Profiling spraying rod of field pesticide spraying machine

Abstract

The utility model discloses a profiling spray boom of a field pesticide sprayer, and relates to the technical field of agricultural equipment. Comprising a supporting suspension connected with a spraying machine vehicle body and spraying rod side arms installed on the left side and the right side of the supporting suspension, the supporting suspension comprises a supporting frame connected with the spraying machine vehicle body through a vertical linear guide rail, and a height adjusting oil rod is hinged between the spraying machine vehicle body and the supporting frame; the supporting frame is provided with a trapezoid four-connecting-rod spraying rod suspension frame, the left side and the right side of the supporting frame are respectively provided with an active balance oil rod, and the inner side ends of the spraying rod side arms are respectively hinged to the trapezoid four-connecting-rod spraying rod suspension frame. Profiling oil cylinders for driving the spray rod side arms to rotate around hinge points of the spray rod side arms and the trapezoidal four-connecting-rod spray rod suspension frame are hinged between the trapezoidal four-connecting-rod spray rod suspension frame and the spray rod side arms on the left side and the right side respectively; the utility model provides a profiling spray boom and suspension system applied to a field pesticide spraying machine, which is used for profiling pesticide application of the field pesticide spraying machine aiming at different terrains and different crop heights and has the effect of isolating high-frequency vibration from machines and tools.

Description

Technical Field

[0001] The utility model relates to the technical field of agricultural equipment, in particular to a profiling spray boom for a field sprayer. Background Technique

[0002] The prevention and control of pests and diseases of field crops mainly adopt the method of spraying pesticides. At the same time, the operating environment of field spraying is complex and the ground is rough. In order to ensure the uniformity of pesticide spraying, it is necessary to adjust the distance between the spray boom and the crops according to the actual operating environment to maximize the effective rate of pesticide use.

[0003] For a field sprayer, the distance between the spray boom and the suspension and the ground is not adjusted after the spraying operation starts. When the field ground is relatively flat, this measure can reduce the complexity of the sprayer system and is beneficial to the operation and maintenance of the system. However, when the field ground is uneven or operating on a mountain, some problems will occur: affected by the uneven ground, the vibration of the spraying machine during operation will be aggravated, and this vibration will be transmitted to the spray boom, causing the spray boom to shake violently; when affected by the uneven ground, the spraying machine will tilt at a certain angle, and coupled with the violent shaking of the spray boom, the spray boom will contact or even touch the ground with the crops; when operating on a mountain, affected by the terrain, the crops will be planted on the hillside. If the spray boom is not adjusted, it may cause the spray boom to contact the mountain body and lead to inoperability or even damage to the spray boom.

[0004] A profiling spray boom for a sprayer and its control method disclosed in Application No. 201611017261.X adopts a main-passive support suspension and spray boom side arms on both sides to realize a profiling spray boom for a sprayer. The passive part of the suspension isolates the high-frequency motion excitation of the spray boom from the vehicle body, providing a relatively stable platform for the active control of the motion posture of the spray boom. The active part of the suspension combines sensors, actuators, etc. to realize that the spray boom tracks the low-frequency ground slope change to adjust the overall posture of the spray boom; at the same time, the spray boom side arm is composed of multiple sections of trusses, and relative movement can be realized between the trusses. However, for field spraying, this system is too complex and the control complexity is relatively high.

[0005] A hand-pushed assisted profiling spray boom sprayer disclosed in Application No. 201720268707.X realizes the adjustment of the height of the spray boom and the shape of the spray device through a deformable spray boom, a medicine box, a vehicle body, etc., but it does not consider the influence of terrain changes on the shaking of the spray boom, and at the same time does not consider the influence of the high-frequency vibration of the machine itself on the spray boom.

[0006] A spray bar self - balancing device for an on - vehicle wide - width spray bar sprayer disclosed in Application No. 202020495623.1 realizes, on the premise of not affecting the normal and stable operation of the spray bar sprayer, overcoming the defect that the spray bar shakes violently with the chassis during pesticide application operations through devices such as an arc - shaped groove guide rail provided on the inner wall and an arc - shaped rod provided on the middle frame that cooperates with the arc - shaped groove guide rail. However, in the design of the spray bar, an integrated spray bar is adopted, which has slightly insufficient space utilization on the machine and does not consider the influence of the chassis shaking on the spray bar operation when the spray bar has a certain folding freedom. Utility Model Content

[0007] The purpose of the present utility model is to provide a profiling spray bar for a field spraying machine, which can effectively solve the problems in the background technology.

[0008] The technical solution to achieve the above purpose is: A profiling spray bar for a field spraying machine, including a support suspension connected to the sprayer vehicle body and spray bar side arms installed on both the left and right sides of the support suspension, characterized in that:

[0009] The support suspension includes a support frame connected to the sprayer vehicle body through a vertical linear guide rail, and a height - adjusting oil rod vertically arranged and used to drive the support frame to slide up and down is hinged between the sprayer vehicle body and the support frame;

[0010] A trapezoidal four - link spray bar suspension is arranged on the support frame. The trapezoidal four - link spray bar suspension includes an upper link and a lower link. A left link is hinged between the left - hand ends of the upper link and the lower link, and a right link is hinged between the right - hand ends of the upper link and the lower link.

[0011] The upper link of the trapezoidal four - link spray bar suspension is hinged to the upper - side support frame through two connecting rods. Active balance oil cylinders are respectively arranged on the left and right sides of the support frame. The tail ends of the active balance oil cylinders are hinged on both sides of the lower link of the trapezoidal four - link spray bar suspension, and the telescopic ends face upwards and are hinged on the left and right sides of the support frame;

[0012] The inner ends of the spray bar side arms are respectively hinged to the trapezoidal four - link spray bar suspension. Profiling oil cylinders for driving the spray bar side arms to rotate around the hinge points with the trapezoidal four - link spray bar suspension are respectively hinged between the trapezoidal four - link spray bar suspension and the spray bar side arms on both the left and right sides;

[0013] The profiling oil cylinders, height - adjusting oil rod, and active balance oil cylinders are correspondingly connected to a hydraulic control system.

