Center pivot type anchor arm sprinkler

Abstract

The invention discloses a center fulcrum shaft type foot margin arm sprinkling machine, and relates to the technical field of agricultural irrigation equipment. The sprinkling machine comprises a sprinkling machine main body and a foot margin arm span body which are connected through a floating hinge mechanism. The floating hinge mechanism enables the foot margin arm straddle body to rotate in the horizontal direction and adapt to gradient floating in the vertical direction. A tail end driving tower vehicle is arranged at the tail end of the foot margin arm span body, and a ground magnetic cable is detected through an induction guiding unit so as to follow a path. In addition, the mechanical linkage feedback mechanism mechanically triggers a control signal according to the change of an included angle between the sprinkling machine main body and the foot margin arm span body, and adjusts the speed of the tower vehicle to keep cooperation. The structure reliability and the operation precision of the device under the complex terrain are improved, efficient covering of irregular land parcels is achieved, and the device is particularly suitable for agricultural irrigation operation of uneven land parcels such as hills and terraced fields.

Description

Technical Field

[0001] This application relates to the field of agricultural irrigation equipment technology, and in particular to a center-supported ground-mounted sprinkler irrigation machine. Background Technology

[0002] Center-pivot sprinklers are currently widely used large-scale water-saving irrigation equipment. However, standard center-pivot sprinklers can only cover a circular area, leaving the four corners of square or rectangular plots unirrigated, resulting in a waste of land resources. To solve this problem, the industry has developed sprinkler systems with foot arms. This involves adding a swingable span to the end of the main sprinkler, which unfolds to spray additional water when passing the corners of the plot and folds back when passing the edges.

[0003] Although existing sprinkler irrigation machines with ground-mounted arms have solved the problem of missed spraying to some extent, the following major technical problems still exist in practical applications: 1. Existing connections between the jib arm and the sprinkler machine body typically employ simple slewing bearings or hinged structures that only allow horizontal rotation. This design assumes the ground is perfectly flat. However, actual farmland often has undulating slopes. When the jib arm travels uphill or downhill, significant torsional stress is generated between the sprinkler machine body and the jib arm due to the rigid locking or insufficient freedom of the connection in the vertical direction. This can easily lead to broken connecting pins and truss deformation; in severe cases, it can even cause the drive wheels at the end of the jib arm to slip or become excessively pressed into the soil, rendering the entire machine unable to operate normally.

[0004] 2. The extension and retraction of the jib arm essentially involves controlling its angle relative to the main body. Existing technologies, such as systems partially based on GPS or purely electronic angle sensors, primarily rely on complex electronic calculations to maintain this angle. However, harsh farmland environments, such as high humidity, muddy water, and lightning, make sophisticated electronic angle sensors or GPS modules susceptible to interference or damage. When maintaining a specific angle for coordinated movement is required, even minor signal fluctuations or delays can cause the end-cap crane to frequently stop abruptly or surge forward, resulting in decreased irrigation uniformity and accelerated mechanical wear. Furthermore, if the electronic control system malfunctions, it is difficult for ordinary farmers to repair, leading to prolonged downtime.

[0005] In summary, there is an urgent need for a centrally pivoted ground-mounted sprinkler system to solve the aforementioned technical problems. Summary of the Invention

[0006] This application provides a center-supported ground-mounted arm sprinkler that can adapt to changes in ground slope and achieve precise coordination through reliable mechanical and physical feedback in control.

[0007] The technical solution of the center-supported ground-mounted arm sprinkler irrigation machine provided in this application is as follows: A center-supported, ground-mounted sprinkler irrigation machine includes a sprinkler body and a ground-mounted arm span connected to the end of the sprinkler body. The ground-mounted sprinkler irrigation machine further includes: A floating hinge mechanism includes a connecting frame and a floating hinge assembly. The floating hinge assembly is disposed between the connecting frame and the sprinkler body and / or at the connection between the connecting frame and the ground arm span. The floating hinge assembly is configured such that the ground arm span and the sprinkler body can rotate relative to each other in the horizontal direction, and allow the ground arm span to generate a floating displacement relative to the sprinkler body in the vertical direction that adapts to the slope. An end-drive tower crane is located at the end of the jib arm span and is used to drive the jib arm span along a pre-set physical guide path on the ground. The mechanical linkage feedback mechanism includes a first linkage assembly and a first control box. The first linkage assembly is disposed between the connecting frame and the main body of the sprinkler irrigation machine. The first linkage assembly is configured to generate mechanical displacement following the change of a first horizontal angle between the connecting frame and the main body of the sprinkler irrigation machine, and trigger a signal element in the first control box. The first control box sends a following signal to the end-drive tower trolley to control the travel speed of the end-drive tower trolley, so as to maintain the first preset horizontal angle between the connecting frame and the main body of the sprinkler irrigation machine, and maintain the coordinated movement of the support arm span and the main body of the sprinkler irrigation machine.

