KR101859676B1

KR101859676B1 - Boom sprayer and boom spray machine having the same

Info

Publication number: KR101859676B1
Application number: KR1020150156700A
Authority: KR
Inventors: 강태경; 김영근; 최덕규; 최용; 김성우; 최일수; 전현종; 현창식
Original assignee: 대한민국
Priority date: 2015-11-09
Filing date: 2015-11-09
Publication date: 2018-05-24
Also published as: KR20170054029A

Abstract

The control work machine includes a central frame portion, first and second spray frame portions, and an obstacle detection skin. The central frame portion is disposed at the center of the passenger control device and extends in the horizontal direction from the center. The first and second spray frame portions include at least two spray wings each of which is connected to both sides of the central frame portion and is horizontally foldable and has a plurality of spray units for spraying the control solution. Wherein the obstacle detecting skin is disposed on at least one of the spreading wings of the first spreading frame portion and the spreading wings of the second spreading frame portion and includes a sensor for detecting an obstacle located in front of the traveling direction of the traveling portion, , Horizontally folds the lower spraying wings located farther from the sensing spraying wings with sensors that detect obstacles. Accordingly, it is possible to easily and reliably avoid the obstacles disposed in front of the vehicle, and the obstacle avoidance system can be configured more simply, easily, and efficiently.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a boom work machine,

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a control work machine and a control device including the same, and more particularly, to a control work machine capable of loading and conveying an object and a control device including the same.

Generally, the control worker is a device for spraying the control solution on crops grown on agricultural land. Such a control work machine is attached to a passenger control device such as a tractor and utilized.

Conventional cleaning machines have been used by attaching a plurality of nozzles to a boom block extending from the central portion to both sides of the boom block in front of or behind a passenger control device such as a tractor.

In this way, when a worker performs work by a conventional cleaning work machine, there is a problem that a boom bar extending elongated by an obstacle such as a tree or a rock located in front of the traveling direction of the tractor is caught.

Therefore, it is required to develop a control work machine capable of easily and reliably avoiding the obstacles disposed in the front, and capable of simplifying and simplifying the obstacle avoidance method.

SUMMARY OF THE INVENTION Accordingly, it is an object of the present invention to provide a control work machine capable of easily and reliably avoiding an obstacle disposed in front of the obstacle, and capable of simplifying and simplifying an obstacle avoidance method.

Another object to be solved by the present invention is to provide a control apparatus including the above-described control work machine.

The control work machine according to an embodiment of the present invention is coupled to a passenger control unit including a traveling unit that travels in a predetermined direction, and is provided for spraying a control liquid on a farmland.

The spraying machine includes a central frame portion, a first spraying frame portion, a second spraying frame portion, and an obstacle detecting skin. The central frame portion is disposed at the center of the passenger control device when viewed from the front or back, and extends from the center in the horizontal direction. The first spray frame part is connected to the first side of the central frame part, and has at least two spray wings each having a plurality of spray units for spraying the control solution and connected in a line in a horizontal direction . The second spraying frame portion being connected to a second side of the central frame portion located opposite the first side and having a plurality of spraying units for spraying the control solution, More than two spraying wings. The obstacle detection skin is disposed on at least one of the spreading wings of the first spray frame part and the spreading wings of the second scatter frame part and includes a sensor for detecting an obstacle located in front of the travel direction of the travel part, , And when the obstacle is detected, the lower spraying wing disposed farther from the center than the sensing spraying wing having the sensor that detects the obstacle is horizontally folded.

In one embodiment, the control worker may further include a manager coupling portion. The manager coupling portion joins the passenger management device and the central frame portion in front of or behind the passenger management device.

In one embodiment, the central frame portion may include a plurality of spraying units for spraying the control liquid.

In one embodiment, the first spray frame part and the second spray frame part may be formed symmetrically with respect to the central frame part.

In one embodiment, the obstacle sensing skin may fold the lower spray wing including the sensing spray wing, or fold the lower spray wing except for the sensing spray wing, when the obstacle is detected.

