CN107426989A

CN107426989A - Spray boom gearshift and spray bar type spraying machine

Info

Publication number: CN107426989A
Application number: CN201780001079.1A
Authority: CN
Inventors: 伊藤达夫
Original assignee: Kayaba Industry Co Ltd
Current assignee: KYB Corp
Priority date: 2016-01-29
Filing date: 2017-01-05
Publication date: 2017-12-01
Also published as: KR20170116133A; JP2017131179A; WO2017130651A1

Abstract

In order that spray boom (4) displacement and when making working oil relative to hydraulic cylinder (41,141) inflow/outflow, when the state for being judged as hydraulic cylinder (41,141) is the state for the working oil for having discharged or being supplied with more than scheduled volume, inflow/outflow of the working oil relative to reservoir (61,161) is blocked along the controller (70) of above-below direction or the spray boom gearshift of side-sway direction displacement (40,140) relative to vehicle body (91) for making displacement be supported on the spray boom (4) of vehicle body (91) freely.

Description

Spray boom gearshift and spray bar type spraying machine

Technical field

The present invention relates to a kind of spray bar type spraying machine and the spray boom displacement for making spray bar type spraying machine spray boom displacement Device.

Background technology

Spray bar type spraying machine as follows is disclosed in Japanese JP2013-102A, the spray bar type spraying machine includes： Pitman arm, it is installed on vehicle body；Spray boom, its one end are supported on pitman arm；And cylinder, its be arranged on vehicle body and pitman arm it Between, make spray boom relative to vehicle body along above-below direction displacement by being supplied for cylinder, discharging working oil.

In the case of above-mentioned spray bar type spraying machine, when wanting to make spray boom relative to vehicle body decline, Vavle switching will be switched To communicating position, so that the working oil in the piston side room of cylinder is discharged to working fluid case, shrink cylinder.Also, When switching valve switches to blocking position, the contraction of cylinder stops, and the height of spray boom is maintained at desired height.

The content of the invention

However, in the case of the spray bar type spraying machine described in Japanese JP2013-102A, the piston side room of cylinder Connected with reservoir.Therefore, when entering to exercise the operation that spray boom declines relative to vehicle body, the working oil in piston side room is to workflow Body case is discharged, and after cylinder at utmost shrinks, if further proceeding with the operation for declining spray boom, is connected with piston side room Reservoir in working oil also to working fluid case discharge.

Like this, enter to exercise the operation that spray boom rises relative to vehicle body in the state of the working oil discharge in reservoir When, by pump supply Lai working oil supply first to reservoir.That is, the rear to for making spray boom of working oil is being filled to reservoir The cylinder supply working oil of rising.Therefore, the time is spent before spray boom is begun to ramp up, the response of the operation to operator It is likely to decrease.

In addition, when entering to exercise the operation that spray boom rises relative to vehicle body, working oil is supplied to piston side room, cylinder is most After big degree elongation, if further proceeding with the operation for making spray boom increase, by the working oil that pump supply comes to reservoir filling. Filling of the working oil to reservoir is persistently carried out, untill the supply pressure of working oil reaches oil pressure relief.

Like this, enter to exercise what spray boom declined relative to vehicle body in the state of working oil is excessively filled with to reservoir During operation, working oil is discharged from reservoir first.That is, from for making after the working oil excessively filled from reservoir discharge The cylinder discharge working oil that spray boom declines.Therefore, the time is spent before spray boom is begun to decline, the sound of the operation to operator Answering property is likely to decrease.

Present invention aims to the response displacement well of operation of the spray boom to operator.

According to the technical scheme of the present invention, for making displacement be supported on the spray boom of vehicle body freely relative to the vehicle body Include along above-below direction or the spray boom gearshift of side-sway direction displacement：Hydraulic cylinder, it makes the spray boom displacement by flexible； Fluid passage, it is for the working fluid relative to the hydraulic cylinder inflow/outflow；Reservoir, itself and the fluid passage Connection, for storing pressurized working fluid；State detecting section, it is capable of detecting when whether the state of the hydraulic cylinder is row The state of working fluid for having gone out or being supplied with more than scheduled volume；And control unit, it is based on being examined by the state detecting section The state for the hydraulic cylinder measured controls inflow/outflow of the working fluid relative to the reservoir, and the control unit exists Detect that the state of the hydraulic cylinder is to have discharged or be supplied with working fluid more than scheduled volume by the state detecting section State when block working fluid relative to the reservoir inflow/outflow.

Brief description of the drawings

Fig. 1 is the top view using the spray bar type spraying machine of the spray boom gearshift of the 1st embodiment of the present invention.

Fig. 2 is the hydraulic circuit diagram of spray boom gearshift and the side of spray bar type spraying machine of the 1st embodiment of the present invention View.

Fig. 3 is the control of the spray boom gearshift of the 1st embodiment of the present invention when entering to exercise the operation of spray boom decline The flow chart for the processing that portion performs.

Fig. 4 is the control of the spray boom gearshift of the 1st embodiment of the present invention when entering to exercise the operation of spray boom rising The flow chart for the processing that portion performs.

Fig. 5 is hydraulic circuit diagram and the spray rod type spray of the spray boom gearshift of the variation of the 1st embodiment of the present invention The side view of mist machine.

Fig. 6 is the spray boom displacement dress of the variation of the 1st embodiment of the present invention when entering to exercise the operation of spray boom decline The flow chart for the processing that the control unit put performs.

Fig. 7 is the spray boom displacement dress of the variation of the 1st embodiment of the present invention when entering to exercise the operation of spray boom rising The flow chart for the processing that the control unit put performs.

Fig. 8 is the hydraulic circuit diagram of spray boom gearshift and the master of spray bar type spraying machine of the 2nd embodiment of the present invention View.

Fig. 9 be enter exercise the operation put on the left of spray boom when the present invention the 2nd embodiment spray boom gearshift control The flow chart for the processing that portion processed performs.

Figure 10 be enter exercise the operation put on the right side of spray boom when the present invention the 2nd embodiment spray boom gearshift control The flow chart for the processing that portion processed performs.

Figure 11 is hydraulic circuit diagram and the spray rod type spray of the spray boom gearshift of the variation of the 2nd embodiment of the present invention The front view of mist machine.

Figure 12 be enter exercise the operation put on the left of spray boom when the present invention the 2nd embodiment variation spray boom displacement The flow chart for the processing that the control unit of device performs.

Figure 13 be enter exercise the operation put on the right side of spray boom when the present invention the 2nd embodiment variation spray boom displacement The flow chart for the processing that the control unit of device performs.

Embodiment

Hereinafter, with reference to the accompanying drawings of embodiments of the present invention.In addition, set in the accompanying drawings orthogonal X, Y, Z this 3 Individual axle, X-axis be vehicle fore-and-aft direction (approximate horizontal longitudinal direction), Y-axis be vehicle left and right directions (approximate horizontal transverse direction), Z axis Extend along the above-below direction (substantially vertical) of vehicle, the rotation direction centered on X-axis is set to side-sway direction, will be with Rotation direction centered on Z axis is set to yaw direction, illustrates embodiment with this.

The embodiment ＞ of ＜ the 1st

In the 1st embodiment of the present invention, for making spray boom relative to spray boom liter of the vehicle body along above-below direction displacement Falling unit 40 is equivalent to spray boom gearshift.First, the spray rod type including spray lance lifting device 40 is sprayed referring to Figures 1 and 2 Machine 100 illustrates.Fig. 1 shows the top view of spray bar type spraying machine 100, and Fig. 2 shows the side view of spray bar type spraying machine 100 Figure.

Spray bar type spraying machine 100 shown in Fig. 1 is equipped on the front side of the Operation Van 90 travelled in the fields, is from operation Car 90 sprays the agricultural work machinery of the decoctions such as plant protection liquid, liquid fertilizer.