[0008] By adopting the above technical solution, this invention solves the problems of easy damage at the connection points and unstable synchronous control in traditional ground-mounted arm sprinkler irrigation machines under complex terrain. Specifically, the dual-degree-of-freedom design of the floating hinge mechanism allows the ground-mounted arm to flexibly pitch relative to the sprinkler irrigation machine body when traversing undulating field slopes, eliminating the torsional stress caused by rigid connections and preventing pin breakage or structural deformation. Simultaneously, the mechanical linkage feedback mechanism directly converts angle changes into control signals through physical linkages. Compared to GPS or electronic angle sensors, it has stronger anti-interference capabilities, ensuring more sensitive and reliable coordinated movement between the ground-mounted arm and the sprinkler irrigation machine body, effectively avoiding operational stuttering caused by signal delays.

[0009] Optionally, the first linkage assembly includes a first sensing rod and a limiting plate. One end of the first sensing rod is fixedly connected to the trigger end of the first control box. The limiting plate is fixed on the connecting frame. The limiting plate has multiple limiting holes along its length. The end of the first sensing rod can slide through different limiting holes to adjust the first preset horizontal angle between the connecting frame and the sprinkler body.

[0010] By adopting the above technical solution, the system is given extremely high adjustment flexibility. Users can physically adjust the "lag" or "lead" angle of the ground arm relative to the main body of the sprinkler by changing the position of the limiting hole through which the sensing rod passes. This mechanical adjustment is simple and intuitive, and can adapt to different working conditions without modifying the underlying control program.

[0011] Optionally, the floating hinge assembly includes a shaft and a sleeve; one of the shaft and the sleeve is fixed to the connecting frame, and the other is fixed to the foot arm span and / or the sprinkler body. The sleeve is fitted around the outer periphery of the shaft, and a preset radial gap is provided between the shaft and the sleeve, so that the foot arm span can float in the vertical plane relative to the sprinkler body.

[0012] By adopting the above technical solution, complex spatial floating functions are achieved using a simple radial clearance. This design avoids the use of expensive universal joints or complex hydraulic leveling mechanisms, reducing both manufacturing costs and maintenance points. The preset radial clearance provides the necessary swing space for the foot arm span, allowing it to passively adapt to ground undulations.

[0013] Optionally, the top of the shaft is provided with a ball head structure, and the inner top wall of the sleeve is provided with a ball socket structure that slides against the ball head structure; the outer wall of the shaft is provided with a first stepped structure along the axial direction, and the inner wall of the sleeve is provided with a second stepped structure along the axial direction. The radial distance between the first stepped structure and the second stepped structure increases along the direction of height decrease, so that the foot arm span can pitch and swing within a range of ±15 degrees relative to the sprinkler body in the vertical plane.

[0014] By adopting the above technical solution, the floating performance has been further optimized. The fit between the ball head and the socket provides a smooth rotation fulcrum, while the special stepped gap design, with a large gap at the bottom, prevents rigid interference or jamming when the shaft is tilted at a large angle (±15 degrees) within the sleeve. This ensures that the connecting mechanism can still operate smoothly even in terraced fields or hilly areas with steep slopes, significantly improving the sprinkler's ability to climb slopes and overcome obstacles.

[0015] Optionally, the end-drive tower crane includes: A drive leg is connected to the end of the foot arm span, and a wheel bracket is rotatably connected to the drive leg, with a wheel installed inside the wheel bracket; A sensing and guiding unit is mounted on the wheel bracket. The sensing and guiding unit is used to detect a physical guiding path preset on the ground and generate a guiding signal. A steering drive unit is used to receive the guidance signal to adjust the steering angle of the wheel bracket so that the wheel travels along a physical guide path; The walking drive unit is used to receive the following signal from the first control box to adjust the wheel speed.

