Sprayer boom suspension and sprayer constructed therefrom

Abstract

The present invention relates to a spray boom suspension for a sprayer and the sprayer thus constructed, wherein the spray boom suspension comprises a control system, a main spray boom frame (2), a side spray boom frame (3) and a main frame (1) that can be connected to a traction locomotive, wherein the control system comprises a hydraulic control system and a balance monitoring system, a suspension frame (14) is provided on the main frame (1), the main spray boom frame (2) is suspended on the suspension frame (14) through a pendulum mechanism, and is adjusted through an active adjustment mechanism of the spray boom frame, and the balance detection device monitors the displacement or angle of the main spray boom frame (2) and the side spray boom frame (3) through a spray boom frame state sensor. Compared with the prior art, the present invention integrates electromechanical-hydraulic integration technology and combines the advantages of a pendulum suspension, so that the sprayer can move smoothly during field spraying operations, reduce energy consumption, and improve accuracy, thereby improving operation efficiency and spraying quality.

Description

Technical Field

[0001] The invention relates to a sprayer boom suspension and a sprayer constructed thereby. Background Art

[0002] The means of disease and insect pest control mainly rely on chemical spraying technology. Plant protection machinery, as the most important spraying equipment, achieves plant protection operations by dissolving chemical pesticides in water and spraying them onto crop leaves using nozzles. Its performance is closely related to the effective utilization rate of chemical pesticides. The spray boom, as the nozzle carrier, has irregular movement that causes poor spraying, which has always been a difficult problem in disease and insect pest control.

[0003] At present, boom sprayers are the most widely used models in the field of crop protection. The boom suspension is the main working part of the sprayer. Its working performance directly determines the spray uniformity and the stability of the whole machine. For boom sprayers with a large spray width, even a small vibration amplitude may lead to obvious overspraying. At the same time, due to the vibration phenomenon, the nozzle at the end of the boom will contact the soil, which will damage the crop and the nozzle, and even damage the sprayer in severe cases. In addition, boom sprayers, especially wide-width boom sprayers, work in harsh working conditions, and the shaking, deflection and other unexpected movements are particularly serious.

[0004] The existing high-ground clearance boom sprayers will further amplify the undesired motion values ​​such as shaking and deflection generated during operation, which are mainly manifested as follows: 1. The sprayer boom shakes and deflects during operation, which is far from the actual working conditions; 2. The boom oscillates severely and the spraying is unstable during operation; 3. The energy consumption is high, the body is bulky and the degree of automation control is greatly reduced.

[0005] Therefore, a sprayer boom suspension that integrates electromechanical and hydraulic integration technology and combines the advantages of pendulum-suspension is provided to simulate the field spraying process with low energy consumption, high precision and high stability. The purpose is to improve the stability of ultra-wide and high-clearance sprayer booms, thereby improving the operating efficiency and spraying quality. The sprayer boom suspension and the sprayer formed thereby came into being. Summary of the invention

[0006] The purpose of the present invention is to overcome the above-mentioned shortcomings. The present invention integrates the electromechanical and hydraulic integration technology and combines the advantages of the pendulum-suspension to provide a sprayer boom suspension and a sprayer constituted by the sprayer, which can simulate the field spraying process and has low energy consumption, high precision and high stability. The purpose is to improve the stability of the ultra-wide high-clearance spray boom sprayer, thereby improving the operating efficiency and spraying quality.

[0007] In order to solve the above technical problems, the present invention provides the following technical solution: the spray boom suspension comprises a control system, a main spray boom frame (2), a side spray boom frame (3) and a main frame (1) that can be connected to a traction locomotive, the control system comprises a hydraulic control system and a balance monitoring system, a suspension frame (14) is provided on the main frame (1), and the main spray boom frame (2) is suspended on the suspension frame (14) via a pendulum mechanism.

[0008] The suspension frame (14) is provided with a vertical suspension slot (14-1). The pendulum mechanism comprises a telescopic shaft (15), a buffer spring and a swing rod (16). The swing rod (16) is connected to the telescopic shaft (15) via a hinge pin. The telescopic shaft (15) passes through the suspension slot (14-1) and is connected to the suspension frame (14) and can be telescopically slidable in the direction of the suspension slot (14-1). The buffer spring is located between the telescopic shaft (15) and the suspension frame (14) and plays a buffering role.

[0009] A passive vibration damper (17) is provided between the swing arm (16) and the main frame (1), and the passive vibration damper (17) is composed of 1-2 elastic telescopic rods between the swing arm (16) and the main frame (1).