Spray bar type spraying machine 100 includes a pair of the spray booms 4 extended to the left and right from Operation Van 90.It is provided with and is used in spray boom 4 Spray the nozzle (not shown) of decoction.In 100 operation of spray bar type spraying machine, while Operation Van 90 is travelled in the fields, one While the nozzles spray decoction from spray boom 4.

Spray bar type spraying machine 100 includes：A pair of links arm 2, it is installed on the vehicle body 91 of Operation Van 90；Lifting platform 3, its quilt The supporting of pitman arm 2 is that can be lifted relative to vehicle body 91；Side-sway platform 5, it is supported to relative to lifting platform 3 along side-sway direction Rotated freely (around X-direction)；And the spray boom 4 of left and right, its left and right side (Y direction) from side-sway platform 5 to vehicle body 91 are prolonged Stretch.

The side that spray boom 4 can be rotated with its base end part 4a by storage hinge (not shown) along yaw direction (direction about the z axis) Formula cantilever support turns into free end in side-sway platform 5, its leading section 4b.The front end body side frame 16 with leading section 4b of spray boom 4 with The mode that can be stretched is supported on the cardinal extremity body side frame 15 with base end part 4a.

Fig. 1 represents the deployed condition that the spray boom 4 of left and right stretches out to the left and right horizontal direction of vehicle body 91.When storing spray boom 4, Spray boom 4 makes after front end body side frame 16 shrinks and be accommodated in cardinal extremity body side frame 15 from the deployed condition shown in Fig. 1, by storage Hinge makes spray boom 4 rearward rotate.As a result, spray boom 4 is rolled in a manner of the side along vehicle body 91 extends in the longitudinal direction Fold, store.

Side-sway platform 5 is rotatably supported on lifting platform 3 by support shaft 6 along side-sway direction.Support shaft 6 uses cylinder The pin component of shape.

Be provided with rotating cylinder 141 and metal spring 80 between lifting platform 3 and side-sway platform 5, the rotating cylinder 141 and spray boom 4 to The rotation in left and right side-sway direction is stretched in linkage, and the metal spring 80 is located at across support shaft 6 and 141 symmetrical position of rotating cylinder Put, the rotation with the side-sway direction to the left and right of spray boom 4 is stretched in linkage.Rotating cylinder 141 and metal spring 80 are to suppress spray boom 4 Vibration on side-sway direction and set.What the leading section 4b thereby, it is possible to suppress spray boom 4 was rocked in the vertical direction shakes It is dynamic, prevent leading section 4b and crops in field etc. from contacting.

As shown in Fig. 2 pitman arm 2 has the upper links 21 and lower link 22 extended parallel to each other.Upper links 21 base end part is rotatably linked to vehicle body 91 by pin 12, and its leading section is rotatably linked to lifting by pin 11 Platform 3.The base end part of lower link 22 is rotatably linked to vehicle body 91 by pin 14, and its leading section rotates freely by pin 13 Ground is linked to lifting platform 3.

Then, reference picture 2 illustrates spray lance lifting device 40, and the spray lance lifting device 40 is for making spray boom 4 relative to car Spray boom gearshift of the body 91 along above-below direction displacement.Figure 2 illustrates the hydraulic circuit diagram of spray lance lifting device 40.

Spray lance lifting device 40 includes：Lift cylinders 41, it is hydraulic cylinder, between vehicle body 91 and upper links 21, It is used as the working oil of working fluid by supplying, discharging to be stretched；Hydraulic pump 51, it is for supplying work to lift cylinders 41 Make the pump of oil；Working fluid case T, it is imported for the working oil discharged from lift cylinders 41；Supply and discharge path 56, it is fluid passage, For the working oil circulation relative to the inflow/outflow of lift cylinders 41；And reservoir 61, it leads to via tributary circuit 64 with supply and discharge Road 56 connects, for storing pressurized working oil.

A pair of lift cylinders 41 are provided with the left and right sides of vehicle body 91.Each lift cylinders 41 make the He of spray boom 4 by synchronization telescope Lifting platform 3 lifts.In addition, lift cylinders 41 use working oil as working fluid, but can also replace working oil, such as water is used Dissolubility substitutes the working solutions such as liquid, can also use gas.

Lift cylinders 41 include：Cylinder barrel 42, it is sealed with working oil；Piston rod 43, it movably inserts cylinder barrel 42；With And piston 44, it is located at the base end part of piston rod 43.The base end part of the cylinder barrel 42 of lift cylinders 41 is by ram type ball members (day Text：ピロボー Le) 47 vehicle body 91 is rotatably linked to, the leading section of piston rod 43 rotates by ram type ball members 48 Upper links 21 are linked to freely.Ram type ball members 47,48 include such as ball and spherical bearing.Utilize ram type ball Part 47,48, the linking part of lift cylinders 41 will not be pried open.

The inside of cylinder barrel 42 is divided into piston side room 45 and bar side room 46 by piston 44.In piston 44 formed with allowing work The stream 44a that oil comes and goes between piston side room 45 and bar side room 46.Lift cylinders 41 are can be because from hydraulic pump 51 to piston side room The 45 so-called one-way fluid cylinder pressures for supplying working oils and extending and being shunk because discharging working oil from piston side room 45.It is right In lift cylinders 41, this is not limited to, the plunger type one-way fluid cylinder pressure of no piston can also be used, for piston side room 45 Supplied with the supply of both bar side rooms 46, discharge working oil or only for piston side room 45, discharge working oil and bar side room 46 The bidirectional fluid cylinder pressure being connected with working fluid case T.

Lifting platform 3 and spray boom 4 are stretched by each lift cylinders 41 and each pitman arm 2 rotate to be lifted.Also may be used Structure as being used with replacing the structure：In the anterior guide rail set along Z-direction extension of vehicle body 91, led using this Rail supports lifting platform 3 to be lifted freely along Z-direction.In this case, each lift cylinders 41 are arranged on vehicle body 91 and lifting Between platform 3, lifting platform 3 is set to be changed relative to the height of vehicle body 91 by flexible.

Hydraulic pump 51 will be stored in the working oil in working fluid case T by engine (not shown) or electrical motor driven Supply to piston side room 45.

Spray lance lifting device 40 also includes reversal valve 52, and the reversal valve 52 is switching valve, for switching lift cylinders 41 and liquid The connection and blocking between connection and blocking and lift cylinders 41 and working fluid case T between press pump 51.

Reversal valve 52 is that have extended position 52a, the electromagnetism of these three positions of retracted position 52b and stop position 52c Switching valve, extended position 52a are the communicating position for extending lift cylinders 41, and retracted position 52b is to shrink lift cylinders 41 Communicating position, stop position 52c be make lift cylinders 41 stop blocking position.

One end of supply and discharge path 56 is connected with the reversal valve 52, and the other end is connected with the piston side room 45 of lift cylinders 41. Supply and discharge path 56 is provided with operation check valve 53.

Reversal valve 52 is connected with supply and discharge path 56, and the supply of the working oil with being sprayed for guiding by hydraulic pump 51 is led to Road 55, for working oil to the working fluid case T drain passageways 57 returned and with operate check valve 53 pilot pressure room connect Operation path 59 connect.Supply passageway 55 and drain passageway 57 are connected using overflow passage 58, are set in overflow passage 58 There is overflow valve 54, the overflow valve 54 valve opening when the hydraulic pressure of supply passageway 55 exceedes setting pressure.

When reversal valve 52 switches to extended position 52a, drain passageway 57 connects with operation path 59, and supply and discharge path 56 connect with supply passageway 55.By the working oil that hydraulic pump 51 sprays a pair liters are flowed into via supply passageway 55 and supply and discharge path 56 The piston side room 45 of cylinder 41 drops.Thus, the synchronous elongation of a pair of lift cylinders 41, pitman arm 2 rotate upward, spray boom 4 and pitman arm 2 Rise together relative to vehicle body 91.