[0016] By adopting the above technical solution, the steering drive unit focuses on guiding the wheels along a predetermined path, while the walking drive unit focuses on following the main body of the sprinkler. This independent control architecture avoids the drawback of traditional differential steering, which requires changing speed when adjusting direction, and greatly improves the accuracy and stability of the foot arm's running trajectory.

[0017] Optionally, the steering drive unit includes a connected steering motor and a steering reducer for driving the wheel bracket to rotate around a vertical axis; the travel drive unit includes a connected travel motor and a travel reducer for driving the wheels to roll; the steering motor and the travel motor are independent of each other in control logic.

[0018] By adopting the above technical solutions, strong power redundancy and control flexibility are provided. The independent steering motor allows the wheels to adjust their angle while stationary or to make minor adjustments while moving, eliminating lateral slip resistance. Compared to traditional mechanical tie-rod steering, this all-electric independent drive system offers faster response and greater steering torque, enabling easy steering maneuvers even in muddy or deep pits.

[0019] Optionally, the physical guidance path is a magnetic cable pre-buried underground; the inductive guidance unit includes an inductive antenna and a geomagnetic controller, the inductive antenna is configured to detect the magnetic field signal of the magnetic cable; the geomagnetic controller is configured to generate a guidance signal based on the magnetic field signal fed back by the inductive antenna.

[0020] By adopting the above technical solution, a highly robust navigation method has been established. Compared to visual navigation, which is easily affected by crop shading and changes in lighting, the underground magnetic cable, as a "physical guidance path," is extremely stable and unaffected by the farmland surface environment (such as weeds, mud, and tall crops). The inductive antenna can accurately capture magnetic signals around the clock, ensuring that the ground support arm operates strictly according to the preset boundaries, maximizing land productivity.

[0021] Optionally, the water supply pipeline on the support arm span is equipped with several nozzle groups, and each nozzle group is equipped with a solenoid valve at its inlet; the support arm sprinkler is also equipped with a controller, which is configured to control the opening or closing of each solenoid valve according to the current position or unfolding angle of the support arm span through a preset program logic.

[0022] By adopting the above technical solution, precision irrigation has been achieved. The coverage area of ​​the ground support arm dynamically changes as it extends or retracts at corners. By linking the controller with the solenoid valve, repeated spraying in overlapping areas or non-planted areas can be avoided, significantly improving water resource utilization efficiency and crop growth uniformity.

[0023] Optionally, the mechanical linkage feedback mechanism further includes a second linkage assembly and a second control box. The second linkage assembly is disposed between the connecting frame and the base arm span. The second linkage assembly is configured to generate mechanical displacement following the change of the second horizontal angle between the connecting frame and the base arm span, and trigger the signal element in the second control box. The second control box sends an angle adjustment signal to the end-drive tower crane to control the travel direction of the end-drive tower crane, thereby keeping the second horizontal angle between the connecting frame and the base arm span within a preset range.

[0024] By adopting the above technical solution, this invention innovatively utilizes the second linkage assembly to detect the second horizontal angle between the connecting frame and the ground support arm, and uses mechanical displacement to directly trigger the second control box to control the opening and closing of the solenoid valve. Compared with electronic control schemes that rely entirely on angle encoders, this mechanical triggering mechanism provides a physical redundancy. For example, when the ground support arm is folded to a specific angle, the linkage will inevitably trigger the switch to forcibly close the relevant nozzles, effectively preventing fixed-point water accumulation or crop lodging caused by electronic sensor drift or failure, thus improving water resource utilization and irrigation safety.

[0025] Optionally, the second linkage assembly includes a fixing frame and an axial elastic element. The fixing frame is fixed to the connecting frame, and one end of the axial elastic element is connected to the fixing frame, while the other end is connected to the trigger end of the second control box.

[0026] By adopting the above technical solution, a buffer mechanism is introduced into the mechanical transmission chain. When ground bumps cause the support arm to generate instantaneous high-frequency vibrations, the axial elastic element can absorb the vibration energy, preventing the precision switches in the control box from malfunctioning or being damaged due to mechanical impact, effectively extending the service life of the control components and ensuring operational stability in rough farmland environments.

