Center fulcrum shaft sprinkling irrigation mechanism capable of expanding sprinkling track

Abstract

The invention discloses a central fulcrum shaft sprinkling irrigation mechanism capable of expanding a sprinkling track. The central fulcrum shaft sprinkling irrigation mechanism comprises a universal connecting assembly, an expansion angle arm, a steering assembly and a plurality of irrigation additional nozzles installed on the expansion angle arm. The first end of the universal connecting assembly is connected with the center support through the main rotating arm and communicated with the main pipeline, the second end of the universal connecting assembly is connected with the expansion angle arm, and the steering assembly is installed at the tail end of the expansion angle arm and supported on the ground. The differential-driven double-wheel independent steering assembly is adopted, differential motion is formed in real time according to the angle of the main rotating arm and the position feedback of the expansion angle arm, the spraying boundary is expanded from a circle to an approximate rectangle or polygon, the problem of corner blind areas is effectively solved, and the irrigation coverage rate and the land utilization rate are remarkably increased. The central fulcrum shaft main machine and the expansion angle arm are flexibly connected through the universal joint, torque can be buffered, the device adapts to terrains, the structure is compact and reliable, and an efficient and low-cost precise irrigation scheme is provided for a large rectangular farmland.

Description

Technical Field

[0001] This invention relates to the field of agricultural sprinkler irrigation equipment technology, and in particular to a central pivot sprinkler irrigation mechanism with an expandable spray trajectory. Background Technology

[0002] Center-pivot sprinkler irrigation machines are widely used in large and medium-sized farmland irrigation due to their significant advantages such as simple structure, high degree of automation, and wide coverage. However, the circular motion trajectory of this type of equipment, centered on a central pivot point, easily creates irrigation dead zones at the corners and near irregular protruding or concave boundaries when irrigating regular square or polygonal plots. This leads to reduced land utilization and requires additional manual re-irrigation costs. To address this issue, existing technologies often employ a solution of adding a variable-range or variable-angle nozzle ("end gun") to the end of the main rotating arm to extend the local irrigation coverage. For example, the farmland irrigation sprinkler disclosed in patent document CN211983032U uses a horizontally rotatable sprinkler assembly at the end of the main arm, along with a booster pump, nozzle cross-sectional area adjustment mechanism, and water-dispelling vane mechanism. By changing the nozzle's direction, range, and flow rate parameters, it irrigates irregular plot corners. A motor-driven rack and pinion horizontal rotation mechanism, combined with time and position signals, coordinates the control of nozzle attitude and flow rate.

[0003] The above-mentioned technical solutions in the existing technology still have obvious defects: First, the geometric trajectory of the spray gun end is still a circular motion point, which cannot stretch the coverage boundary into an approximately regular square, making it difficult to meet the precise irrigation needs of square or polygonal plots; Second, the coverage effect of the corner area relies excessively on the adjustment of the nozzle flow rate parameter, which is easily affected by environmental factors such as wind speed, pressure fluctuations and atomization changes, resulting in the drift of the far-end landing point, limiting the actual coverage range and irrigation effect, and still failing to achieve sufficient irrigation of the outermost corners of the field. Summary of the Invention

[0004] This invention provides a center-pivot sprinkler irrigation mechanism with an expandable spray trajectory to solve the technical problems of limited spray coverage and insufficient irrigation of corner areas caused by the circular spray trajectory of existing center-pivot sprinkler irrigation machines. By expanding the spray trajectory to an approximate rectangle or polygon, the irrigation coverage of corner areas can be improved.

[0005] In view of the above technical problems, embodiments of the present invention provide a center-supported sprinkler irrigation mechanism with an expandable spray trajectory, including a universal joint assembly, an extension arm, a steering assembly, and a plurality of additional irrigation nozzles mounted on the extension arm; the first end of the universal joint assembly is connected to a central support and communicates with a main pipe via a main rotating arm, the second end of the universal joint assembly is connected to the extension arm, and the steering assembly is mounted on the end of the extension arm and supported on the ground;

[0006] The steering assembly is used to coordinate the rotation of the extended angle arm around the universal joint assembly at a preset angle via differential drive, so that the spray trajectory of the irrigation auxiliary nozzle is extended into an approximate rectangle or polygon, thereby covering the corner areas of the rectangular irrigation area.