In one embodiment, the control worker may further include a plurality of connection portions. The connecting portions may connect the spraying wings to each other such that the spraying wings rotate and fold. In one embodiment, when the obstacle is detected, the obstacle detecting skin may rotate the spreading wings sequentially in the other direction so that the sensing application wing and / or the lower application wing are arranged in zigzag form with each other, . In another embodiment, the obstacle detecting skin may be arranged so that when the obstacle is sensed, the sensing and spreading wings and / or the sub-spraying wings are arranged so as to surround the spreading wings disposed far away from the center, The spraying wings can be folded by sequentially rotating them in the same direction.

The control device according to an embodiment of the present invention includes a traveling part, a coupling part, a center frame part, a first spraying frame part, a second spraying frame part, and an obstacle sensing skin. The traveling portion travels in a predetermined direction. And the engaging portion is engaged with the running portion from the front or rear of the running portion. The central frame part is coupled to the coupling part, and is disposed at the center of the passenger control device when viewed from the front or back, and extends from the center in the horizontal direction. The first spraying frame part is connected to the first side of the central frame part and has at least two spraying wings each having a plurality of spraying units for spraying the control solution and connected in a line in a horizontal direction, . The second spraying frame portion being connected to a second side of the central frame portion located opposite the first side and having a plurality of spraying units for spraying the control solution, More than two spraying wings. The obstacle detection skin is disposed on at least one of the spreading wings of the first spray frame part and the spreading wings of the second scatter frame part and includes a sensor for detecting an obstacle located in front of the travel direction of the travel part, , And when the obstacle is detected, the lower spraying wing disposed farther from the center than the sensing spraying wing having the sensor that detects the obstacle is horizontally folded.

According to the present invention, when an obstacle located in front of the running direction is sensed by a sensor mounted on a plurality of spraying wings capable of being horizontally folded, the sub-spraying wings disposed farther from the center than the detection spraying wings are horizontally folded It is possible to easily and reliably avoid the obstacles disposed in front of the vehicle, and the obstacle avoidance system can be configured more simply, easily, and efficiently.

Further, the folding method of the spreading wings can be easily implemented in a zigzag form or a wrapping form, and the structure can be simplified or obstacle avoidance can be ensured according to the advantages of each method.

1 is a plan view showing a control apparatus according to an embodiment of the present invention.
Fig. 2 is a front view showing the spreading wings of the first application frame part of the control device shown in Fig. 1 unfolded. Fig.
3 to 5 are plan views for explaining an obstacle detection and avoidance operation of the control apparatus shown in FIG.
6 is a plan view showing a control apparatus according to another embodiment of the present invention.

The present invention is capable of various modifications and various forms, and specific embodiments are illustrated in the drawings and described in detail in the text. It should be understood, however, that the invention is not intended to be limited to the particular forms disclosed, but includes all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.

The terms first, second, etc. may be used to describe various elements, but the elements should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, the first component may be referred to as a second component, and similarly, the second component may also be referred to as a first component.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The singular expressions include plural expressions unless the context clearly dictates otherwise. In the present application, the terms "comprising" or "having ", and the like, are intended to specify the presence of stated features, integers, steps, operations, elements, parts, or combinations thereof, But do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, parts, or combinations thereof.

Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

Terms such as those defined in commonly used dictionaries are to be interpreted as having a meaning consistent with the meaning in the context of the relevant art and are to be interpreted as ideal or overly formal in meaning unless expressly defined in the present application Do not.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Reference will now be made in detail to the preferred embodiments of the present invention, examples of which are illustrated in the accompanying drawings.

FIG. 1 is a plan view showing a control device according to an embodiment of the present invention, and FIG. 2 is a front view showing a case where spreading wings of a first application frame part of the control device shown in FIG. 1 are unfolded.

Referring to FIGS. 1 and 2, a control system 1000 according to an embodiment of the present invention includes a control work machine 100 and a passenger control system 200.

