and the second rotating shaft
Perpendicular, the inner side tilt adjustment drive device is connected with control system, is performed by inner side tilt adjustment drive device straight
Line move back and forth, the spray boom side arm can the 3rd rotating shaft be axis rotation.
The supporting suspension is provided with the first framework and lifting drive, and first framework is located at after the second framework
Side, be fixedly mounted on spraying machine vehicle frame, be connected by the first connector with the second framework, and with the second framework keeping parallelism,
The first connector rear and front end respectively with the first framework, the second frame articulation, the lifting drive for perform straight line
Reciprocating drive device, its one end and the first frame articulation, the other end are connected through the hinge on first connector,
By controlling lifting drive to perform straight reciprocating motion, the first connector is pulled, the second framework can be driven relative to first
Framework is raised or reduced.
The spraying machine profiling spray boom also include be arranged on spray boom side arm on some contactless range sensors and
Multiaxis dynamic inclination sensor on spray boom centre frame, the contactless range sensor, multiaxis dynamic inclination are passed
Sensor is connected with the control system respectively.
For the control method of spraying machine profiling spray boom as described above, process is as follows：
Multiple spot and ground on spray boom side arm are detected by the multiple contactless range sensors being distributed on spray boom side arm
The distance in face；
Detect that spray boom centre frame is vertical around the yaw angle of vertical axes and around level by the multiaxis dynamic inclination sensor
Axle（The tailstock points to headstock direction）Angle of heel；
Pass through the Inertial Measurement Unit of the band GPS auxiliary on spraying machine car body（Including Inertial Measurement Unit, accelerate
Spend the composition such as meter, magnetometer）Detect the athletic posture of car body（Inclination, yaw, fluctuating etc.）；
Gather used on the contactless range sensor, multiaxis dynamic inclination sensor and car body by control system
Property measuring unit transmission signal, according to Lagrange's dynamical equations, carry out online reserve motion force resolving, calculate respectively to drive
Thrust and displacement needed for device, control to adjust each drive device co-operating, realize profiling of the spray boom side arm to ground, it is to avoid
Spray boom touches barrier.
Beneficial effect：
The utility model spraying machine profiling spray boom and its design of control method are novel, plan reasonable, the supporting suspension bag
Active part and passive part are included, spray boom is isolated by the high frequency pumping from car body by the passive part of suspension, and suspension
Active part can combine the ground line gradient change that sensor, actuator make spray boom track low frequency, adjust spray boom posture, realize imitative
Shape, can be prevented effectively from spray boom and touch barrier, spray bar type spraying machine is adapted to rolling ground, widen spray bar type spraying machine
Applicable situation.
Brief description of the drawings
Fig. 1 is schematic diagram of the spray bar type spraying machine in rolling ground working condition in the prior art；
Fig. 2 is schematic diagram of the spray bar type spraying machine in rolling ground working condition of configuration the utility model profiling spray boom；
Fig. 3 is the dimensional structure diagram of the utility model profiling spray boom；
Fig. 4 is the side structure schematic view of the utility model profiling spray boom；
Fig. 5 is the dimensional structure diagram of spray boom side arm；
Fig. 6 is the front isometric view of the utility model profiling spray boom partial structurtes；
Fig. 7 is the stereo rearview of the utility model profiling spray boom partial structurtes；
Fig. 8 is the top view of the partial structurtes of the utility model profiling spray boom；
Fig. 9 is the structural representation of spray boom side arm inner top side；
Figure 10 is the structural representation of spray boom side arm inside lower end；
Figure 11 is the dimensional structure diagram one of the embodiment of supporting suspension one；
Figure 12 is the dimensional structure diagram two of Figure 11 supporting suspension embodiments；
Figure 13 is the front view of Figure 11 supporting suspension embodiments；
Figure 14 is the rearview of Figure 11 supporting suspension embodiments；
Figure 15 is the structural representation of first assembly；
Figure 16 is the structural representation of the second component；
Figure 17 is the structural representation of curved bar；
Figure 18 is the structural representation of the second framework；
Figure 19 is the structural representation of control system.