[0027] In summary, this application includes at least one of the following beneficial technical effects: 1. This application creatively employs a floating hinge mechanism, which allows for floating freedom in the vertical direction between the foot arm span and the sprinkler body. This directly solves the problems of stress concentration, pin breakage, or wheel suspension that easily occur with existing rigid connections when operating on slopes, enabling the equipment to adapt to hilly farmland with large undulations.

[0028] 2. This application utilizes a mechanical linkage feedback mechanism composed of physical linkages and a control box to replace the fragile electronic and GPS synchronization system. By triggering the speed control signal through pure mechanical displacement, not only are signal delays and accumulated errors of the electronic system eliminated, but the system's anti-interference capability and durability in harsh agricultural environments such as dampness and lightning are also greatly improved, and maintenance costs are significantly reduced.

[0029] 3. This application employs a combination of underground magnetic cable and independent steering tower vehicle. The physical separation of steering and walking power, combined with magnetic induction technology that is unaffected by surface cover, ensures that the ground arm span can run along the edge of the plot with extremely high precision, effectively covering the corner areas missed by traditional circular sprinkler irrigation machines, and significantly improving land productivity. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the overall structure of an embodiment of this application.

[0031] Figure 2 This is a schematic diagram of the floating hinge mechanism, which is the main embodiment of this application.

[0032] Figure 3 This is a cross-sectional view of the floating hinge assembly, which is the main embodiment of this application.

[0033] Figure 4 This embodiment of the application mainly illustrates the structural diagram of the end-drive tower truck.

[0034] Figure 5 This is a schematic diagram of the first horizontal angle and the second horizontal angle in an embodiment of this application.

[0035] Explanation of reference numerals in the attached figures: 10. Sprinkler machine body; 20. Base arm span; 30. Floating hinge mechanism; 31. Connecting frame; 32. Shaft; 321. Ball joint structure; 322. First step structure; 33. Sleeve; 331. Ball socket structure; 332. Second step structure; 40. End drive tower; 41. Drive leg; 411. Wheel bracket; 412. Wheel; 42. Sensing and guiding unit; 43. Steering drive unit; 44. Walking drive unit; 50. Mechanical linkage feedback mechanism; 51. First linkage assembly; 511. First sensing rod; 512. Limiting plate; 513. Limiting hole; 52. First control box; 53. Second linkage assembly; 531. Fixing frame; 532. Axial elastic element; 54. Second control box; 60. Sprinkler head assembly. Detailed Implementation

[0036] The following will refer to the appendices in the embodiments of this application. Figure 1-5 The technical solutions in the embodiments of this application are clearly and completely described. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0037] This application provides a center-supported ground-mounted arm sprinkler irrigation machine, which is designed to solve the problems of easy damage at the connection of the ground-mounted arm in complex terrain, unstable synchronous control, and low path following accuracy in the prior art.

[0038] Reference Figure 1 The center-supported ground-mounted sprinkler irrigation machine mainly includes a sprinkler body 10 and a ground-mounted arm span 20 connected to the end of the sprinkler body 10. The sprinkler body 10 is usually composed of multiple spans connected end to end, rotating around a central pivot point; the ground-mounted arm span 20, as an extension structure at the end, can be deployed in corner areas to expand the irrigation area, or retracted in non-corner areas.

[0039] In order to achieve a reliable connection between the base arm span 20 and the sprinkler body 10, flexible adaptation to terrain, and precise coordination, the base arm sprinkler in this embodiment also includes a floating hinge mechanism 30, an end-drive tower 40, and a mechanical linkage feedback mechanism 50.

[0040] Reference Figure 1 and Figure 2 A floating hinge mechanism 30 is disposed at the connection between the sprinkler body 10 and the support arm span 20, providing a mechanical connection and allowing specific relative movement. In one embodiment, the floating hinge mechanism 30 includes a connecting frame 31 and a floating hinge assembly. The floating hinge assembly can be disposed between the connecting frame 31 and the sprinkler body 10, at the connection between the connecting frame 31 and the support arm span 20, or at both locations. In this embodiment, floating hinge assemblies are disposed both between the connecting frame 31 and the sprinkler body 10 and between the connecting frame 31 and the support arm span 20.

