Spraying machine spray boom pose adjusting system and adjusting method

Abstract

The invention discloses a spraying machine spraying rod pose adjusting system and method, the adjusting system comprises a multi-stage hydraulic damping adjustable module, and the multi-stage hydraulic damping adjustable module comprises a first oil cylinder, a first adjusting oil way, a second adjusting oil way and two pressure sensors; the first output end and the second output end of the first oil cylinder are used for being connected with a spraying rod suspension of the spraying machine. The first adjusting oil way is communicated with the first oil cavity and the second oil cavity, and an electromagnetic switch valve is arranged on the first adjusting oil way; when the pressure of the first oil cavity or the second oil cavity meets a first target condition, the electromagnetic switch valve conducts the first adjusting oil way; the second adjusting oil way is communicated with the first oil cavity and the second oil cavity, and at least one proportional electromagnetic valve is arranged on the second adjusting oil way; when the pressure of the first oil cavity or the second oil cavity meets a second target condition, at least one proportional electromagnetic valve is opened to a specified degree to conduct a second adjusting oil way; the second target condition is not smaller than the first target condition.

Description

Technical Field

[0001] This application relates to the field of agricultural machinery technology, and in particular to a sprayer boom position adjustment system and adjustment method. Background Technology

[0002] With the continuous development of agricultural technology and the increasing demand for food, agriculture has entered the era of mechanized production. Mechanized agricultural production reduces the workload of workers while improving efficiency and quality, representing a trend in agricultural development. Agricultural machinery includes equipment used in food production and processing, such as sprayers, which are mechanical devices used to spray pesticides onto crops during the crop production stage.

[0003] Most spraying mechanisms integrate a spray boom mechanism on a transport vehicle, using hydraulic control to extend or retract the spray boom, and then spraying the medicine out of the medicine tank under pressure to achieve the purpose of spraying.

[0004] However, in actual production, the ground in the field or between rows cannot be completely flat, and uneven ground often causes the spray boom to tilt. The tilt of the spray boom not only affects the spraying effect, but may also cause the crop to be hit or the end to touch the ground, which seriously affects the final harvest and the safety of the spray boom operation. Summary of the Invention

[0005] The first aspect of this application provides a sprayer boom position adjustment system, which includes...

[0006] A multi-stage hydraulic damping adjustable module, the multi-stage hydraulic damping adjustable module comprising:

[0007] The first hydraulic cylinder has a first output end and a second output end facing away from each other, and the first output end and the second output end are used to connect to the spray boom suspension of the sprayer;

[0008] A first regulating oil circuit is provided, with its two ends connected to a first oil chamber and a second oil chamber, respectively. An electromagnetic switch valve is provided on the first regulating oil circuit. When the pressure in the first oil chamber or the second oil chamber meets the first target condition, the electromagnetic switch valve opens the first regulating oil circuit.

[0009] The second regulating oil circuit has its two ends connected to the first oil chamber and the second oil chamber, respectively. The second regulating oil circuit is provided with at least one proportional solenoid valve. When the pressure of the first oil chamber or the second oil chamber meets the second target condition, at least one of the proportional solenoid valves is opened to a specified degree to conduct the second regulating oil circuit.

[0010] Two pressure sensors are respectively provided for the first oil chamber and the second oil chamber to detect the pressure in the first oil chamber and the second oil chamber respectively;

[0011] Wherein, the first oil chamber is the oil chamber where the first output end is located, and the second oil chamber is the oil chamber where the second output end is located; the second target condition is not less than the first target condition.

[0012] In some modified embodiments of the first aspect of this application, the aforementioned sprayer boom position adjustment system, wherein the second adjustment oil circuit includes a first sub-adjustment oil circuit and a second sub-adjustment oil circuit connected in parallel;

[0013] The first sub-regulating oil circuit is connected to the first oil chamber and the second oil chamber at both ends respectively. The first sub-regulating oil circuit is provided with a first check valve and a first proportional solenoid valve to regulate the hydraulic oil flow rate from the first oil chamber to the second oil chamber via the first sub-regulating oil circuit.

[0014] The two ends of the second sub-regulating oil circuit are respectively connected to the first oil chamber and the second oil chamber. The second sub-regulating oil circuit is provided with a second check valve and a second proportional solenoid valve to regulate the hydraulic oil flow rate from the second oil chamber to the first oil chamber via the second sub-regulating oil circuit.

[0015] In some modified embodiments of the first aspect of this application, the aforementioned sprayer boom position adjustment system further includes a controller and an ultrasonic sensor;

[0016] The ultrasonic sensor is used to detect the distance between the spray boom and the ground when it is deployed.

[0017] The controller is signal-connected to the ultrasonic sensor, the pressure sensor, the electromagnetic switching valve, the first proportional solenoid valve, and the second proportional solenoid valve;

[0018] When the pressure in the first oil chamber or the second oil chamber meets the first target condition, the controller can open the electromagnetic switch valve; when the pressure in the first oil chamber or the second oil chamber meets the second target condition, the controller can close the electromagnetic switch valve and adjust the opening degree of the first proportional solenoid valve or the second proportional solenoid valve according to the detection result of the ultrasonic sensor.

[0019] In some modified embodiments of the first aspect of this application, the aforementioned sprayer boom position adjustment system, wherein a first throttling orifice is provided in the first adjustment oil line in the direction toward the first oil chamber;

[0020] The multi-stage hydraulic damping adjustable module also includes a first oil circuit, a second oil circuit, a first pressure relief valve, a second pressure relief valve, and a third pressure relief valve;

[0021] The first oil circuit is connected to the oil tank and the first oil chamber at both ends, respectively. A third check valve is provided on the first oil circuit to guide the flow of hydraulic oil to the first oil chamber.

[0022] The two ends of the second oil circuit are respectively connected to the oil tank and the second oil chamber. A fourth check valve is provided on the second oil circuit to guide the flow direction of hydraulic oil to the second oil chamber.

[0023] The inlet and outlet ends of the first pressure relief valve are respectively connected to the first oil chamber and the second oil chamber;

[0024] The inlet and outlet ends of the second pressure relief valve are respectively connected to the second oil chamber and the first oil chamber;

[0025] The inlet end of the third pressure relief valve is connected to the outlet end of the first pressure relief valve and the inlet end of the second pressure relief valve, and the outlet end of the third pressure relief valve is connected to the oil tank.

[0026] In some modified embodiments of the first aspect of this application, the aforementioned sprayer boom position adjustment system further includes a second hydraulic cylinder;

[0027] The second hydraulic cylinder is simultaneously hinged to both the spray boom suspension and the spray boom mounting bracket of the sprayer;

[0028] The controller can control the extension or retraction of the second cylinder based on the detection results of the ultrasonic sensor to adjust and maintain the state of the spray bar suspension parallel to the ground.

[0029] In some modified embodiments of the first aspect of this application, the aforementioned sprayer boom position adjustment system further includes a two-stage hydraulic pressure shock absorption module, which includes a lifting cylinder group and an energy storage component.

[0030] The lifting cylinder assembly includes a first lifting cylinder and a second lifting cylinder. The output ends of the first lifting cylinder and the second lifting cylinder are used to connect to the spray boom fixing frame of the sprayer. The oil chambers of the first lifting cylinder and the second lifting cylinder are both connected to the oil tank. The rodless chambers of the first lifting cylinder and the rodless chambers of the second lifting cylinder are simultaneously connected to the buffer pipeline.

[0031] The energy storage component is connected to the buffer pipeline via a proportional control valve, which can adjust the flow rate from the buffer pipeline to the energy storage component.

[0032] In some modified embodiments of the first aspect of this application, the aforementioned sprayer boom position adjustment system, wherein the energy storage component includes a first energy storage unit and a second energy storage unit;

[0033] The first accumulator is connected to the buffer pipeline via a first proportional control valve;

[0034] The second accumulator is connected to the buffer pipeline via a second proportional control valve;

[0035] A second pressure sensor is provided in the rodless chamber of the first lifting cylinder and / or the rodless chamber of the second lifting cylinder;

[0036] Wherein, the volume of the first accumulator is larger than the volume of the second accumulator; when the pressure of the rodless chamber of the first lifting cylinder and / or the rodless chamber of the second lifting cylinder meets the third target condition, the first proportional control valve opens and adjusts the flow rate of the buffer pipeline to the first accumulator; when the pressure of the rodless chamber of the first lifting cylinder and / or the rodless chamber of the second lifting cylinder meets the fourth target condition, the second proportional control valve opens and adjusts the flow rate of the buffer pipeline to the second accumulator; the fourth target condition is not less than the third target condition.

[0037] In some modified embodiments of the first aspect of this application, the aforementioned sprayer boom position adjustment system further includes a dual-balance pressure-maintaining circuit.

[0038] The dual-balance pressure-holding circuit includes a first balance valve, a second balance valve, a fifth check valve, and a sixth check valve;

[0039] The inlet and outlet of the first balance valve are respectively connected to the inlet and outlet of the fifth check valve to form a first inlet and a first outlet, respectively. The first inlet and the first outlet are respectively connected to the oil tank and the rodless chamber of the second cylinder. The fifth check valve allows hydraulic oil to flow from the oil tank to the rodless chamber of the second cylinder, and a second throttling orifice is provided at the first outlet. The inlet and outlet of the second balance valve are respectively connected to the inlet and outlet of the sixth check valve to form a second inlet and a second outlet, respectively. The second inlet and the second outlet are respectively connected to the rod chamber of the second cylinder and the oil tank. The sixth check valve allows hydraulic oil to flow from the rod chamber of the second cylinder to the oil tank, and a third throttling orifice is provided at the second inlet.

[0040] The first pilot control port of the first balancing valve is connected to the second outlet, and the second pilot control port of the second balancing valve is connected to the first inlet.

[0041] In some modified embodiments of the first aspect of this application, the aforementioned sprayer boom position adjustment system further includes a load-sensitive circuit, which includes a variable pump, a first shuttle valve, a second shuttle valve, and a third shuttle valve;

[0042] The input end of the variable pump is connected to the oil tank, and the output end of the variable pump is connected to the first oil cylinder and the second oil cylinder;

[0043] The first input end of the first shuttle valve is connected to the first oil cylinder, and the second input end of the first shuttle valve is connected to the oil tank;

[0044] The first input end of the second shuttle valve is connected to the second oil cylinder, and the second input end of the second shuttle valve is connected to the oil tank;

[0045] The first and second input terminals of the third shuttle valve are respectively connected to the output terminals of the first and second shuttle valves; the output terminal of the third shuttle valve is connected to the variable control port of the variable pump.

[0046] A second aspect of this application provides a method for adjusting the position and posture of a sprayer boom, which includes the following steps:

[0047] Obtain the pressure in the first and second oil chambers of the first oil cylinder;

[0048] When the pressure in the first oil chamber or the second oil chamber meets the first target condition, the electromagnetic switch valve is opened to connect the first regulating oil circuit between the first oil chamber and the second oil chamber.

[0049] When the pressure in the first oil chamber or the second oil chamber meets the second target condition, at least one proportional solenoid valve is opened to connect the second regulating oil circuit that connects the first oil chamber and the second oil chamber.