Embodiment
In order to illustrate the technical solution of the utility model and operation principle, below in conjunction with the accompanying drawings with specific embodiment to this reality
Detailed introduction is done with new.
A kind of spraying machine profiling spray boom as shown in Figure 3, including the supporting suspension being connected with spraying machine car body and installation
Spray boom side arm in the supporting suspension left and right sides.
As shown in Fig. 4 to Figure 14, the supporting suspension is provided with lift drive mechanism, inclination drive mechanism, yaw driving machine
Structure and damper mechanism etc., are specifically made up of components such as the first framework 301, the second framework 302, spray boom centre frames.
The supporting suspension is fixed on spraying machine vehicle frame by the first framework 301.First framework 301 is located at second
The rear of framework 302, is made up of two vertical groove profile straight tubes, and two groove profile straight tube channel openings forward, are directed at second framework
The position of 302 sides.The groove profile straight tube passes through two identical and parallel the first connectors 501 and the second framework 302 up and down
The connection of corresponding side, the rear and front end of the first connector 501 side respectively with the second framework 302, the first framework 301
Groove profile straight tube is hinged.
Lifting drive 205 is the drive device for performing straight reciprocating motion（Such as hydraulic cylinder, leading screw）, the first framework
301 both sides respectively set a lifting drive 203, and its one end is hinged with the corresponding groove profile straight tube of the first framework 301, the other end
It is hinged with underlying first connector 501 for being connected the groove profile straight tube.The lifting drive 203 and control system
Connection, control system pulls the first connector 501 by controlling lifting drive 205 to perform straight reciprocating motion, can drive
Second framework 302 is raised or reduced relative to the first framework 301, and in the process, the first framework 301 and the second framework 302
Remain parallel.
The front portion of second framework 302 is provided with a boss 404, and damper mechanism is arranged on the boss 404.It is described
Spray boom centre frame is arranged on the front of the second framework 302, and spray boom side arm is arranged on the spray boom centre frame, by the boss
The weight of 404 carrying damper mechanisms and spray boom.
The spray boom centre frame includes body frame 303 and extensible frame 304, and the extensible frame 304 is arranged on body frame
The front on 303 tops, is fixedly connected by bindiny mechanism with body frame 303.The bindiny mechanism is included with specular
Mode is arranged on two group of the 3rd connector between extensible frame 304 and body frame 303, and it is single that the 3rd connector includes inner side
First component 503 and outer cells component 504.
The top of second framework 302 is connected by the second symmetrical connector 502 of left and right two with spray boom centre frame,
Second framework 302, two the second connectors 502 constitute four trapezoidal bar structures, second connector with spray boom centre frame
502 rear end is connected to the top surface of the second framework 302 by button-head hinge, and the front end of the second connector 502 passes through button-head hinge
The top surface of the inside cell component 503 is connected to, as shown in Figure 11, Figure 12.Can manually it be adjusted according to use demand in practice
The angle of two the second connectors 502 in left and right, that is, change the connection of the front end button-head hinge of the second connector 502 and spray boom centre frame
Position, constitutes the other shapes of four bars structures such as rectangle, can adjust the motion of spray boom centre frame（Yaw, inclination etc.）Scope with
And autokinesis.
The inside cell component 503 is perpendicular to extensible frame 304 and body frame 303, the apical side height of extensible frame 304
Less than the apical side height of body frame 303, the longitudinal section of the inside cell component 503 is trapezoidal, its top horizontal, back side edge
In the top-side for being vertically connected on body frame 303, front side edge tilts the top surface for extending to the extensible frame 304, with extension
The top surface of frame 304 is fixedly connected.The outer cells component 504 is straight pipe, and rear end is fixedly connected on the top of body frame 303
On side, front end is fixedly connected with the top surface of extensible frame 304, and the front portion of outer cells component 504 is inwardly rolled tiltedly, such as Fig. 6,
Shown in Figure 12.