When reversal valve 52 switches to retracted position 52b, supply passageway 55 connects with operation path 59, and supply and discharge path 56 connect with drain passageway 57.The ejection pressure of hydraulic pump 51 is used as pilot pressure import operation check valve via operation path 59 53, therefore operate the valve opening of check valve 53, the working oil in piston side room 45 is via supply and discharge path 56, drain passageway 57 to working fluid Case T is returned.Thus, a pair of synchronous of lift cylinders 41, pitman arm 2 rotate downwards, spray boom 4 together with pitman arm 2 relative to Vehicle body 91 declines.

When reversal valve 52 switches to stop position 52c, supply passageway 55, drain passageway 57, operation path 59 and supply and discharge The all connections of path 56.Be accompanied by this, by hydraulic pump 51 via supply passageway 55 supply Lai working oil all to working fluid Case T is returned.Now, it is same that pressure and the working fluid case T-phase of path 59 are operated, operates check valve 53 in the case where the force of spring acts on Valve closing.Thus, the expanding-contracting action of a pair of lift cylinders 41 stops, and can keep height of the spray boom 4 relative to vehicle body 91.Like this, Spray boom 4 can be by making lift cylinders 41 flexible relative to the height of the crop in field relative to the height of vehicle body 91, i.e. spray boom 4 To be adjusted.

Reservoir 61 internally has the grease chamber 61a being connected with piston side room 45 and applies stressed spring to grease chamber 61a Room 61b.

Spring housing 61b is the gas compartment for being sealed with the gases such as pressurized nitrogen, to as the interface with grease chamber 61a Liquid level applies air pressure.Alternatively, it is also possible to install the free-piston for marking off grease chamber 61a and spring housing 61b in reservoir 61.And And the free-piston for marking off grease chamber 61a and spring housing 61b can also be installed in reservoir 61, and in spring housing 61b Spring is installed.That is, pressurized gas can also be replaced, pressure is applied to grease chamber 61a using spring.

The characteristic of reservoir 61 is set by adjusting volume of the air pressure in spring housing 61b, reservoir 61 etc..

The branch branched out between piston side room 45 and operation check valve 53 that grease chamber 61a is connected to supply and discharge path 56 leads to Road 64.That is, grease chamber 61a connects with piston side room 45 via supply and discharge path 56 and tributary circuit 64.It is provided with and uses in tributary circuit 64 In the orifice valve 62 for applying resistance to the working oil that is come and gone between piston side room 45 and reservoir 61, and with the phase of orifice valve 62 The open and close valve 63 for being used for being opened and closed tributary circuit 64 is provided with adjacently.

Open and close valve 63 is the electromagnetic opening and closing valve for having communicating position 63a and blocking position 63b, and communicating position 63a is to hold Perhaps piston side room 45 and the position of the connection of reservoir 61, blocking position 63b is blocking piston side room 45 and reservoir 61 The position of connection.

Generally, open and close valve 63 is in communicating position 63a, and piston side room 45 and reservoir 61 are the state connected.In the shape Under state, when spray boom 4 is vibrated in the vertical direction and lift cylinders 41 are stretched, working oil is in piston side room 45 and reservoir 61 Come and gone between grease chamber 61a.The working oil for being flowed into grease chamber 61a is pushed back by spring housing 61b air pressure to piston side room 45.Like this The flowing of the working oil to be come and gone between piston side room 45 and grease chamber 61a is damped valve 62 and applies resistance.Thus, damping is produced Power, the vibration on the above-below direction of spray boom 4 are suppressed.

As when being travelled on vibrating less road surface, spray boom 4 be contained when need not reduce shaking for spray boom 4 Dynamic situation, do not want in the case of making lift cylinders 41 flexible, open and close valve 63 can be switched into blocking position 63b by operator.

Grease chamber 61a and piston side room 45 can also utilize to be directly connected to relative to the independent path of supply and discharge path 56.At this In the case of, orifice valve 62 and open and close valve 63 are located at the independent path.

Spray lance lifting device 40 also includes：Pressure detector 72, it is state detecting section, for detecting the shape of lift cylinders 41 Whether state is the state for having discharged or being supplied with working oil more than scheduled volume；And controller 70, it is control unit, is based on The testing result control reversal valve 52 of pressure detector 72.

Pressure detector 72 positioned at piston side room 45 and operates the part between check valve 53 located at supply and discharge path 56, uses In the pressure of detection working oil of flowing in supply and discharge path 56.Pressure detector 72 is the pressure in supply and discharge path 56 not pre- The pressure switch of output contact signal when in the preset range first set.For example, pressure of the pressure detector 72 in supply and discharge path 56 Power within a predetermined range when be off-state, be on-state when the pressure of supply and discharge path 56 is higher or lower than preset range.

Controller 70 be include central processing unit (CPU), read-only storage (ROM), random access memory (RAM) and The microcomputer of input/output interface (I/O interfaces).It is previously stored with what is performed by central processing unit in read-only storage Control program etc., the processing data of central processing unit is stored with random access memory.I/O interfaces are used for same and controller The input/output of information between the equipment of 70 connections.The output signal of pressure detector 72 and the behaviour from operator's operation The signal for making disk 71 is transfused to controller 70.

The spray boom rising switch (not shown) operated when spray boom 4 to be made rises relative to vehicle body 91 is provided with operation panel 71 And the spray boom down switch operated when spray boom 4 to be made declines relative to vehicle body 91.These switches can be carried out Turn on/off the push button or dial type of operation.Alternatively, it is also possible to spray boom rising switch and spray boom down switch It is set independently for the shutdown switch for stopping the operation of spray boom 4.

In addition, switch can also be the lever operated to the raising and lowering of spray boom 4.In lever-type situation Under, controller 70 is judged as that rising switch has been carried out making operation when lever is toppled over to a side, inclines in lever to the opposing party It is judged as that down switch has been carried out making operation when, is judged as that rising switch and decline are opened when lever is in neutral condition Pass has been carried out opening operation.Signal of the controller 70 based on the signal from pressure detector 72 and from operation panel 71 performs The position of control described later, reversal valve 52 and open and close valve 63 is switched by controller 70.

Controller 70 is not limited to microcomputer, as long as can be according to the operation of operator, pressure detector 72 Testing result suitably switches the position of reversal valve 52 and open and close valve 63, can also be just arbitrary structures.For example, it may be only will Structure obtained from relay, electronic timer, comparator etc. combine.In addition, operation panel 71 can also be with controller 70 Combine.

In the case of the spray bar type spraying machine 100 of said structure, generally, the piston side room 45 of lift cylinders 41 and reservoir 61 states in connection.Therefore, enter to exercise the operation of the decline of spray boom 4, work more than scheduled volume is discharged from piston side room 45 Oil, after lift cylinders 41 are at utmost shunk, if further proceeding with the operation for declining spray boom 4, the work in reservoir 61 Oil is discharged to working fluid case T.

When entering to exercise the operation of the rising of spray boom 4 in the state of the working oil discharge like this in reservoir 61, by hydraulic pressure The working oil that the supply of pump 51 comes supplies to reservoir 61 first.That is, the rear to for making spray of working oil is being filled to reservoir 61 The lift cylinders 41 that bar 4 rises supply working oil.

Therefore, even if wanting to make spray boom 4 increase, the state that spray boom 4 does not rise can also continue to that working oil is filled to liquid storage Untill device 61.As a result, after the operation for entering to exercise the rising of spray boom 4 from operator, before being begun to ramp up to spray boom 4, it is possible to send out Raw delay.

In order to prevent such action delay, the controller 70 of spray lance lifting device 40 performs such control：Operating , will when the pressure detected by pressure detector 72 is below predetermined pressure during person enters to exercise the operation of the decline of spray boom 4 Reversal valve 52 switches to stop position 52c, so as to block the connection of reservoir 61 and working fluid case T.

Here, the supply and discharge path 56 provided with pressure detector 72 is when reversal valve 52 switches to retracted position 52b and works Fluid tank T is connected, therefore the pressure of supply and discharge path 56 reduces to a certain degree.Also, reach lowest order in spray boom 4 and lifting platform 3 Before putting, the piston side room 45 connected with supply and discharge path 56 is in what is compressed because of the weight of the spray boom 4 of decline and lifting platform 3 State, therefore the pressure of supply and discharge path 56 is with the size variation of constant.