The control work machine 100 is coupled to the passenger management device 200 and is provided for spraying the control liquid on agricultural land.

The spraying machine 100 includes a central frame part 110, a first spraying frame part 120, a second spraying frame part 120a, and an obstacle sensing skin 140.

The central frame part 110 is disposed at the center of the passenger control device 200 when viewed from the front or back, and extends from the center in the horizontal direction.

For example, the central frame part 110 may be disposed in front of or behind the passenger control device 200 such as a tractor, and may be coupled to the passenger control device 200 by a coupling part 150 .

In one embodiment, the central frame portion 110 may include a plurality of spray units SP for spraying the control liquid, such as first and second spray frame portions 120 and 120a described later .

The first spray frame part 120 is connected to the first side of the central frame part 110 and is horizontally foldable and has at least two spraying units SP each having a plurality of spraying units SP And includes the above-mentioned spraying wings.

For example, the first dispensing frame part 120 may be formed on the left side of the control device 1000 when observing the front side of the control device 1000, Can be connected to the left side.

The first application frame part 120 includes a plurality of application wings. In one embodiment, the first dispensing frame portion 120 may include a first dispensing wing 122, a second dispensing wing 124, a third dispensing wing 126, and a fourth dispensing wing 128 have.

The first application wing 122, the second application wing 124, the third application wing 126, and the fourth application wing 128 may each include a plurality of application units SP. For example, the spraying units (SP) are arranged at substantially equal intervals and spray each of the spraying liquids, thereby uniformly providing the spraying liquid on the farmland.

The first spraying wing 122, the second spraying wing 124, the third spraying wing 126, and the fourth spraying wing 128 may have different shapes.

The height of the first to fourth spraying wings 122, 124, 126 and 128 may be increased as the spraying apparatus 1000 is located closer to the center of the control apparatus 1000. In FIG. 2, The second dispensing wing 124, the third dispensing wing 126, and the fourth dispensing wing 128 in this order. Therefore, the height per unit length increases with the center position, and the weight increases with the center position, so that the control apparatus 1000 can be more stably operated.

The widths of the first to fourth application wings 122, 124, 126, and 128 may be formed to have the folded structure shown in FIG. For example, as shown in FIG. 1, the widths of the second to fourth application wings 124, 126, and 128 may be substantially the same, 2 to the fourth application wings 124, 126, and 128. In addition, Accordingly, the spraying machine 100 can form a more stable and compact structure when the spraying wings are folded.

A plurality of holes HL may be formed in the first to fourth spraying wings 122, 124, 126, and 128 to prevent wind resistance during traveling of the control apparatus 1000 . The holes HL may have the same shape, but may have different shapes as shown in FIG.

The second spray frame part 120a is connected to a second side of the central frame part 110 located on the opposite side of the first side and is horizontally foldable and includes a plurality of spraying units 120a, RTI ID = 0.0 > (SP). &Lt; / RTI >

In an embodiment, the first spraying frame part 120 and the second spraying frame part 120a may be formed symmetrically with respect to the central frame part 110.

Accordingly, the second spray frame part 120a may be formed in the same shape as the first spray frame part 120 and may include a plurality of spray wings 122a, 124a, 126a, and 128a .

The obstacle detecting sensor skin 140 includes a sensor for detecting an obstacle located in front of the traveling direction of the traveling part. The sensor is disposed on at least one of the spreading wings of the first spreading frame part 120 and the spreading wings of the second spreading frame part 120a. When the obstacle is detected by the sensor, the obstacle-sensing skin 140 may include a spraying wing (hereinafter referred to as a " sensing spraying wing ") having a sensor that senses the obstacle, Folds the wing (hereinafter referred to as "lower spraying wing") in the horizontal direction.

In one embodiment, when the obstacle OB is detected, the obstacle detection skin 140 may include the sensing spray wing to collapse the sub spray wing, You can fold the wings.