[0041] The floating hinge assembly is configured such that the foot arm span 20 and the sprinkler body 10 can rotate relative to each other in the horizontal direction, and allow the foot arm span 20 to generate a slope-adaptive floating displacement relative to the sprinkler body 10 in the vertical direction. This vertical floating capability eliminates the torsional stress caused by rigid connections when operating on undulating terrain, effectively reducing the risk of pin breakage or structural deformation, and solving the problem of poor reliability of existing technologies when operating on uneven ground.

[0042] Reference Figure 2 and Figure 3Specifically, the floating hinge assembly includes a shaft 32 and a sleeve 33. In this embodiment, one shaft 32 is fixedly connected to the connecting frame 31, and one sleeve 33 is fixedly connected to the base arm span 20; and one shaft 32 is fixed to the sprinkler body 10, and the other sleeve 33 is fixed to the connecting frame 31. In other embodiments, the configuration can be reversed. The sleeve 33 is fitted around the outer periphery of the shaft 32, and a preset radial gap is provided between the shaft 32 and the sleeve 33, allowing the base arm span 20 to float relative to the sprinkler body 10 in the vertical plane.

[0043] Furthermore, the top of the shaft 32 is provided with a ball joint structure 321, and correspondingly, the inner top wall of the sleeve 33 is provided with a ball socket structure 331 that slides against the ball joint structure 321. The ball joint and the ball socket form a fulcrum similar to a joint, which can bear vertical loads while allowing omnidirectional rotation. In addition, the outer wall of the shaft 32 is provided with a first stepped structure 322 along the axial direction, so that the diameter of the shaft 32 decreases in a stepped manner from top to bottom, and the inner wall of the sleeve 33 is provided with a second stepped structure 332 along the axial direction, so that the inner diameter of the sleeve 33 increases in a stepped manner from top to bottom. The radial distance between the first stepped structure 322 and the second stepped structure 332 increases along the direction of decreasing height. This stepped clearance design with a tighter top and a looser bottom allows for greater swing space in the lower part of the shaft 32, so that the foot arm span 20 can swing in a pitch range of ±15 degrees relative to the sprinkler body 10 in the vertical plane. The design of the first stepped structure 322 and the second stepped structure 332 essentially constitutes a variable cross-section fit clearance. When running on flat ground, the smaller gap at the top ensures effective transmission of traction; when running on slopes, the larger gap at the bottom provides space for swinging and avoidance.

[0044] Reference Figure 1 and Figure 4 The end-drive tower trolley 40 is located at the end of the jib span 20 and is used to drive the jib span 20 along a pre-set physical guide path on the ground, and adjust its speed and direction according to instructions. The end-drive tower trolley 40 includes a drive frame 41, a sensor guide unit 42, a steering drive unit 43, and a travel drive unit 44.

[0045] In one embodiment, the drive frame 41 is fixedly connected to the end of the ground arm span 20, and wheel brackets 411 are rotatably connected to both sides of the drive frame 41, with wheels 412 mounted on the wheel brackets 411. A sensing and guiding unit 42 is disposed on the wheel brackets 411 and is used to detect a pre-set physical guide path on the ground and generate a guiding signal. A steering drive unit 43 receives the guiding signal to adjust the steering angle of the wheel brackets 411, ensuring that the wheels 412 always travel along the physical guide path. A walking drive unit 44 receives a following signal from the mechanical linkage feedback mechanism 50 to adjust the traveling speed of the wheels 412, achieving coordination between the ground arm span 20 and the sprinkler machine body 10.

[0046] In one embodiment, the physical guidance path is a magnetic cable pre-buried underground. This guidance method is unaffected by surface crops, changes in sunlight, or inclement weather. Accordingly, the inductive guidance unit 42 includes an inductive antenna and a geomagnetic controller. The inductive antenna is configured to detect the magnetic field signal emitted by the magnetic cable. The geomagnetic controller sends a guidance signal to the steering drive unit 43 based on the signal deviation fed back by the inductive antenna, controlling the steering drive unit 43 to operate, so that the end-drive tower 40 travels along the magnetic cable track.