[0007] Optionally, the steering assembly includes a first steering drive unit, a first travel assembly connected to the first steering drive unit, a second steering drive unit, a second travel assembly connected to the second steering drive unit, and a crossbeam;

[0008] The first steering drive unit includes a first steering motor and a first steering reducer connected to the first steering motor. A first flange bearing is provided between the first steering reducer and the crossbeam, and the output shaft of the first steering reducer passes through the crossbeam and is connected to the first travel assembly.

[0009] The second steering drive unit includes a second steering motor and a second steering reducer connected to the second steering motor. A second flange bearing is provided between the second steering reducer and the crossbeam, and the output shaft of the second steering reducer passes through the crossbeam and is connected to the second travel assembly.

[0010] Optionally, the first walking assembly includes a first Z-shaped support frame, a first walking motor, a first walking reducer connected to the first walking motor, the first walking reducer being connected to a first drive wheel via a first coupling, and the first drive wheel being mounted on the first Z-shaped support frame;

[0011] The output shaft of the first steering reducer passes through the crossbeam and is connected to the top of the first Z-shaped support frame.

[0012] Optionally, the second traveling component includes a second Z-shaped support frame, a second traveling motor, a second traveling reducer connected to the second traveling motor, the second traveling reducer being connected to a second drive wheel via a second coupling, and the second drive wheel being mounted on the second Z-shaped support frame;

[0013] The output shaft of the second steering reducer passes through the crossbeam and is connected to the top of the second Z-shaped support frame.

[0014] Optionally, the first steering motor drives the first Z-shaped support frame to rotate, thereby adjusting the rotation direction of the first drive wheel; the second steering motor drives the second Z-shaped support frame to rotate, thereby adjusting the rotation direction of the second drive wheel; at the same time, the first travel motor and the second travel motor adjust the speed of the first drive wheel and the second drive wheel to form the differential drive coordination, so as to realize the extension and retraction of the extended arm.

[0015] Optionally, the extended angle arm includes an extended horizontal tube and a vertical arm connected to the extended horizontal tube via a joint, the vertical arm being connected to the crossbeam via a flange.

[0016] Optionally, the extended horizontal pipe connects to multiple branch pipes, and the irrigation auxiliary nozzle is installed at the end of each branch pipe.

[0017] Optionally, the universal joint assembly includes a left bend neck bracket, a right bend neck bracket, and a universal joint connecting the left bend neck bracket and the right bend neck bracket, wherein the left bend neck bracket, the right bend neck bracket, and the universal joint are coaxially connected.

[0018] One end of the left-hand bend bracket is welded to the main pipe, and the other end of the right-hand bend bracket is welded to the extension horizontal pipe; the main pipe and the extension horizontal pipe are connected by a rubber hose.

[0019] The present invention also provides a sprinkler irrigation machine, including the above-described central pivot sprinkler irrigation mechanism with an expandable spray trajectory.

[0020] In this invention, the problem of blind spots in irrigation at the edges and corners caused by the circular trajectory of traditional center-pivot sprinkler irrigation machines is fundamentally solved by the coordinated operation of the universal joint assembly and the differential-driven steering assembly. The steering assembly uses two independent motors to control the steering angle and speed of the two drive wheels respectively. Based on the angle signal of the main rotating arm and the position feedback of the extension arm, differential motion is generated in real time, enabling the extension arm to actively extend, turn, and retract, thereby expanding the spraying boundary from a circle to an approximate rectangle or polygon, significantly improving irrigation coverage and land utilization. This mechanical expansion method avoids the shortcomings of traditional end-gun technology, which relies on nozzle parameter adjustment and is easily affected by environmental factors, ensuring stable coverage of the outermost corners of the field and reducing the cost of manual supplementary irrigation.