[0050] In some modified embodiments of the second aspect of this application, when the pressure in the aforementioned first oil chamber or second oil chamber meets the second target condition, the method of opening at least one proportional solenoid valve to conduct the second regulating oil circuit connecting the first oil chamber and the second oil chamber includes:

[0051] When the pressure in the first oil chamber meets the second target condition, the first proportional solenoid valve is opened to connect the first sub-regulating oil circuit that connects the first oil chamber and the second oil chamber, so that the hydraulic oil in the first oil chamber enters the second oil chamber.

[0052] When the pressure in the second oil chamber meets the second target condition, the second proportional solenoid valve is opened to connect the second sub-regulating oil circuit that connects the first oil chamber and the second oil chamber, so that the hydraulic oil in the second oil chamber enters the first oil chamber.

[0053] In some modified embodiments of the second aspect of this application, when the pressure in the aforementioned first oil chamber or second oil chamber meets the second target condition, the method of opening at least one proportional solenoid valve to conduct the second regulating oil circuit connecting the first oil chamber and the second oil chamber includes:

[0054] Obtain the distance between the deployed spray boom and the ground;

[0055] The required pressure for the first or second oil chamber is determined based on the distance between the spray bar and the ground in the deployed state.

[0056] According to the required pressure of the first oil chamber or the second oil chamber, the opening degree of the first proportional solenoid valve or the second proportional solenoid valve is opened and adjusted according to the specified rules to connect the first sub-regulating oil circuit or the second sub-regulating oil circuit connecting the first oil chamber and the second oil chamber.

[0057] In some modified embodiments of the second aspect of this application, the following steps are also included:

[0058] Obtain the distance between the deployed spray boom and the ground;

[0059] The balancing force required to keep the boom suspension parallel to the ground is determined based on the distance between the boom and the ground in the deployed state.

[0060] Adjust the jacking force of the second hydraulic cylinder according to the balancing force required for the spray boom suspension to remain parallel to the ground.

[0061] In some modified embodiments of the second aspect of this application, the following steps are also included:

[0062] Obtain the pressure of the rodless chamber of the first lifting cylinder and the rodless chamber of the second lifting cylinder;

[0063] When the pressure in the rodless chamber of the first lifting cylinder and / or the rodless chamber of the second lifting cylinder meets the third target condition, the first proportional control valve is opened and the flow rate from the rodless chamber of the first lifting cylinder and the rodless chamber of the second lifting cylinder to the first accumulator is adjusted.

[0064] When the pressure in the rodless chamber of the first lifting cylinder and / or the rodless chamber of the second lifting cylinder meets the fourth target condition, the second proportional control valve is opened and the flow rate from the rodless chamber of the first lifting cylinder and the rodless chamber of the second lifting cylinder to the second accumulator is adjusted.

[0065] Wherein, the fourth target condition is not less than the third target condition, and the volume of the first energy storage device is greater than the volume of the second energy storage device.

[0066] Compared to existing technologies, this application utilizes a multi-stage hydraulic damping adjustable module. By detecting the pressure in the first and second oil chambers of the first cylinder, it determines whether the spray boom will vibrate during the sprayer's movement. When the pressure meets the first target condition, it indicates slight vibration. At this point, the solenoid valve is opened to activate the first regulating oil circuit, allowing the hydraulic oil to passively reciprocate within the first and second oil chambers for buffering and damping absorption. When the pressure meets the second target condition, it indicates significant vibration. In this case, the solenoid valve is closed and the proportional solenoid valve is opened to activate the second regulating oil circuit. This specifically regulates the reciprocating motion of the hydraulic oil within the first and second oil chambers for buffering and damping absorption, providing different damping forces to eliminate spray boom vibration. This significantly improves the buffering effect, enabling the spray boom to maintain balance during movement. This overcomes vibration caused by uneven ground in fields or between rows, preventing issues such as affecting spraying efficiency, potentially causing crops to slap against the ground, the end of the boom touching the ground, or even impacting the final harvest and spray boom operation safety. Attached Figure Description

[0067] The above and other objects, features, and advantages of exemplary embodiments of this application will become readily understood by reading the following detailed description with reference to the accompanying drawings. In the drawings, several embodiments of this application are illustrated by way of example and not limitation, with the same or corresponding reference numerals denoteing the same or corresponding parts, wherein:

[0068] Figure 1 A schematic diagram of a portion of the spray boom of the sprayer provided in this embodiment is shown.

[0069] Figure 2 A schematic diagram of the structure of the sprayer boom position adjustment system provided in this embodiment is shown.

[0070] Figure 3 The schematic diagram illustrates the structure of the multi-stage hydraulic damping adjustable module in the sprayer boom position adjustment system provided in this embodiment;

[0071] Figure 4 The schematic diagram illustrates the structure of the two-stage hydraulic pressure shock absorption module in the sprayer boom position adjustment system provided in this embodiment.

[0072] Figure 5 The schematic diagram illustrates the structure of the dual-balance pressure-maintaining circuit in the sprayer boom position adjustment system provided in this embodiment;

[0073] Figure 6 A schematic diagram of the structure of the sprayer boom position adjustment system provided in this embodiment is shown.

[0074] Figure 7A schematic diagram illustrating the process of adjusting the position and posture of the spray boom provided in this embodiment is shown.

[0075] Figure 8 The schematic diagram illustrates a second process flow of the spray boom position adjustment method for a sprayer provided in this embodiment;

[0076] Reference numerals: 1. First oil cylinder; 11. First oil chamber; 12. Second oil chamber; 13. First regulating oil circuit; 131. Solenoid switch valve; 132. First throttle orifice; 133. First pressure relief valve; 14. Second regulating oil circuit; 141. First sub-regulating oil circuit; 142. Second sub-regulating oil circuit; 143. First proportional solenoid valve; 144. Second check valve; 145. Second proportional solenoid valve; 146. Second pressure relief valve; 147. Pressure sensor; 15. First oil circuit; 16. Third check valve; 161. Second oil circuit; 17. Fourth check valve; 171. Third pressure relief valve; 18. Solenoid proportional directional valve; 2. Controller; 3. Oil tank; 4. Fourth pressure relief valve; 41. Fifth pressure relief valve; 42. Ultrasonic sensor; 5. Second oil cylinder; 6. Lifting cylinder assembly; 7. First lifting cylinder; 71. Second lifting cylinder; 72. Buffer pipeline; 73. Second pressure sensor; 74. Energy storage assembly; 8. First energy storage assembly. Energy accumulator 81, second energy accumulator 82, first proportional control valve 83, second proportional control valve 84, dual balance pressure holding circuit 9, first balance valve 91, first pilot control port 911, second balance valve 92, second pilot control port 921, fifth check valve 93, sixth check valve 94, second throttle orifice 95, third throttle orifice 96, variable pump 10, first shuttle valve 101, second shuttle valve 102, third shuttle valve 103, fourth shuttle valve 104, fifth shuttle valve 105, sixth shuttle valve 106, seventh shuttle valve 107, eighth shuttle valve 108, ninth shuttle valve 109, tenth shuttle valve 110, third energy accumulator 21, third proportional control valve 22, third pressure sensor 23, left boom folding cylinder A, right boom folding cylinder B, left forearm folding cylinder C, right forearm folding cylinder D, spray boom suspension E, spray boom fixing bracket F, left contouring cylinder G, right contouring cylinder H. Detailed Implementation

[0077] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

[0078] In the description of the embodiments of this application, technical terms such as "first" and "second" are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly specifying the number, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, "multiple" means two or more, unless otherwise explicitly defined. "Vertical" is not strictly vertical, but...

[0079] It is within the allowable error range. "Parallel" is not parallel in the strict sense, but rather within the allowable error range. Words such as "include" or "contain" mean that the element preceding the word covers the element listed after the word, and do not exclude the possibility of covering other elements as well.

[0080] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0081] These embodiments are provided to make the disclosure thorough and complete, and to fully express the scope of the disclosure to those skilled in the art. It should be noted that, unless otherwise specifically stated, the relative arrangement of components and steps, material composition, numerical expressions, and values ​​set forth in these embodiments should be interpreted as exemplary only and not as limiting.

[0082] It should be noted that, in the description of this disclosure, unless otherwise stated, "a plurality of" means two or more; the terms "upper," "lower," "left," "right," "inner," and "outer," etc., indicating orientation or positional relationship, are only for the convenience of describing this disclosure 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 this disclosure. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0083] It should also be noted that, in the description of this disclosure, unless otherwise expressly specified and limited, the terms "installed," "connected," and "linked" 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 direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this disclosure depending on the specific circumstances. When a particular device is described as being located between a first device and a second device, an intermediary device may or may not be present between the particular device and the first or second device.

[0084] It should be noted that, unless otherwise stated, the technical or scientific terms used in this application shall have the ordinary meaning as understood by one of ordinary skill in the art to which this application pertains;

[0085] It should be noted that the term "and / or" in this article is merely a description of the relationship between related objects, indicating that there can be three relationships, such as A and / or B. Specifically, it can be understood as: A and B can be included at the same time, A can exist alone, or B can exist alone, and any of the above three situations can be met.

[0086] Most spraying systems integrate a boom mechanism onto a transport vehicle, using hydraulic control to extend or retract the boom. Under pressure, the pesticide is sprayed from the tank to achieve the desired spraying effect. However, in actual production, the ground in fields or between rows cannot be completely level, often resulting in uneven ground that causes the boom to tilt or vibrate. This tilting or vibration not only affects the spraying effect but can also cause the boom to slap against crops or touch the ground, seriously impacting the final harvest and the safety of boom operation.

[0087] Therefore, the spray boom position adjustment system provided in this embodiment determines whether the spray boom will vibrate during the sprayer's movement by detecting the pressure in the two oil chambers of the first oil cylinder. When slight vibration or significant vibration occurs, different adjustment oil circuits are used to specifically regulate the reciprocating motion of the hydraulic oil in the two oil chambers for buffering and damping absorption, providing different damping forces to eliminate the vibration of the spray boom. This greatly improves the buffering effect, enabling the spray boom to maintain balance during movement, thereby overcoming the vibration caused by uneven ground in the field or between rows, avoiding problems such as affecting the spraying effect or even causing the spray boom to hit crops, touch the ground at the end, or even affect the final harvest and the safety of spray boom operation.

[0088] The technical solution of this application embodiment is to solve the above-mentioned technical problems, and the idea is as follows:

[0089] Example 1

[0090] Reference Appendix Figure 1 and attached Figure 2The spray boom posture adjustment system provided in this application includes a multi-stage hydraulic damping adjustable module. The multi-stage hydraulic damping adjustable module includes a first cylinder 1, a first adjusting oil circuit 13, a second adjusting oil circuit 14, and two pressure sensors 15. The first cylinder 1 has a first output end and a second output end facing away from each other, which are used to connect to the spray boom suspension E of the sprayer. The two ends of the first adjusting oil circuit 13 are respectively connected to a first oil chamber 11 and a second oil chamber 12. An electromagnetic switch valve 131 is provided on the first adjusting oil circuit 13. When the pressure in the first oil chamber 11 or the second oil chamber 12 meets a first target condition, the electromagnetic switch valve 131 activates the first adjusting oil circuit. The two ends of the second regulating oil circuit 14 are respectively connected to the first oil chamber 11 and the second oil chamber 12. The second regulating oil circuit 14 is provided with at least one proportional solenoid valve. When the pressure of the first oil chamber 11 or the second oil chamber 12 meets the second target condition, at least one of the proportional solenoid valves is opened to a specified degree to conduct the second regulating oil circuit 14. Two pressure sensors 15 are respectively provided corresponding to the first oil chamber 11 and the second oil chamber 12 to detect the pressure of the first oil chamber 11 and the second oil chamber 12 respectively. The first oil chamber 11 is the oil chamber where the first output end is located, and the second oil chamber 12 is the oil chamber where the second output end is located. The second target condition is not less than the first target condition.

