RU2495562C1 - Self-propelled walking trolley of multi-support multi-section sprinkler of circular operation - Google Patents

Abstract

FIELD: agriculture.SUBSTANCE: self-propelled walking trolley of multi-support multi-section sprinkler of circular operation comprises a frame (1) transversely fixed to a discharge conduit (2) with legs (3) of a carrier beam (4), at the ends of which there are walking supports (5) installed in pairs, each of which comprises a support foot (6) and a four-link hinge (7) associated with an actuator (8). The four-link hinge (7) of the walking supports (5) consists of cranks (11) connected with the actuator (8) via a cardan transmission (15), support members (12) are pivotally attached to the foot (6) and rocker (13), the free ends of which are articulated at the board on racks (3). The four-link hinge (7) of the walking supports (5) are arranged in vertical planes of walking, being offset from the longitudinal axis of the carrier beam (4) at an anglewhere 1 - length of the carrier beam (4), L - length of one section of the discharge pipe (2), ? L - the displacement of the end section of the longitudinal axis of the carrier beam (4). Racks (3) have additional holes (18) for the swivel mount rocker arm (13), paired for the left and right sides, the number of pairs is equal to the number of sections of the multi-section sprinkler. The axes of each pair of holes (18) for the swivel mount rocker arm (13) of the right and left sides are made with an offset chosen under the conditionwhere S1 and S2 - length of walking supports (5) pitch, respectively, for lagging and anticipating running boards, B - track width of the walking trolley of the sprinkler .EFFECT: reduced costs of power per turn, decreased jamming of plants, facilitated unification of actuator elements.1 cl, 4 dwg

Description

The invention relates to agriculture and can be used in multi-support multi-section self-propelled sprinkler and irrigation machines of circular action, operating both positionally and in continuous motion.

Known self-propelled carts for irrigation and irrigation machines, made in the form of a frame with a power drive mounted on it and propellers in the form of wheels (Self-propelled cart multi-support sprinkler, RF patent 1835231, class A01G 25/09, 1993).

Such supports have a low permeability due to the fact that, due to the high specific pressure on the soil, the wheel support leaves a deep track, and a bulldozer effect arises, which leads to increased energy consumption and high milling of plants.

The closest in technical level and the achieved result is a self-propelled cart of a multi-support sprinkler (RF Patent 2108708, class A01G 25/09, B62D 57/02, 1998).

The self-propelled trolley of a multi-support sprinkler machine contains a supporting beam, a power electric drive, walking supports installed in pairs at the ends of the supporting beam, and racks for fastening the pipeline, the walking supports being made in the form of articulated four-link and equipped with shoes in the form of elongated hollow trapezoidal boxes, and cranks of articulated four-link each pair of walking supports are fixed with an offset of 180 ° relative to each other on the output shafts of the gearboxes. The indicated self-propelled cart is designed for multi-support sprinkling machines of the frontal or circular type and solves the technical problem associated with reducing plant mowing and increasing soil permeability on waterlogged soils.

The disadvantages of this self-propelled trolley of a multi-support irrigation machine are increased energy consumption for overcoming soil resistance to rotation and high milling of plants during rotation, due to the kinematic disorganization of kinematically accurate rotation, which leads to slipping and sliding of the feet on the ground during rotation, as well as the inability to unify the power drive, since in circular sprinklers, the average speeds of the self-propelled carts are different (proportional to the distance to the center and fields).

This self-propelled cart of a multi-support sprinkler, when used in circular irrigation machines, has a low technical level, since it does not solve the problem of energy-efficient soil-saving movement on environmentally vulnerable soils, which is due to the layout and kinematic disorganization of rotation - the walking supports of the right and left side provide self-propelled movement walking trolleys with identical modulo and parallel to the direction of the side speeds. Because of this, the instantaneous speed center of the walking trolley is at infinity, as a result of which its rotation is not kinematically accurate and is accompanied by slipping and sliding of the feet on the ground. This leads to increased energy consumption for overcoming the moment of resistance to rotation, the destruction of environmentally vulnerable soil cover and high mucking of plants. It is also impossible to unify the power drive in known self-propelled carts, since in circular sprinklers the speeds of the self-propelled carts, and therefore the angular speeds of the output shafts of their power drive, must increase in proportion to the distance of the walking carts to the fixed center of the sprinkler machine.