[0010] The elastic telescopic rod is a spring telescopic rod, or a liquid or gas damping rod, or a combination of the above two telescopic rods.

[0011] The present invention absorbs the vibration generated by the impact through the passive shock absorber, and generates a damping force to consume energy, so that the posture of the spray boom remains stable.

[0012] A spray boom frame active adjustment mechanism is provided between the swing arm (16) and the main spray boom frame (2), the spray boom frame active adjustment mechanism comprising a connecting frame (21) and an active adjustment drive mechanism (22), the connecting frame (21) being 1 to 3 rod bodies, the active adjustment drive mechanism (22) being one of electric or hydraulic telescopic drive mechanisms, the connecting frame (21) and the active adjustment drive mechanism (22) being combined with each other to form a variable connecting frame between the swing arm (16) and the main spray boom frame (2).

[0013] The variable connecting frame is composed of three rods and an active adjustment drive mechanism (22): the three rods are hinged to each other to form a ladder frame with two free ends, the swing rod (16) is connected to the middle rod, the free ends of the other two rods are hinged to the main spray rod frame (2), and the two ends of the active adjustment drive mechanism (22) are hinged between the middle rod and any one of the rods on the two sides; or, the variable connecting frame is composed of two rods and an active adjustment drive mechanism (22): the two rods are hinged to each other, and the active adjustment drive mechanism ( One end of the variable connecting frame is hinged to any one of the two rod bodies to form a ladder frame with two free ends, the swing arm (16) is connected to the rod body in the middle, and the free end of the other rod body and the free end of the active adjustment drive mechanism (22) are hinged to the main spray rod frame (2); or, the variable connecting frame is composed of a rod body and the active adjustment drive mechanism (22): a rod body, the active adjustment drive mechanism (22) and the swing arm (16) are hinged to form a herringbone frame, and the two free ends of the herringbone frame are hinged to the main spray rod frame (2).

[0014] The balance monitoring system at least comprises a central processing unit, a signal input and output module, a signal conversion module and a spray boom frame state sensor. The spray boom frame state sensor comprises at least one of a displacement sensor (42), a pressure sensor (31-4) and an angle sensor (41). The signal input and output module is preferably a touch screen, through which parameters are input into the central processing unit to preset various experimental parameters. The displacement sensor (42), the pressure sensor (31-4) and the angle sensor (41) or a combination thereof are installed on the main spray boom frame (2) and the side spray boom frame (3), and can collect the working parameters of the corresponding components, and transmit them to the signal conversion module to convert the analog signal into a digital signal, which is then transmitted to the central processing unit, and then further processed by the central processing unit and displayed on the signal input and output module and transmitted to the hydraulic or electric control system for execution.

[0015] Furthermore, a shock-absorbing pad (31-3) is provided between the main spray rod frame (2) and the side spray rod frame (3), and the shock-absorbing pad (31-3) is an elastic pad provided at an adjacent portion of the main spray rod frame (2) or the side spray rod frame (3), and a pressure sensor (31-4) is provided on an adjacent contact surface of the elastic pad.

[0016] Furthermore, the above-mentioned side spray rod frame (3) is preferably composed of a truss connecting frame (31) and a truss (35), wherein the truss (35) is provided with two connection points, namely a second articulated frame (31-6) and a third articulated frame (31-7), wherein the second articulated frame (31-6) and the third articulated frame (31-7) are articulated in the vertical direction, wherein the second articulated frame (31-6) is directly articulated with the truss connecting frame (31), and the third articulated frame (31-7) is articulated with the truss connecting frame (31) via a truss angle adjustment drive mechanism (34), wherein the truss angle adjustment drive mechanism (34) is one of a hydraulic or electric telescopic drive mechanism; the truss connecting frame (31) is connected to the main spray rod frame (2).

[0017] Furthermore, the truss connecting frame (31) and the main spray rod frame (2) are preferably connected via a first articulated frame (31-2), the first articulated frame (31-2) being a group of connecting frames in a horizontal direction, the first articulated frame (31-2) enabling the truss connecting frame (31) to be horizontally transported on the main spray rod frame (2) with the first articulated frame (31-2) as an axis, and a shock-absorbing pad (31-3) is provided between the connection point between the truss connecting frame (31) and the main spray rod frame (2), the shock-absorbing pad (31-3) being at least one elastic block, the elastic block being fixedly mounted on the truss connecting frame (31) and / or the side spray rod frame (3), and a pressure sensor (31-4) being provided on the elastic block.