[0091] Understandably, to address the technical problem of sprayer booms being unable to overcome vibrations caused by uneven ground in fields or between rows, which affect spraying efficiency and may even result in crops being slapped, the boom tip touching the ground, or ultimately impacting the final harvest and the safety of boom operation, the sprayer boom position adjustment system provided in this embodiment, through the use of a pressure sensor 15, a first adjusting oil circuit 13, and a second adjusting oil circuit 14 in conjunction with the first hydraulic cylinder 1, controls the solenoid valve switch 14 to open and conduct the first adjusting oil circuit 13 when slight vibrations occur. This allows the hydraulic oil to passively reciprocate within the first oil chamber 11 and the second oil chamber 12 for buffering and damping absorption. To keep the spray boom stable; when significant vibration occurs, the solenoid valve switch 13 is closed and the proportional solenoid valve is opened to conduct the second regulating oil circuit 14, specifically controlling the flow rate and volume of the hydraulic oil reciprocating in the first oil chamber 11 and the second oil chamber 12 to provide different damping forces to eliminate the vibration of the spray boom, perform buffering and damping absorption, and keep the spray boom stable; greatly improving the buffering effect, enabling the spray boom to maintain balance during movement, thereby overcoming the vibration caused by uneven ground in the field or between rows, avoiding problems such as affecting the spraying effect or even causing the spray boom to hit crops, touch the ground at the end, or even affect the final harvest and the safety of spray boom operation.

[0092] Among them, reference appendix Figure 1The spray boom of this embodiment may include a left upper arm (not shown in the figure), a left lower arm (not shown in the figure), a right upper arm (not shown in the figure), a right lower arm (not shown in the figure), a boom suspension E, and a boom mounting bracket F. The boom mounting bracket F is detachably and movably mounted on the vehicle frame and remains fixed relative to the vehicle frame. The boom suspension E is movably mounted on the boom mounting bracket F, and the two form a trapezoidal mechanism. The left upper arm and the left lower arm are rotatably connected to the left and right ends of the boom suspension E, respectively. The left lower arm is rotatably connected to the end of the left upper arm away from the boom suspension E, and the right lower arm is rotatably connected to the end of the right upper arm away from the boom suspension E. The left upper arm, left lower arm, right upper arm, and right lower arm can all be unfolded and folded under the action of hydraulic cylinders. Correspondingly, left upper arm folding cylinder A and right upper arm folding cylinder B can be set for the left upper arm and right upper arm, respectively, and left lower arm folding cylinder C and right lower arm folding cylinder D can be set for the left lower arm and right lower arm, respectively. Taking the left upper arm as an example, when the output end of the left upper arm cylinder A is pushed out, the left upper arm folds towards both sides of the vehicle body and is close to the sides of the vehicle body. When the output end of the left upper arm cylinder A is retracted, the left upper arm unfolds away from the vehicle body to form a spray posture. The same applies to the right upper arm, left lower arm, and right lower arm, which will not be elaborated here. In this embodiment, a left contour cylinder G and a right contour cylinder H can be respectively set for the left and right upper arms. The left contour cylinder G and the right contour cylinder H can independently control the angle of the left upper arm (including the left forearm) and the right upper arm (including the right forearm) relative to the spray boom suspension E to adapt to crops of different heights. For example, ultrasonic sensors can be used to detect the distance between the left and right forearms and the top of the crop, and adjustments can be made according to the preset reference distance range to keep the distance between the spray boom and the top of the crop stable and within the reference distance range, so as to ensure the spraying effect. In this embodiment, a first hydraulic cylinder 1 can also be installed on the spray boom suspension E. The first hydraulic cylinder 1 is a double-headed hydraulic cylinder, with its first output end and second output end connected to the left and right side frames of the spray boom suspension E, respectively. This allows the first hydraulic cylinder 1 to provide corresponding damping to absorb the corresponding pressure when uneven ground causes any large or small arm to tilt or shake the spray boom suspension. It is easy to understand that the first hydraulic cylinder 1 has a first oil chamber 11 and a second oil chamber 12. Correspondingly, in this embodiment, an electromagnetic proportional directional valve 2 can be installed for each of the above-mentioned hydraulic cylinders. The electromagnetic proportional directional valve 2 is installed between the oil tank 4 and the hydraulic cylinder to form an oil supply circuit. The above content can be easily understood and implemented by those skilled in the art, and will not be elaborated further here.

[0093] The first regulating oil circuit 13 can serve as a passive buffer oil circuit between the first oil chamber 11 and the second oil chamber 12. That is, when the road surface unevenness is minor, the electromagnetic switch valve 131 can be opened to provide a channel for the reciprocating oil return buffer between the first oil chamber 11 and the second oil chamber 12. For example, when road surface unevenness causes the spray boom or spray boom suspension E to tilt towards the first oil chamber 11, and the load at the first output end increases until the pressure in the first oil chamber 11 meets the first target condition, the electromagnetic switch valve 131 is opened, and the hydraulic oil in the first oil chamber 11 can flow into the second oil chamber 12 through the first regulating oil circuit 13. Conversely, the same applies to the second oil chamber 12. It is easy to understand that the electromagnetic switch valve 131, located on the first regulating oil circuit 13, controls the opening and closing of the first regulating oil circuit 13. It only has two states, open and closed, and it has no directional limitation. In this embodiment, the first target condition can be adjusted according to actual needs, and can be, but is not limited to, set to 20MPa ≤ first target condition < 24MPa. In this embodiment, a first throttle orifice 132 can also be provided on the first regulating oil circuit 13. The first throttle orifice 132 has no directional restriction. It can control the hydraulic oil flow by reducing the flow area and increasing the hydraulic resistance, thereby playing the roles of flow regulation, pressure control, and stable damping. Furthermore, the first throttle orifice 132 can be provided on the first regulating oil circuit 13 to cooperate with the solenoid valve 131 to regulate the flow in the first regulating oil circuit 13. This allows the pressure shock generated when the hydraulic oil in the first regulating oil circuit 13 changes direction or stops to be consumed by the first throttle orifice 132, effectively protecting the first oil cylinder 1 and improving the stability and reliability of the multi-stage hydraulic damping adjustable module or even the entire system. The first throttle orifice 132 can be provided on the side of the solenoid valve 131 facing the first oil chamber 11 or on the side of the solenoid valve 131 facing the second oil chamber 12.

[0094] The second regulating oil circuit 14 can serve as a semi-active buffer oil circuit between the first oil chamber 11 and the second oil chamber 12. When the road surface is severely uneven, the opening of the proportional solenoid valve can be controlled according to the degree of load change to provide targeted damping, thus providing a channel for the reciprocating oil return buffer between the first oil chamber 11 and the second oil chamber 12. It is easy to understand that the proportional solenoid valve is an electrically controlled valve body capable of adjusting its opening. For example, when the road surface unevenness causes the spray boom or spray boom suspension E to tilt towards the first oil chamber 11, and the load at the first output end increases until the pressure in the first oil chamber 11 meets the second target condition, then the electromagnetic switch valve 131 is controlled to close and the proportional solenoid valve is controlled to open. The hydraulic oil in the first oil chamber 11 can flow into the second oil chamber 12 through the second regulating oil circuit 14. The specific opening of the proportional solenoid valve can be adjusted according to the specific pressure in the first oil chamber 11, and vice versa for the second oil chamber 12. In this embodiment, the second target condition can be set and adjusted according to actual needs, and can be, but is not limited to, set to a second target condition ≥ 24 MPa.

[0095] Of course, it is understandable that the multi-stage hydraulic damping adjustable module in this embodiment may also include a first oil circuit 16 and a second oil circuit 17; the two ends of the first oil circuit 16 are respectively connected to the oil tank 4 and the first oil chamber 11, and a third check valve 161 is provided on the first oil circuit 16 to guide the flow of hydraulic oil to the first oil chamber 11; the two ends of the second oil circuit 17 are respectively connected to the oil tank 4 and the second oil chamber 12, and a fourth check valve 171 is provided on the second oil circuit 17 to guide the flow of hydraulic oil to the second oil chamber 12. In this embodiment, oil can be supplied to the first oil chamber 11 and the second oil chamber 12 through the first oil circuit 16 and the second oil circuit 17 respectively, while the third check valve 161 and the fourth check valve 171 can only allow hydraulic oil flowing to the first oil cylinder 1 to pass through. Referring to the foregoing, in this embodiment, the first oil circuit 16 and the second oil circuit 17 can be connected to the oil tank through the electromagnetic proportional directional valve 2 to form an oil supply circuit. This setting is easily understood by those skilled in the art and will not be elaborated here.

[0096] Based on the above, this application uses a multi-stage hydraulic damping adjustable module to detect whether the spray boom will vibrate during the sprayer's movement by monitoring the pressure in the first oil chamber 11 and the second oil chamber 12 of the first oil cylinder 1. When the pressure meets the first target condition, it indicates a slight vibration. At this time, the solenoid valve switch 131 is opened to conduct the first regulating oil circuit 13, allowing the hydraulic oil to passively reciprocate in the first oil chamber 11 and the second oil chamber 12 for buffering and damping absorption. When the pressure meets the second target condition, it indicates a larger vibration. In the event of intense vibration, the solenoid valve switch 131 is closed, and the proportional solenoid valve is opened to conduct the second regulating oil circuit 14. This allows for targeted control of the reciprocating motion of the hydraulic oil in the first oil chamber 11 and the second oil chamber 12 to buffer and dampen the vibration, providing different damping forces to eliminate the vibration of the spray boom. This greatly improves the buffering effect, enabling the spray boom to maintain balance during its movement. This overcomes the vibration caused by uneven ground in the field or between rows, avoiding problems such as affecting the spraying effect or even causing the spray boom to hit crops, touch the ground at the end, or affect the final harvest and the safety of the spray boom operation.

[0097] Further, see attached document. Figure 2 and attached Figure 3 In the spray boom position adjustment system provided in this embodiment, the second adjustment oil circuit 14 includes a first sub-adjustment oil circuit 141 and a second sub-adjustment oil circuit 142 connected in parallel. The two ends of the first sub-adjustment oil circuit 141 are respectively connected to the first oil chamber 11 and the second oil chamber 12. The first sub-adjustment oil circuit 141 is provided with a first one-way valve 143 and a first proportional solenoid valve 144 to adjust the hydraulic oil flow rate from the first oil chamber 11 to the second oil chamber 12 via the first sub-adjustment oil circuit 141. The two ends of the second sub-adjustment oil circuit 142 are respectively connected to the first oil chamber 11 and the second oil chamber 12. The second sub-adjustment oil circuit 142 is provided with a second one-way valve 145 and a second proportional solenoid valve 146 to adjust the hydraulic oil flow rate from the second oil chamber 12 to the first oil chamber 11 via the second sub-adjustment oil circuit 142.