In this regard, the most important task is to create a new layout-kinematic rotation scheme of a self-propelled walking trolley of a multi-support sprinkler of circular action, providing, based on the new rotation scheme, a kinematically accurate rotation with minimal sliding of the feet on the ground, which will lead to a reduction in power consumption for a turn, and an increase in the environmental friendliness of walking mover and to reduce the jamming of plants, as well as the creation of a new structural scheme of walking supports with a variable suspension point, which will allow correct adjust the heading speed due to the step length, which will facilitate the unification of the power drive.

The technical result of the claimed design of a self-propelled walking trolley of a multi-support multisection sprinkler of circular action is the creation of a new layout and kinematic rotation scheme of a walking trolley with a new structural scheme of walking supports with a variable suspension point of the rocker arm, which provides due to the angular displacement of the walking planes of the walking supports from the longitudinal axis of the supporting beam and different speeds of walking supports of the starboard and port side, kinematically accurate turning of the walking carriage, as well as adjust speed-governing directional walking carriage due to the step length without changing actuator, which significantly reduces the cost of power for the rotation, the destruction of environmentally eliminates the vulnerable soil and reduces zaminaemost plants, and also facilitates the unification of the actuator elements. This improves the operational properties of circular sprinklers with walking trolleys.

The specified technical result is achieved in that a self-propelled walking trolley of a multi-support multisection sprinkler of circular action, including a frame with a load-bearing beam transversely mounted to the pressure pipeline using struts, at the ends of which walking supports are installed in pairs, each of which contains a support foot and a four-link articulated joint with a power drive, moreover, articulated four-links of walking supports, consisting of cranks connected to the power drive through a cardan transmission, supports links with pivotally attached feet, as well as a rocker arm, the free ends of which are flush mounted pivotally on the uprights, are located in vertical walking planes, offset from the longitudinal axis of the supporting beam by an angle

, $$\alpha =arctg\left(\frac{l}{2(L-\Delta L)}\right)$$

,

where l is the length of the carrier beam,

L is the length of one section of the pressure pipe

ΔL is the amount of displacement of the end of the section from the longitudinal axis of the supporting beam, and the racks have additional holes for hinging the rocker arm, paired for the left and right side, the number of pairs of which is equal to the number of sections of the multisection sprinkler, and the axis of each pair of holes for hinging the rocker arm of the right and port side are made with an offset selected from the condition

, $$\frac{S_2}{S_{\mathrm{one}}}=\frac{L-\Delta L+B/2}{L-\Delta L-B/2}$$

,

where S ₁ and S ₂ - the step length of the walking supports, respectively, lagging and running side,

B is the gauge of the walking trolley of the sprinkler.

The new layout-kinematic rotation scheme of a self-propelled walking trolley provides, due to the different speeds of the walking supports of the starboard and left sides and the angular displacement of the vertical walking planes from the longitudinal axis of the carrier beam, kinematically accurate rotation without sliding the feet on the ground, which significantly reduces the cost of turning power , eliminates the destruction of environmentally vulnerable soil cover and reduces the hardening of plants.

Introduction to the self-propelled walking carriage of a new constructive design of walking supports with a variable suspension point allows you to adjust the heading speed due to the step length without changing the power drive, which facilitates the unification of its elements.

This improves the operational properties of circular sprinklers with walking trolleys.

Figure 1 presents a General view of a self-propelled walking trolley multi-support sprinkling machine circular action; figure 2 - its top view; figure 3 is a rotation diagram of a self-propelled walking trolley; figure 4 - transformation of the relative trajectory of the reference point of the walking support when changing the suspension point of the rocker arm.

A self-propelled walking trolley of a multi-support multisection sprinkler of circular action, includes a frame 1 with a support beam 4 transversally fixed to the pressure pipe 2 using racks 3 (Figs. 1, 2).