The first sensor 142, the second sensor 144, the third sensor 144, and the third sensor 144 may be disposed on the first to fourth application wings 122, 124, 126, 128 of the first application frame unit 120, A sensor 146 and a fourth sensor 148 may be respectively formed. When any one of the first to fourth sensors 142, 144, 146, and 148 detects an obstacle located at the front, the obstacle detecting sensor 140 detects the presence of the sensing spraying wong and the sub- Or the sub spraying wings can be folded except for the sensing spraying wings.

3 to 5 are plan views for explaining an obstacle detection and avoidance operation of the control apparatus shown in FIG.

3 to 5, when an obstacle OB appears in front of the second dispensing wing 124 when the dispensing apparatus 1000 travels and performs a dispensing operation, for example, The second sensor 144 provided on the second application wing 124 senses the obstacle OB. At this time, the second spraying wing 124 corresponds to the sensing spraying wing, and the third and fourth spraying wings 126 and 128 correspond to the lower spraying wing.

In this case, the detection spraying wong 124 and the lower spraying wings 126 and 128 are folded as shown in FIG. 4 according to the instruction of the obstacle detection skin 140, OB) can be avoided.

2 to 5, the first to fourth sensors 142, 144, 146, and 148 are disposed close to the center of the first to fourth spray wings 122, 124, 126, and 128 The first to fourth sensors 142, 144, 146 and 148 may be disposed at the center of the first to fourth application wings 122, 124, 126 and 128, respectively, It may be disposed remotely. That is, the first to fourth sensors 142, 144, 146, and 148 are disposed so as to appropriately take charge of the regions corresponding to the first to fourth application wings 122, 124, 126, and 128 And the obstacle sensing skin 140 may fold the sensing spraying wong and the sub-spraying wing, or fold the sub-spraying wings except for the sensing spraying wing, depending on the arrangement of the sensors and the area in charge have.

In this case, when the sensor disposed on the central frame 110 senses an obstacle, the sensing device 1000 may detect the obstacle, The driving and control work itself may be stopped.

Referring again to FIGS. 1 and 2, in one embodiment, the control worker 100 may further include a manager coupling unit 150.

The manager coupling unit 150 couples the passenger management device 200 and the central frame unit 110 to the front or rear of the passenger management device 200.

The manager coupling unit 150 may be coupled with the passenger management device 200 in various manners and may include a power take-off unit PTO disposed behind the passenger management device 200 such as a tractor, Thereby providing power to the control work machine 100. It is needless to say that the power may be supplied from the front if the power take-off is possible in front of the passenger control device 200.

In one embodiment, the control worker 100 may have a connection structure 160 to which the application wings are connected, and may specifically include a plurality of connection portions.

The connection structure 160 may include a first connection portion 162, a second connection portion 164 and a third connection portion 166. The first to third connection portions 162 164, 166 may connect the first to fourth application wings 122, 124, 126, 128 to each other such that the first to fourth application wings 122, 124, 126, 128 are rotated and folded.

Specifically, the first connection portion 162 may connect the first and second application wings 122 and 124 to each other, and the second connection portion 164 may connect the second and third application wings 124 And 126 may be connected to each other, and the third connection portion 166 may connect the third and fourth application wings 126 and 128 to each other.

The control unit 100 may further include a central connection unit 170 connecting the first application wing 122 to the central frame unit 110.

In one embodiment, when the obstacle OB is sensed, the obstacle detecting skin 140 may be configured so that the sensing spray wing and / or the lower spraying wing are arranged in a staggered arrangement, It can be folded by rotating it in the other direction.