[0021] In this invention, the flexible connection design of the rubber hose and the cross-shaped universal joint effectively buffers the torque and shear force during movement, ensuring sealed water flow transmission and enabling the system to adapt to uneven terrain and wind changes, maintaining the horizontal stability of the extended horizontal pipe and achieving continuous and uniform spraying. The entire device has a compact structure and reliable control. Through a real-time closed-loop control algorithm, the motion state of the drive wheel is dynamically adjusted, expanding the coverage area while improving water resource utilization efficiency, providing an efficient and low-cost solution for precise automated irrigation of large rectangular farmland. Attached Figure Description

[0022] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a schematic diagram of the overall structure of the central support sprinkler irrigation mechanism with expandable spray trajectory connected to the central support in one embodiment of the present invention;

[0024] Figure 2 This is a schematic diagram of the overall structure of the central support sprinkler irrigation mechanism and the central support connecting the expandable spray trajectory in another embodiment of the present invention.

[0025] Figure 3 This is a schematic diagram of the overall structure of the central support shaft sprinkler irrigation mechanism with expandable spray trajectory in one embodiment of the present invention;

[0026] Figure 4 yes Figure 3 Enlarged structural diagram of section A;

[0027] Figure 5 This is a schematic diagram of the spraying range of a central support axis sprinkler irrigation mechanism with an expandable spraying trajectory in one embodiment of the present invention.

[0028] The reference numerals in the accompanying drawings are as follows:

[0029] 1-Universal joint assembly, 11-Left bend neck bracket, 12-Right bend neck bracket, 13-Universal joint, 2-Extension angle arm, 21-Extension horizontal tube, 22-Joint, 23-Vertical arm, 24-Branch pipe, 3-Steering assembly, 31-First steering drive unit, 311-First steering motor, 312-First steering reducer, 313-First flange bearing, 32-First travel assembly, 321-First Z-type support frame, 322-First travel motor, 323-First travel reducer, 324-First coupling, 325-The 1. Drive wheel; 33. Second steering drive unit; 331. Second steering motor; 332. Second steering reducer; 333. Second flange bearing; 34. Second travel assembly; 341. Second Z-type support frame; 342. Second travel motor; 343. Second travel reducer; 344. Second coupling; 345. Second drive wheel; 35. Crossbeam; 4. Irrigation auxiliary nozzle; 5. Main rotating arm; 6. Center support; 7. Main pipe; 8. Flange; 9. Rubber hose; 15. Corner arm main irrigation area; 16. Corner area. Detailed Implementation

[0030] To make the technical problems solved, the technical solutions, and the beneficial effects of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0031] In the description of this invention, it should be understood that the terms "longitudinal," "radial," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0032] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0033] like Figures 1 to 5 As shown, one embodiment of the present invention provides a center-supported irrigation mechanism with an expandable spray trajectory, including a universal joint assembly 1, an extension arm 2, a steering assembly 3, and multiple additional irrigation nozzles 4 mounted on the extension arm 2. The first end of the universal joint assembly 1 is connected to a central support 6 via a main rotating arm 5 and communicates with a main pipe 7. The second end of the universal joint assembly 1 is connected to the extension arm 2. The steering assembly 3 is mounted at the end of the extension arm 2 and supported on the ground. The steering assembly 3 is used to coordinate the rotation of the extension arm 2 around the universal joint assembly 1 at a preset angle via differential drive, so that the spray trajectory of the additional irrigation nozzles 4 expands to an approximately rectangular or polygonal shape, thereby covering the corner areas 16 of the rectangular irrigation area.

[0034] Understandably, this structure is flexibly connected to the main rotating arm 5 via the universal joint assembly 1 and equipped with a ground-supported differential steering assembly 3, enabling active and controllable deformation of the spray trajectory from a circle to a rectangle or polygon. The dual-wheel differential drive of the steering assembly 3 allows the extended angle arm 2 to rotate precisely around the universal joint 13 at a preset angle, mechanically changing the movement path of the end nozzle. The direct effect is to extend the irrigation range to the corner area 16 of the rectangular plot, eliminating blind spots that traditional center-pivot sprinkler irrigation machines cannot cover.

[0035] In one embodiment, such as Figures 1 to 3 As shown, the steering assembly 3 includes a first steering drive unit 31, a first travel assembly 32 connected to the first steering drive unit 31, a second steering drive unit 33, a second travel assembly 34 connected to the second steering drive unit 33, and a crossbeam 35.