[0098] Understandably, to improve the buffering effect and prevent backflow from affecting the balance of the spray bar, this embodiment can configure the second regulating oil circuit 14 to include a first sub-regulating oil circuit 141 and a second sub-regulating oil circuit 142. The first sub-regulating oil circuit 141 is equipped with a first check valve 143 and a first proportional solenoid valve 144, ensuring that the hydraulic oil flowing from the first oil chamber 11 to the second oil chamber 12 can only pass through the first sub-regulating oil circuit 141, and the first check valve 143 also prevents backflow. Correspondingly, the second sub-regulating oil circuit 142 is equipped with a second check valve 145 and a second proportional solenoid valve 146, ensuring that the hydraulic oil flowing from the second oil chamber 12 to the first oil chamber 11 can only pass through the second sub-regulating oil circuit 142, and the second check valve 145 also prevents backflow. For example, refer to the attached... Figure 3 When the pressure in the first oil chamber 11 is ≥24MPa, the first proportional solenoid valve 144 is opened to conduct the first sub-regulating oil circuit 141, so that the hydraulic oil in the first oil chamber 11 flows downward to the bottom on the left side of the figure, and then flows upward through the first check valve 143 and the first proportional solenoid valve 144 to enter the second oil chamber 12; when the pressure in the second oil chamber is ≥24MPa, the second proportional solenoid valve 146 is opened to conduct the second sub-regulating oil circuit, so that the hydraulic oil in the second oil chamber 12 flows downward to the bottom on the right side of the figure, and then flows upward through the second check valve 145 and the second proportional solenoid valve 146 to enter the first oil chamber 11; of course, when the pressure in any oil chamber is ≥24MPa, the solenoid switch valve 131 is closed first, and then the first proportional solenoid valve 144 or the second proportional solenoid valve 146 is opened according to actual needs.

[0099] Further, see attached document. Figure 2 and attached Figure 6 The spray boom position adjustment system provided in this embodiment further includes a controller 3 and an ultrasonic sensor 5. The ultrasonic sensor 5 is used to detect the distance between the spray boom and the ground in the deployed state. The controller 3 is signal-connected to the ultrasonic sensor 5, the pressure sensor 15, the electromagnetic switch valve 131, the first proportional electromagnetic valve 144, and the second proportional electromagnetic valve 146. When the pressure of the first oil chamber 11 or the second oil chamber 12 meets the first target condition, the controller 3 can open the electromagnetic switch valve 131. When the pressure of the first oil chamber 11 or the second oil chamber 12 meets the second target condition, the controller 3 can close the electromagnetic switch valve 131 and adjust the opening degree of the first proportional electromagnetic valve 144 or the second proportional electromagnetic valve 146 according to the detection result of the ultrasonic sensor 5.

[0100] It is understandable that, in order to achieve semi-active, targeted, and efficient adjustment of the second regulating oil circuit 14, this embodiment can be equipped with a controller 3 and an ultrasonic sensor 5. The controller 3 is a PLC controller capable of signal transmission and reception, data analysis and processing, comparison, and program editing. The ultrasonic sensor 5 can calculate the distance between the target object and the sensor by the time difference between transmitting and receiving ultrasonic signals. In this embodiment, the ultrasonic sensor 5 can be installed on the left upper arm and the right upper arm, or on the left forearm and the right forearm, thereby realizing the monitoring of the distance between the left and right spray boom mechanisms and the ground or the top of the crop. When the pressure in a certain oil chamber is ≥24MPa, it indicates that the spray bar in the opposite direction has moved away from the ground. The controller 3 can then obtain the distance between the spray bar on that side and the ground, and compare this distance with the reference distance range stored in the controller 3 to determine the degree to which the pressure in the first oil chamber 11 and the second oil chamber 12 should be adjusted. In other words, the controller 3 determines the degree to which the pressure in the first oil chamber 11 and the second oil chamber 12 should be adjusted, i.e., the target pressure, based on the target height. It is easy to understand that the controller 3 can store a reference distance range, which includes three corresponding parameters: distance, pressure, and proportional solenoid valve opening. For example, the reference distance between the spray bar and the ground is 20cm. When the distance between the spray bar on either side and the ground is greater than or less than 20cm, there will be a corresponding oil chamber pressure reference value, as well as the opening of the proportional solenoid valve corresponding to the balance to be restored at this distance. For example, when the distance between one spray bar and the ground exceeds 20cm by 5cm, the pressure in the oil chamber in the opposite direction should be reduced by 1MPa, the opening of the proportional solenoid valve should be gradually reduced by 40% while it is fully open, and the pressure in the oil chamber in the opposite direction should be reduced by 2MPa. The opening of the proportional solenoid valve should be gradually reduced by 25% while it is fully open, and the pressure in the oil chamber in the opposite direction should be reduced by 3MPa. The opening of the proportional solenoid valve should be gradually reduced by 10% while it is fully open, and so on.Specifically, when the pressure in the first oil chamber 11 is ≥24MPa, the first proportional solenoid valve 144 is first fully opened until the pressure in the first oil chamber 11 drops back to 24MPa to reduce path resistance, achieve rapid pressure relief, and avoid damage to the first oil cylinder 1 from large pressure impacts. Then, based on the distance between the right upper arm or right lower arm and the ground obtained by the ultrasonic sensor 5, the required pressure of the first oil chamber 11 is determined. When the first oil chamber 11 needs to reach 23MPa, the opening of the first proportional solenoid valve 144 is adjusted to 60%; when the first oil chamber 11 needs to reach 22MPa, the opening of the first proportional solenoid valve 144 is adjusted to 35%; when the first oil chamber 11 needs to reach 22MPa, the opening of the first proportional solenoid valve 144 is adjusted to 25%, and so on, to increase the resistance of hydraulic oil returning to the second oil chamber 12. Slow and precise pressure adjustment maintains stability and reliability. When the pressure in the first oil chamber 11 reaches the critical value of its required pressure, the first proportional solenoid valve 144 can be kept at its final opening until it stabilizes before switching to passive adjustment of the first regulating oil circuit 13. For example, when the required pressure in the first oil chamber 11 is 21 MPa, the opening of the first proportional solenoid valve 144 can be kept at 25% ± 5% for a certain period of time after the pressure in the first oil chamber 11 drops to 21 MPa. This can be, but is not limited to, 2-3 minutes, to maintain the pressure and lock the required pressure in the first oil chamber 11, i.e., to keep the right upper arm or right lower arm at the target height. This indicates that the spray bar is in balance at this time. Then, the first proportional solenoid valve 144 can be closed and the solenoid switch valve 131 can be opened to start the passive adjustment of the first regulating oil circuit 13. The same applies to the second oil chamber 12 side, which will not be elaborated here.

[0101] Further, see attached document. Figure 3 In the spray boom position adjustment system provided in this embodiment, the multi-stage hydraulic damping adjustable module further includes a first pressure relief valve 133, a second pressure relief valve 147, and a third pressure relief valve 18. The inlet and outlet ends of the first pressure relief valve 133 are respectively connected to the first oil chamber 11 and the second oil chamber 12. The inlet and outlet ends of the second pressure relief valve 147 are respectively connected to the second oil chamber 12 and the first oil chamber 11. The inlet end of the third pressure relief valve 18 is connected to the outlet end of the first pressure relief valve 133 and the inlet end of the second pressure relief valve 147, and the outlet end of the third pressure relief valve 18 is connected to the oil tank 4.

[0102] Understandably, to ensure the safety and reliability of the multi-stage hydraulic damping adjustable module and even the entire system, this embodiment includes a first pressure relief valve 133, a second pressure relief valve 147, and a third pressure relief valve 18. The set pressures of the first pressure relief valve 133 and the second pressure relief valve 147 are the same, while the set pressure of the third pressure relief valve 18 is greater than that of the first pressure relief valve 133 and the second pressure relief valve 147. This allows the first pressure relief valve 133 and the second pressure relief valve 147 to function as pressure relief devices for the first sub-regulating oil circuit 141 and the second sub-regulating oil circuit 142, respectively, while the third pressure relief valve 18 can function as the pressure relief device for the entire multi-stage hydraulic damping adjustable module. (See attached diagram.) Figure 3 When the pressure in the first oil chamber 11 suddenly increases to the set pressure of the first pressure relief valve 133, the first pressure relief valve 133 opens, and the hydraulic oil in the first oil chamber 11 can flow to the second oil chamber 12 through the first pressure relief valve 133. Conversely, the second pressure relief valve 147 opens in the same way. When the pressure in the first oil chamber 11 continues to increase to the set pressure of the third pressure relief valve 18, the first pressure relief valve 133 and the third pressure relief valve 18 open simultaneously, and the hydraulic oil in the first oil chamber 11 can flow to the second oil chamber 12 and the oil tank 4. Conversely, the second pressure relief valve 147 and the third pressure relief valve 18 open in the same way.

[0103] Further, see attached document. Figure 2 The spray boom position adjustment system provided in this embodiment further includes a second hydraulic cylinder 6 in a specific implementation. The second hydraulic cylinder 6 is simultaneously hinged to the spray boom suspension E and the spray boom fixing frame F of the spray machine. The controller 3 can control the second hydraulic cylinder 6 to extend or retract according to the detection result of the ultrasonic sensor 5 to adjust and maintain the state of the spray boom suspension E parallel to the ground.

[0104] It is understandable that, since the boom suspension E and the boom mounting frame F form a trapezoidal structure, when the ground tilts and the vehicle body tilts, the boom suspension E can still maintain a horizontal state relative to the boom mounting frame F, i.e., the vehicle body, instead of tilting with the vehicle body. Consequently, it is impossible to ensure uniform distance between the boom structures on both sides and the crops, thus compromising the spraying effect. Therefore, in this embodiment, a second hydraulic cylinder 6 is provided. The second hydraulic cylinder 6 can replace a hinged connecting rod between the boom suspension E and the boom mounting frame F, i.e. Figure 1 As shown, the second hydraulic cylinder 6 can be positioned at one end near the right-side spray bar structure. Figure 1 As shown, the second hydraulic cylinder 6 can also be located at one end near the left spray bar structure. The following content will use... Figure 1The display situation is explained in detail. At the same time, the ultrasonic sensor 5 and controller 3 are used to adjust the state of the spray bar suspension E, that is, the overall state of the spray bar. For example, when the distance between the left spray bar structure and the ground is greater than the distance between the right and both spray bar structures and the ground, the controller 3 can control the second hydraulic cylinder 6 to retract and pull the right spray bar structure away from the ground to balance the left and right spray bar structures. The reverse is also true. This will not be elaborated here.