For example, as shown in FIG. 1, when the control apparatus 1000 is viewed from above, the first connection unit 162 connects the first and second spraying wings 122 and 124 to each other And the second connection portion 164 connects the second and third application wings 124 and 126 to each other while the third application wings 124 and 126 are connected to each other by rotating the second application wing 124 in a clockwise direction, And the third connecting portion 166 connects the third and fourth spraying wings 126 and 128 to each other while the fourth spraying wing 128 is rotated clockwise It can be folded and rotated. 3 to 5, when the second application wing 124 corresponds to the detection application wing and the third and fourth application wings 126 and 128 corresponds to the lower application wing, The second spraying wing 124, the third spraying wing 126, and the fourth spraying wing 128 may be sequentially rotated clockwise, counterclockwise, or clockwise to be folded.

The widths of the first to third connection portions 162 164 and 166 may be substantially equal to each other, and the widths of the second to fourth application wings 124, 126, and 128 may be substantially the same So that the structure can be simplified.

Alternatively, when the obstacle OB is detected, the obstacle detecting skin 140 may be configured to surround the sensing and spreading wings and / or the sub-spraying wings so that the spraying wings disposed far from the center are located inside The spraying wings can be folded by sequentially rotating them in the same direction.

FIG. 6 is a plan view for explaining a spraying wing rotation method of a spraying machine according to another embodiment of the present invention.

Referring to FIG. 6, the cleaning worker 101 according to another embodiment of the present invention is substantially the same as the cleaning worker 100 shown in FIGS. 1 and 2 except for the spraying wing rotation method.

Specifically, the spraying machine 101 includes a third spraying frame part 130 and a fourth spraying frame part 130a, and the third spraying frame part 130 and the fourth spraying frame part 130a, May be formed symmetrically with respect to the central frame part 110. [

In the present embodiment, the obstacle detection skin 140 is configured to surround the sensing application wing and / or the sub-application wing with the application wing disposed far away from the center, when the obstacle OB is detected The spraying wings may be sequentially rotated in the same direction so as to be folded.

For example, when viewed from above as shown in FIG. 6, the connections 182, 184 and 186 connect the spraying wings 132, 134, 136 and 138 to one another, , 138) can be folded in a clockwise direction.

Meanwhile, the widths of the application wings 132, 134, 136, and 138 may be formed to have the folded structure shown in FIG. For example, as shown in FIG. 6, the widths of the remaining spraying wings 134, 136, and 138 excluding the spraying wing 132 located near the center of the spraying wings 132, 134, 136, May be formed to be smaller as the distance from the center is generally. Accordingly, the spraying machine 101 can form a more stable and compact structure when the spraying wings are folded.

In this way, the spraying wings 134, 136, and 138 can be folded so as to rotate in the same clockwise direction, so that the spraying wings 134, 136, , The rotation mechanism can be made the same, so that the structure can be simplified and obstacle avoidance can be ensured.

Referring again to FIG. 1, the passenger control device 200 includes a traveling unit that travels in a predetermined direction.

In one embodiment, the passenger control device 200 may include a driver's seat and a vehicle body equipped with the power generating device. For example, the car maneuver 200 can be combined with various work machines as an agricultural passenger car, and can provide power from front or rear. For example, the passenger control device 200 may be a tractor.

For example, the passenger maneuvering machine 200 advances forward or backward, and can adjust a traveling direction such as a left turn or a right turn according to the maneuver of the operator.

According to the above-described spraying apparatus 100 and the spraying apparatus 1000 including the spraying apparatus 100, when an obstacle located in front of the running direction is sensed by a sensor mounted on a plurality of spray wings capable of being horizontally folded, It is possible to easily and reliably avoid the obstacles arranged in the forward direction by folding the lower spraying wings located farther from the center of the wing in the horizontal direction, thereby making it possible to construct the obstacle avoiding method more simply, easily and efficiently.