[0018] Furthermore, the hydraulic control system of the present invention preferably adopts load feedback control in the hydraulic circuit. The load-sensitive proportional circuit based on load feedback can achieve stepless speed regulation and is not affected by load changes. The load-sensitive characteristic allows multiple actuators to work simultaneously and independently at different speeds and pressures until the maximum flow of the pump source is reached, and the flow of the actuator is independent of the load force, thereby improving the motion accuracy of the actuator. At the same time, when the hydraulic system adopts a quantitative pump to supply oil, the outlet pressure of the pump matches the load pressure, and no higher pressure is output, thereby achieving system energy saving.

[0019] Furthermore, the load feedback control of the present invention is realized through the system double balancing valve block, so as to control the size of the throttle of the balancing valve by changing the load chamber pressure of the execution cylinder, thereby generating load damping proportional to the load pressure, improving the dynamic characteristics of the hydraulic system, and thus achieving the goal of stable spray boom movement, and utilizing the synchronization valve to improve the synchronization accuracy of the two cylinders and reduce the impact of the load.

[0020] Furthermore, the spray boom frame (3) of the present invention adopts a double truss structure. This design improves the spray boom stiffness per unit mass and reduces the overall mass of the spray boom, while increasing the natural frequency of the spray boom.

[0021] Furthermore, the main frame (1) of the present invention is provided with a lifting mechanism, which is a four-bar mechanism, and the four-bar mechanism comprises a fixed rod (11) and a parallel rod (12), and a lifting drive mechanism (13) is provided between the fixed rod (11) and the parallel rod (12), and the lifting drive mechanism (13) is one of an electric or hydraulic telescopic drive mechanism.

[0022] The lifting mechanism can make the sprayer adapt to the plant species and the spraying operations in different growth periods of early, mid and late seasons.

[0023] Furthermore, the above-mentioned boom suspension can constitute a sprayer.

[0024] Compared with the prior art, the present invention integrates electromechanical and hydraulic integration technology and combines the advantages of the pendulum-suspension. It can move smoothly during field spraying operations, reduce energy consumption, and improve accuracy, thereby improving operating efficiency and spraying quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a three-dimensional structural schematic diagram of Example 1 of the present invention.

[0026] Figure 2 It is a schematic structural diagram of the front view of embodiment 1 of the present invention.

[0027] Figure 3 Schematic diagram of the hydraulic system in Example 1 of the present invention.

[0028] Figure 4 This is a schematic diagram of the structure of the main frame in Example 1 of the present invention.

[0029] Figure 5 Schematic diagram of the structure of the lifting mechanism in Example 1 of the present invention.

[0030] Figure 6 Schematic diagram of the structure of the main spray rod frame in Example 1 of the present invention.

[0031] Figure 7 It is a schematic structural diagram of the truss connecting frame in Example 1 of the present invention.

[0032] Figure 8 Schematic diagram of the structure of the passive vibration absorber in Example 1 of the present invention.

[0033] Fig. 9 Schematic diagram of the structure of the pendulum mechanism in Example 1 of the present invention.

[0034] Fig.10 Schematic diagram of the structure of the main spray rod frame in Example 2 of the present invention.

[0035] Fig.11 Schematic diagram of the structure of the main spray rod frame in Example 3 of the present invention.

[0036] As shown in the figure: main frame 1, fixed rod 11, parallel rod 12, lifting drive mechanism 13, suspension frame 14, suspension slot 14-1, telescopic shaft 15, buffer spring and rocker arm 16, rocker arm 16, passive shock absorber 17, main spray rod frame 2, connecting frame 21, active adjustment drive mechanism 22, side spray rod frame 3, truss connecting frame 31, side spray rod frame folding push rod 31-1, first articulated frame 31-2, shock absorbing pad 31-3, pressure sensor 31-4, limit vibration damping baffle 31-5, second articulated frame 31-6, third articulated frame 31-7, side spray rod frame folding first drive mechanism 32, side spray rod frame folding second drive mechanism 33, truss angle adjustment drive mechanism 34, truss 35, angle sensor 41, displacement sensor 42. DETAILED DESCRIPTION

[0037] Example 1: Figure 2-Figure 9 The figure is a schematic diagram of the structure of Embodiment 1 of the present invention. It includes a control system, a main spray boom frame 2, a side spray boom frame 3 and a main frame 1 that can be connected to a traction locomotive. The control system includes a hydraulic control system and a balance monitoring system. A suspension frame 14 is provided on the main frame 1, and the main spray boom frame 2 is suspended on the suspension frame 14 through a pendulum mechanism.