[0105] Further, see attached document. Figure 2 and attached Figure 4 The spray boom position adjustment system provided in this embodiment further includes a two-stage hydraulic pressure impact absorption module. The two-stage hydraulic pressure impact absorption module includes a lifting cylinder group 7 and an energy storage component 8. The lifting cylinder group 7 includes a first lifting cylinder 71 and a second lifting cylinder 72. The output ends of the first lifting cylinder 71 and the second lifting cylinder 72 are used to connect to the spray boom fixing frame F of the sprayer. The oil chambers of the first lifting cylinder 71 and the second lifting cylinder 72 are both connected to the oil tank 4. The rodless chambers of the first lifting cylinder 71 and the second lifting cylinder 72 are simultaneously connected to the buffer pipeline 73. The energy storage component 8 is connected to the buffer pipeline 73 through a proportional control valve, which can adjust the flow rate from the buffer pipeline 73 to the energy storage component 8.

[0106] It is understandable that, in response to the vibration of the spray boom in the vertical direction (perpendicular to the ground) caused by terrain changes, this embodiment can mitigate the vibration through a two-stage hydraulic pressure shock absorption module. Correspondingly, a first lifting cylinder 71 and a second lifting cylinder 72 are provided in conjunction with the spray boom mounting bracket F. The output ends of the first lifting cylinder 71 and the second lifting cylinder 72 are simultaneously connected to the spray boom mounting bracket F and move in unison. When the spray boom mounting bracket F is lifted or lowered, the entire spray boom structure can rise or fall. In this embodiment, an energy storage assembly 8 is provided corresponding to the two lifting cylinders. The energy storage assembly 8 may include at least one accumulator, which can hold compressed hydraulic oil and convert mechanical energy into compressive energy for storage, thereby protecting the system pipelines, pumps, and even the lifting cylinder assembly 7. The buffer pipeline 73 can be rigid or flexible, as long as it meets the working pressure requirements. When uneven ground causes the spray boom to vibrate in the vertical direction, the proportional control valve on the buffer line 73 can be opened to open the passage between the rodless chamber of the lifting cylinder group 7 and the energy storage component 8, so that the hydraulic oil in the rodless chamber can enter the energy storage component 8 for storage, and the compression energy generated by the accumulator can be used to provide damping to buffer and absorb the impact received by the first lifting cylinder group 7, and stabilize the state of the spray boom.

[0107] Further, see attached document. Figure 2 and attached Figure 4In this embodiment, the spray boom position adjustment system for a sprayer includes an energy storage assembly 8 comprising a first energy storage unit 81 and a second energy storage unit 82. The first energy storage unit 81 is connected to the buffer pipeline 73 via a first proportional control valve 83. The second energy storage unit 82 is connected to the buffer pipeline 73 via a second proportional control valve 84. A second pressure sensor 74 is correspondingly provided in the rodless chamber of the first lifting cylinder 71 and / or the rodless chamber of the second lifting cylinder 72. The volume of the first energy storage unit 81 is larger than that of the second energy storage unit 82. The volume of 2; when the pressure in the rodless chamber of the first lifting cylinder 71 and / or the rodless chamber of the second lifting cylinder 72 meets the third target condition, the first proportional control valve 83 opens and adjusts the flow rate of the buffer pipeline 73 to the first accumulator 81; when the pressure in the rodless chamber of the first lifting cylinder 71 and / or the rodless chamber of the second lifting cylinder 72 meets the fourth target condition, the second proportional control valve 84 opens and adjusts the flow rate of the buffer pipeline 73 to the second accumulator 82; the fourth target condition is not less than the third target condition.

[0108] Understandably, in order to improve the adjustable range of the two-stage hydraulic pressure shock absorption module, this embodiment can configure the energy storage component 8 to include a larger first energy storage unit 81 and a smaller second energy storage unit 82 to cope with different degrees of shock or vibration. A first proportional control valve 83 and a second proportional control valve 84 are also configured accordingly. The proportional control valve is an intelligent valve that can continuously and proportionally control the flow rate of hydraulic oil according to an electrical signal. Specifically, when the detection result of the second pressure sensor 74 meets the third target condition, it indicates that the vibration level is relatively low, and the hydraulic oil in the rodless chamber of the lifting cylinder assembly 7 is compressed. This allows the first proportional control valve 83 to open, allowing the hydraulic oil in the lifting cylinder assembly 7 to... Oil flows into the first accumulator 81 for buffering and vibration absorption. The third target condition can be, but is not limited to, 16MPa ≤ third target condition < 30MPa, 24MPa ≤ third target condition < 30MPa, etc., and can be set and adjusted according to actual needs. Correspondingly, the fourth target condition can be, but is not limited to, fourth target condition ≥ 30MPa. When the detection result of the second pressure sensor 74 meets the fourth target condition, it indicates that the vibration level is relatively large. The hydraulic oil in the rodless chamber of the lifting cylinder group 7 is rapidly compressed, which can then control the second proportional control valve 84 to open and allow the hydraulic oil in the lifting cylinder group 7 to flow into the second accumulator 82, using the second accumulator 82 to provide greater damping for buffering. Meanwhile, in order to respond to different levels of vibration and impact in a targeted and precise manner, the opening of the first proportional control valve 83 and the second proportional control valve 84 can be adjusted in this embodiment to correspond to different vibrations and impacts. For example, when the second pressure sensor 74 detects a pressure <22MPa, the first proportional control valve 83 can be controlled to maintain a 20% opening to achieve conduction; when the second pressure sensor 74 detects a pressure ≥22MPa and <26MPa, the opening of the first proportional control valve 83 can be increased by 50% for every 5% increase in pressure. The opening degree is proportional to the pressure value, ensuring that the first accumulator 81 operates fully. When the second pressure sensor 74 detects a pressure ≥26MPa and <30MPa, the first proportional control valve 83 can be controlled to its maximum opening to ensure the accumulator provides full buffering. When the second pressure sensor 74 detects a pressure ≥30MPa, the first proportional control valve 83 is closed and the second proportional control valve 84 is opened, controlling the opening degree of the second proportional control valve 84 to 20% to achieve conduction. When the second pressure sensor 74 detects a pressure ≥35MPa, the second proportional control valve 84 is controlled to be fully open to stably provide damping. Correspondingly, the rod chambers of the first lifting cylinder 71 and the second lifting cylinder 72 can be sucked by the oil tank 4 to prevent cavitation. This setting is easily understood by those skilled in the art and will not be elaborated here.

[0109] Further, see attached document. Figure 2 and attached Figure 5 The spray boom position adjustment system provided in this embodiment further includes a dual-balance pressure-maintaining circuit 9 in a specific implementation. The dual-balance pressure-maintaining circuit 9 includes a first balance valve 91, a second balance valve 92, a fifth one-way valve 93, and a sixth one-way valve 94. The inlet and outlet ends of the first balance valve 91 are respectively connected to the inlet and outlet ends of the fifth one-way valve 93 to form a first inlet and a first outlet, respectively. The first inlet and the first outlet are respectively connected to the oil tank 4 and the rodless chamber of the second cylinder 6. The fifth one-way valve 93 guides the flow of hydraulic oil from the oil tank 4 to the rodless chamber of the second cylinder 6, and a first one-way valve 94 is provided at the first outlet. The second throttling orifice 95; the inlet and outlet ends of the second balance valve 92 are respectively connected to the inlet and outlet ends of the sixth check valve 94 to form a second inlet and a second outlet, respectively. The second inlet and the second outlet are respectively connected to the rod chamber of the second cylinder 6 and the oil tank 4; the sixth check valve 94 guides the flow of hydraulic oil from the rod chamber of the second cylinder 6 to the oil tank 4, and a third throttling orifice 96 is provided at the second inlet; wherein, the first pilot control port 911 of the first balance valve 91 is connected to the second outlet, and the second pilot control port 921 of the second balance valve 92 is connected to the first inlet.

[0110] Understandably, in order to stabilize the spray bar posture, this embodiment is equipped with a dual-balance pressure-holding circuit 9, which allows the second hydraulic cylinder 6 to be stably maintained in this state after being pushed out or retracted; for example, refer to the attached... Figure 5When the output end of the second cylinder 6 is pushed out, the hydraulic oil in the oil tank 4 comes from above to the fifth check valve 93 and the first balance valve 91. The fifth check valve 93 directly connects to the first outlet, which is the rodless chamber of the second cylinder 6. The hydraulic oil at the first balance valve 91 pushes the second pilot control port 921 to the lower right, so that the hydraulic oil in the second inlet, which is the rod chamber of the second cylinder 6, can return to the oil tank 4 through the second balance valve 92. At this time, the hydraulic oil at the second outlet pushes the first pilot control port 911 to the lower left, so that the hydraulic oil in the oil tank 4 can enter the rodless chamber of the second cylinder 6 through the first balance valve 91. The hydraulic oil in the rodless chamber cannot return to the oil tank 4 through the first balance valve 91 and the fifth check valve 93, thus playing a pressure-holding role, and can continuously maintain the push-out state of the output end of the second cylinder 6. Similarly, when the output end of the second cylinder 6 retracts, the hydraulic oil in the tank 4 reaches the second balance valve 92 and the sixth check valve 94 through the second outlet. The sixth check valve 94 directly connects to the second inlet, i.e., the rod chamber of the second cylinder 6. The hydraulic oil at the second balance valve 92 pushes open the first pilot control port 911 to the upper left, allowing the hydraulic oil in the rodless chamber to flow back to the tank 4 through the first balance valve 91. The hydraulic oil at the first inlet pushes open the second pilot control port 921 to the lower right, allowing the hydraulic oil at the second outlet to enter the rod chamber of the second cylinder 6 through the second balance valve 92. The hydraulic oil in the rod chamber cannot flow back to the tank 4 through the second balance valve 92 and the sixth check valve 94, thus maintaining pressure and continuously keeping the output end of the second cylinder 6 in a retracted state. The setting of the second throttle orifice 95 and the third throttle orifice 96 can play a buffering role, improving the stability of the second cylinder 6 during the push-out or retraction process. It is not difficult to understand that, as shown in the attached diagram... Figure 2 In this embodiment, a dual-balance pressure-holding circuit 9 can be set for each hydraulic cylinder. Specifically, it can be set between the electromagnetic proportional directional valve and the hydraulic cylinder. The principle can be referred to the above content, and will not be repeated here. For the lifting hydraulic cylinder group 7, the setting of the dual-balance pressure-holding circuit 9 can realize the functions of descent deceleration and low hydraulic resistance rise. For the left and right upper arms and left and right lower arms, the dual-balance pressure-holding circuit 9 can effectively maintain the unfolded and folded states of the left and right upper arms and left and right lower arms.

[0111] Further, see attached document. Figure 2The spray boom position adjustment system provided in this embodiment further includes a load-sensitive circuit, which comprises a variable pump 10, a first shuttle valve 101, a second shuttle valve 102, and a third shuttle valve 103. The input end of the variable pump 10 is connected to the oil tank 4, and the output end of the variable pump 10 is connected to the first cylinder 1 and the second cylinder 6. The first input end of the first shuttle valve 101 is connected to the first cylinder 1, and the second input end of the first shuttle valve 101 is connected to the oil tank 4. The first input end of the second shuttle valve 102 is connected to the second cylinder 6, and the second input end of the second shuttle valve 102 is connected to the oil tank 4. The first and second input ends of the third shuttle valve 103 are respectively connected to the output ends of the first shuttle valve 101 and the second shuttle valve 102. The output end of the third shuttle valve 103 is connected to the variable control port of the variable pump 10.