[0014] Further, the length of the upper link of the trapezoidal four - link spray bar suspension is less than the length of the lower link.

[0015] Further, the inner ends of the left spray boom side arms are coaxially hinged to the left connecting rod and the lower connecting rod, and the inner ends of the right spray boom side arms are coaxially hinged to the right connecting rod and the lower connecting rod. The telescopic end of the profiling oil cylinder between the left spray boom side arm and the trapezoidal four-bar linkage is hinged to the inner end of the left spray boom side arm, and the tail end is coaxially hinged to the hinge point between the left connecting rod and the upper connecting rod. The telescopic end of the profiling oil cylinder between the right spray boom side arm and the trapezoidal four-bar linkage is hinged to the inner end of the right spray boom side arm, and the tail end is coaxially hinged to the hinge point between the right connecting rod and the upper connecting rod.

[0016] Further, the spray boom side arms on both sides are the same, and each includes an inner section at the innermost side, a middle section in the middle, and an outer section at the outermost side. The bottoms of the inner section, the middle section, and the outer section are sequentially hinged. A secondary deployment oil cylinder for driving the middle section to rotate around the hinge point is hinged between the inner section and the middle section, and a terminal deployment oil cylinder for driving the outer section to rotate around the hinge point is hinged between the middle section and the outer section.

[0017] Further, the lower connecting rod is provided with a limit groove along the transverse direction. The limit groove penetrates the lower connecting rod in the up and down direction. Connecting plates arranged vertically penetrate through both sides of the limit groove, and both ends of the connecting plates extend out of the limit groove and are respectively fixed to the support frame by limit rods.

[0018] Further, the hydraulic control system includes an active balance circuit, an overall lifting circuit, a ground profiling circuit, and an oil supply circuit;

[0019] The oil supply circuit includes an oil transfer pump, an overflow valve, a fourth adjustable throttle valve, and a differential overflow valve. The input end of the oil transfer pump is connected to the fuel tank, and the output end is respectively connected to the inlet of the overflow valve and the inlet of the differential overflow valve. The outlets of the overflow valve and the differential overflow valve are respectively connected to the fuel tank, and the K port of the differential overflow valve is connected to the fuel tank through the fourth adjustable throttle valve;

[0020] The ground profiling circuit includes a first one-way valve, a second one-way valve, a first pressure compensator, a second pressure compensator, a first three-position four-way proportional solenoid valve, a second three-position four-way proportional solenoid valve, a first shuttle valve, a second shuttle valve, a first accumulator, a second accumulator, a first adjustable throttle valve, a second adjustable throttle valve, a first two-way balance valve, and a second two-way balance valve. The first two-way balance valve and the second two-way balance valve are each provided with four oil ports;

[0021] The output end of the first one-way valve is connected to the fuel tank, and the input end of the first one-way valve is connected to the oil outlet of the first shuttle valve. The input end of the first pressure compensator is connected to the output end of the fuel pump. The output end of the first pressure compensator is connected to the P port of the first three-position four-way proportional solenoid valve. The pilot port of the first pressure compensator is connected to the oil outlet of the first shuttle valve. The T port of the first three-position four-way proportional solenoid valve is connected to the fuel tank. The A port of the first three-position four-way proportional solenoid valve is connected to the first oil port of the first two-way balance valve. The B port of the first three-position four-way proportional solenoid valve is connected to the second oil port of the first two-way balance valve. The third oil port of the first two-way balance valve is connected to the rod chamber of the left profiling cylinder. The fourth oil port of the first two-way balance valve is connected to the rodless chamber of the left profiling cylinder. The two oil inlets of the first shuttle valve are connected between the first oil port and the second oil port of the first two-way balance valve. The first accumulator is connected to the fourth oil port of the first two-way balance valve through the first adjustable throttle valve;

[0022] The output end of the second one-way valve is connected to the fuel tank, and the input end of the second one-way valve is connected to the oil outlet of the second shuttle valve. The input end of the second pressure compensator is connected to the output end of the fuel pump. The output end of the second pressure compensator is connected to the P port of the second three-position four-way proportional solenoid valve. The pilot port of the second pressure compensator is connected to the oil outlet of the second shuttle valve. The T port of the second three-position four-way proportional solenoid valve is connected to the fuel tank. The A port of the second three-position four-way proportional solenoid valve is connected to the first oil port of the second two-way balance valve. The B port of the second three-position four-way proportional solenoid valve is connected to the second oil port of the second two-way balance valve. The third oil port of the second two-way balance valve is connected to the rod chamber of the right profiling cylinder. The fourth oil port of the second two-way balance valve is connected to the rodless chamber of the right profiling cylinder. The two oil inlets of the second shuttle valve are connected between the first oil port and the second oil port of the second two-way balance valve. The second accumulator is connected to the fourth oil port of the second two-way balance valve through the second adjustable throttle valve;

[0023] The active balance circuit includes a third one-way valve, a third pressure compensator, a third three-position four-way proportional solenoid valve, a first two-position two-way electromagnetic cut-off valve, a second two-position two-way electromagnetic cut-off valve, a third shuttle valve, a first one-way throttle valve, and a second one-way throttle valve;