[0047] Optionally, the inductive antenna includes two or more inductive track guide antennas installed in front of and behind the wheel bracket 411. When the wheel bracket 411 is exactly above the magnetic cable, the signal strength difference between the two inductive track guide antennas is zero or within a preset threshold. When the wheel bracket 411 deviates, the signal strength of the two inductive track guide antennas generates a difference. The geomagnetic controller is used to calculate the above signal difference in real time. When the existence of a difference indicates that the wheel bracket 411 has deviated, the geomagnetic controller outputs a control signal to drive the steering drive unit 43 to correct, thereby enabling the ground arm span 20 to travel along a preset physical guide path on the ground.

[0048] In another embodiment, the steering drive unit 43 includes a connected steering motor and a steering reducer for driving the wheel bracket 411 to rotate about a vertical axis. Optionally, the wheel brackets 411 on the left and right sides can be driven by the same steering drive unit 43, specifically by a worm gear structure combined with the steering drive unit 43.

[0049] In another embodiment, the walking drive unit 44 includes a connected walking motor and a walking reducer for driving the wheels 412 to roll. Optionally, a set of walking motors and walking reducers are separately mounted on the wheel bracket 411 for independently controlling the movement of one wheel 412, thereby driving the wheels 412 on the left and right sides of the footrest 41 to move at different speeds, ensuring the walking speed and direction.

[0050] Among them, the steering motor and the travel motor are independent of each other in terms of control logic, which is different from traditional differential steering or mechanical linkage steering. This enables turning on the spot or fine-tuning while moving, which greatly improves the accuracy of trajectory tracking.

[0051] Reference Figure 2 The mechanical linkage feedback mechanism 50 is used to achieve speed coordination and angle protection between the ground arm span 20 and the sprinkler body 10. It uses a purely mechanical displacement trigger signal, which is more adaptable to harsh farmland environments compared to electronic sensors. The mechanical linkage feedback mechanism 50 includes a first linkage assembly 51 and a first control box 52.

[0052] The first linkage assembly 51 is disposed between the connecting frame 31 and the sprinkler body 10, and is configured to follow the change in the first horizontal angle between the connecting frame 31 and the sprinkler body 10 to generate mechanical displacement. When the angle change causes displacement, the first linkage assembly 51 triggers the signal element in the first control box 52. The first control box 52 then sends a following signal to the travel drive unit 44 of the end drive tower 40 to control the travel speed, thereby maintaining the connecting frame 31 and the sprinkler body 10 at the first preset horizontal angle and maintaining coordinated movement.

[0053] It should be explained that the first horizontal angle refers to the outer angle α1 between the simplified outlines of the connecting frame 31 and the sprinkler body 10 in the top view, and the second horizontal angle refers to the outer angle α2 between the simplified outlines of the connecting frame 31 and the support arm span 20 in the top view. Figure 5 As shown.

[0054] Reference Figure 1 and Figure 2 In one embodiment, the first linkage assembly 51 specifically includes a first sensing rod 511 and a limiting plate 512. One end of the first sensing rod 511 is fixedly connected to the trigger end of the first control box 52, and the limiting plate 512 is fixed to the connecting frame 31. The limiting plate 512 has multiple limiting holes 513 along its length, and the end of the first sensing rod 511 can slide through different limiting holes 513. By selecting different limiting holes 513, the operator can adjust the first preset horizontal angle between the connecting frame 31 and the sprinkler body 10, thereby flexibly adjusting the lag or advance of the foot arm span 20.

[0055] Its working principle is as follows: For example, when the main body 10 of the sprinkler moves forward while the support arm 20 lags behind, the first horizontal angle increases, and the main body 10 of the sprinkler pulls the first sensing rod 511 to move. The limiting plate 512 drives the first sensing rod 511 to move through the limiting hole 513. The first sensing rod 511 actuates the trigger rocker arm of the first control box 52, and sends a following signal to the walking drive unit 44 through the first control box 52, causing the end-drive tower 40 to accelerate. When the end-drive tower 40 catches up with the main body 10 of the sprinkler, the first horizontal angle decreases, the first sensing rod 511 resets, and the end-drive tower 40 stops or decelerates.