While the present invention has been described in connection with what is presently considered to be practical and exemplary embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

100, 101: Cleaning work machine 110: Central frame part
120: first spray frame part 120a: second spray frame part
130: third spraying frame part 140: obstacle detecting skin
150: manager coupling portion 160: connection structure
170: Central connection part 200: Passenger control device
1000: Control device

Claims

A control work machine for spraying a control liquid onto a farmland, the control work station being connected to a passenger control unit including a running section running in a predetermined direction,
A central frame part disposed at the center of the passenger control device when viewed on a front surface or a rear surface and extending in the horizontal direction from the center;
A first spraying frame connected to a first side of the central frame part and having at least two spraying wings each having a plurality of spraying units for spraying a control solution and connected in a line in a horizontal direction, part;
At least two spray wings connected to the second side of the central frame portion located on the opposite side of the first side and each having a plurality of spray units for spraying the control solution and connected in a line in a horizontal direction A second spraying frame part And
And a sensor disposed in each of the spraying wings of the first spraying frame portion and in each of the spraying wings of the second spraying frame portion to detect an obstacle located in front of the running direction of the running portion, An obstacle detecting sensor for horizontally folding a lower spraying wing disposed farther from the center than a sensing spraying wing having a sensor for detecting the obstacle to avoid the obstacle;
Lt; / RTI >
Wherein the obstacle detection skin is provided with:
Wherein when the obstacle is detected, the lower spraying wing including the sensing spraying wing is folded, or the lower spraying wing is folded except for the sensing spraying wing.

The method according to claim 1,
A manager coupling unit for coupling the passenger ' s controller and the central frame part in front of or behind the passenger management device;
Further comprising:

The method according to claim 1,
Wherein the central frame portion comprises:
And a plurality of spraying units for spraying the control liquid.

The method according to claim 1,
Wherein the first spray frame part and the second spray frame part comprise:
Wherein the center frame portion is formed symmetrically with respect to the central frame portion.

delete

The method according to claim 1,
A plurality of connecting portions connecting the spraying wings to each other such that the spraying wings rotate and fold;
Further comprising:

The method according to claim 6,
Wherein the obstacle detection skin is provided with:
Wherein when the obstacle is detected, the spraying wings and / or the sub-spraying wings are folded so that the spraying wings are sequentially rotated in different directions so as to be arranged in zigzag form with respect to each other.

The method according to claim 6,
Wherein the obstacle detection skin is provided with:
Wherein when the obstacle is detected, the sensing and spreading wings and / or the sub-spraying wings are arranged so as to surround the spraying wings disposed far away from the center so that the spraying wings and / or the sub-spraying wings are sequentially rotated in the same direction The control work machine which features.

A traveling part traveling in a predetermined direction;
An engaging portion coupled to the traveling portion in front of or behind the traveling portion;
A central frame part coupled to the coupling part and disposed in the center of the traveling part when observed on the front surface or the rear surface and extending in the horizontal direction from the center;
A first spraying frame part connected to a first side of the central frame part and having at least two spraying wings each having a plurality of spraying units for spraying a control solution and connected to each other so as to be horizontally foldable;
And at least two spray wings connected to the second side of the central frame portion located on the opposite side of the first side and each having a plurality of spray units for spraying the control solution and connected in a line in a horizontal direction A second spraying frame part And
And a sensor disposed on each of the spraying wings of the first spraying frame portion and on each of the spraying wings of the second spraying frame portion so as to detect an obstacle located in front of the running direction of the running portion, A barrier spraying wing for horizontally folding a lower spraying wing disposed farther from the center than a sensing spraying wing having a sensor for sensing the obstacle to avoid the obstacle;
Lt; / RTI >
Wherein the obstacle detection skin is provided with:
Wherein when the obstacle is detected, the lower spraying wing including the sensing spraying wing is folded, or the lower spraying wing is folded except for the sensing spraying wing.

delete

10. The method of claim 9,
A plurality of connecting portions connecting the spraying wings to each other such that the spraying wings rotate and fold;
Further comprising:

12. The method of claim 11,
Wherein the obstacle detection skin is provided with:
Wherein when the obstacle is detected, the spraying wings and / or the sub-spraying wings are folded so that the spraying wings are sequentially rotated in different directions so as to be arranged in a zigzag form with respect to each other.