[0024] The output end of the third one-way valve is connected to the fuel tank, the input end of the third one-way valve is connected to the oil outlet of the third shuttle valve, the input end of the third pressure compensator is connected to the output end of the fuel pump, the output end of the third pressure compensator is connected to the P port of the third three-position four-way proportional solenoid valve, the pilot port of the third pressure compensator is connected to the oil outlet of the third shuttle valve, the T port of the third three-position four-way proportional solenoid valve is connected to the fuel tank, the A port of the third three-position four-way proportional solenoid valve is connected to the input end of the first two-position two-way electromagnetic shut-off valve, the output end of the first two-position two-way electromagnetic shut-off valve is connected to the rodless cavity of the left active balance oil rod through the first one-way throttle valve, the B port of the third three-position four-way proportional solenoid valve is connected to the input end of the second two-position two-way electromagnetic shut-off valve, and the output end of the second two-position two-way electromagnetic shut-off valve is connected to the rodless cavity of the right active balance oil rod through the second one-way throttle valve;

[0025] The overall lifting circuit includes a fourth one-way valve, a fourth pressure compensator, a fourth three-position four-way proportional solenoid valve, a fourth shuttle valve, a third balance valve, a third adjustable throttle valve, and a third accumulator;

[0026] The output end of the fourth one-way valve is connected to the fuel tank, the input end of the fourth one-way valve is connected to the oil outlet of the fourth shuttle valve, the input end of the fourth pressure compensator is connected to the output end of the fuel pump, the output end of the fourth pressure compensator is connected to the P port of the fourth three-position four-way proportional solenoid valve, the pilot port of the fourth pressure compensator is connected to the oil outlet of the fourth shuttle valve, the T port of the fourth three-position four-way proportional solenoid valve is connected to the fuel tank, the A port of the fourth three-position four-way proportional solenoid valve is connected to the first oil port of the third two-way balance valve, the B port of the fourth three-position four-way proportional solenoid valve is connected to the second oil port of the third two-way balance valve, the third oil port of the third two-way balance valve is connected to the rod chamber of the height-adjusting oil rod, the fourth oil port of the third two-way balance valve is connected to the rodless cavity of the height-adjusting oil rod, the two oil inlets of the fourth shuttle valve are connected between the first oil port and the second oil port of the third two-way balance valve, and the fourth accumulator is connected to the fourth oil port of the third two-way balance valve through the third adjustable throttle valve.

[0027] Further, the input end of the fuel pump is connected to the fuel tank through a filter.

[0028] Further, the output end of the throttle valve is connected to the fuel tank through a cooler.

[0029] Further, a pressure relief port is also bypassed at the K port of the constant differential overflow valve.

[0030] The present invention provides a profiling spray boom and suspension system applied to a field sprayer, which is used for profiling spraying of a field sprayer for different terrains and different crop heights and has the effect of isolating high-frequency vibrations from the machine.

[0031] The suspension design in this utility model has the function of active control, and the active control mainly realizes three functions: overall height increase, ground profiling, and active balance. The purpose of adjusting the height of the boom side arm is to keep a relative distance between the boom and the crop canopy within a certain range, so as to achieve the optimal spray deposition characteristics and maximize the use efficiency of chemical pesticides. The height adjustment oil cylinder adjusts the height of the lifting frame, thereby driving the up and down movement of the boom side arm, which can meet the field operation requirements of different crops in the same period and the same crop in different periods.

[0032] The profiling hydraulic cylinder is hinged with the boom side arm and the support suspension. The telescopic movement of the profiling cylinder drives one side of the boom side arm to rotate around the hinge point in the vertical plane, realizing the ground profiling of the boom.

[0033] The overall height increase and ground profiling can ensure that the best spray height is maintained between the bottom end of the boom and the crop canopy, improving the adaptability of the applicator to changes in the operation terrain environment; the active balance can further improve the adaptability of the applicator to changes in the operation ground environment.

[0034] The structure of this utility model is reasonable, with high adaptability to the operation environment, and can meet the needs of most field operations.

[0035] The boom limiting device can limit the rotational movement of the boom suspension relative to the support frame within a certain angular range. When the boom suspension is in the passive suspension state, it can effectively prevent the boom from being damaged due to large-angle rolling movement and the end of the boom touching the ground. Description of the Drawings

[0036] Figure 1 is the structural schematic diagram of this utility model;

[0037] Figure 2 is the hydraulic schematic diagram of this utility model;

[0038] Figure 3 is the schematic diagram of the first working state of this local utility model;

[0039] Figure 4 is the schematic diagram of the second working state of this local utility model;

[0040] Figure 5 is the schematic diagram of the third working state of this local utility model;

[0041] Figure 6 is the structural schematic diagram of the boom limiting mechanism;

[0042] Figure 7 is the cross-sectional view of the boom limiting mechanism. Detailed Implementation Modes Embodiment 1

[0043] AsFigure 1 , 2 As described in items 6 and 7, the present utility model discloses a profiling spray boom for a field spraying machine, which includes a support suspension 47 connected to the spray vehicle body and spray boom side arms 46 installed on the left and right sides of the support suspension 47. The support suspension 47 includes a support frame 48 connected to the spray vehicle body through a vertical linear guide. A height adjustment oil rod 19 vertically arranged and used to drive the support frame 48 to slide up and down is hinged between the spray vehicle body and the support frame 48.

[0044] A trapezoidal four-bar linkage spray boom suspension 50 is arranged on the support frame 48, and the trapezoidal four-bar linkage spray boom suspension 50 plays a role of connection and support. The trapezoidal four-bar linkage spray boom suspension 50 includes an upper link 51 and a lower link 52. The length of the upper link 51 of the trapezoidal four-bar linkage spray boom suspension 50 is less than the length of the lower link 52. A left link 53 is hinged between the left ends of the upper link 51 and the lower link 52, and a right link 54 is hinged between the right ends of the upper link 51 and the lower link 52.