But in the working oil that more than scheduled volume is discharged from lift cylinders 41, and lift cylinders 41 turn into what is at utmost shunk During state, situation about being compressed is not present in piston side room 45, therefore the pressure of supply and discharge path 56 further reduces, and turns into pre- Below constant-pressure.That is, by detecting whether the pressure of supply and discharge path 56 turns into below predetermined pressure, lift cylinders 41 are capable of detecting when Whether turn at utmost whether contraction state, spray boom 4 and lifting platform 3 reach extreme lower position.

Discharged more than scheduled volume in such manner, it is possible to detect whether the state of lift cylinders 41 turns into by pressure detector 72 Working oil at utmost contraction state.Thus, if based on pressure detector 72 testing result block reservoir 61 with Working fluid case T connection, even if then operator continues the operation for declining spray boom 4, it can also suppress in reservoir 61 Working oil to working fluid case T discharge.

In addition, reservoir 61 is connected via the orifice valve 62 also to be played a role as throttling element with supply and discharge path 56.Cause This, even if the pressure of piston side room 45 and supply and discharge path 56 reduces, can also be suppressed the working oil in reservoir 61 by orifice valve 62 Discharged at once to working fluid case T.Thus, reservoir 61 is blocked after the reduction for the pressure for detecting supply and discharge path 56 With working fluid case T connection, the working oil that also can fully suppress in reservoir 61 is discharged to working fluid case T.In addition, Can make orifice valve 62 be variable restrictor part, when operator enters to exercise the operation of the displacement of spray boom 4, temporarily reduce branch and lead to The flow path area on road 64, so as to suppress inflow/outflow of the working oil relative to reservoir 61.

If working oil is stored in reservoir 61, even if operator is followed by the operation for having carried out declining spray boom 4 Into the operation for exercising the rising of spray boom 4, by hydraulic pump 51 supply Lai working oil will not also be flowed into reservoir 61, but to liter Drop cylinder 41 flows into.Therefore, it is possible to make the response displacement well of operation of the spray boom 4 to operator.

On the other hand, enter to exercise the operation of the rising of spray boom 4, supply working oil more than scheduled volume to piston side room 45, rise Drop cylinder 41 at utmost extend after, if further proceed with make spray boom 4 rising operation, by hydraulic pump 51 supply Lai work Oil is filled to reservoir 61.Filling of the working oil to reservoir 61 is persistently carried out, until the confession of the working oil in supply passageway 55 Untill the setting pressure for reaching overflow valve 54 to pressure.

Like this, when entering to exercise the operation of the decline of spray boom 4 in the state of excessively storing working oil to reservoir 61, First, the working oil in reservoir 61 is discharged to working fluid case T.That is, the work in lift cylinders 41 for making the decline of spray boom 4 The supply pressure of working oil of the discharge of oil after the working oil for being stored in reservoir 61 is less than scheduled volume, i.e. in supply and discharge path 56 Reduction is carried out afterwards to a certain degree.

Therefore, it even if wanting to decline spray boom 4, can also continue the state that spray boom 4 does not decline, be discharged until from reservoir 61 Untill the working oil excessively stored.As a result, after the operation for entering to exercise the decline of spray boom 4 from operator, begun to decline to spray boom 4 Before, it is possible to postpone.

In order to prevent such action delay, the controller 70 of spray lance lifting device 40 performs such control：Operating , will when the pressure detected by pressure detector 72 is more than predetermined pressure during person enters to exercise the operation of the rising of spray boom 4 Reversal valve 52 switches to stop position 52c, so as to block the connection of reservoir 61 and hydraulic pump 51.

Here, the supply and discharge path 56 provided with pressure detector 72 is when reversal valve 52 switches to extended position 52a and hydraulic pressure Pump 51 connects, therefore the pressure of supply and discharge path 56 rises to a certain degree.Also, spray boom 4 and lifting platform 3 reach extreme higher position it Before, spray boom 4 and lifting platform 3 is increased, therefore the pressure of supply and discharge path 56 is with the size variation of constant.

But in the working oil that more than scheduled volume is supplied to lift cylinders 41, and lift cylinders 41 turn into what is at utmost extended During state, working oil can not continue to flow into piston side room 45.Therefore, the further rise in pressure of supply and discharge path 56, turn into predetermined It is more than pressure.That is, by detecting whether the pressure of supply and discharge path 56 turns into more than predetermined pressure, it is capable of detecting when that lift cylinders 41 are It is no to turn at utmost whether elongation state, spray boom 4 and lifting platform 3 reach extreme higher position.

In such manner, it is possible to by pressure detector 72 detect lift cylinders 41 state whether turn into be supplied with scheduled volume with On working oil at utmost elongation state.Thus, block reservoir 61 if based on the testing result of pressure detector 72 With the connection of hydraulic pump 51, even if then operator continues the operation for making spray boom 4 increase, can also suppress to the mistake of reservoir 61 Amount ground supply working oil.

In addition, reservoir 61 is connected via the orifice valve 62 also to be played a role as throttling element with supply and discharge path 56.Cause This, even if the pressure of piston side room 45 and supply and discharge path 56 rises, also can suppress working oil by orifice valve 62 and soon flow into liquid storage In device 61.Thus, the company of blocking reservoir 61 and hydraulic pump 51 after the rising for the pressure for detecting supply and discharge path 56 It is logical, it also can fully suppress excessively to supply working oil into reservoir 61.Alternatively, it is also possible to be, it is variable to make orifice valve 62 Throttling element, when operator enters to exercise the operation of the displacement of spray boom 4, temporarily reduce the flow path area of tributary circuit 64, so as to suppress Working oil relative to reservoir 61 inflow/outflow.

If there is no the excessive working oil of storage in reservoir 61, even if operator is carrying out making what spray boom 4 rose Operation followed by carry out make spray boom 4 decline operation, also will not from reservoir 61 discharge working oil, but from lift cylinders 41 to Working fluid case T discharges working oil.Therefore, it is possible to make the response displacement well of operation of the spray boom 4 to operator.

Hereinafter, reference picture 3 and Fig. 4 illustrate that operator enters to exercise spray boom 4 relative to vehicle body 91 along above-below direction displacement The step of processing that controller 70 performs during operation.Fig. 3 is to represent that operator enters to exercise the behaviour that spray boom 4 declines relative to vehicle body 91 The flow chart of the step of processing that controller 70 performs when making, Fig. 4 is to represent that operator enters to exercise spray boom 4 relative on vehicle body 91 The flow chart of the step of processing that controller 70 performs during the operation risen.

First, reference picture 3 illustrates that controller 70 is held when operator enters to exercise the operation that spray boom 4 declines relative to vehicle body 91 The step of capable processing.

In figure 3, in step S101, controller 70 detect down switch whether by operator from opening operation to connect It is logical.Operation panel 71 will export when down switch is operated by operator with the corresponding signal of operation to controller 70.

If being detected in step S101, down switch has been carried out making operation, into step S102, controller 70 Reversal valve 52 is switched into retracted position 52b, piston side room 45 is connected with working fluid case T.

By making piston side room 45 be connected with working fluid case T, so as to which the working oil in piston side room 45 leads to via supply and discharge Road 56 and drain passageway 57 are discharged to working fluid case T, and lift cylinders 41 are shunk.Contraction with lift cylinders 41 in linkage, spray boom 4 and Lifting platform 3 is begun to decline.

Then, in step s 103, controller 70 detect down switch whether by operator from making operation for disconnect.It is logical Often, operator is while interval between observation spray boom 4 and crops, while the height in spray boom 4 reaches and is best suitable for spraying insecticide Deng height when down switch disconnected.