[0036] like Figure 4 As shown, the first steering drive unit 31 includes a first steering motor 311 and a first steering reducer 312 connected to the first steering motor 311. A first flange bearing 313 is provided between the first steering reducer 312 and the crossbeam 35, and the output shaft of the first steering reducer 312 passes through the crossbeam 35 and is connected to the first travel assembly 32.

[0037] The second steering drive unit 33 includes a second steering motor 331 and a second steering reducer 332 connected to the second steering motor 331. A second flange bearing 333 is provided between the second steering reducer 332 and the crossbeam 35, and the output shaft of the second steering reducer 332 passes through the crossbeam 35 and is connected to the second travel assembly 34.

[0038] In one embodiment, such as Figures 1 to 3 As shown, the first walking component 32 includes a first Z-shaped support frame 321, a first walking motor 322, a first walking reducer 323 connected to the first walking motor 322, and the first walking reducer 323 is connected to a first drive wheel 325 through a first coupling 324. The first drive wheel 325 is mounted on the first Z-shaped support frame 321.

[0039] The output shaft of the first steering reducer 312 passes through the crossbeam 35 and is connected to the top of the first Z-shaped support frame 321 to realize the steering orientation adjustment of the extended angle arm 2.

[0040] Understandably, the first flange bearing 313 allows the first Z-shaped support frame 321 to rotate about a vertical axis, thereby achieving orientation adjustment of the extended arm by transmitting torque generated by the first steering motor 311 to the first Z-shaped support frame 321. The second flange bearing 333 allows the second Z-shaped support frame 341 to rotate about a vertical axis, thereby achieving orientation adjustment of the extended arm 2 by transmitting torque generated by the second steering motor 331 to the second Z-shaped support frame 341.

[0041] In one embodiment, such as Figures 1 to 3 As shown, the second walking assembly 34 includes a second Z-shaped support frame 341, a second walking motor 342, a second walking reducer 343 connected to the second walking motor 342, and the second walking reducer 343 connected to a second drive wheel 345 via a second coupling 344. The second drive wheel 345 is mounted on the second Z-shaped support frame 341.

[0042] The output shaft of the second steering reducer 332 passes through the crossbeam 35 and connects to the top of the second Z-shaped support frame 341 to achieve the steering orientation adjustment of the extended angle arm 2. Understandably, the steering assembly 3 uses two independent motors (the first travel motor 322 and the second travel motor 342) to control the steering angle and speed of the two drive wheels (the first drive wheel 325 and the second drive wheel 345) respectively, forming differential coordination, so that the extended angle arm 2 can actively extend and rotate around the universal joint assembly 1 at a preset angle, thereby stretching the spraying boundary from a circle to an approximately rectangular or polygonal shape, ensuring that the additional nozzle accurately covers the outermost corner area (corner area 16) of the field.

[0043] Understandably, the steering assembly 3 uses two independent motors (first travel motor 322 and second travel motor 342) to control the steering angle and speed of the two drive wheels (first drive wheel 325 and second drive wheel 345) respectively, forming differential coordination, so that the extended angle arm 2 can actively extend and rotate around the universal joint assembly 1 at a preset angle, thereby stretching the spraying boundary from a circle to an approximate rectangle or polygon, ensuring that the additional nozzle accurately covers the outermost corner area (corner area 16) of the field.

[0044] Furthermore, it is understandable that the first steering drive unit 31 and the first drive wheel 325, and the second steering drive unit 33 and the second drive wheel 345 can be independently controlled by the motor control unit. The motor control unit coordinates the output of steering angle command and speed command based on the angle signal of the main rotating arm 5 (which can be obtained through an encoder or GPS) and the position feedback of the extended angle arm 2 (which can be obtained through a built-in IMU sensor or wheel speed meter), so that the first drive wheel 325 and the second drive wheel 345 work at a differential speed. This ensures that the extended angle arm 2 moves in the corner area 16 of the field according to the speed law of each drive wheel. That is, this differential drive method allows the extended angle arm 2 to flexibly adjust its movement trajectory, ensuring that the angle between the two in the horizontal plane changes continuously while rotating synchronously with the main rotating arm 5 around the central support 6, but always maintains coordinated movement. Ultimately, the end of the extended angle arm 2 can precisely cover the corner area 16 of the field, avoiding repeated or missed irrigation, thus ensuring that the extended angle arm 2 and the main rotating arm 5 remain connected and achieve uniform irrigation, significantly improving irrigation coverage and water resource utilization efficiency. At the same time, the device has a simple structure and reliable control. This device has the advantages of simple structure and reliable control, can expand the irrigation coverage area, solve the problem of irrigation blind spots in farmland corners, and improve coverage and water resource utilization efficiency.