[0112] Understandably, in order to achieve precise matching between the variable pump 10 and the load pressure, a load-sensitive circuit is set up in this embodiment. The variable pump 10 can be a hydraulic pump that can automatically adjust its displacement according to system requirements. It can pump the hydraulic oil in the oil tank 4 into each cylinder according to the pressure requirements of the load. The variable control port of the variable pump 10 is equipped with a piston structure and a swashplate structure that cooperate with each other. The specific working principle is easily understood by those skilled in the art and will not be described in detail here. The shuttle valve can automatically select the hydraulic oil with higher pressure from the two inlets and guide it to a single outlet, realizing intelligent switching of dual-path flow signals. It can be understood that, for each hydraulic cylinder, the oil tank 4 serves as the return oil space, where the pressure can be 0. The load end is the side of each hydraulic cylinder. The first shuttle valve 101 compares the pressures of the first hydraulic cylinder 1 and the oil tank 4, outputting the larger pressure, which is the ejection pressure of the first hydraulic cylinder 1. The second shuttle valve 102 compares the pressures of the second hydraulic cylinder 6 and the oil tank 4, outputting the larger pressure, which is the ejection pressure of the second hydraulic cylinder 6. The third shuttle valve 103 compares the ejection pressures of the first hydraulic cylinder 1 and the second hydraulic cylinder 6, outputting the larger pressure. This larger pressure can be the maximum load of the entire spray bar. The hydraulic oil, through the output end of the third shuttle valve 103, reaches the variable control port of the variable pump 10, driving the piston structure and swashplate structure to change position, thereby adjusting the pumping flow rate of the variable pump 10. This achieves real-time adjustment of the pumping pressure, which is precise, efficient, and cost-controllable. Furthermore, in this embodiment, a shuttle valve can be set for each hydraulic cylinder to compare the ejection pressures of all cylinders in the entire system and deliver the largest pressure to the variable control port; for example: refer to the attached... Figure 2The following valves are configured to correspond to the lifting cylinder group 7, the left boom folding cylinder A, the right boom folding cylinder B, the left forearm folding cylinder C, the right forearm folding cylinder D, the left contour cylinder G, and the right contour cylinder H: fourth shuttle valve 104, fifth shuttle valve 105, sixth shuttle valve 106, seventh shuttle valve 107, eighth shuttle valve 108, ninth shuttle valve 109, and tenth shuttle valve 110. In this configuration, the two inputs of the eighth shuttle valve 108 can be connected to the right forearm folding cylinder D and the oil tank 4, respectively. The output of the eighth shuttle valve 108 can be connected to one input of the sixth shuttle valve 106, and the other input of the sixth shuttle valve 106 can be connected to the left forearm folding cylinder C. The output of the sixth shuttle valve 106 can be connected to one input of the fifth shuttle valve 105, and so on. The fourth shuttle valve 104, fifth shuttle valve 105, sixth shuttle valve 106, seventh shuttle valve 107, eighth shuttle valve 108, ninth shuttle valve 109, and tenth shuttle valve 110 are also configured. 4. The fifth shuttle valve 105, the sixth shuttle valve 106, the seventh shuttle valve 107, and the eighth shuttle valve 108 are connected sequentially. The output end of the fourth shuttle valve 104 is connected to one input end of the third shuttle valve 103. The two input ends of the ninth shuttle valve 109 are connected to the oil tank 4 and the left contour cylinder G, respectively. The output end of the ninth shuttle valve 109 is connected to one input end of the tenth shuttle valve 110, and the other input end of the tenth shuttle valve 110 is connected to the right contour cylinder H. The output end of the tenth shuttle valve 110 is connected to one input end of the second shuttle valve 102, and so on. This connects the output end of the first shuttle valve 101 to the other output end of the third shuttle valve 103, allowing the output end of the third shuttle valve 103 to output the maximum load pressure within the entire system, thus assisting in the precise control of the variable pump 10. Accordingly, refer to the appendix. Figure 2 In this embodiment, a fourth pressure relief valve 41 can be installed between the output end of the variable pump 10 and the oil tank 4, and a fifth pressure relief valve 42 can be installed between the output end of the third shuttle valve 103 and the oil tank 4. When the oil supply pressure of the variable pump 10 is too high, the fourth pressure relief valve 41 opens to release pressure into the oil tank 4 to prevent damage to the oil cylinder. When the load end pressure is too high, the fifth pressure relief valve 42 opens to release pressure into the oil tank 4 to prevent damage to the variable pump 10. The specifications of the fourth pressure relief valve 41 and the fifth pressure relief valve 42 can be set and adjusted according to actual needs, which will not be elaborated here.

[0113] Further, see attached document. Figure 2To address the issue of the spray boom swaying forward and backward in the vehicle's extended or folded state due to sudden changes in the vehicle's trajectory during movement, this embodiment can also incorporate buffer energy storage circuits for the left upper arm folding cylinder A, right upper arm folding cylinder B, left lower arm folding cylinder C, right lower arm folding cylinder D, left contouring cylinder G, and right contouring cylinder H. Each buffer energy storage circuit includes a third accumulator 21, a third proportional control valve 22, and a third pressure sensor 23. The third proportional control valve 22 is positioned in the passage between the third accumulator 21 and the rodless chamber of the cylinder. The volume of the third accumulator 21 can be smaller than that of the second accumulator 82, or it can be between the volumes of the first accumulator 81 and the second accumulator 82. The third pressure sensor 23 detects the pressure within the rodless chamber of the cylinder. When the pressure within the rodless chamber exceeds a preset pressure, the hydraulic oil in the rodless chamber can be buffered by opening and adjusting the opening of the third proportional control valve 22, allowing the hydraulic oil in the rodless chamber to enter the third accumulator 21. For example, the preset pressure can be, but is not limited to, […]. If the pressure is 20 MPa, and the detection result of the third pressure sensor 23 is within 10% of 20 MPa, it is considered to be within the allowable range, and there is no need to open the third proportional control valve 22. When the detection result of the third pressure sensor 23 exceeds 20 MPa by 10%-30%, the opening of the third proportional control valve 22 can be adjusted according to the pressure. For example, when the detection result of the third pressure sensor 23 reaches 10% of 20 MPa, the third proportional control valve 22 can be controlled to maintain an opening of 20% to achieve conduction. When the detection result of the third pressure sensor 23 exceeds 20 MPa by 20%, the opening of the third proportional control valve 22 can be increased by 50% for every 10% increase in pressure, so that the opening of the third proportional control valve 22 is proportional to the pressure value, ensuring that the third accumulator 21 operates fully. When the detection result of the third pressure sensor 23 exceeds 20 MPa by 30%, the third proportional control valve 22 can be controlled to the maximum opening to ensure that the accumulator fully buffers the pressure.

[0114] Example 2

[0115] Reference Appendix Figure 7 This embodiment provides a method for adjusting the position and posture of a sprayer boom based on the sprayer boom position and posture adjustment system of Embodiment 1, which includes the following steps:

[0116] S1. Obtain the pressure in the first oil chamber 11 and the second oil chamber 12 of the first oil cylinder 1;

[0117] Understandably, the pressure in the first oil chamber 11 and the second oil chamber 12 can be detected by two pressure sensors 15 and transmitted to the controller 3. This is used to determine the degree to which the spray boom structure cannot overcome the vibration caused by uneven ground in the field or between rows. When the pressure in the first oil chamber 11 and / or the second oil chamber 12 meets the first target condition, it indicates that the spray boom structure is vibrating slightly. When the pressure in the first oil chamber 11 and / or the second oil chamber 12 meets the second target condition, it indicates that the spray boom structure is vibrating more intensely. The first target condition can be set to 20MPa ≤ 24MPa, and the second target condition can be set to ≥ 24MPa.

[0118] S2. When the pressure in the first oil chamber 11 or the second oil chamber 12 meets the first target condition, the electromagnetic switch valve 131 is opened to connect the first regulating oil circuit 13 connecting the first oil chamber 11 and the second oil chamber 12.

[0119] It is understandable that the first regulating oil circuit 13 can serve as a passive buffer oil circuit between the first oil chamber 11 and the second oil chamber 12. That is, when the road surface unevenness is slight, the solenoid switch valve 131 can be controlled to open to provide a channel for the reciprocating oil return buffer between the first oil chamber 11 and the second oil chamber 12. For example, when the road surface unevenness causes the spray bar or spray bar suspension E to tilt towards the first oil chamber 11, and the load at the first output end increases to the point that the pressure in the first oil chamber 11 meets the first target condition, then the solenoid switch valve 131 is controlled to open, and the hydraulic oil in the first oil chamber 11 can flow into the second oil chamber 12 through the first regulating oil circuit 13, and vice versa.

[0120] S3. When the pressure of the first oil chamber 11 or the second oil chamber 12 meets the second target condition, at least one proportional solenoid valve is opened to connect the second regulating oil circuit 14 that connects the first oil chamber 11 and the second oil chamber 12.

[0121] It is understandable that the second regulating oil circuit 14 can serve as a semi-active buffer oil circuit between the first oil chamber 11 and the second oil chamber 12. That is, when the road surface unevenness is relatively severe, the opening of the proportional solenoid valve can be controlled according to the degree of load change to provide targeted damping and provide a channel for the reciprocating oil return buffer between the first oil chamber 11 and the second oil chamber 12. For example, when the road surface unevenness causes the spray boom or spray boom suspension E to tilt towards the first oil chamber 11, and the load at the first output end increases to the point that the pressure in the first oil chamber 11 meets the second target condition, then the solenoid switch valve 131 is controlled to close and the proportional solenoid valve is controlled to open. The hydraulic oil in the first oil chamber 11 can flow into the second oil chamber 12 through the second regulating oil circuit 14. The specific opening of the proportional solenoid valve can be specifically adjusted according to the specific pressure in the first oil chamber 11, and vice versa for the second oil chamber 12. Of course, the setting and cooperation function of the first throttle orifice 132 can be referred to the detailed description of Embodiment 1, which will not be elaborated here.

[0122] Furthermore, to improve the buffering effect and prevent backflow from affecting the balance of the spray bar, step S3 in this embodiment may also include the following steps:

[0123] S31. When the pressure of the first oil chamber 11 meets the second target condition, the first proportional solenoid valve 144 is opened to connect the first sub-regulating oil circuit 141 that connects the first oil chamber 11 and the second oil chamber 12, so that the hydraulic oil in the first oil chamber 11 enters the second oil chamber 12.

[0124] S32. When the pressure of the second oil chamber 12 meets the second target condition, the second proportional solenoid valve 146 is opened to connect the second sub-regulating oil circuit 142 that connects the first oil chamber 11 and the second oil chamber 12, so that the hydraulic oil in the second oil chamber 12 enters the first oil chamber 11.