The damper mechanism includes first assembly 401, the second component 406 and spring part 403, the first assembly 401
Top is fan-shaped pressure-bearing portion, and the top surface in the pressure-bearing portion is provided with the horizontal neck in raised arc-shaped, and the bottom of first assembly 401 is set
There is central connector, as shown in figure 15.Second component 406 is T-shaped, and top is fluted body head, and bottom is cylinder, such as schemes
Shown in 16.The central connector of the first assembly 401 is hinged by the head of pivot pin 407 and the second component 406, pressure-bearing portion fan
The central point of shape falls on the pivot pin 407, and the both sides in the pressure-bearing portion pass through the damper 402 and boss that are symmetrical set
404 table top connection, upper and lower ends and first assembly 401, the boss surface of the damper 402 are lived using candan universal joint
Dynamic connection.The table top of the boss 404 is provided with through hole, and the bottom cylinder of the second component 406 is inserted in the through hole, the bullet
Spring part 403 is enclosed on the cylinder, is stuck between the head undersurface of the second component 406 and boss surface, and second component
406 coordinate with the through hole for gap, it is to avoid between each component in the mechanism self-locking caused by machining accuracy is inaccurate, the through hole
Configure rubber sleeve.
The frame mid portion of the body frame 303 has a curved bar 305 laterally set, as shown in figure 17, the curved bar 305
Middle part be pressed in the top surface in first assembly pressure-bearing portion, agree with pressure-bearing portion top surface shape, be stuck in the neck, and described
The inclination drive device 204 that curved bar 305 passes through executable straight reciprocating motion（Such as hydraulic cylinder, leading screw）With first assembly 401
Connection, described one end for rolling drive device 204 is hinged on the position that curved bar is partial to middle part, rolls drive device 204
The other end is hinged on the side in first assembly pressure-bearing portion.The inclination drive device 204 is connected with control system, and control system is led to
Cross control and roll the execution straight reciprocating motion of drive device 204, it is fulcrum with first assembly 401 that can make curved bar 305.
The head of second component 406 is connected by connecting rod 405 with the curved bar 305, the two ends point of the connecting rod 405
It is not hinged by shaft member with the second component 406, curved bar 305, the second component head of connection and the shaft member and the pivot pin of connecting rod 405
407 axis is on the same line.
The yaw drive device 206 that the side of second framework 302 passes through an executable straight reciprocating motion（Such as hydraulic pressure
Cylinder, leading screw etc.）It is connected with the side of spray boom centre frame, the yaw drive device 206 is connected with control system, control system is led to
Cross control yaw drive device 206 and perform straight reciprocating motion, spray boom centre frame is driven spray boom side arm relative to the second framework
302（Or car body）Horizontal swing.
The spray boom side arm is made up of multistage truss, is provided with the spray boom side arm：1）Control connection supporting suspension
Truss section produces the folded/expanded horizontally rotated relative to inner side truss section relative to supporting suspension, outside truss section and drives dress
Put；2）The truss section of control connection supporting suspension is produced relative to supporting suspension, outside truss section relative to inner side truss section inclines
The tilt adjustment drive device tiltedly rotated, the folded/expanded drive device, tilt adjustment drive device respectively with control system
Connection.Connected between truss section by movable joint, the movable joint is orthogonal provided with vertical pivot and horizontal longitudinal axis two
Rotating shaft is moved, under drive device drive, the local pose of spray boom side arm can be achieved in the relatively described motion axis of rotation of truss section
Regulation, as shown in Fig. 2 i.e. local profiling, makes the various complicated landform of spraying functional adaptation.
An embodiment as shown in Figure 3, the spray boom side arm is provided with inner side truss section and outside truss section, the outside purlin
Frame section connects with inner side truss section, and the two joint is provided with outside truss section tilt adjustment oil cylinder 201, and control outside truss
The drive mechanism that section horizontally rotates relative to inside cell.The inner side truss section and connection such as Fig. 9, Tu10Suo of supporting suspension
Show.