[0045] In one embodiment, such as Figures 1 to 3 As shown, the first steering motor 311 drives the first Z-shaped support frame 321 to rotate, thereby adjusting the rotation direction of the first drive wheel 325; the second steering motor 331 drives the second Z-shaped support frame 341 to rotate, thereby adjusting the rotation direction of the second drive wheel 345; at the same time, the first travel motor 322 and the second travel motor 342 adjust the speed of the first drive wheel 325 and the second drive wheel 345 to form the differential drive coordination, so as to realize the extension and retraction of the extended arm 2.

[0046] In one embodiment, such as Figure 2 and Figure 3 As shown, the extended angle arm 2 includes an extended horizontal tube 21 and a vertical arm 23 connected to the extended horizontal tube 21 via a connector 22. The vertical arm 23 is connected to the crossbeam 35 via a flange 8.

[0047] In one embodiment, such as Figure 2 and Figure 3 As shown, the extended horizontal pipe 21 connects to multiple branch pipes 24, and the irrigation auxiliary nozzle 4 is installed at the end of each branch pipe 24. Understandably, the irrigation auxiliary nozzle 4 is a rotating nozzle with adjustable spray width, capable of producing a fan-shaped or circular water mist coverage.

[0048] In one embodiment, as shown in Figure 3, the universal joint assembly 1 includes a left-hand bend support 11, a right-hand bend support 12, and a universal joint 13 connecting the left-hand bend support 11 and the right-hand bend support 12. The left-hand bend support 11, the right-hand bend support 12, and the universal joint 13 are coaxially connected. Understandably, the extended angle arm 2 allows the extended angle arm 2 to rotate with the central support while flexibly adjusting its angle in the horizontal plane to extend the irrigation coverage to the corner area 16 of the field. The universal joint 13 adopts a cross-axis universal joint structure, allowing the left-hand bend support 11 and the right-hand bend support 12 to deflect at limited angles in the horizontal and vertical directions. This design enables the extended angle arm 2 to adapt to angle changes when moving on uneven terrain, ensuring the water pipe connection remains sealed and achieving leak-free water transmission, while effectively buffering and releasing the torque and shear force generated during movement, thereby protecting the mechanical connections from overload damage and ensuring the reliability of the system under complex field conditions.

[0049] One end of the left-hand bend bracket 11 is welded to the main pipe 7, and the other end of the right-hand bend bracket 12 is welded to the extension horizontal pipe 21. The main pipe 7 and the extension horizontal pipe 21 are connected by a rubber hose 9. Understandably, the rubber hose 9 is connected to both the main pipe 7 and the extension horizontal pipe 21 via clamps, allowing water to flow from the main pipe 7 into the rubber hose 9 and then through the extension horizontal pipe 21 to the branch pipe 24 for irrigation. Furthermore, the rubber hose 9 is made of pressure-resistant rubber material and is fastened to both ends by metal clamps. Its key function is to provide flexible buffering for the system. When the extension arm 2 rotates around the universal joint 13 or adapts to uneven terrain, the rubber hose 9 can bend and extend at a certain angle, compensating for displacement deviations caused by the deflection of the rubber hose 9, ensuring the continuity and sealing of the water flow channel. This flexible connection absorbs mechanical vibration and impact, preventing rigid pipes from cracking or leaking due to torsional deformation, and also allows for a wider range of angle adjustments in conjunction with the universal joint 13, thereby ensuring the reliability and service life of the entire extension device under complex field conditions.