[0125] Understandably, a first check valve 143 and a first proportional solenoid valve 144 can be installed on the first sub-regulating oil circuit 141 to ensure that the hydraulic oil flowing from the first oil chamber 11 to the second oil chamber 12 can only pass through the first sub-regulating oil circuit 141, and the first check valve 143 can also prevent backflow. Correspondingly, a second check valve 145 and a second proportional solenoid valve 146 can be installed on the second sub-regulating oil circuit 142 to ensure that the hydraulic oil flowing from the second oil chamber 12 to the first oil chamber 11 can only pass through the second sub-regulating oil circuit 142, and the second check valve 145 can also prevent backflow. For example, refer to the attached... Figure 3When the pressure in the first oil chamber 11 is ≥24MPa, the first proportional solenoid valve 144 is opened to conduct the first sub-regulating oil circuit 141, so that the hydraulic oil in the first oil chamber 11 flows downward to the bottom on the left side of the figure, and then flows upward through the first check valve 143 and the first proportional solenoid valve 144 to enter the second oil chamber 12; when the pressure in the second oil chamber is ≥24MPa, the second proportional solenoid valve 146 is opened to conduct the second sub-regulating oil circuit, so that the hydraulic oil in the second oil chamber 12 flows downward to the bottom on the right side of the figure, and then flows upward through the second check valve 145 and the second proportional solenoid valve 146 to enter the first oil chamber 11; of course, when the pressure in any oil chamber is ≥24MPa, the solenoid switch valve 131 is closed first, and then the first proportional solenoid valve 144 or the second proportional solenoid valve 146 is opened according to actual needs.

[0126] Furthermore, in order to achieve semi-active, targeted, and efficient regulation of the second regulating oil circuit 14, steps S31 and S32 in this embodiment may also include the following steps:

[0127] S33. Obtain the distance between the spray boom and the ground in the deployed state;

[0128] S34. Determine the required pressure for the first oil chamber 11 or the second oil chamber 12 based on the distance between the spray bar and the ground in the deployed state;

[0129] S35. According to the pressure required by the first oil chamber 11 or the second oil chamber 12, open and adjust the opening degree of the first proportional solenoid valve 144 or the second proportional solenoid valve 146 according to the specified rules to connect the first sub-regulating oil circuit 141 or the second sub-regulating oil circuit 142 that connects the first oil chamber 11 and the second oil chamber 12.

[0130] It is understood that the controller 3 and the ultrasonic sensor 5 can be configured in a coordinated manner in this embodiment. In this embodiment, the ultrasonic sensor 5 can be installed on the left upper arm and the right upper arm, or on the left forearm and the right forearm, so as to realize the monitoring of the distance between the left and right spray boom mechanisms and the ground or the top of the crop. When the pressure in a certain oil chamber is ≥24MPa, it indicates that the spray bar in the opposite direction has moved away from the ground. The controller 3 can then obtain the distance between the spray bar on that side and the ground, and compare this distance with the reference distance range stored in the controller 3 to determine the degree to which the pressure in the first oil chamber 11 and the second oil chamber 12 should be adjusted. In other words, the controller 3 determines the degree to which the pressure in the first oil chamber 11 and the second oil chamber 12 should be adjusted based on the target height, i.e., the target pressure. It is easy to understand that the controller 3 can store a reference distance range, which includes three corresponding parameters: distance, pressure, and proportional solenoid valve opening. For example, the reference distance between the spray bar and the ground is 20cm. When the distance between the spray bar on either side and the ground is greater than or less than 20cm, there will be a corresponding oil chamber pressure reference value, as well as the opening of the proportional solenoid valve corresponding to the balance at this distance. For example, when the distance between one spray bar and the ground exceeds 20cm by 5cm, the pressure in the oil chamber in the opposite direction should be reduced by 1MPa, the opening of the proportional solenoid valve should be gradually reduced by 40% while it is fully open, and the pressure in the oil chamber in the opposite direction should be reduced by 2MPa. The opening of the proportional solenoid valve should be gradually reduced by 25% while it is fully open, and the pressure in the oil chamber in the opposite direction should be reduced by 3MPa. The opening of the proportional solenoid valve should be gradually reduced by 10% while it is fully open, and so on.Specifically, when the pressure in the first oil chamber 11 is ≥24MPa, the first proportional solenoid valve 144 is first fully opened until the pressure in the first oil chamber 11 drops back to 24MPa to reduce path resistance, achieve rapid pressure relief, and avoid damage to the first oil cylinder 1 from large pressure impacts. Then, based on the distance between the right upper arm or right lower arm and the ground obtained by the ultrasonic sensor 5, the required pressure of the first oil chamber 11 is determined. When the first oil chamber 11 needs to reach 23MPa, the opening of the first proportional solenoid valve 144 is adjusted to 60%; when the first oil chamber 11 needs to reach 22MPa, the opening of the first proportional solenoid valve 144 is adjusted to 35%; when the first oil chamber 11 needs to reach 22MPa, the opening of the first proportional solenoid valve 144 is adjusted to 25%, and so on, to increase the resistance of hydraulic oil returning to the second oil chamber 12. Slow and precise pressure adjustment maintains stability and reliability. When the pressure in the first oil chamber 11 reaches the critical value of its required pressure, the first proportional solenoid valve 144 can be kept at its final opening until it stabilizes before switching to passive adjustment of the first regulating oil circuit 13. For example, when the required pressure in the first oil chamber 11 is 21 MPa, the opening of the first proportional solenoid valve 144 can be kept at 25% ± 5% for a certain period of time after the pressure in the first oil chamber 11 drops to 21 MPa. This can be, but is not limited to, 2-3 minutes, to maintain the pressure and lock the required pressure in the first oil chamber 11, i.e., to keep the right upper arm or right lower arm at the target height. This indicates that the spray bar is in balance at this time. Then, the first proportional solenoid valve 144 can be closed and the solenoid switch valve 131 can be opened to start the passive adjustment of the first regulating oil circuit 13. The same applies to the second oil chamber 12 side, which will not be elaborated here.

[0131] In order to ensure the safety and reliability of the multi-stage hydraulic damping adjustable module and the entire system, a first pressure relief valve 133, a second pressure relief valve 147, and a third pressure relief valve 18 may also be provided in this embodiment. As for the pressure relief principle of the first pressure relief valve 133, the second pressure relief valve 147, and the third pressure relief valve 18, since it is only related to the rated pressure of each pressure relief valve and does not involve the unified control and management of the controller 3, it can be referred to the detailed description of Embodiment 1 and will not be elaborated here.

[0132] Furthermore, since the spray boom suspension E and the spray boom mounting frame F form a trapezoidal structure, when the ground tilts and the vehicle body tilts, the spray boom suspension E can still maintain a horizontal state relative to the spray boom mounting frame F, i.e., the vehicle body, instead of tilting with the vehicle body. Consequently, it is impossible to ensure that the distance between the spray boom structure on both sides and the crop is uniform, i.e., the spraying effect cannot be guaranteed. Therefore, this embodiment may include the following steps, which can be performed simultaneously with the aforementioned steps:

[0133] S4. Obtain the distance between the spray boom and the ground in the deployed state;

[0134] S5. Determine the balancing force required for the spray boom suspension E to keep parallel to the ground based on the distance between the spray boom and the ground in the deployed state;

[0135] S6. Adjust the push-out force of the second hydraulic cylinder 6 according to the balance force required for the spray boom suspension E to keep parallel to the ground;

[0136] It is understood that, referring to the description of Embodiment 1, the second hydraulic cylinder 6 can replace a hinged link between the spray boom suspension E and the spray boom fixing frame F, i.e. Figure 1 In the state shown, this embodiment can be used in conjunction with ultrasonic sensor 5 and controller 3 to adjust the state of the spray bar suspension E, i.e., the overall state of the spray bar. For example, when the distance between the left spray bar structure and the ground is greater than the distance between the right and both spray bar structures and the ground, controller 3 can control the second cylinder 6 to retract and pull the right spray bar structure away from the ground to balance the left and right spray bar structures. The same applies to the opposite. For detailed principles of this part, please refer to the detailed description after step S35, which will not be repeated here.

[0137] To mitigate the vibration of the spray boom in the vertical direction (perpendicular to the ground) caused by terrain changes, this embodiment can employ the following steps for buffering, which can be performed simultaneously with the aforementioned steps:

[0138] S7. Obtain the pressure of the rodless chamber of the first lifting cylinder 71 and the rodless chamber of the second lifting cylinder 72;

[0139] S8. When the pressure of the rodless chamber of the first lifting cylinder 71 and / or the rodless chamber of the second lifting cylinder 72 meets the third target condition, the first proportional control valve 83 is opened and the flow rate from the rodless chamber of the first lifting cylinder 71 and the rodless chamber of the second lifting cylinder 72 to the first accumulator 81 is adjusted.

[0140] S9. When the pressure in the rodless chamber of the first lifting cylinder 71 and / or the rodless chamber of the second lifting cylinder 72 meets the fourth target condition, the second proportional control valve 84 is opened and the flow rate from the rodless chamber of the first lifting cylinder 71 and the rodless chamber of the second lifting cylinder 72 to the second accumulator 82 is adjusted; wherein, the fourth target condition is not less than the third target condition, and the volume of the first accumulator 81 is greater than the volume of the second accumulator 82;

[0141] When the second pressure sensor 74 detects that the third target condition is met, it indicates that the vibration level is relatively low. The hydraulic oil in the rodless chamber of the lifting cylinder group 7 is compressed, which allows the first proportional control valve 83 to open and flow the hydraulic oil in the lifting cylinder group 7 into the first accumulator 81 for buffering and vibration absorption. The third target condition can be, but is not limited to, 16MPa ≤ third target condition < 30MPa, 24MPa ≤ third target condition < 30MPa, etc., and can be set and adjusted according to actual needs. Correspondingly, the fourth target condition can be, but is not limited to, fourth target condition ≥ 30MPa. When the second pressure sensor 74 detects that the fourth target condition is met, it indicates that the vibration level is relatively high. The hydraulic oil in the rodless chamber of the lifting cylinder group 7 is rapidly compressed, which allows the second proportional control valve 84 to open and flow the hydraulic oil in the lifting cylinder group 7 into the second accumulator 82, using the second accumulator 82 to provide greater damping for buffering. Meanwhile, to effectively and precisely address vibrations and impacts of varying degrees, this embodiment allows for adjustment of the opening degree of the first proportional control valve 83 and the second proportional control valve 84 to correspond to different vibrations and impacts. For example, when the second pressure sensor 74 detects a pressure <22 MPa, the first proportional control valve 83 can be controlled to maintain a 20% opening to achieve conduction; when the second pressure sensor 74 detects a pressure ≥22 MPa and <26 MPa, the opening degree of the first proportional control valve 83 can be increased by 50% for every 5% increase in pressure. The opening degree is proportional to the pressure value, ensuring the full operation of the first accumulator 81. When the second pressure sensor 74 detects a pressure ≥26MPa and <30MPa, the first proportional control valve 83 can be controlled to its maximum opening to ensure the accumulator provides full buffering. When the second pressure sensor 74 detects a pressure ≥30MPa, the first proportional control valve 83 is closed and the second proportional control valve 84 is opened, controlling the opening degree of the second proportional control valve 84 to 20% for conduction. When the second pressure sensor 74 detects a pressure ≥35MPa, the second proportional control valve 84 is fully opened to provide stable damping. The above control method can improve the adjustable range of the two-stage hydraulic pressure shock absorption module. Correspondingly, the rod chambers of the first lifting cylinder 71 and the second lifting cylinder 72 can be sucked by the oil tank 4 to prevent cavitation. This setting is easily understood by those skilled in the art and will not be elaborated here.