The present embodiment profiling spray boom is for folding/exhibition of two spray boom side arms provided with the two execution straight reciprocating motions in left and right
Open drive device 205（Such as hydraulic cylinder, leading screw）, the folded/expanded drive device 205 is connected with control system.
First rotating shaft 601, second rotating shaft 602 and body frame of the inner side truss section by axis on the same line
Frame 303 is hinged, and the first rotating shaft 601 is located above the second rotating shaft, and first rotating shaft 601, the axis of the second rotating shaft 602 exist
On same straight line.The upper and lower ends of the inner side truss section then pass through transition piece and first rotating shaft 601, the second rotating shaft respectively
602 connections, spray boom side arm upper end is hinged by the 3rd rotating shaft and the transition piece 505 that is enclosed in first rotating shaft 601, and described the
Three rotating shafts and first rotating shaft 601 are perpendicular.Inner side truss section lower end is provided with inner side tilt adjustment drive device 202, the inner side
Tilt adjustment drive device 202 is the drive device for performing straight reciprocating motion（Such as hydraulic cylinder, leading screw）, its one end and inner side
Truss section is hinged, and the other end is hinged by the 4th rotating shaft and the transition piece 506 that is enclosed in the second rotating shaft 602, and the described 4th
Rotating shaft and the second rotating shaft 302 are perpendicular.
One end of the folded/expanded drive device 207 and the inner side of the extensible frame 304 are hinged, and the other end is with being enclosed on
Transition piece on 601 in first rotating shaft is hinged, by controlling folded/expanded drive device 207 to perform straight reciprocating motion,
Spray boom side arm can be promoted posteriorly or anteriorly to be rotated centered on the first rotating shaft, the second rotating shaft, control inner side truss section is relative
Fold or deploy in supporting suspension.
The inner side tilt adjustment drive device 202 is connected with control system, and control system is adjusted by angle of heel in control
Save drive device 202 and perform straight reciprocating motion, it is axis rotation to make the rotating shafts of inner side truss Duan Yi tri-, relative to supporting suspension
Run-off the straight.
Multiaxis dynamic inclination sensor 101 is installed, the spray boom side arm extends along it in the body frame 303
Direction is provided with multiple contactless range sensors 102（Such as ultrasonic sensor）And imaging sensor, it is described contactless
Range sensor, imaging sensor, multiaxis dynamic inclination sensor are connected with the control system respectively.
In the present embodiment, the profiling spray boom is provided with accumulation of energy in supporting suspension floating part and inner side truss section part
Device, it is to avoid produce rigid shock after spray boom expansion, spray boom is touched after barrier, accumulator oil cylinder shortens or extended, will not
Boom structure is set to be deformed failure.
In the present embodiment, each drive device is preferred to use oil cylinder, control system and each sensor and each drive device（Such as
Hoist cylinder, inclination oil cylinder, yaw oil cylinder etc.）Circuit connection and signal trend it is as shown in figure 19, the control system is by ARM
Host computer is constituted with DSP slave computers, and signal output/input of each sensor and drive device passes through digital-to-analogue or analog-to-digital conversion electricity
Road is connected with the corresponding interface of the DSP slave computers.
Operationally, its control method is as follows for spraying machine profiling spray boom as described above：
Multiple spot and ground on spray boom side arm are detected by the multiple contactless range sensors being distributed on spray boom side arm
The distance in face；
Detect that spray boom centre frame is vertical around the yaw angle of vertical axes and around level by the multiaxis dynamic inclination sensor
Axle（The tailstock points to headstock direction）Angle of heel；
Pass through the Inertial Measurement Unit of the band GPS auxiliary on spraying machine car body（Including Inertial Measurement Unit, accelerate
Spend the composition such as meter, magnetometer）Inertial Measurement Unit detects the athletic posture of car body（Inclination, yaw, fluctuating etc.）；
Gather used on the contactless range sensor, multiaxis dynamic inclination sensor and car body by control system
Property measuring unit transmission signal, according to Lagrange's dynamical equations, carrying out online reserve motion force resolves, and calculates actively to hang
Thrust and displacement needed for frame yaw, inclination drive device and spray boom side arm pose adjustment drive device, control to adjust each drive
Dynamic device co-operating, realizes profiling of the spray boom side arm to ground, it is to avoid spray boom touches barrier, as shown in Figure 2.