[0050] The present invention also provides a sprinkler irrigation machine, including the aforementioned center-pivot sprinkler irrigation mechanism with an expandable spray trajectory. In the sprinkler irrigation machine of the above embodiments of the present invention, the center-pivot sprinkler irrigation mechanism with an expandable spray trajectory includes a universal joint assembly 1, an extension arm 2, a steering assembly 3, and multiple additional irrigation nozzles 4 mounted on the extension arm 2. The first end of the universal joint assembly 1 is connected to a central support 6 via a main rotating arm 5 and communicates with a main pipe 7. The second end of the universal joint assembly 1 is connected to the extension arm 2. The steering assembly 3 is mounted at the end of the extension arm 2 and supported on the ground. The steering assembly 3 is used to coordinate the rotation of the extension arm 2 around the universal joint assembly 1 at a preset angle via differential drive, so that the spray trajectory of the additional irrigation nozzles 4 expands to an approximately rectangular or polygonal shape, thereby covering the corner areas 16 of the rectangular irrigation area.

[0051] The working process of the sprinkler irrigation machine in the above embodiments of the present invention is as follows:

[0052] Water is pumped in from the central support 6 via the main pipe 7 attached to the end of the sprinkler machine through the universal connector 1, and flows into the extension horizontal pipe 21 through the main pipe 7 and the rubber hose 9. Then, it is sprayed through the extension horizontal pipe 21 to achieve basic irrigation.

[0053] When the main rotating arm 5 rotates around the central support 6 at a constant angular velocity, the motor control unit receives the angle signal of the main rotating arm 5 (acquired via an encoder or GPS) and the position feedback of the extended arm 2 (acquired via a built-in IMU sensor or wheel speed gauge) in real time. The control unit can calculate the required steering angle and speed commands according to the wheel kinematics model, and control two independent steering components 3 (first steering drive unit 31 and second steering drive unit 33) and two travel components (first travel component 32 and second travel component 34). Specifically, when the extended arm 2 needs to extend outward to cover the corner area 16, the first steering motor 311 and the second steering motor 331 are activated simultaneously. Through coordinated control, the combined velocity direction of the first drive wheel 325 and the second drive wheel 345 is aligned with the tangent direction of the predetermined trajectory, thereby guiding the extended arm 2 to form a suitable angle with the main rotating arm 5. During this process, the first steering motor 311 drives the first steering reducer 312, and drives the first Z-shaped support frame 321 to rotate via the first flange bearing 313, so as to adjust the direction of the first drive wheel 325 in real time; at the same time, the second steering motor 331 drives the first steering reducer 332, and drives the second Z-shaped support frame 341 to rotate via the second flange bearing 333, so as to adjust the direction of the second drive wheel 345 in real time.

[0054] Simultaneously, the first traveling assembly 32 drives the first drive wheel 325 forward via the first coupling 324, and the second traveling assembly 34 drives the second drive wheel 345 forward via the second coupling 344; this increases the wheel speed of the outer drive wheel and decreases the wheel speed of the inner drive wheel, creating a differential motion between the first drive wheel 325 and the second drive wheel 345, thus achieving a smooth extension of the extended arm 2 to the furthest point of the rounded corner area. Then, the extended arm 2 retracts. Similarly, during the retraction of the extended arm 2, the control commands for the extension process are executed in reverse. The absolute values ​​of the motion parameters for these two extension and retraction processes are the same. During this process, the universal joint 13 buffers torque and angle changes, ensuring that the extension pipe 21 remains horizontal, and water is continuously sprayed through the extension pipe 21. The entire process ensures that the trajectory of the end of the extended arm 2 transitions from a straight line segment to an arc segment, covering the edges and corners of the field without omissions or repeated spraying. In application examples, such as... Figure 5 As shown, the sprinkler extends the irrigation trajectory from the circular corner arm main irrigation area 15 to the approximately rectangular corner area 16, significantly improving irrigation coverage. It also adapts to wind speed and terrain changes through control algorithms to ensure uniform irrigation.

[0055] The above-described embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included within the protection scope of the present invention.

Claims

1. A center-supported sprinkler irrigation mechanism with an expandable spray trajectory, characterized in that, It includes a universal joint assembly (1), an extension arm (2), a steering assembly (3), and multiple additional irrigation nozzles (4) mounted on the extension arm (2); the first end of the universal joint assembly (1) is connected to the central support (6) via the main rotating arm (5) and is connected to the main pipe (7); the second end of the universal joint assembly (1) is connected to the extension arm (2); the steering assembly (3) is mounted on the end of the extension arm (2) and supported on the ground. The steering assembly (3) is used to drive the extended angle arm (2) to rotate around the universal joint assembly (1) at a preset angle through differential drive coordination, so that the spray trajectory of the irrigation auxiliary nozzle (4) is extended into an approximate rectangle or polygon, thereby covering the corner area (16) of the rectangular irrigation area.