If controller 70 detects that down switch has been carried out opening operation, into step S105, controller 70 will change Stop position 52c, blocking piston side room 45 and working fluid case T connection are switched to valve 52.Turn into piston side room 45 by The state that the working oil of scheduled volume fills up, height of the spray boom 4 relative to vehicle body 91 can be kept.

On the other hand, if not detecting in step s 103, down switch has been carried out opening operation, into step S104, controller 70 judge pressure detector 72 whether lead to by output contact signal, the supply and discharge that is detected by pressure detector 72 Whether the pressure on road 56 is below predetermined pressure.

Here, when operator enters to exercise the operation of the decline of spray boom 4, the pressure of supply and discharge path 56 turns into below predetermined pressure When be as described above lift cylinders 41 at utmost shrink and spray boom 4 reach extreme lower position when.If maintain this state, reservoir Working oil in 61 can be also discharged, and cause to postpone when rising spray boom 4.

It is below predetermined value in the pressure detected by pressure detector 72, from pressure to suppress such action delay During 72 output contact signal of force detector, into step S105, reversal valve 52 is switched into stop position 52c, blocking piston side Room 45 and working fluid case T connection and reservoir 61 and working fluid case T connection.

In step S104 not in the case of the output contact signal of pressure detector 72, lift cylinders 41 are in and can also received The state of contracting, therefore, return to step S103, again detect down switch whether by operator from making operation for disconnect.

The processing of the above is performed by using controller 70, so as to make spray boom 4 drop to desired height, and can Prevent the working oil after lift cylinders 41 are at utmost shunk in reservoir 61 from being discharged to working fluid case T.

Then, reference picture 4 illustrates that controller 70 is held when operator enters to exercise the operation that spray boom 4 rises relative to vehicle body 91 The step of capable processing.

In Fig. 4, in step S111, controller 70 detect rising switch whether by operator from opening operation to connect It is logical.Operation panel 71 will export when rising switch is operated by operator with the corresponding signal of operation to controller 70.

If being detected in step S111, rising switch has been carried out making operation, into step S112, controller 70 Reversal valve 52 is switched into extended position 52a, piston side room 45 is connected with hydraulic pump 51.

By making piston side room 45 be connected with hydraulic pump 51, so as to via supply and discharge path 56 and supply passageway 55 to piston side Room 45 supplies working oil, and lift cylinders 41 extend.In linkage, spray boom 4 and lifting platform 3 are begun to ramp up for elongation with lift cylinders 41.

Then, in step S113, controller 70 detect rising switch whether by operator from making operation for disconnect.It is logical Often, operator is while interval between observation spray boom 4 and crops, while the height in spray boom 4 reaches and is best suitable for spraying insecticide Deng height when rising switch disconnected.

If controller 70 detects that rising switch has been carried out opening operation, into step S115, controller 70 will change Stop position 52c, blocking piston side room 45 and the connection of hydraulic pump 51 are switched to valve 52.Turn into piston side room 45 by making a reservation for The state that the working oil of amount fills up, height of the spray boom 4 relative to vehicle body 91 can be kept.

On the other hand, if not detected in step S113, rising switch has been carried out opening operation, into step S114, controller 70 judge pressure detector 72 whether lead to by output contact signal, the supply and discharge that is detected by pressure detector 72 Whether the pressure on road 56 is more than predetermined pressure.

Here, when operator enters to exercise the operation of the rising of spray boom 4, the pressure of supply and discharge path 56 turns into more than predetermined pressure When be as described above lift cylinders 41 at utmost extend and spray boom 4 reach extreme higher position when., can be to storage if maintaining this state Working oil is excessively stored in liquid device 61, causes to postpone when declining spray boom 4.

It is more than predetermined value in the pressure detected by pressure detector 72, from pressure to suppress such action delay During 72 output contact signal of force detector, into step S115, reversal valve 52 is switched into stop position 52c, blocking piston side Room 45 and the connection of hydraulic pump 51 and the connection of reservoir 61 and hydraulic pump 51.

In step S114 not in the case of the output contact signal of pressure detector 72, lift cylinders 41, which are in, to stretch Long state, therefore, return to step S113, again detect rising switch whether by operator from making operation for disconnect.

The processing of the above is performed by using controller 70, so as to make spray boom 4 rise to desired height, and can Prevent from excessively supplying working oil into reservoir 61 after lift cylinders 41 at utmost extend.

The 1st embodiment more than, obtains effect as shown below.

For the spray lance lifting device 40 of said structure, controller 70 performs such control：In order that the displacement of spray boom 4 And when discharging relative to lift cylinders 41 or supply working oil, when the state that lift cylinders 41 are detected by pressure detector 72 is discharge Or the working oil being supplied with more than scheduled volume state when, block inflow/outflow of the working oil relative to reservoir 61.

Therefore, in order that the displacement of spray boom 4 and from lift cylinders 41 discharge working oil when, suppress from reservoir 61 discharge work Oil.In this case, even if operator make the behaviour for followed by carrying out making spray boom 4 to rise of operation that spray boom 4 declines Make, by hydraulic pump 51 supply Lai working oil will not also be flowed into reservoir 61, but flowed into lift cylinders 41.

In addition, in order that the displacement of spray boom 4 and to lift cylinders 41 supply working oil when, suppress excessively to supply to reservoir 61 To working oil.In this case, though operator make operation that spray boom 4 rises followed by carry out making spray boom 4 under The operation of drop, working oil will not also discharge from reservoir 61, but be discharged from lift cylinders 41.

Like this, lift cylinders 41 and the operation of operator are correspondingly rapidly stretched, as a result, can make the response of spray boom 4 Displacement well.

Then, the variation of this 1st embodiment is illustrated.

In above-mentioned 1st embodiment, pressure detector 72 is pressure switch.It can also replace, pressure detector 72 be the pressure sensor that can detect absolute pressure.In this case, controller 70 compares by pressing in Fig. 3 step S104 The pressure value and the 1st pressure value of storage that force detector 72 detects, will when the pressure value detected is less than 1 pressure value Reversal valve 52 switches to stop position 52c, in Fig. 4 step S114, compares the pressure value detected by pressure detector 72 With 2nd pressure value higher than the 1st pressure value, when the pressure value detected is higher than 2 pressure value, reversal valve 52 is switched to and stopped Stop bit puts 52c.

In addition, in above-mentioned 1st embodiment, controller 70 from the output contact signal of pressure detector 72 based on whether come Judge whether spray boom 4 reaches extreme lower position or extreme higher position.It can also replace, based on the stroke progress to lift cylinders 41 The detected value of the stroke sensor of detection judges whether spray boom 4 is reached near extreme lower position or extreme higher position.In addition, in order to Judge whether spray boom 4 is reached near extreme lower position or extreme higher position, can also use lift cylinders 41 at utmost shrink or most Big degree sends the travel switch of signal when extending neighbouring state, the position of pitman arm 2 is that extreme lower position or extreme higher position are attached Sent when near signal contact-type or non-contact type limit switch, for detecting angle of the pitman arm 2 relative to the angle of vehicle body 91 Spend sensor.Alternatively, it is also possible to make multiple above-mentioned sensors, switch combination, it is to judge spray boom 4 based on their detected value Near no arrival extreme lower position or extreme higher position.

In addition, in the case where using travel switch, limit switch as state detecting section, can be set as in lift cylinders 41 at utmost shrink or contact signal is sent before at utmost extending, that is, be set as in the arrival extreme lower position of spray boom 4 or most Contact signal is sent before high position with having nargin.Therefore, lift cylinders 41 are at utmost shunk with use or at utmost stretched Pressure after length is compared as the pressure detector 72 that detected value exports as the situation of state detecting section, can reliably be prevented Working oil is discharged from reservoir 61, excessively supplies working oil to reservoir 61.

In addition, in above-mentioned 1st embodiment, by discharging working oil from lift cylinders 41, and make 4 downward orientation of spray boom Move.It can also replace as such structure：By discharging working oil from lift cylinders 41, and make the displacement upward of spray boom 4.