Spray machine operation when, by imaging sensor can monitoring crop upgrowth situation and the situation of disease pest and weed, just
In the pests occurrence rule of statistics disease pest and weed, suitable operation scheme is formulated.
In the utility model, for spray boom and supporting suspension yaw, Frequency Response is rolled, six-freedom motion can be used to put down
Platform and dynamic test system are tested, mainly step response analysis, frequency response analysis.Tracking frequency is specified according to the external world
The wavelength of driving frequency or Ground Vibration is set, less than assigned frequency（Or ground wavelength）, Amplitude Ration is approximately 1, higher than finger
Determine frequency（Or ground wavelength）, Amplitude Ration decays to rapidly 0.
General principle of the present utility model, principal character and advantage of the present utility model has been shown and described above.One's own profession
The technical staff of industry is it should be appreciated that the utility model is not restricted to the described embodiments, described in above-described embodiment and specification
Simply illustrate principle of the present utility model, on the premise of the utility model spirit and scope are not departed from, the utility model is also
Various changes and modifications are had, scope is claimed by appended claims, specification and its equivalent in the utility model
Define.
Claims (11)
1. a kind of spraying machine profiling spray boom, including the supporting suspension that is connected with spraying machine car body and installed in supporting suspension or so
The spray boom side arm of both sides, it is characterised in that：
The supporting suspension is provided with the second framework（302）, spray boom centre frame and damper mechanism, the second framework（302）Anterior peace
Equipped with a boss（404）, damper mechanism is arranged on the boss（404）On；
The spray boom centre frame is located at the second framework（302）Front, the spray boom side arm be arranged on the spray boom centre frame on,
Second framework（302）Top pass through two the second connectors in symmetrical left and right（502）It is connected with spray boom centre frame, the second connection
Part（502）Rear and front end and the second framework（302）, spray boom centre frame using the connection of button-head hinge structure movement, make second
Framework（302）, two the second connectors（502）Four-bar mechanism is constituted with spray boom centre frame；
The damper mechanism includes first assembly（401）, the second component（406）And spring part（403）, the first assembly
（401）Top be fan-shaped pressure-bearing portion, the top surface in the pressure-bearing portion is provided with the horizontal neck in raised arc-shaped, first assembly
（401）Bottom is provided with central connector；Second component（406）T-shaped, top is head, and head is concave groove, and bottom is
Cylinder；The first assembly（401）Central connector pass through pivot pin（407）With the second component（406）Head be hinged, pressure-bearing
The fan-shaped central point in portion falls in the pivot pin（407）On, the both sides in the pressure-bearing portion pass through the damper that is symmetrical set
And boss (402)（404）Table top connection, the upper and lower ends and first assembly of the damper (402)（401）, boss surface
Connected using universal joint, the table top is provided with through hole, the second component（406）Bottom cylinder be inserted in the through hole, institute
State spring part（403）It is enclosed on the cylinder, is stuck in the second component（406）Between head undersurface and boss surface；
The spray boom centre frame includes a curved bar laterally set（305）, the curved bar（305）Middle part be pressed in first group
The top surface in part pressure-bearing portion, is stuck in the neck, and the curved bar（305）Driven by the inclination that can perform straight reciprocating motion
Device（204）With first assembly（401）Connection, the inclination drive device（204）One end be hinged on curved bar（305）In relatively
Between position position, roll drive device（204）The other end be hinged on the side in first assembly pressure-bearing portion, pass through and control to roll
Drive device（204）Straight reciprocating motion is performed, curved bar can be made（305）With first assembly（401）For fulcrum, the inclination
Drive device（204）It is connected with control system.