[0142] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A spray boom position adjustment system for a sprayer, characterized in that, It includes: A multi-stage hydraulic damping adjustable module, the multi-stage hydraulic damping adjustable module comprising: The first hydraulic cylinder has a first output end and a second output end facing away from each other, and the first output end and the second output end are used to connect to the spray boom suspension of the sprayer; A first regulating oil circuit is provided, with its two ends connected to a first oil chamber and a second oil chamber, respectively. An electromagnetic switch valve is provided on the first regulating oil circuit. When the pressure in the first oil chamber or the second oil chamber meets the first target condition, the electromagnetic switch valve opens the first regulating oil circuit. The second regulating oil circuit has its two ends connected to the first oil chamber and the second oil chamber, respectively. The second regulating oil circuit is provided with at least one proportional solenoid valve. When the pressure of the first oil chamber or the second oil chamber meets the second target condition, at least one of the proportional solenoid valves is opened to a specified degree to conduct the second regulating oil circuit. Two pressure sensors are respectively provided for the first oil chamber and the second oil chamber to detect the pressure in the first oil chamber and the second oil chamber respectively; Wherein, the first oil chamber is the oil chamber where the first output end is located, and the second oil chamber is the oil chamber where the second output end is located; the second target condition is not less than the first target condition.

2. The spray boom position adjustment system for a sprayer according to claim 1, characterized in that: The second regulating oil circuit includes a first sub-regulating oil circuit and a second sub-regulating oil circuit connected in parallel. The first sub-regulating oil circuit is connected to the first oil chamber and the second oil chamber at both ends respectively. The first sub-regulating oil circuit is provided with a first check valve and a first proportional solenoid valve to regulate the hydraulic oil flow rate from the first oil chamber to the second oil chamber via the first sub-regulating oil circuit. The two ends of the second sub-regulating oil circuit are respectively connected to the first oil chamber and the second oil chamber. The second sub-regulating oil circuit is provided with a second check valve and a second proportional solenoid valve to regulate the hydraulic oil flow rate from the second oil chamber to the first oil chamber via the second sub-regulating oil circuit.

3. The spray boom position adjustment system for a sprayer according to claim 2, characterized in that: It also includes a controller and an ultrasonic sensor; The ultrasonic sensor is used to detect the distance between the spray boom and the ground when it is deployed. The controller is signal-connected to the ultrasonic sensor, the pressure sensor, the electromagnetic switching valve, the first proportional solenoid valve, and the second proportional solenoid valve; When the pressure in the first oil chamber or the second oil chamber meets the first target condition, the controller can open the electromagnetic switch valve; when the pressure in the first oil chamber or the second oil chamber meets the second target condition, the controller can close the electromagnetic switch valve and adjust the opening degree of the first proportional solenoid valve or the second proportional solenoid valve according to the detection result of the ultrasonic sensor.

4. The spray boom position adjustment system for a sprayer according to claim 1, characterized in that: A first throttling orifice is provided in the first regulating oil line in the direction toward the first oil chamber; The multi-stage hydraulic damping adjustable module also includes a first oil circuit, a second oil circuit, a first pressure relief valve, a second pressure relief valve, and a third pressure relief valve; The first oil circuit is connected to the oil tank and the first oil chamber at both ends, respectively. A third check valve is provided on the first oil circuit to guide the flow of hydraulic oil to the first oil chamber. The two ends of the second oil circuit are respectively connected to the oil tank and the second oil chamber. A fourth check valve is provided on the second oil circuit to guide the flow direction of hydraulic oil to the second oil chamber. The inlet and outlet ends of the first pressure relief valve are respectively connected to the first oil chamber and the second oil chamber; The inlet and outlet ends of the second pressure relief valve are respectively connected to the second oil chamber and the first oil chamber; The inlet end of the third pressure relief valve is connected to the outlet end of the first pressure relief valve and the inlet end of the second pressure relief valve, and the outlet end of the third pressure relief valve is connected to the oil tank.

5. The spray boom position adjustment system for a sprayer according to claim 3, characterized in that: It also includes a second hydraulic cylinder; The second hydraulic cylinder is simultaneously hinged to both the spray boom suspension and the spray boom mounting bracket of the sprayer; The controller can control the extension or retraction of the second cylinder based on the detection results of the ultrasonic sensor to adjust and maintain the state of the spray bar suspension parallel to the ground.

6. The spray boom position adjustment system for a sprayer according to claim 1, characterized in that: It also includes a two-stage hydraulic pressure shock absorption module, which includes a lifting cylinder assembly and an energy storage component; The lifting cylinder assembly includes a first lifting cylinder and a second lifting cylinder. The output ends of the first lifting cylinder and the second lifting cylinder are used to connect to the spray boom fixing frame of the sprayer. The oil chambers of the first lifting cylinder and the second lifting cylinder are both connected to the oil tank. The rodless chambers of the first lifting cylinder and the rodless chambers of the second lifting cylinder are simultaneously connected to the buffer pipeline. The energy storage component is connected to the buffer pipeline via a proportional control valve, which can adjust the flow rate from the buffer pipeline to the energy storage component.

7. The spray boom position adjustment system for a sprayer according to claim 6, characterized in that: The energy storage assembly includes a first energy storage device and a second energy storage device; The first accumulator is connected to the buffer pipeline via a first proportional control valve; The second accumulator is connected to the buffer pipeline via a second proportional control valve; A second pressure sensor is provided in the rodless chamber of the first lifting cylinder and / or the rodless chamber of the second lifting cylinder; Wherein, the volume of the first accumulator is larger than the volume of the second accumulator; when the pressure of the rodless chamber of the first lifting cylinder and / or the rodless chamber of the second lifting cylinder meets the third target condition, the first proportional control valve opens and adjusts the flow rate of the buffer pipeline to the first accumulator; when the pressure of the rodless chamber of the first lifting cylinder and / or the rodless chamber of the second lifting cylinder meets the fourth target condition, the second proportional control valve opens and adjusts the flow rate of the buffer pipeline to the second accumulator; the fourth target condition is not less than the third target condition.

8. The spray boom position adjustment system for a sprayer according to claim 5, characterized in that: It also includes a dual-balanced pressure-holding circuit; The dual-balance pressure-holding circuit includes a first balance valve, a second balance valve, a fifth check valve, and a sixth check valve; The inlet and outlet of the first balance valve are respectively connected to the inlet and outlet of the fifth check valve to form a first inlet and a first outlet, respectively. The first inlet and the first outlet are respectively connected to the oil tank and the rodless chamber of the second cylinder. The fifth check valve allows hydraulic oil to flow from the oil tank to the rodless chamber of the second cylinder, and a second throttling orifice is provided at the first outlet. The inlet and outlet of the second balance valve are respectively connected to the inlet and outlet of the sixth check valve to form a second inlet and a second outlet, respectively. The second inlet and the second outlet are respectively connected to the rod chamber of the second cylinder and the oil tank. The sixth check valve allows hydraulic oil to flow from the rod chamber of the second cylinder to the oil tank, and a third throttling orifice is provided at the second inlet. The first pilot control port of the first balancing valve is connected to the second outlet, and the second pilot control port of the second balancing valve is connected to the first inlet.

9. The spray boom position adjustment system for a sprayer according to claim 5, characterized in that: It also includes a load-sensitive circuit, which comprises a variable pump, a first shuttle valve, a second shuttle valve, and a third shuttle valve; The input end of the variable pump is connected to the oil tank, and the output end of the variable pump is connected to the first oil cylinder and the second oil cylinder; The first input end of the first shuttle valve is connected to the first oil cylinder, and the second input end of the first shuttle valve is connected to the oil tank; The first input end of the second shuttle valve is connected to the second oil cylinder, and the second input end of the second shuttle valve is connected to the oil tank; The first and second input terminals of the third shuttle valve are respectively connected to the output terminals of the first and second shuttle valves; the output terminal of the third shuttle valve is connected to the variable control port of the variable pump.

10. A method for adjusting the position and posture of a spray boom on a sprayer, characterized in that, It includes the following steps: Obtain the pressure in the first and second oil chambers of the first oil cylinder; When the pressure in the first oil chamber or the second oil chamber meets the first target condition, the electromagnetic switch valve is opened to connect the first regulating oil circuit between the first oil chamber and the second oil chamber. When the pressure in the first oil chamber or the second oil chamber meets the second target condition, at least one proportional solenoid valve is opened to connect the second regulating oil circuit that connects the first oil chamber and the second oil chamber.

11. The spray boom position adjustment method for a sprayer according to claim 10, characterized in that, A method for opening at least one proportional solenoid valve to conduct a second regulating oil circuit connecting the first oil chamber and the second oil chamber when the pressure in the first oil chamber or the second oil chamber meets the second target condition includes: When the pressure in the first oil chamber meets the second target condition, the first proportional solenoid valve is opened to connect the first sub-regulating oil circuit that connects the first oil chamber and the second oil chamber, so that the hydraulic oil in the first oil chamber enters the second oil chamber. When the pressure in the second oil chamber meets the second target condition, the second proportional solenoid valve is opened to connect the second sub-regulating oil circuit that connects the first oil chamber and the second oil chamber, so that the hydraulic oil in the second oil chamber enters the first oil chamber.

12. The spray boom position adjustment method for a sprayer according to claim 10, characterized in that, A method for opening at least one proportional solenoid valve to conduct a second regulating oil circuit connecting the first oil chamber and the second oil chamber when the pressure in the first oil chamber or the second oil chamber meets the second target condition includes: Obtain the distance between the deployed spray boom and the ground; The required pressure for the first or second oil chamber is determined based on the distance between the spray bar and the ground in the deployed state. According to the required pressure of the first oil chamber or the second oil chamber, the opening degree of the first proportional solenoid valve or the second proportional solenoid valve is opened and adjusted according to the specified rules to connect the first sub-regulating oil circuit or the second sub-regulating oil circuit connecting the first oil chamber and the second oil chamber.

13. The spray boom position adjustment method for a sprayer according to claim 10, characterized in that, It also includes the following steps: Obtain the distance between the deployed spray boom and the ground; The balancing force required to keep the boom suspension parallel to the ground is determined based on the distance between the boom and the ground in the deployed state. Adjust the jacking force of the second hydraulic cylinder according to the balancing force required for the spray boom suspension to remain parallel to the ground.

14. The spray boom position adjustment method for a sprayer according to claim 10, characterized in that, It also includes the following steps: Obtain the pressure of the rodless chamber of the first lifting cylinder and the rodless chamber of the second lifting cylinder; When the pressure in the rodless chamber of the first lifting cylinder and / or the rodless chamber of the second lifting cylinder meets the third target condition, the first proportional control valve is opened and the flow rate from the rodless chamber of the first lifting cylinder and the rodless chamber of the second lifting cylinder to the first accumulator is adjusted. When the pressure in the rodless chamber of the first lifting cylinder and / or the rodless chamber of the second lifting cylinder meets the fourth target condition, the second proportional control valve is opened and the flow rate from the rodless chamber of the first lifting cylinder and the rodless chamber of the second lifting cylinder to the second accumulator is adjusted. Wherein, the fourth target condition is not less than the third target condition, and the volume of the first energy storage device is greater than the volume of the second energy storage device.

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