In addition, in above-mentioned 1st embodiment, reversal valve 52 is the electromagnetic switching valve using electromagnetic force switching position. It can replace, reversal valve 52 is the manual switching valve by operator's manual switching.Hereinafter, 5~Fig. 7 of reference picture explanations commutation Valve 52 is the situation of manual switching valve.

In this case, as shown in figure 5, the lever 52d that operator's operation links with reversal valve 52, is wanting to make spray boom 4 In the case of rising, extended position 52a is switched to, in the case where wanting to decline spray boom 4, switches to retracted position 52b, Want in the case of making the stopping of spray boom 4, switch to stop position 52c.Controller 70 is according to the position for detecting reversal valve 52 Position sensor 52e detected value detect which position reversal valve 52 is operated to by operator.

In the case where reversal valve 52 like this is manual switching valve, no above-mentioned 1st embodiment of the image of Buddha is like that according to pressure Reversal valve 52 is switched to stop position 52c by the detected value of force detector 72.That is, reservoir 61 and working fluid case can not be blocked T or hydraulic pump 51 connection.Therefore, in the variation, by making the valve closing of open and close valve 63, to block reservoir 61 and workflow Body case T or hydraulic pump 51 connection.

Hereinafter, reference picture 6 and Fig. 7 illustrate that spray boom 4 is entered to exercise relative to vehicle body 91 in the position of operator's switching reversal valve 52 Along above-below direction displacement operation when controller 70 perform processing the step of.Fig. 6 is to represent that operator enters to exercise the phase of spray boom 4 For vehicle body 91 decline operation when controller 70 perform processing the step of flow chart, Fig. 7 be represent operator enter exercise The flow chart of the step of processing that controller 70 performs during the operation that spray boom 4 rises relative to vehicle body 91.

First, reference picture 6 illustrates that the position of reversal valve 52 is switched to retracted position 52b and enters to exercise the phase of spray boom 4 by operator For vehicle body 91 decline operation when controller 70 perform processing the step of.

In figure 6, in step S121, controller 70 detects reversal valve 52 based on position sensor 52e detected value Whether retracted position 52b switched to by operator.If reversal valve 52 is switched to retracted position 52b, piston side room 45 and work Make fluid tank T to connect, the working oil in piston side room 45 is arranged via supply and discharge path 56 and drain passageway 57 to working fluid case T Go out, lift cylinders 41 are shunk.In linkage, spray boom 4 and lifting platform 3 are begun to decline for contraction with lift cylinders 41.

If being detected in step S121, reversal valve 52 is switched to retracted position 52b, into step S122, controller Whether 70 detection reversal valves 52 by operator switch to stop position 52c.Generally, operator is while observation spray boom 4 and crops Between interval, while reversal valve 52 is switched into stopping when the height of spray boom 4 reaches the height for being best suitable for spraying insecticide etc. Position 52c.

Here, if reversal valve 52 switches to stop position 52c by operator, piston side room 45 and working fluid case T's Connection is blocked.Now, the connection of reservoir 61 and working fluid case T is also blocked, therefore the work being not concerned about in reservoir 61 Make oil to discharge to working fluid case T.Therefore, if detecting in step 122, reversal valve 52 is switched to stop position 52c, control Device 70 processed just terminates to handle.

On the other hand, if not detected in step S122, reversal valve 52 is switched to stop position 52c, enters step Rapid S123, controller 70 are detected whether from the output contact signal of pressure detector 72.

In order to suppress such action delay, turn into predetermined in the pressure that supply and discharge path 56 is detected by pressure detector 72 When value is following, into step S124, open and close valve 63 is switched into blocking position 63b, blocks reservoir 61 and working fluid case T's Connection.

In step S123 not in the case of the output contact signal of pressure detector 72, lift cylinders 41 are in and can also received The state of contracting, therefore, step S122 is returned to, detect whether reversal valve 52 by operator switches to stop position 52c again.

Then, reference picture 7 illustrates that the position of reversal valve 52 is switched to extended position 52a and enters to exercise the phase of spray boom 4 by operator For vehicle body 91 rise operation when controller 70 perform processing the step of.

In the figure 7, in step S131, controller 70 detects reversal valve 52 based on position sensor 52e detected value Whether extended position 52a switched to by operator.If reversal valve 52 is switched to extended position 52a, piston side room 45 and liquid Press pump 51 connects, and supplies working oil to piston side room 45 via supply and discharge path 56 and supply passageway 55, lift cylinders 41 extend.With liter In linkage, spray boom 4 and lifting platform 3 are begun to ramp up for the elongation of drop cylinder 41.

If being detected in step S131, reversal valve 52 is switched to extended position 52a, into step S132, controller Whether 70 detection reversal valves 52 by operator switch to stop position 52c.Generally, operator is while observation spray boom 4 and crops Between interval, while reversal valve 52 is switched into stopping when the height of spray boom 4 reaches the height for being best suitable for spraying insecticide etc. Position 52c.

Here, if reversal valve 52 switches to stop position 52c, piston side room 45 and the connection of hydraulic pump 51 by operator It is blocked.Now, the connection of reservoir 61 and hydraulic pump 51 is also blocked, therefore is not concerned about excessively storing into reservoir 61 Working oil.Therefore, if detecting in step 132, reversal valve 52 is switched to stop position 52c, and controller 70 just terminates to locate Reason.

On the other hand, if not detecting that reversal valve 52 is switched to stop position 52c in step S132, into step S133, controller 70 are detected whether from the output contact signal of pressure detector 72.

In order to suppress such action delay, turn into predetermined in the pressure that supply and discharge path 56 is detected by pressure detector 72 When being worth the above, into step S134, open and close valve 63 is switched into blocking position 63b, blocks the company of reservoir 61 and hydraulic pump 51 It is logical.

In step S133 not in the case of the output contact signal of pressure detector 72, lift cylinders 41, which are in, to stretch Long state, therefore, step S132 is returned to, detect whether reversal valve 52 by operator switches to stop position 52c herein.

The embodiment ＞ of ＜ the 2nd

Then, reference picture 8 illustrates the spray bar type spraying machine 200 of the 2nd embodiment of the present invention.Hereinafter, with the above-mentioned 1st Illustrate, pair marked with the identical structure of spray bar type spraying machine 100 of the 1st embodiment centered on the different point of embodiment Same reference simultaneously omits the description.

The spray bar type spraying machine 100 of the basic structure of spray bar type spraying machine 200 and the 1st embodiment is same.Spray rod type sprays Mist machine 200 is different in the following areas from the spray bar type spraying machine 100 of the 1st embodiment, i.e.,：In the spray rod type of the 1st embodiment In spraying machine 100, for making spray boom 4 relative to spray lance lifting device 40 of the vehicle body 91 along above-below direction displacement equivalent to spray boom Gearshift, in contrast, in spray bar type spraying machine 200, for making spray boom 4 relative to vehicle body 91 along the displacement of side-sway direction Spray boom tumbler 140 equivalent to spray boom gearshift.In addition, in the following description, carried out from the rear of Operation Van 90 Observation, is referred to as right side pendulum direction by the right rotation direction centered on X-axis, and anticlockwise direction is referred to as into left side pendulum direction.

As shown in figure 8, spray boom tumbler 140 includes：Rotating cylinder 141, it is hydraulic cylinder, installed in lifting platform 3 and side Set a table between 5, be used as the working oil of working fluid by supplying, discharging to be stretched；Hydraulic pump 51, it is for rotation Cylinder 141 supplies the pump of working oil；Working fluid case T, it is imported for the working oil discharged from rotating cylinder 141；Supply and discharge path 156, It is fluid passage, for the working oil circulation relative to the inflow/outflow of rotating cylinder 141；And reservoir 161, it is via branch Path 164 is connected with supply and discharge path 156, for storing pressurized working oil.So, spray boom tumbler 140 have with it is upper State the same hydraulic circuit of the spray lance lifting device 40 of the 1st embodiment.