2. a kind of spraying machine profiling spray boom according to claim 1, it is characterised in that：
Second framework（302）Side is by performing the yaw drive device of straight reciprocating motion（206）With spray boom centre frame
Side connection, the yaw drive device（206）One end and the second framework（302）It is flexibly connected, the other end and spray boom center
Frame is flexibly connected, and passes through yaw drive device（206）Straight reciprocating motion is performed, makes spray boom centre frame relative to the second frame
Frame（302）Horizontal swing, the yaw drive device (206) is connected with control system.
3. a kind of spraying machine profiling spray boom according to claim 1, it is characterised in that：
Second component（406）Head pass through connecting rod（405）With the curved bar（305）Connection, the connecting rod（405）Two
End passes through shaft member and the second component respectively（406）, curved bar（305）It is hinged, the second component head of connection and connecting rod（405）Shaft member
With the pivot pin（407）Axis on the same line.
4. a kind of spraying machine profiling spray boom according to claim 1, it is characterised in that：
Second component（406）Coordinate with the through hole for gap, configuration rubber sleeve in the through hole.
5. a kind of spraying machine profiling spray boom according to claim 1, it is characterised in that the spray boom side arm is by multistage truss
Connected between composition, truss section by movable joint, the movable joint includes orthogonal two motion rotating shafts, the spray
It is provided with bar side arm：
1）The truss section being connected with supporting suspension is controlled to be produced relative to supporting suspension, outside truss section relative to inner side truss section
The folded/expanded drive device horizontally rotated；
2）The truss section being connected with supporting suspension is controlled to be produced relative to supporting suspension, outside truss section relative to inner side truss section
The tilt adjustment drive device of tilt rotation；
The folded/expanded drive device, tilt adjustment drive device are connected with control system respectively.
6. a kind of spraying machine profiling spray boom according to claim 1, it is characterised in that：
The spray boom centre frame includes body frame（303）And extensible frame（304）, the extensible frame (304) is arranged on body frame
Frame（303）The front on top, passes through bindiny mechanism and body frame（303）It is fixedly connected.
7. a kind of spraying machine profiling spray boom according to claim 6, it is characterised in that：
The bindiny mechanism includes being arranged on extensible frame in the way of specular（304）With body frame（303）Between two
The 3rd connector of group, the 3rd connector includes inside and outside two unit blocks（503,504）；
Second connector（502）One end be connected to the second framework（302）Top surface, the other end is connected to the 3rd connector
Inside cell component（503）Top surface, the inside cell component（503）Perpendicular to extensible frame（304）With body frame
（303）；
The extensible frame（304）Apical side height is less than body frame（303）Apical side height, the components inside（503）It is vertical
Section is trapezoidal, and its top horizontal, back side edge is vertically connected on body frame（303）In top-side, front side edge tilts extension
To the extensible frame（304）Top surface, with extensible frame（304）Top surface is fixedly connected；
The outer cells component of 3rd connector（504）For straight pipe, rear end is fixedly connected on body frame（302）Top
On portion side, front end and extensible frame（304）Top surface be fixedly connected, and outer cells component（504）Front portion inwardly roll it is oblique.
8. a kind of spraying machine profiling spray boom according to claim 6, it is characterised in that：
For folded/expanded drive device of two spray boom side arms provided with the two execution straight reciprocating motions in left and right（205）, it is described
Folded/expanded drive device（205）It is connected with control system；The spray boom side arm passes through vertically arranged rotating shaft（601,602）
It is hinged on the body frame（303）Side, the folded/expanded drive device（205）One end by hinge with it is described
Extensible frame（304）Connection, the other end is connected with corresponding spray boom side arm by hinge arrangement, by controlling folded/expanded to drive
Device（205）Straight reciprocating motion is performed, spray boom side arm can be promoted with the rotating shaft（601,602）Centered on posteriorly or anteriorly turn
Dynamic, control spray boom is folded or deployed.