[0038] The suspension frame 14 is provided with a vertical suspension groove 14-1, and the pendulum mechanism includes a telescopic shaft 15, a buffer spring and a rocker arm 16. The rocker arm 16 is connected to the telescopic shaft 15 through a hinge pin. The telescopic shaft 15 passes through the suspension groove 14-1 and is connected to the suspension frame 14 and can be telescopically slidable along the direction of the suspension groove 14-1. The buffer spring is located between the telescopic shaft 15 and the suspension frame 14 to play a buffering role.

[0039] A passive vibration damper 17 is provided between the swing arm 16 and the main frame 1 , and the passive vibration damper 17 is composed of 1-2 elastic telescopic rods between the swing arm 16 and the main frame 1 .

[0040] The elastic telescopic rod is a spring telescopic rod, or a liquid or gas damping rod, or a combination of the above two telescopic rods.

[0041] The present invention absorbs the vibration caused by the impact through the passive shock absorber, and generates a damping force to consume the energy of the swing, so that the posture of the spray boom remains stable.

[0042] An active adjustment mechanism for the spray boom frame is provided between the swing arm 16 and the main spray boom frame 2, and the active adjustment mechanism for the spray boom frame includes a connecting frame 21 and an active adjustment drive mechanism 22. In this embodiment, the connecting frame 21 is 1-3 rod bodies, and the active adjustment drive mechanism 22 is one of electric or hydraulic telescopic drive mechanisms. The connecting frame 21 and the active adjustment drive mechanism 22 are combined with each other to form a variable connecting frame between the swing arm 16 and the main spray boom frame 2, and the variable connecting frame is composed of three rod bodies and the active adjustment drive mechanism 22: the three rod bodies are hinged to each other to form a trapezoidal frame with two free ends, the swing arm 16 is connected to the middle rod body, and the free ends of the other two rod bodies are hinged to the main spray boom frame 2, and the two ends of the active adjustment drive mechanism 22 are hinged between the middle rod body and any one of the rod bodies on both sides.

[0043] The balance monitoring system includes a central processing unit, a signal input and output module, a signal conversion module and a spray rod frame status sensor. The spray rod frame status sensor includes a displacement sensor 42, a pressure sensor 31-4 and an angle sensor 41. The signal input and output module is preferably a touch screen, and parameters are input into the central processing unit through the touch screen to preset various experimental parameters.

[0044] In this embodiment, the displacement sensor 42, the pressure sensor 31-4 and the angle sensor 41 are installed in combination on the main spray rod frame 2 and the side spray rod frame 3. The angle sensor 41 is provided with 3 groups, which are respectively installed on the main spray rod frame 2 and the side spray rod frames 3 on both sides. The displacement sensor 42 is provided with 2 groups, which are respectively installed on the side spray rod frames 3. The pressure sensor 31-4 is provided with 2 groups, which are installed between the main spray rod frame 2 and the side spray rod frames 3. A shock-absorbing pad 31-3 is provided between the main spray rod frame 2 and the side spray rod frame 3. The shock-absorbing pad 31-3 is an elastic pad arranged at an adjacent position of the main spray rod frame 2 or the side spray rod frame 3, and a pressure sensor 31-4 is provided on the adjacent contact surface of the elastic pad.

[0045] The working parameters of the main spray boom frame 2, the side spray boom frame 3 and other corresponding components can be collected through the displacement sensor 42, the pressure sensor 31-4 and the angle sensor 41, and transmitted to the signal conversion module to convert the analog signal into a digital signal, and then transmitted to the central processing unit. After further processing by the central processing unit, it is displayed on the signal input and output module and transmitted to the hydraulic or electric control system for execution.

[0046] The side spray boom frame 3 is composed of a truss connecting frame 31 and a truss 35. The truss 35 is provided with two connection points, namely a second articulated frame 31-6 and a third articulated frame 31-7. The second articulated frame 31-6 and the third articulated frame 31-7 are articulated in the vertical direction, wherein the second articulated frame 31-6 is directly articulated with the truss connecting frame 31, and the third articulated frame 31-7 is articulated with the truss connecting frame 31 through a truss angle adjustment driving mechanism 34, and the truss angle adjustment driving mechanism 34 is a hydraulic telescopic driving mechanism; the truss connecting frame 31 is connected to the main spray boom frame 2.