[0045] The upper link 51 of the trapezoidal four-bar linkage spray boom suspension 50 is hinged to the upper support frame 48 above through two connecting rods 55. Active balance cylinders 8 are respectively arranged on the left and right sides of the support frame 48. The tail ends of the active balance cylinders 8 are hinged on both sides of the lower link 52 of the trapezoidal four-bar linkage spray boom suspension 50, and the telescopic ends face upward and are hinged on the left and right sides of the support frame 48. The function of the connecting rod 55 is to offset the horizontal force acting on the upper link 51 when the active balance cylinder 8 moves up or down.

[0046] An inclined surface inclined downward toward the support suspension 47 is provided at the inner end of the spray boom side arm 46, so that a pointed part located at the lower side is formed at the inner end of the spray boom side arm 46. The pointed part of the left spray boom side arm 46 is coaxially hinged with the hinge point between the left link 53 and the lower link 52, and the pointed part of the right spray boom side arm 46 is coaxially hinged with the hinge point between the right link 54 and the lower link 52.

[0047] Profiling cylinders 39 for driving the spray boom side arms 46 to rotate around the hinge points with the trapezoidal four-bar linkage spray boom suspension are respectively hinged between the trapezoidal four-bar linkage spray boom suspension 46 and the spray boom side arms 46 on the left and right sides. Specifically, the telescopic end of the profiling cylinder 39 between the left spray boom side arm 46 and the trapezoidal four-bar linkage spray boom suspension 50 is hinged to the upper part of the inner end of the left spray boom side arm 46, and the tail end is coaxially hinged with the hinge point between the left link 53 and the upper link 51. The telescopic end of the profiling cylinder 39 between the right spray boom side arm 46 and the trapezoidal four-bar linkage spray boom suspension 50 is hinged to the upper part of the inner end of the right spray boom side arm 46, and the tail end is coaxially hinged with the hinge point between the right link 54 and the upper link 51.

[0048] A boom limiting mechanism 61 is provided between the trapezoidal four-link boom suspension 50 and the support frame 48. The boom limiting mechanism 61 includes a limiting groove 58 arranged horizontally on the lower connecting rod 52. A vertically arranged connecting plate 59 penetrates through both sides of the limiting groove 58. Both ends of the connecting plate 59 extend out of the limiting groove 58 and are respectively fixed to the support frame 48 through limiting rods 60. The limiting rods 60 are vertically installed on the support frame 48 and are used to limit the rotation angle of the trapezoidal four-link boom suspension 50.

[0049] The control functions of the present utility model are as follows:

[0050] 1) Overall height increase

[0051] As Figure 3 shown, when the spraying machine is working in the field, due to different crops in the field or different time points when the crops need to be sprayed with pesticides, the overall ground clearance of the boom side arm 46 needs to be adjustable within a relatively large range to meet the field operation requirements of different crops in the same cycle and different crops in different cycles, so as to achieve the best spraying height and then the best spraying effect, and improve the adaptability of the spraying machine to the changing environment of the operating crops. Therefore, by controlling the height adjustment oil rod 19, the height adjustment of the boom side arm 46 can be realized.

[0052] 2) Ground contour following

[0053] As Figure 4 shown, in the case of different terrains on the left and right, such as Figure 4 the terrain on the right in is a slope terrain. This causes the boom part of the spraying machine to follow the terrain change. At this time, by controlling the contour following oil cylinder 39 to retract to lift the boom suspension 47, the best spraying height between the bottom end of the boom suspension 47 and the crop canopy is ensured, and the adaptability of the spraying machine to the changing terrain environment during operation is improved.

[0054] 3) Active balance

[0055] When the spraying machine is working in the field, the body tilt caused by the uneven ground drives the boom suspension 47 to tilt. As Figure 5 shown, at this time, the ground is in an uneven state. In this state, to keep the relative position between the bottom end of the boom suspension 47 and the crop canopy unchanged and achieve the best spraying effect, it is necessary to control the active balance oil cylinder 8 to act to overcome the tilt of the boom suspension 47 caused by the body, combined with the action of the left and right contour following oil cylinders 39, to further reach the ideal height of the boom suspension 47 during field operation and improve the adaptability of the spraying machine to the changing ground environment during operation.

[0056] The profiling oil cylinder 39, the height adjustment oil rod 19, and the active balance oil cylinder 8 are correspondingly connected to a hydraulic control system, and the hydraulic control system includes an active balance circuit A, an overall lifting circuit B, a ground profiling circuit C, and an oil supply circuit D.

[0057] The oil supply circuit D includes an oil transfer pump 2, a relief valve 3, a filter 1, a cooler 4, a fourth adjustable throttle valve 7, and a constant differential relief valve 5. The oil transfer pump 2 is a fixed-displacement pump. The input end of the oil transfer pump 2 is connected to the fuel tank 45 through the filter 1, and the output end is respectively connected to the inlet of the relief valve 2 and the inlet of the constant differential relief valve 5. The outlets of the relief valve 3 and the constant differential relief valve 5 are respectively connected to the fuel tank 45. The K port of the constant differential relief valve 5 is connected to the fuel tank 45 through the fourth adjustable throttle valve 7 and the cooler 4. A pressure relief port 6 is bypassed at the output end of the fourth adjustable throttle valve 7.

[0058] The ground profiling circuit C includes a first check valve 27, a second check valve 28, a first pressure compensator 29, a second pressure compensator 30, a first three-position four-way proportional solenoid valve 31, a second three-position four-way proportional solenoid valve 32, a first shuttle valve 33, a second shuttle valve 34, a first accumulator 44, a second accumulator 43, a first adjustable throttle valve 42, a second adjustable throttle valve 41, a first two-way balance valve 35, and a second two-way balance valve 36. The first two-way balance valve 35 and the second two-way balance valve 36 are each provided with four oil ports.