9. a kind of spraying machine profiling spray boom according to claim 8, it is characterised in that：
First rotating shaft of the inner side of the spray boom side arm by axis on the same line（601）, the second rotating shaft（602）With this
Body framework（303）It is hinged, the first rotating shaft（601）Positioned at the second rotating shaft（602）Top, and first rotating shaft（601）, second turn
Axle（602）Axis on the same line；
Upper and lower ends on the inside of spray boom side arm then pass through transition piece and first rotating shaft respectively（601）, the second rotating shaft（602）Even
Connect, the transition piece is enclosed on first rotating shaft（601）/ the second rotating shaft（602）On, spray boom side arm inner top side passes through the 3rd turn
Axle is with being enclosed on first rotating shaft（601）On transition piece（505）It is hinged, the 3rd rotating shaft and first rotating shaft（601）Mutually hang down
Directly；Spray boom side arm inside lower end is provided with inner side tilt adjustment drive device（202）, the inner side tilt adjustment drive device
（202）To perform the drive device of straight reciprocating motion, its one end is hinged with spray boom side arm, and the other end passes through the 4th rotating shaft and set
In the second rotating shaft（602）On transition piece（506）It is hinged, the 4th rotating shaft and the second rotating shaft（602）It is perpendicular, it is described
Inner side tilt adjustment drive device（202）It is connected with control system, passes through inner side tilt adjustment drive device（202）Perform straight line
Move back and forth, spray boom side arm can be rotated centered on the 3rd rotating shaft.
10. a kind of spraying machine profiling spray boom according to claim 1, it is characterised in that：
The supporting suspension is provided with the first framework（301）And lifting drive（205）, first framework（301）Positioned at
Two frameworks（302）Rear, on spraying machine vehicle frame, pass through the first connector（501）With the second framework（302）Connection,
And with the second framework（302）Keeping parallelism, first connector（501）Rear and front end respectively with the first framework（301）, second
Framework（302）It is hinged, the lifting drive（203）To perform the drive device of straight reciprocating motion, its one end and first
Framework（301）It is hinged, the other end is connected through the hinge in first connector（501）On, by controlling lifting drive
（203）Straight reciprocating motion is performed, the first connector is pulled（501）, the second framework can be driven（302）Relative to the first framework
（301）Raise or reduce, lifting drive（203）It is connected with control system, realizes the real-time adjustment of spray boom overall height.
11. a kind of spraying machine profiling spray boom according to any one of claim 1-10, it is characterised in that including installed in
Some contactless range sensors on spray boom side arm and the multiaxis dynamic inclination sensor on spray boom centre frame,
The contactless range sensor, multiaxis dynamic inclination sensor multiaxis dynamic inclination sensor respectively with the control system
Connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621238801.2U CN206587953U (en) | 2016-11-19 | 2016-11-19 | A kind of spraying machine profiling spray boom |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621238801.2U CN206587953U (en) | 2016-11-19 | 2016-11-19 | A kind of spraying machine profiling spray boom |
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| Publication Number | Publication Date |
|---|---|
| CN206587953U true CN206587953U (en) | 2017-10-27 |
Family
ID=60129964
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621238801.2U Withdrawn - After Issue CN206587953U (en) | 2016-11-19 | 2016-11-19 | A kind of spraying machine profiling spray boom |
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| Country | Link |
|---|---|
| CN (1) | CN206587953U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106622773A (en) * | 2016-11-19 | 2017-05-10 | 农业部南京农业机械化研究所 | Profiling spraying rod of spraying machine and control method of profiling spraying rod |
-
2016
- 2016-11-19 CN CN201621238801.2U patent/CN206587953U/en not_active Withdrawn - After Issue
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106622773A (en) * | 2016-11-19 | 2017-05-10 | 农业部南京农业机械化研究所 | Profiling spraying rod of spraying machine and control method of profiling spraying rod |
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