Walking supports 5 are installed in pairs at the ends of the carrier beam 4. Each of the walking supports 5 contains a support foot 6 and a hinged four link 7 connected to the power drive 8, including a traction motor 9 and a transfer gear 10.

The articulated four-link 7 walking supports 5, consist of leading cranks 11, supporting links 12, as well as the rocker arm 13.

The leading cranks 11 of the articulated four-link 7 are connected to the output shaft 14 of the distributing gearbox 10 of the power drive 8 through the cardan transmission 15 and the gearboxes 16 of the walking bearings 5. The driving cranks 11 are mounted on the output shaft of the gearbox 16 in antiphase, which ensures the antiphase movement of the walking bearings of the right and left side .

The supporting links 12 of the articulated four-link 7 are made in the form of two shoulders and are equipped with pivotally attached ski-shaped feet 6. The ski-shaped feet 6 serve to reduce the pressure on the soil.

The free ends of the rocker arm 13 of the articulated four link 7 are flanged by cylindrical joints 17 on the posts 3, made of a V-shaped.

Hinged four-link 7 walking supports 5 are located in the vertical planes of walking, offset from the longitudinal axis of the carrier beam 4 (figure 3) at an angle

, $$\alpha =arctg\left(\frac{l}{2(L-\Delta L)}\right)$$

,

where l is the length of the carrier beam,

L is the length of one section of the pressure pipe

ΔL is the displacement of the end of the section from the longitudinal axis of the supporting beam.

This ensures that the instantaneous center of speed of the walking cart coincides with the hinge point of the pressure pipe section 2.

Racks 3 have additional holes 18 for hinging the free ends of the rocker arm 13 of the articulated four-link 7, paired for the left and right side. The number of pairs of additional holes 18 is equal to the number of sections of a multi-section sprinkler. This allows you to change the stride length and, accordingly, the speed of movement on each section of the sprinkler machine by changing the suspension point of the rocker arm 13.

Moreover, the axis of each pair of holes 18 of the hinged mounting of the rocker arms 13 of the starboard and left sides are not coaxial, but are made with an offset selected from the condition

, $$\frac{S_2}{S_{\mathrm{one}}}=\frac{L-\Delta L+B/2}{L-\Delta L-B/2}$$

,

where S ₁ and S ₂ - the step length of the walking supports, respectively, of the lagging and running sides, B is the track width of the walking cart of the sprinkler.

This achieves the required speed difference between the starboard and port side when turning the self-propelled cart.

The stability of the walking trolley in the transverse direction is ensured by stretch marks 19, connecting the rack 4 with the pressure pipe 2.

Self-propelled walking trolley multi-support multi-section sprinkler works as follows.

At the beginning of the movement of the torque from the traction motor 9 of the power drive 8 through the transfer gear 10 and the cardan transmission 15 is fed to the gears 16 of the front and rear walking bearings 5 (Fig.1, 2). As a result, the leading cranks 11, mounted on the output shafts of the gears 16, begin to rotate and set in motion the articulated four-links 7 of the walking supports 5, thereby realizing their movement.

Since at least two of the four ski-shaped feet 6 are in contact with the supporting surface, due to their interaction with the ground, a self-propelled walking trolley begins to move.

Leading cranks 11 are mounted on the output shaft of the gears 16 in antiphase, which ensures the antiphase movement of the walking supports of the right and left side. A full working cycle is carried out in one revolution of the leading cranks 11 working in antiphase and includes two steps, on each of which two feet 6, diagonally located relative to the supporting beam 4, are in the phase of support on the ground, and the other two are in transport, and also two short phases of the change of feet, during which all the feet are on the ground 6.