2. The center-supported sprinkler irrigation mechanism with expandable spray trajectory according to claim 1, characterized in that, The steering assembly (3) includes a first steering drive unit (31), a first travel assembly (32) connected to the first steering drive unit (31), a second steering drive unit (33), a second travel assembly (34) connected to the second steering drive unit (33), and a crossbeam (35). The first steering drive unit (31) includes a first steering motor (311) and a first steering reducer (312) connected to the first steering motor (311). A first flange bearing (313) is provided between the first steering reducer (312) and the crossbeam (35), and the output shaft of the first steering reducer (312) passes through the crossbeam (35) and is connected to the first travel assembly (32). The second steering drive unit (33) includes a second steering motor (331) and a second steering reducer (332) connected to the second steering motor (331). A second flange bearing (333) is provided between the second steering reducer (332) and the crossbeam (35), and the output shaft of the second steering reducer (332) passes through the crossbeam (35) and is connected to the second travel assembly (34).

3. The center-supported sprinkler irrigation mechanism with expandable spray trajectory according to claim 2, characterized in that, The first walking assembly (32) includes a first Z-shaped support frame (321), a first walking motor (322), a first walking reducer (323) connected to the first walking motor (322), the first walking reducer (323) being connected to a first drive wheel (325) via a first coupling (324), and the first drive wheel (325) being mounted on the first Z-shaped support frame (321); The output shaft of the first steering reducer (312) passes through the crossbeam (35) and is connected to the top of the first Z-shaped support frame (321).

4. The center-supported sprinkler irrigation mechanism with expandable spray trajectory according to claim 3, characterized in that, The second walking assembly (34) includes a second Z-shaped support frame (341), a second walking motor (342), a second walking reducer (343) connected to the second walking motor (342), the second walking reducer (343) being connected to a second drive wheel (345) via a second coupling (344), and the second drive wheel (345) being mounted on the second Z-shaped support frame (341); The output shaft of the second steering reducer (332) passes through the crossbeam (35) and is connected to the top of the second Z-shaped support frame (341).

5. The center-supported sprinkler irrigation mechanism with expandable spray trajectory according to claim 4, characterized in that, The first steering motor (311) drives the first Z-shaped support frame (321) to rotate, thereby adjusting the rotation direction of the first drive wheel (325); the second steering motor (331) drives the second Z-shaped support frame (341) to rotate, thereby adjusting the rotation direction of the second drive wheel (345); at the same time, the first travel motor (322) and the second travel motor (342) adjust the speed of the first drive wheel (325) and the second drive wheel (345) to form the differential drive coordination, thereby realizing the extension and retraction of the extended arm (2).

6. The center-supported sprinkler irrigation mechanism with expandable spray trajectory according to claim 5, characterized in that, The extended angle arm (2) includes an extended horizontal tube (21) and a vertical arm (23) connected to the extended horizontal tube (21) via a joint (22), the vertical arm (23) being connected to the crossbeam (35) via a flange (8).

7. The center-supported sprinkler irrigation mechanism with expandable spray trajectory according to claim 6, characterized in that, The extension pipe (21) connects to multiple branch pipes (24), and the irrigation auxiliary nozzle (4) is installed at the end of each branch pipe (24).

8. The center-supported sprinkler irrigation mechanism with expandable spray trajectory according to claim 7, characterized in that, The universal joint assembly (1) includes a left bend neck bracket (11), a right bend neck bracket (12), and a universal joint (13) connecting the left bend neck bracket (11) and the right bend neck bracket (12), wherein the left bend neck bracket (11), the right bend neck bracket (12), and the universal joint (13) are coaxially connected. One end of the left-hand neck support (11) is welded to the main pipe (7), and the other end of the right-hand neck support (12) is welded to the extension horizontal pipe (21); the main pipe (7) and the extension horizontal pipe (21) are connected by a rubber hose (9).

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