[0056] Reference Figure 1 and Figure 2 In another embodiment, to improve water resource utilization, the water supply pipeline on the support arm span 20 is equipped with several sprinkler head groups 60, each sprinkler head group 60 having a solenoid valve at its inlet. The support arm sprinkler irrigation machine is also equipped with a controller. The controller is configured to control the opening or closing of each solenoid valve according to the current position or unfolding angle of the support arm span 20 through a preset program logic. For example, the valve is opened when the support arm span 20 unfolds to cover the corner area, and closed when it retracts to cover the overlapping area, thereby achieving precise sprinkler irrigation.

[0057] Meanwhile, the mechanical linkage feedback mechanism 50 also includes a second linkage assembly 53 and a second control box 54. The second linkage assembly 53 is located between the connecting frame 31 and the ground arm span 20. The second linkage assembly 53 is configured to generate mechanical displacement following the change of the second horizontal angle between the connecting frame 31 and the ground arm span 20, and triggers the signal element in the second control box 54 to send a spray signal to the controller. The controller then controls the opening and closing of the solenoid valve, thereby controlling the spraying operation of the sprinkler assembly 60. This mechanism is used to monitor the angle between the connecting frame 31 and the ground arm span 20. When the ground arm span extends or retracts at a corner, its coverage area changes dynamically. By linking the controller with the solenoid valve, repeated spraying in overlapping areas or spraying in non-planting areas can be avoided, significantly improving water resource utilization efficiency and crop growth uniformity.

[0058] Furthermore, the second linkage assembly 53 includes a fixing frame 531 and an axial elastic element 532. The fixing frame 531 is fixed to the connecting frame 31, and the axial elastic element 532 can be a tension spring. One end of the axial elastic element 532 is connected to the fixing frame 531, and the other end is connected to the trigger end of the second control box 54.

[0059] It should be noted that the first control box 52 and the second control box 54 integrate limit switches or angle potentiometers. For example, when the first sensing rod 511 is displaced, its end mechanical structure directly presses against the contacts of the limit switch, thereby connecting or disconnecting the control circuit and achieving purely physical triggering. This design avoids the risk of non-contact sensors failing when covered by mud and water.

[0060] In summary, the embodiments of this application solve the terrain adaptability problem through the floating hinge mechanism 30, solve the reliability problem of synchronous control through the mechanical linkage feedback mechanism 50, and solve the precise guidance problem through the end-drive tower 40 in conjunction with the magnetic cable, thus providing a center-supported ground arm sprinkler irrigation machine with a robust structure, reliable control, and strong adaptability.

[0061] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A center-supported ground-mounted sprinkler irrigation machine, comprising a sprinkler body (10) and a ground-mounted arm span (20) connected to the end of the sprinkler body (10), characterized in that, Ground-mounted arm sprinkler irrigation systems also include: The floating hinge mechanism (30) includes a connecting frame (31) and a floating hinge assembly, the floating hinge assembly being disposed between the connecting frame (31) and the sprinkler body (10) and / or at the connection between the connecting frame (31) and the ground arm span (20), the floating hinge assembly being configured such that the ground arm span (20) and the sprinkler body (10) can rotate relative to each other in the horizontal direction, and allow the ground arm span (20) to generate a floating displacement relative to the sprinkler body (10) in the vertical direction that adapts to the slope; An end-drive tower car (40) is located at the end of the jib arm span (20) and is used to drive the jib arm span (20) along a pre-set physical guide path on the ground. The mechanical linkage feedback mechanism (50) includes a first linkage assembly (51) and a first control box (52). The first linkage assembly (51) is disposed between the connecting frame (31) and the sprinkler body (10). The first linkage assembly (51) is configured to generate mechanical displacement following the change of the first horizontal angle between the connecting frame (31) and the sprinkler body (10), and trigger the signal element in the first control box (52). The first control box (52) sends a following signal to the end drive tower (40) to control the travel speed of the end drive tower (40) so as to maintain the first preset horizontal angle between the connecting frame (31) and the sprinkler body (10) and keep the ground arm span (20) and the sprinkler body (10) moving together.

2. The center-supported ground-mounted arm sprinkler irrigation machine according to claim 1, characterized in that, The first linkage assembly (51) includes a first sensing rod (511) and a limiting plate (512). One end of the first sensing rod (511) is fixedly connected to the trigger end of the first control box (52). The limiting plate (512) is fixed on the connecting frame (31). The limiting plate (512) has multiple limiting holes (513) along its length. The end of the first sensing rod (511) can slide through different limiting holes (513) to adjust the first preset horizontal angle between the connecting frame (31) and the sprinkler body (10).