[0047] The truss connecting frame 31 is connected to the main spray rod frame 2 through a first articulated frame 31-2, which is a group of horizontal connecting frames. The first articulated frame 31-2 enables the truss connecting frame 31 to be horizontally transported on the main spray rod frame 2 with the first articulated frame 31-2 as the axis, and a shock-absorbing pad 31-3 is provided between the connection point of the truss connecting frame 31 and the main spray rod frame 2. The shock-absorbing pad 31-3 is at least one elastic block, which is fixedly mounted on the truss connecting frame 31 and / or the side spray rod frame 3, and a pressure sensor 31-4 is provided on the elastic block.

[0048] Furthermore, in this embodiment, the hydraulic control system hydraulic circuit preferably adopts load feedback control, and the load-sensitive proportional circuit based on load feedback can achieve stepless speed regulation and is not affected by load changes. The load-sensitive characteristic allows multiple actuators to work simultaneously and independently at different speeds and pressures until the maximum flow of the pump source is reached, and the flow of the actuator is independent of the load force, thereby improving the motion accuracy of the actuator. At the same time, when the hydraulic system uses a quantitative pump to supply oil, the outlet pressure of the pump matches the load pressure, and no higher pressure is output, thereby achieving system energy saving.

[0049] Furthermore, in the present embodiment, load feedback control is implemented through the system dual balancing valve block, so that the load chamber pressure change of the actuator cylinder controls the size of the throttle of the balancing valve, generates load damping proportional to the load pressure, improves the dynamic characteristics of the hydraulic system, and thus achieves the goal of stable spray boom movement, and utilizes the synchronization valve to improve the synchronization accuracy of the two cylinders and reduce the impact of the load.

[0050] Furthermore, in this embodiment, the spray boom frame 3 adopts a double truss structure. This design improves the spray boom stiffness per unit mass and reduces the overall mass of the spray boom, while increasing the natural frequency of the spray boom.

[0051] Furthermore, the main frame 1 of the present invention is provided with a lifting mechanism, which is a four-bar mechanism, and the four-bar mechanism includes a fixed rod 11 and a parallel rod 12, and a lifting drive mechanism 13 is provided between the fixed rod 11 and the parallel rod 12, and the lifting drive mechanism 13 is a hydraulic telescopic drive mechanism. The lifting mechanism can make the sprayer adapt to the spraying operation of different plant species and early, middle and late growth periods.

[0052] Example 2: Fig.10 , which is a schematic diagram of the structure of Embodiment 2 of the present invention. In this embodiment, the variable connecting frame is composed of two rod bodies and an active adjustment drive mechanism 22: the two rod bodies are hinged to each other, one end of the active adjustment drive mechanism 22 is hinged to any one of the two rod bodies to form a ladder frame with two free ends, the swing arm 16 is connected to the rod body in the middle, and the free end of the other rod body and the free end of the active adjustment drive mechanism 22 are hinged to the main spray rod frame 2.

[0053] Example 3: Fig.11 FIG. 2 is a schematic diagram of the structure of Embodiment 3 of the present invention. In this embodiment, the variable connecting frame is composed of a rod body and an active adjustment driving mechanism 22: a rod body, the active adjustment driving mechanism 22 and the swing rod 16 are hinged to form a herringbone frame, and the two free ends of the herringbone frame are hinged to the main spray rod frame 2.

[0054] The above are only preferred embodiments of the present invention. It should be noted that the above preferred embodiments should not be regarded as limiting the present invention, and the protection scope of the present invention should be based on the scope defined by the claims. For ordinary technicians in this technical field, several improvements and modifications can be made without departing from the spirit and scope of the present invention, which should also be regarded as the protection scope of the present invention.