[0059] The output end of the first check valve 27 is connected to the fuel tank 45, and the input end of the first check valve 27 is connected to the oil outlet of the first shuttle valve 33. The input end of the first pressure compensator 29 is connected to the output end of the oil transfer pump 2. The output end of the first pressure compensator 29 is connected to the P port of the first three-position four-way proportional solenoid valve 31. The pilot port of the first pressure compensator 29 is connected to the oil outlet of the first shuttle valve 33. The T port of the first three-position four-way proportional solenoid valve is connected to the fuel tank. The A port of the first three-position four-way proportional solenoid valve is connected to the first oil port of the first two-way balance valve 35. The B port of the first three-position four-way proportional solenoid valve 31 is connected to the second oil port of the first two-way balance valve 35. The third oil port of the first two-way balance valve 35 is connected to the rod chamber of the left profiling oil cylinder 39. The fourth oil port of the first two-way balance valve 35 is connected to the rodless chamber of the left profiling oil cylinder 39. The two inlet ports of the first shuttle valve 33 are connected between the first oil port and the second oil port of the first two-way balance valve 35. The first accumulator 44 is connected to the fourth oil port of the first two-way balance valve 35 through the first adjustable throttle valve 42;

[0060] The output end of the second one-way valve 28 is connected to the oil tank 45, the input end of the second one-way valve 28 is connected to the oil outlet of the second shuttle valve 34, the input end of the second pressure compensator 30 is connected to the output end of the fuel pump 2, the output end of the second pressure compensator 30 is connected to the P port of the second three-position four-way proportional solenoid valve 32, the pilot port of the second pressure compensator 30 is connected to the oil outlet of the second shuttle valve 36, the T port of the second three-position four-way proportional solenoid valve 32 is connected to the oil tank 45, the A port of the second three-position four-way proportional solenoid valve 32 is connected to the first oil port of the second two-way balance valve 36, the B port of the second three-position four-way proportional solenoid valve 32 is connected to the second oil port of the second two-way balance valve 36, the third oil port of the second two-way balance valve 36 is connected to the rod chamber of the right profiling oil cylinder 39, the fourth oil port of the second two-way balance valve 36 is connected to the rodless chamber of the right profiling oil cylinder 39, the two oil inlets of the second shuttle valve 34 are connected between the first oil port and the second oil port of the second two-way balance valve 36, and the second accumulator 43 is connected to the fourth oil port of the second two-way balance valve 36 through the second adjustable throttle valve 41;

[0061] The active balance circuit A includes a third one-way valve 17, a third pressure compensator 16, a third three-position four-way proportional solenoid valve 15, a first two-position two-way electromagnetic cut-off valve 13, a second two-position two-way electromagnetic cut-off valve 14, a third shuttle valve 12, a first one-way throttle valve 10, and a second one-way throttle valve 11;

[0062] The output end of the third one-way valve 17 is connected to the oil tank 45, the input end of the third one-way valve 17 is connected to the oil outlet of the third shuttle valve 12, the input end of the third pressure compensator 16 is connected to the output end of the fuel pump 2, the output end of the third pressure compensator 16 is connected to the P port of the third three-position four-way proportional solenoid valve 15, the pilot port of the third pressure compensator 16 is connected to the oil outlet of the third shuttle valve 12, the T port of the third three-position four-way proportional solenoid valve 15 is connected to the oil tank 45, the A port of the third three-position four-way proportional solenoid valve 15 is connected to the input end of the first two-position two-way electromagnetic cut-off valve 13, the output end of the first two-position two-way electromagnetic cut-off valve 13 is connected to the rodless chamber of the left active balance oil rod 8 through the first one-way throttle valve 10, the B port of the third three-position four-way proportional solenoid valve 15 is connected to the input end of the second two-position two-way electromagnetic cut-off valve 14, and the output end of the second two-position two-way electromagnetic cut-off valve 15 is connected to the rodless chamber of the right active balance oil rod 8 through the second one-way throttle valve 11;

[0063] The overall lifting circuit B includes a fourth one-way valve 25, a fourth pressure compensator 26, a fourth three-position four-way proportional solenoid valve 24, a fourth shuttle valve 23, a third two-way balance valve 21, a third adjustable throttle valve 20, and a third accumulator 19.

[0064] The output end of the fourth one-way valve 25 is connected to the oil tank 45, the input end of the fourth one-way valve 25 is connected to the oil outlet of the fourth shuttle valve 23, the input end of the fourth pressure compensator 26 is connected to the output end of the fuel transfer pump 2, the output end of the fourth pressure compensator 26 is connected to the P port of the fourth three-position four-way proportional solenoid valve 24, the pilot port of the fourth pressure compensator 26 is connected to the oil outlet of the fourth shuttle valve 23, the T port of the fourth three-position four-way proportional solenoid valve 24 is connected to the oil tank 45, the A port of the fourth three-position four-way proportional solenoid valve 24 is connected to the first oil port of the third two-way balance valve 21, the B port of the fourth three-position four-way proportional solenoid valve 24 is connected to the second oil port of the third two-way balance valve 21, the third oil port of the third two-way balance valve 21 is connected to the rod chamber of the height adjustment oil rod 19, the fourth oil port of the third two-way balance valve 21 is connected to the rodless chamber of the height adjustment oil rod 19, the two oil inlets of the fourth shuttle valve 23 are connected between the first oil port and the second oil port of the third two-way balance valve 21, and the fourth accumulator 19 is connected to the fourth oil port of the third two-way balance valve 21 through the third adjustable throttle valve 20.

[0065] The working principle of the hydraulic control system is as follows.

[0066] 1) During the working process of the hydraulic control system, when the first two-position two-way electromagnetic cut-off valve 13 and the second two-position two-way electromagnetic cut-off valve 14 are de-energized, at this time the first two-position two-way electromagnetic cut-off valve 13 and the second two-position two-way electromagnetic cut-off valve 14 are in the closed state, the oil fluid cannot flow, and the two active balance oil rods 8 on both sides are in the locked state. The spray bar side arm cannot be leveled under the action of gravity due to the restriction of the two active balance oil rods 8 on both sides, and the support suspension 47 is in the closed state.