3. The center-supported ground-mounted arm sprinkler irrigation machine according to claim 1, characterized in that, The floating hinge assembly includes a shaft (32) and a sleeve (33); one of the shaft (32) and the sleeve (33) is fixed to the connecting frame (31), and the other is fixed to the foot arm span (20) and / or the sprinkler body (10). The sleeve (33) is sleeved on the outer periphery of the shaft (32). A preset radial gap is provided between the shaft (32) and the sleeve (33), so that the foot arm span (20) can float in the vertical plane relative to the sprinkler body (10).

4. The center-supported ground-mounted arm sprinkler irrigation machine according to claim 3, characterized in that, The top of the shaft (32) is provided with a ball head structure (321), and the inner top wall of the sleeve (33) is provided with a ball socket structure (331) that slides against the ball head structure (321); the outer wall of the shaft (32) is provided with a first step structure (322) along the axial direction, and the inner wall of the sleeve (33) is provided with a second step structure (332) along the axial direction. The radial distance between the first step structure (322) and the second step structure (332) increases along the direction of height decrease, so that the foot arm span (20) can pitch and swing within a range of ±15 degrees relative to the sprinkler body (10) in the vertical plane.

5. The center-supported ground-mounted arm sprinkler irrigation machine according to claim 1, characterized in that, The end-drive tower vehicle (40) includes: A drive leg (41) is connected to the end of the foot arm span (20), and a wheel bracket (411) is rotatably connected to the drive leg (41), and a wheel (412) is installed inside the wheel bracket (411). A sensing and guiding unit (42) is provided on the wheel bracket (411). The sensing and guiding unit (42) is used to detect a physical guiding path preset on the ground and generate a guiding signal. Steering drive unit (43) is used to receive the guidance signal to adjust the steering angle of the wheel bracket (411) so that the wheel (412) travels along the physical guide path; The walking drive unit (44) is used to receive the following signal from the first control box (52) to adjust the speed of the wheels (412).

6. The center-supported ground-mounted arm sprinkler irrigation machine according to claim 5, characterized in that, The steering drive unit (43) includes a connected steering motor and a steering reducer for driving the wheel bracket (411) to rotate around the vertical axis; the walking drive unit (44) includes a connected walking motor and a walking reducer for driving the wheel (412) to roll; the steering motor and the walking motor are independent of each other in control logic.

7. The center-supported ground-mounted arm sprinkler irrigation machine according to claim 5, characterized in that, The physical guidance path is a magnetic cable pre-buried underground; the induction guidance unit (42) includes an induction antenna and a geomagnetic controller, the induction antenna is configured to detect the magnetic field signal of the magnetic cable; the geomagnetic controller is configured to generate a guidance signal based on the magnetic field signal fed back by the induction antenna.

8. The center-supported ground-mounted arm sprinkler irrigation machine according to claim 1, characterized in that, The water supply pipeline on the support arm span (20) is equipped with several nozzle groups (60), and each nozzle group (60) is provided with a solenoid valve at its inlet. The support arm sprinkler is also equipped with a controller, which is configured to control the opening or closing of each solenoid valve according to the current position or unfolding angle of the support arm span (20) through a preset program logic.

9. The center-supported ground-mounted arm sprinkler irrigation machine according to claim 8, characterized in that, The mechanical linkage feedback mechanism (50) further includes a second linkage assembly (53) and a second control box (54). The second linkage assembly (53) is disposed between the connecting frame (31) and the foot arm span (20). The second linkage assembly (53) is configured to generate mechanical displacement following the change of the second horizontal angle between the connecting frame (31) and the foot arm span (20), and trigger the signal element in the second control box (54). The second control box (54) sends a spray signal to the controller to control the opening and closing of a plurality of solenoid valves.

10. The center-supported ground-mounted arm sprinkler irrigation machine according to claim 9, characterized in that, The second linkage assembly (53) includes a fixing frame (531) and an axial elastic element (532). The fixing frame (531) is fixed on the connecting frame (31). One end of the axial elastic element (532) is connected to the fixing frame (531), and the other end is connected to the trigger end of the second control box (54).

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