When a circular sprinkler is moving, the average speed of its self-propelled walking trolleys located at different distances from the central (fixed) point should be different. The self-propelled cart of the first (central) section has a minimum speed, the extreme sections of the sprinkler have the highest average speeds. The speed of self-propelled carts is also determined by the norm of irrigation. As a result, during irrigation, the movement of self-propelled carts of the sprinkler machine alternates with stops. Depending on the number and position of the moving bogies, the radius of their rotation varies. The most severe case of turning, from the point of view of energy consumption and environmental friendliness, takes place with a minimum turning radius equal to the length of the pressure pipe section. This corresponds to the rotational movement of the section around the articulation of adjacent sections of the pressure pipe 2 - point P (figure 3). In this case, the kinematically accurate rotation of the walking trolley is realized due to the angular displacement of the walking planes of the walking supports from the longitudinal axis of the supporting beam by an angle α and different average speeds ν ₁ and ν _{2 of the} walking supports 5 of the lagging and running side. The speed difference is achieved due to the different step lengths of the walking supports 5 of the starboard and port side. Since in irrigation machines of the considered type L> l, the necessary change in the pitch can be achieved by the relatively small misalignment of the holes 18 of the hinged mounting of the rocker arms 13 of the starboard and port side.

(фиг.4а). Тем самым реализуется трансформация базовой относительной траектории I опорной точки механизма шагания с длиной шага S₁, фиг.4б, в траекторию II с длиной шага S_II, фиг.4в. Точки на траекториях фиг.4 а, 6 расположены через $$\raisebox{1ex}{$1$}\!\left/ \!\raisebox{-1ex}{$24$}\right.$$

периода цикла, точки с заливкой соответствуют опорной фазе. Это позволяет за счет изменения длины шага корректировать скорость самоходных шагающих тележек, находящихся на разных расстояниях от центральной точки многоопорной многосекционной дождевальной машины кругового действия, что облегчает унификацию элементов ее силового привода.To change the step length over a wider range (several times), it is possible by changing the pivot point of the rocker arm 13 to one of the additional holes 18, for example, from point O ₁ to point $$O_{\mathrm{one}}^{\text{'}\text{'}}$$

(figa). This implements the transformation of the base relative trajectory I of the reference point of the walking mechanism with a step length S ₁ , Fig. 4b, into a path II with a step length S _II , Fig. 4c. Points on the trajectories of FIGS. 4 a, 6 are located through $$\raisebox{1ex}{$\mathrm{one}$}\!\left/ \!\raisebox{-1ex}{$24$}\right.$$

cycle period, filled points correspond to the reference phase. This allows you to adjust the speed of self-propelled walking trolleys located at different distances from the central point of the multi-support multisection sprinkler of circular action due to the change in the length of the step, which facilitates the unification of the elements of its power drive.

The self-propelled walking trolley of a multi-support multisection sprinkler is designed for agricultural use and can be used in circular sprinklers, and the new layout-kinematic scheme of turning the walking trolley, together with the new design of walking supports with a variable suspension arm, significantly reduces power consumption by rotation, eliminates the destruction of environmentally vulnerable soil cover and reduces the hardening of plants, and also facilitates uniformity tion elements actuator walking carts that improves the performance characteristics of the circular sprinkler action machines with walking carts.

Claims (1)

Self-propelled walking trolley of a multi-support multisection sprinkler of circular action, including a frame with a support beam transversely mounted to the pressure pipe using racks, at the ends of which walking supports are installed in pairs, each of which contains a support foot and a four-link articulated shaft connected to the power drive, characterized in that the articulated four-links of walking supports, consisting of cranks connected to a power drive through a cardan transmission, support links with pivotally attached tops and rocker arms, the free ends of which are articulated on pobortno racks are arranged in vertical planes pacing displaced from the longitudinal axis of the carrier beam by an angle
$$\alpha =arctg\left(\frac{\mathrm{one}}{2(L-\Delta L)}\right),$$

where l is the length of the carrier beam,
L is the length of one section of the pressure pipe
ΔL is the amount of displacement of the end of the section from the longitudinal axis of the supporting beam, and the racks have additional holes for hinging the rocker arm, paired for the left and right sides, the number of pairs of which is equal to the number of sections of the multisection sprinkler, and the axis of each pair of holes for hinging the rocker arm of the right and the left sides are made with an offset selected from the condition
$$\frac{S_2}{S_{\mathrm{one}}}=\frac{L-\Delta L+B/2}{L-\Delta L-B/2},$$

where S ₁ and S ₂ - the step length of the walking supports respectively lagging and running sides,
B is the gauge of the walking trolley of the sprinkler.

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