[0067] Control the first two-position two-way electromagnetic cut-off valve 13 and the second two-position two-way electromagnetic cut-off valve 14 to be energized. At this time, the first two-position two-way electromagnetic cut-off valve 13 and the second two-position two-way electromagnetic cut-off valve 14 are in the open state. And when the third three-position four-way proportional solenoid valve 15 is in the middle position, the two active balance oil rods 8 are in the floating state, and the active balance oil cylinders 8 can freely extend or retract under the action of gravity. The first one-way throttle valve 10 and the second one-way throttle valve 11 installed on the active balance circuit A can change the damping of the entire system when the spray bar side arm 46 is adjusted by gravity by adjusting the size of the throttle orifice. At this time, the support suspension 47 is in the passive suspension state.

[0068] The first two-position two-way electromagnetic cut-off valve 13 and the second two-position two-way electromagnetic cut-off valve 14 are energized. The first two-position two-way electromagnetic cut-off valve 13 and the second two-position two-way electromagnetic cut-off valve 14 are in the open state, and the third three-position four-way proportional solenoid valve 15 is energized. When placed in different working positions, the pressure oil enters the two active balance oil rods 8. One of the two active balance oil rods 8 extends and the other retracts, thereby adjusting the attitude of the entire spray boom side arm through an external force source. At this time, the support suspension 47 is in the active balance state;

[0069] The first three-position four-way proportional solenoid valve 31 and the second three-position four-way proportional solenoid valve 32 are energized. When the pressure oil enters the rod chamber of the profiling oil cylinder 39, the spray boom suspension rises. When the pressure oil enters the rodless chamber of the profiling oil cylinder 39, the spray boom suspension descends. According to the ground conditions, the spray boom suspension is controlled to be in the ground profiling state. When the spray boom suspension rises to the appropriate position, it is necessary to keep the spray boom suspension unchanged in the spatial position attitude. This requires the ground profiling hydraulic control system to have self-locking. The first two-way balance valve 35 and the second two-way balance valve 36 installed on the ground profiling circuit C make the system have good self-locking. The first two-way balance valve 35 and the second two-way balance valve 36 will establish a certain back pressure in the working circuit during the working process so that the actuator will not generate negative pressure. And a dynamic balance relationship is formed among the spool opening degree, the control pressure of the control oil port and the opening pressure difference of the first two-way balance valve 35 and the second two-way balance valve 36 during the working process. The flow rate through the first two-way balance valve 35 and the second two-way balance valve 36 remains basically unchanged. The control pressure of the control oil port has a certain buffer when pushing the main valve of the first two-way balance valve 35 and the second two-way balance valve 36 to open. The first two-way balance valve 35 and the second two-way balance valve 36 adopted in the real-time adjustable ground profiling circuit C can effectively reduce the impact and vibration of the hydraulic control system caused by adjusting the spray boom suspension, increase the stability of the system, and effectively avoid the generation of negative pressure in the profiling oil cylinder and extend the service life of the profiling oil cylinder.

[0070] 2) The working principle of the overall spray boom lifting circuit B is the same as that of the ground profiling circuit C, and the specific principle will not be elaborated here.

[0071] 3) The hydraulic control system has the functions of load feedback and dynamic pressure feedback. Among them, the fuel transfer pump 2, the fixed-differential overflow valve 5, the fourth adjustable throttle valve 7, the first check valve 27, the second check valve 28, the third check valve 17, the fourth check valve 25, the first pressure compensator 29, the second pressure compensator 30, the third pressure compensator 16, the fourth pressure compensator 26 and each actuator cylinder form a load feedback system.

[0072] The first pressure compensator 29, the second pressure compensator 30, the third pressure compensator 16, and the fourth pressure compensator 26 are respectively installed at the input ends of the first three-position four-way proportional solenoid valve 31, the second three-position four-way proportional solenoid valve 32, the third three-position four-way proportional solenoid valve 15, and the fourth three-position four-way proportional solenoid valve 24, forming a pre-valve pressure compensation system, so that the pressure difference at both ends of the oil flowing through the valve ports of the first three-position four-way proportional solenoid valve 31, the second three-position four-way proportional solenoid valve 32, the third three-position four-way proportional solenoid valve 15, and the fourth three-position four-way proportional solenoid valve 24 becomes a constant value, and the flow rate flowing into each hydraulic cylinder is only related to the valve port opening degrees of the first three-position four-way proportional solenoid valve 31, the second three-position four-way proportional solenoid valve 32, the third three-position four-way proportional solenoid valve 15, and the fourth three-position four-way proportional solenoid valve 24, that is, the opening degree controls the flow rate flowing through the proportional valve port.

[0073] During the adjustment process of the boom suspension, when the oil supply amount of the oil transfer pump 2 is greater than the sum of the required flow rates of each circuit, it will cause the pressure at the oil inlet ends of the first pressure compensator 29, the second pressure compensator 30, the third pressure compensator 16, and the fourth pressure compensator 26 to increase. At this time, the load pressures of each actuator cylinder pass through the first shuttle valve 33, the second shuttle valve 34, the third shuttle valve 12, and the fourth shuttle valve 23 installed on each circuit to feedback the maximum pressure of the load to the upper control oil circuit of the fixed-differential overflow valve 5 through the first one-way valve 27, the second one-way valve 28, the third one-way valve 17, and the fourth one-way valve 25. By comparing the feedback maximum load pressure with the oil supply pressure, when the value of the output pressure of the oil transfer pump 2 higher than the feedback pressure is greater than the set value of the fixed-differential overflow valve 5, the pressure oil output by the oil transfer pump 2 will push the spool of the fixed-differential overflow valve 5, and the excessive flow rate output by the oil transfer pump 2 will flow back to the fuel tank 45 through the return oil circuit, so that the load pressure, the oil supply pressure and flow rate of the oil transfer pump 2 match the pressure and flow rate required by the system.