Rotating cylinder 141 is located at across support shaft 6 and 80 symmetrical position of metal spring.Rotating cylinder 141 is made by stretching Side-sway platform 5 and spray boom 4 are rotated centered on support shaft 6.In addition, rotating cylinder 141 and metal spring 80, which are used as, suppresses spray boom 4 in side The vibration absorber of vibration on pendulum direction plays a role.

Rotating cylinder 141 includes：Cylinder barrel 142, it is sealed with working oil；Piston rod 143, it movably inserts cylinder barrel 142；And piston 144, it is located at the base end part of piston rod 143.The base end part of the cylinder barrel 142 of rotating cylinder 141 is by ram type Ball members 147 are rotatably linked to lifting platform 3, and the leading section of piston rod 143 rotates freely by ram type ball members 148 Ground is linked to side-sway platform 5.Ram type ball members 147,148 include such as ball and spherical bearing.Utilize ram type ball members 147th, 148, the linking part of rotating cylinder 141 will not be pried open.

The inside of cylinder barrel 142 is divided into piston side room 145 and bar side room 146 by piston 144.In piston 144 formed with appearance Perhaps the stream 144a that working oil comes and goes between piston side room 145 and bar side room 146.Rotating cylinder 141 is can be because from hydraulic pump 51 The so-called list for supplying working oil to piston side room 145 and extending and being shunk because discharging working oil from piston side room 145 To fluid-pressure cylinder.For rotating cylinder 141, be not limited to this, can also use no piston plunger type one-way fluid cylinder pressure, Supply, discharge for the supply of both piston side room 145 and bar side room 146, discharge working oil or only for piston side room 145 The bidirectional fluid cylinder pressure that working oil and bar side room 146 are connected with working fluid case T.

Hydraulic pump 51 is used to supply the working oil being stored in working fluid case T to piston side room 145, with spray lance lifting Device 40 shares.

Spray boom tumbler 140 also includes reversal valve 152, and the reversal valve 152 is switching valve, for switching rotating cylinder 141 The connection and blocking between connection and blocking and rotating cylinder 141 and working fluid case T between hydraulic pump 51.

Reversal valve 152 has extended position 152a, retracted position 152b and these three positions of stop position 152c Electromagnetic switching valve, extended position 152a are the communicating position for extending rotating cylinder 141, and retracted position 152b is to make rotating cylinder 141 communicating positions shunk, stop position 152c are the blocking position for stopping rotating cylinder 141.

One end of supply and discharge path 156 is connected with the reversal valve 152, and the piston side room 145 of the other end and rotating cylinder 141 connects Connect.Operation check valve 153 is installed in supply and discharge path 156.

Reversal valve 152 is connected with supply and discharge path 156, and the supply of the working oil with being sprayed for guiding by hydraulic pump 51 Path 55, the pilot pressure room company for working oil to the working fluid case T drain passageways 57 returned and with operation check valve 153 Logical operation path 159 connects.Supply passageway 55 and drain passageway 57 share with spray lance lifting device 40.

When reversal valve 152 switches to extended position 152a, drain passageway 57 connects with operation path 159, and supply and discharge Path 156 connects with supply passageway 55.Flowed into by the working oil that hydraulic pump 51 sprays via supply passageway 55 and supply and discharge path 156 The piston side room 145 of rotating cylinder 141.Thus, rotating cylinder 141 extends, and relative to vehicle body 91, side-sway direction turns side-sway platform 5 to the right Dynamic, spray boom 4 is together with side-sway platform 5 relative to the side-sway direction displacement to the right of vehicle body 91.

When reversal valve 152 switches to retracted position 152b, supply passageway 55 connects with operation path 159, and supply and discharge Path 156 connects with drain passageway 57.The ejection pressure of hydraulic pump 51 is used as pilot pressure import operation via operation path 159 Check valve 153, therefore the valve opening of check valve 153 is operated, the working oil in piston side room 145 is via supply and discharge path 156, drain passageway 57 Returned to working fluid case T.Thus, rotating cylinder 141 shrinks, and relative to vehicle body 91, side-sway direction rotates side-sway platform 5 to the left, spray boom 4 together with side-sway platform 5 relative to the side-sway direction displacement to the left of vehicle body 91.

When reversal valve 152 switches to stop position 152c, supply passageway 55, drain passageway 57, operation path 159 and confession Arrange all connections of path 156.Be accompanied by this, by hydraulic pump 51 via supply passageway 55 supply Lai working oil all to workflow Body case T is returned.Now, the pressure of operation path 159 and working fluid case T-phase are same, and operation check valve 153 is made in the force of spring With lower valve closing.Thus, the expanding-contracting action of rotating cylinder 141 stops, and can keep inclination of the spray boom 4 relative to vehicle body 91.Like this, spray Bar 4 can be by making rotating cylinder 141 stretch to be adjusted relative to the inclination of vehicle body 91, can be in inclined plane etc. in field Crop and spray boom 4 between interval be micro-adjusted.

Reservoir 161 is that side-sway direction vibrates and set to the left and right in order to suppress spray boom 4.The structure of reservoir 161 with The reservoir 61 of spray lance lifting device 40 is identical, therefore the description thereof will be omitted.

The grease chamber 161a of reservoir 161 be connected to supply and discharge path 156 from piston side room 145 with operation check valve 153 it Between the tributary circuit 164 that branches out.That is, grease chamber 161a connects with piston side room 145 via supply and discharge path 156 and tributary circuit 164 It is logical.It is provided with tributary circuit 164 and is used to apply resistance to the working oil to come and go between piston side room 145 and reservoir 161 Orifice valve 162, and be adjacent to orifice valve 162 provided with the open and close valve 163 for being used to be opened and closed tributary circuit 164.

Open and close valve 163 is the electromagnetic opening and closing valve for having communicating position 163a and blocking position 163b, communicating position 163a It is the position for the connection for allowing piston side room 145 and reservoir 161, blocking position 163b is blocking piston side room 145 and storage The position of the connection of liquid device 161.

Generally, open and close valve 163 is in communicating position 163a, and piston side room 145 and reservoir 161 are the state connected. Under the state, when spray boom 4 is vibrating and rotating cylinder 141 stretches on side-sway direction, working oil is in piston side room 145 and liquid storage Come and gone between the grease chamber 161a of device 161.Grease chamber 161a working oil is flowed into by spring housing 161b air pressure to piston side room 145 Push back.The flowing of the working oil to be come and gone like this between piston side room 145 and grease chamber 161a is damped valve 162 and applies resistance. Thus, damping force is produced, the vibration to side-sway direction of spray boom 4 is suppressed.

As when being travelled on vibrating less road surface, spray boom 4 be contained when need not reduce shaking for spray boom 4 Dynamic situation, do not want in the case of making rotating cylinder 141 flexible, open and close valve 163 can be switched into blocking position by operator 163b。

Grease chamber 161a and piston side room 145 can also utilize to be directly connected to relative to the independent path of supply and discharge path 156. In this case, orifice valve 162 and open and close valve 163 are located at the independent path.

Spray boom tumbler 140 also includes：Pressure detector 172, it is state detecting section, for detecting rotating cylinder 141 State whether be the state for having discharged working oil more than scheduled volume；And controller 70, it is control unit, is examined based on pressure Survey the testing result control reversal valve 152 of device 172.

Pressure detector 172 positioned at piston side room 145 and operates the portion between check valve 153 located at supply and discharge path 156 Point, for detecting the pressure of the working oil of flowing in supply and discharge path 156.Pressure detector 172 is the pressure in supply and discharge path 156 The pressure switch of output contact signal when power is not in preset range set in advance.For example, pressure detector 172 leads in supply and discharge The pressure on road 156 within a predetermined range when be off-state, be when the pressure of supply and discharge path 156 is higher or lower than preset range On-state.

Controller 70 shares with spray lance lifting device 40, therefore omits the explanation of its structure.