Claims

1. A spray boom suspension for a sprayer, comprising a control system, a main spray boom frame (2), a side spray boom frame (3) and a main frame (1) that can be connected to a traction locomotive, the control system comprising a hydraulic control system and a balance monitoring system, a suspension frame (14) being provided on the main frame (1), and the main spray boom frame (2) being suspended on the suspension frame (14) via a pendulum mechanism; The suspension frame (14) is provided with a vertical suspension slot (14-1), the pendulum mechanism comprises a telescopic shaft (15), a buffer spring and a swing rod (16), the swing rod (16) is connected to the telescopic shaft (15) via a hinge pin, the telescopic shaft (15) passes through the suspension slot (14-1) and is connected to the suspension frame (14) and can be telescopically slidable in the direction of the suspension slot (14-1), and the buffer spring is located between the telescopic shaft (15) and the suspension frame (14); A passive vibration damper (17) is provided between the swing arm (16) and the main frame (1), and the passive vibration damper (17) is composed of 1-2 elastic telescopic rods between the swing arm (16) and the main frame (1); The elastic telescopic rod is a spring telescopic rod, or a liquid or gas damping rod, or a combination of the above two telescopic rods; A spray rod frame active adjustment mechanism is provided between the swing rod (16) and the main spray rod frame (2), and the spray rod frame active adjustment mechanism comprises a connecting frame (21) and an active adjustment drive mechanism (22). The connecting frame (21) is composed of 1 to 3 rod bodies, the active adjustment drive mechanism (22) is one of an electric or hydraulic telescopic drive mechanism, and the connecting frame (21) and the active adjustment drive mechanism (22) are combined to form a variable connecting frame between the swing arm (16) and the main spray rod frame (2). The variable connecting frame is composed of three rod bodies and an active adjustment drive mechanism (22): the three rod bodies are hinged to each other to form a ladder frame with two free ends, the swing rod (16) is connected to the middle rod body, the free ends of the other two rod bodies are hinged to the main spray rod frame (2), and the two ends of the active adjustment drive mechanism (22) are hinged between the middle rod body and any one of the rod bodies on the two sides; Alternatively, the variable connecting frame is composed of two rod bodies and an active adjustment drive mechanism (22): the two rod bodies are hinged to each other, one end of the active adjustment drive mechanism (22) is hinged to any one of the two rod bodies to form a ladder-shaped frame with two free ends, the swing arm (16) is connected to the rod body in the middle, and the free end of the other rod body and the free end of the active adjustment drive mechanism (22) are hinged to the main spray rod frame (2); Alternatively, the variable connecting frame is composed of a rod body and an active adjustment driving mechanism (22): A rod body is hingedly connected with the active adjustment drive mechanism (22) and the swing rod (16) to form an A-shaped frame, and two free ends of the A-shaped frame are hingedly connected with the main spray rod frame (2); The balance monitoring system at least comprises a central processing unit, a signal input and output module, a signal conversion module and a spray boom frame state sensor, wherein the spray boom frame state sensor comprises at least one of a displacement sensor (42), a pressure sensor (31-4) and an angle sensor (41); A shock-absorbing pad (31-3) is provided between the main spray rod frame (2) and the side spray rod frame (3); the shock-absorbing pad (31-3) is an elastic pad provided at an adjacent portion of the main spray rod frame (2) or the side spray rod frame (3); a pressure sensor (31-4) is provided on an adjacent contact surface of the elastic pad; The side spray rod frame (3) is composed of a truss connecting frame (31) and a truss (35). The truss (35) is provided with two connection points, namely a second articulated frame (31-6) and a third articulated frame (31-7). The second articulated frame (31-6) and the third articulated frame (31-7) are articulated in the vertical direction, wherein the second articulated frame (31-6) is directly articulated with the truss connecting frame (31), and the third articulated frame (31-7) is articulated with the truss connecting frame (31) via a truss angle adjustment drive mechanism (34). The truss angle adjustment drive mechanism (34) is one of a hydraulic or electric telescopic drive mechanism. The truss connecting frame (31) is connected to the main spray rod frame (2).

2. The spray boom suspension according to claim 1, characterized in that: The truss connecting frame (31) is connected to the main spray rod frame (2) via a first articulated frame (31-2). The first articulated frame (31-2) is a group of connecting frames in a horizontal direction. The first articulated frame (31-2) enables the truss connecting frame (31) to be horizontally transported on the main spray rod frame (2) with the first articulated frame (31-2) as an axis. A shock-absorbing pad (31-3) is provided between the connection point between the truss connecting frame (31) and the main spray rod frame (2). The shock-absorbing pad (31-3) is at least one elastic block. The elastic block is fixedly mounted on the truss connecting frame (31) and / or the side spray rod frame (3). A pressure sensor (31-4) is provided on the elastic block.

3. The spray boom suspension according to claim 1 or 2, characterized in that: The main frame (1) is provided with a lifting mechanism, which is a four-bar mechanism. The four-bar mechanism comprises a fixed rod (11) and a parallel rod (12). A lifting drive mechanism (13) is provided between the fixed rod (11) and the parallel rod (12). The lifting drive mechanism (13) is one of an electric or hydraulic telescopic drive mechanism.

4. A sprayer, characterized in that The invention relates to a sprayer boom suspension comprising the sprayer boom suspension according to any one of claims 1 to 3.

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