[0074] The fourth adjustable throttle valve 7 is installed between the upper control oil circuit of the fixed-differential overflow valve 5 and the first one-way valve 27, the second one-way valve 28, the third one-way valve 17, and the fourth one-way valve 25, acting as a damping hole to reduce the instantaneous impact of the feedback pressure generated during the control valve switching process, reduce the vibration of the entire hydraulic control system, and increase the system stability.

[0075] The first adjustable throttle valve 42, the second adjustable throttle valve 41, the third adjustable throttle valve 20 and the first accumulator 44, the second accumulator 43, the third accumulator 19 form a dynamic pressure feedback system. Through the dynamic pressure feedback system, the flow rate pulsation generated by the oil transfer pump 2 and the instantaneous impact of the pressure oil during the adjustment process of the boom suspension can be absorbed, and the vibration generated by the boom due to adjustment can be attenuated. Embodiment 2

[0076] As Figures 3 - 5As shown in the figure, the spray bar side arms 46 on both sides each include an inner section 62 at the innermost side, a middle section 63 in the middle, and an outer section 64 at the outermost side. The bottoms of the inner section 62, the middle section 63, and the outer section 64 are hinged in sequence. A secondary deployment oil cylinder 65 that drives the middle section to rotate around the hinge point is hinged between the bottoms of the inner section 62 and the middle section 63. An end deployment oil cylinder 66 that drives the outer section 64 to rotate around the hinge point is hinged between the bottoms of the middle section 63 and the outer section 64.

[0077] The middle section 63 and the outer section 64 can be driven to fold inwards by the secondary deployment oil cylinder 65, and the outer section 64 can be driven to fold relative to the middle section 63 by the end deployment oil cylinder 66, so that the spray bar side arm 46 forms a folded state when not in use, achieving the purpose of saving space.

Claims

1. A contour-following spray boom for a field sprayer, comprising a support suspension connected to the sprayer vehicle body and spray boom side arms mounted on the left and right sides of the support suspension, characterized in that: The support suspension includes a support frame connected to the sprayer vehicle body through a vertical linear guide rail, and a height adjustment oil rod vertically arranged and used to drive the support frame to slide up and down is hinged between the sprayer vehicle body and the support frame; A trapezoidal four-bar linkage spray boom suspension is arranged on the support frame. The trapezoidal four-bar linkage spray boom suspension includes an upper link and a lower link. A left link is hinged between the left ends of the upper link and the lower link, and a right link is hinged between the right ends of the upper link and the lower link; The upper link of the trapezoidal four-bar linkage spray boom suspension is hinged to the upper support frame through two connecting rods. Active balance oil cylinders are respectively arranged on the left and right sides of the support frame. The tail ends of the active balance oil cylinders are hinged to both sides of the lower link of the trapezoidal four-bar linkage spray boom suspension, and the telescopic ends face upwards and are hinged to the left and right sides of the support frame; The inner ends of the spray boom side arms are respectively hinged to the trapezoidal four-bar linkage spray boom suspension, and contour-following oil cylinders for driving the spray boom side arms to rotate around the hinge points with the trapezoidal four-bar linkage spray boom suspension are respectively hinged between the trapezoidal four-bar linkage spray boom suspension and the spray boom side arms on the left and right sides; The contour-following oil cylinders, height adjustment oil rod, and active balance oil cylinders are correspondingly connected to a hydraulic control system.

2. The profiling spray boom of a field spraying machine according to claim 1, wherein: The length of the upper link of the trapezoidal four-bar linkage spray boom suspension is less than the length of the lower link.

3. The profiling spray boom of a field sprayer according to claim 1, wherein: The inner end of the left spray boom side arm is coaxially hinged to the hinge points between the left link and the lower link. The inner end of the right spray boom side arm is coaxially hinged to the hinge points between the right link and the lower link. The telescopic end of the contour-following oil cylinder between the left spray boom side arm and the trapezoidal four-bar linkage is hinged to the inner end of the left spray boom side arm, and the tail end is coaxially hinged to the hinge points between the left link and the upper link. The telescopic end of the contour-following oil cylinder between the right spray boom side arm and the trapezoidal four-bar linkage is hinged to the inner end of the right spray boom side arm, and the tail end is coaxially hinged to the hinge points between the right link and the upper link.

4. The profiling spray boom of a field spraying machine according to claim 1, characterized in that: The spray boom side arms on both sides are the same, and each includes an inner section at the innermost side, a middle section in the middle, and an outer section at the outermost side. The bottoms of the inner section, middle section, and outer section are sequentially hinged. A secondary deployment oil cylinder for driving the middle section to rotate around the hinge point is hinged between the inner section and the middle section, and a terminal deployment oil cylinder for driving the outer section to rotate around the hinge point is hinged between the middle section and the outer section.

5. The profiling spray boom of a field spraying machine according to claim 2, characterized in that: A limiting groove is arranged along the transverse direction on the lower link. The limiting groove penetrates the lower link in the up and down direction. Connecting plates perpendicular to each other penetrate through both sides of the limiting groove. Both ends of the connecting plates respectively extend out of the limiting groove and are fixed to the support frame through limiting rods.

6. The profiling spray boom of a field spraying machine according to claim 1, characterized in that: The hydraulic control system includes an active balance circuit, an overall lifting circuit, a ground contour-following circuit, and an oil supply circuit; The oil supply circuit includes an oil transfer pump, an overflow valve, a fourth adjustable throttle valve, and a differential overflow valve. The input end of the oil transfer pump is connected to the fuel tank, and the output end is respectively connected to the inlet of the overflow valve and the inlet of the differential overflow valve. The outlets of the overflow valve and the differential overflow valve are respectively connected to the fuel tank. The K port of the differential overflow valve is connected to the fuel tank through the fourth adjustable throttle valve; The ground profiling circuit includes a first one-way valve, a second one-way valve, a first pressure compensator, a second pressure compensator, a first three-position four-way proportional solenoid valve, a second three-position four-way proportional solenoid valve, a first shuttle valve, a second shuttle valve, a first accumulator, a second accumulator, a first adjustable throttle valve, a second adjustable throttle valve, a first double-check valve, and a second double-check valve. The first double-check valve and the second double-check valve each have four oil ports. The output end of the first one-way valve is connected to the oil tank, the input end of the first one-way valve is connected to the oil outlet of the first shuttle valve. The input end of the first pressure compensator is connected to the output end of the fuel pump, the output end of the first pressure compensator is connected to the P port of the first three-position four-way proportional solenoid valve, the pilot port of the first pressure compensator is connected to the oil outlet of the first shuttle valve, the T port of the first three-position four-way proportional solenoid valve is connected to the oil tank, the A port of the first three-position four-way proportional solenoid valve is connected to the first oil port of the first double-check valve, the B port of the first three-position four-way proportional solenoid valve is connected to the second oil port of the first double-check valve, the third oil port of the first double-check valve is connected to the rodless cavity of the left profiling cylinder, the fourth oil port of the first double-check valve is connected to the rodless cavity of the left profiling cylinder. The two inlet ports of the first shuttle valve are connected between the first oil port and the second oil port of the first double-check valve. The first accumulator is connected to the fourth oil port of the first double-check valve through the first adjustable throttle valve. The output end of the second one-way valve is connected to the oil tank, the input end of the second one-way valve is connected to the oil outlet of the second shuttle valve. The input end of the second pressure compensator is connected to the output end of the fuel pump, the output end of the second pressure compensator is connected to the P port of the second three-position four-way proportional solenoid valve, the pilot port of the second pressure compensator is connected to the oil outlet of the second shuttle valve, the T port of the second three-position four-way proportional solenoid valve is connected to the oil tank, the A port of the second three-position four-way proportional solenoid valve is connected to the first oil port of the second double-check valve, the B port of the second three-position four-way proportional solenoid valve is connected to the second oil port of the second double-check valve, the third oil port of the second double-check valve is connected to the rodless cavity of the right profiling cylinder, the fourth oil port of the second double-check valve is connected to the rodless cavity of the right profiling cylinder. The two inlet ports of the second shuttle valve are connected between the first oil port and the second oil port of the second double-check valve. The second accumulator is connected to the fourth oil port of the second double-check valve through the second adjustable throttle valve. The active balance circuit includes a third one-way valve, a third pressure compensator, a third three-position four-way proportional solenoid valve, a first two-position two-way electromagnetic shut-off valve, a second two-position two-way electromagnetic shut-off valve, a third shuttle valve, a first one-way throttle valve, and a second one-way throttle valve. The output end of the third one-way valve is connected to the oil tank, the input end of the third one-way valve is connected to the oil outlet of the third shuttle valve, the input end of the third pressure compensator is connected to the output end of the oil transfer pump, the output end of the third pressure compensator is connected to the P port of the third three-position four-way proportional solenoid valve, the pilot port of the third pressure compensator is connected to the oil outlet of the third shuttle valve, the T port of the third three-position four-way proportional solenoid valve is connected to the oil tank, the A port of the third three-position four-way proportional solenoid valve is connected to the input end of the first two-position two-way electromagnetic cut-off valve, the output end of the first two-position two-way electromagnetic cut-off valve is connected to the rodless cavity of the left active balance oil rod through the first one-way throttle valve, the B port of the third three-position four-way proportional solenoid valve is connected to the input end of the second two-position two-way electromagnetic cut-off valve, and the output end of the second two-position two-way electromagnetic cut-off valve is connected to the rodless cavity of the right active balance oil rod through the second one-way throttle valve; The overall lifting circuit includes a fourth one-way valve, a fourth pressure compensator, a fourth three-position four-way proportional solenoid valve, a fourth shuttle valve, a third balance valve, a third adjustable throttle valve, and a third accumulator; The output end of the fourth one-way valve is connected to the oil tank, the input end of the fourth one-way valve is connected to the oil outlet of the fourth shuttle valve, the input end of the fourth pressure compensator is connected to the output end of the oil transfer pump, the output end of the fourth pressure compensator is connected to the P port of the fourth three-position four-way proportional solenoid valve, the pilot port of the fourth pressure compensator is connected to the oil outlet of the fourth shuttle valve, the T port of the fourth three-position four-way proportional solenoid valve is connected to the oil tank, the A port of the fourth three-position four-way proportional solenoid valve is connected to the first oil port of the third two-way balance valve, the B port of the fourth three-position four-way proportional solenoid valve is connected to the second oil port of the third two-way balance valve, the third oil port of the third two-way balance valve is connected to the rod cavity of the height adjustment oil rod, the fourth oil port of the third two-way balance valve is connected to the rodless cavity of the height adjustment oil rod, the two inlet ports of the fourth shuttle valve are connected between the first oil port and the second oil port of the third two-way balance valve, and the fourth accumulator is connected to the fourth oil port of the third two-way balance valve through the third adjustable throttle valve.

7. The profiling spray boom of a field spraying machine according to claim 6, characterized in that: The input end of the oil transfer pump is connected to the oil tank through a filter.

8. The profiling spray boom of a field sprayer according to claim 6, characterized in that: The output end of the throttle valve is connected to the oil tank through a cooler.

9. The profiling spray boom of a field spraying machine according to claim 6, characterized in that: The K port of the fixed differential overflow valve is also bypassed with a pressure relief port.

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