It is (not shown) provided with being operated when spray boom 4 to be made is relative to the side-sway direction displacement to the right of vehicle body 91 in operation panel 71 Arrange the left side (not shown) closed and operated when spray boom 4 to be made is relative to 91 displacement to the left of vehicle body and arrange pass in right side.Control Signal of the device 70 processed based on the signal from pressure detector 172 and from operation panel 71 performs control described later, reversal valve 152 And the position of open and close valve 163 is switched by controller 70.

In the case of the spray bar type spraying machine 200 of said structure, generally, the piston side room 145 of rotating cylinder 141 and liquid storage Device 161 is in the state of connection.Therefore, enter to exercise the operation of the side-sway direction displacement to the left of spray boom 4, discharged from piston side room 145 Working oil more than scheduled volume, after rotating cylinder 141 at utmost shrinks, if further proceeding with makes the side-sway direction to the left of spray boom 4 The operation of displacement, then the working oil in reservoir 161 to working fluid case T discharge.

Enter to exercise the side-sway direction displacement to the right of spray boom 4 in the state of working oil discharge like this in reservoir 161 During operation, by hydraulic pump 51 supply Lai working oil supply first to reservoir 161.That is, working oil is being filled to reservoir 161 The backward rotating cylinder 141 for being used to make the displacement of spray boom 4 supply working oil.

Therefore, even if wanting to make the side-sway direction displacement to the right of spray boom 4, the state that spray boom 4 unshifts can also continue to work Oil filling is untill reservoir 161.As a result, from operator enter to exercise the operation of side-sway direction displacement to the right of spray boom 4 after to spray Bar 4 starts before displacement, it is possible to postpones.

In order to prevent such action delay, the controller 70 of spray boom tumbler 140 performs such control：Operating It is predetermined in the pressure detected by pressure detector 172 during person enters to exercise the operation of side-sway direction displacement to the left of spray boom 4 When below pressure, reversal valve 152 is switched into stop position 152c, so as to block the company of reservoir 161 and working fluid case T It is logical.

Here, the supply and discharge path 156 provided with pressure detector 172 when reversal valve 152 switches to retracted position 152b with Working fluid case T is connected, therefore the pressure of supply and discharge path 156 reduces to a certain degree.Also, side-sway direction is complete to the left in spray boom 4 Into before at utmost displacement, the piston side room 145 connected with supply and discharge path 156 is located because of the force of the metal spring 80 of elongation In the state compressed, therefore the pressure of supply and discharge path 156 is with size variation corresponding with the reaction force of metal spring 80.

But from rotating cylinder 141 discharge scheduled volume more than working oil, and rotating cylinder 141 turn at utmost shrink State when, situation about being compressed is not present in piston side room 145, therefore the pressure of supply and discharge path 156 further reduces, into Below predetermined pressure.That is, by detecting whether the pressure of supply and discharge path 156 turns into below predetermined pressure, it is capable of detecting when to turn Whether dynamic cylinder 141 turns at utmost contraction state, and whether spray boom 4, which turns into side-sway direction to the left, has carried out at utmost displacement State.

In such manner, it is possible to by pressure detector 172 detect rotating cylinder 141 state whether turn into discharged scheduled volume with On working oil at utmost contraction state.Thus, block reservoir if based on the testing result of pressure detector 172 161 and working fluid case T connection, even if then operator continues the operation for making the side-sway direction displacement to the left of spray boom 4, also can The working oil enough suppressed in reservoir 161 is discharged to working fluid case T.

In addition, reservoir 161 is connected via the orifice valve 162 also to be played a role as throttling element with supply and discharge path 156. Therefore, even if the pressure of piston side room 145 and supply and discharge path 156 reduces, can also be suppressed by orifice valve 162 in reservoir 161 Working oil is discharged to working fluid case T at once.Thus, blocked after the reduction for the pressure for detecting supply and discharge path 156 Reservoir 161 and working fluid case T connection, the working oil that also can fully suppress in reservoir 161 are arranged to working fluid case T Go out.Alternatively, it is also possible to be, it is variable restrictor part to make orifice valve 162, when operator enters to exercise the operation of the displacement of spray boom 4, temporarily Reduce the flow path area of tributary circuit 164, so as to suppress inflow/outflow of the working oil relative to reservoir 161.

If working oil is stored in reservoir 161, even if operator is carrying out making the side-sway direction displacement to the left of spray boom 4 Operation the operation for followed by carrying out making the side-sway direction displacement to the right of spray boom 4, by hydraulic pump 51 supply Lai working oil not yet It can flow into reservoir 161, but be flowed into rotating cylinder 141.Therefore, it is possible to make the response of operation of the spray boom 4 to operator Displacement well.

On the other hand, enter to exercise the operation of the side-sway direction displacement to the right of spray boom 4, to piston side room 145 supply scheduled volume with On working oil, after rotating cylinder 141 at utmost extends, if further proceeding with the behaviour for making the side-sway direction displacement to the right of spray boom 4 Make, then by hydraulic pump 51 supply Lai working oil filled to reservoir 161.Filling of the working oil to reservoir 161 is persistently carried out, Untill the supply pressure of the working oil in supply passageway 55 reaches the setting pressure of overflow valve 54.

Like this, enter to exercise the side-sway direction to the left of spray boom 4 in the state of working oil is excessively stored to reservoir 161 During the operation of displacement, first, the working oil in reservoir 161 is discharged to working fluid case T.That is, for making turning for the displacement of spray boom 4 The discharge of working oil in dynamic cylinder 141 is after the working oil for being stored in reservoir 161 is less than scheduled volume, i.e. in supply and discharge path 156 Working oil supply pressure reduce carry out afterwards to a certain degree.

Therefore, even if wanting to make the side-sway direction displacement to the left of spray boom 4, the state that spray boom 4 unshifts, Zhi Daocong can also be continued Untill reservoir 161 discharges the working oil excessively stored.As a result, enter to exercise the side-sway direction displacement to the left of spray boom 4 from operator Operation after, to spray boom 4 start displacement before, it is possible to postpone.

In order to prevent such action delay, the controller 70 of spray boom tumbler 140 performs such control：Operating It is predetermined in the pressure detected by pressure detector 172 during person enters to exercise the operation of side-sway direction displacement to the right of spray boom 4 When more than pressure, reversal valve 152 is switched into stop position 152c, so as to block the connection of reservoir 161 and hydraulic pump 51.

Here, the supply and discharge path 156 provided with pressure detector 172 when reversal valve 152 switches to extended position 152a with Hydraulic pump 51 connects, therefore the pressure of supply and discharge path 156 rises to a certain degree.Also, side-sway direction is completed most to the right in spray boom 4 Before big degree displacement, compress metal spring 80, therefore the pressure of supply and discharge path 156 is with the reaction force with metal spring 80 Corresponding size variation.

But turn into what is at utmost extended in the working oil that more than scheduled volume is supplied to rotating cylinder 141, rotating cylinder 141 During state, working oil can not continue to flow into piston side room 145.Therefore, the further rise in pressure of supply and discharge path 156, turn into pre- It is more than constant-pressure.That is, by detecting whether the pressure of supply and discharge path 156 turns into more than predetermined pressure, it is capable of detecting when rotating cylinder Whether 141 turn at utmost elongation state, and whether spray boom 4 turns into the shape that side-sway direction to the right has carried out at utmost displacement State.

In such manner, it is possible to detecting whether the state of rotating cylinder 141 turns into by pressure detector 172 is supplied with scheduled volume The at utmost elongation state of working oil above.Thus, block reservoir if based on the testing result of pressure detector 172 161 with the connection of hydraulic pump 51, even if then operator continues the operation for making the side-sway direction displacement to the right of spray boom 4, also can Suppress excessively to supply working oil to reservoir 161.

In addition, reservoir 161 is connected via the orifice valve 162 also to be played a role as throttling element with supply and discharge path 156. Therefore, even if the pressure of piston side room 145 and supply and discharge path 156 rises, also working oil can be suppressed by orifice valve 162 and soon flowed into In reservoir 161.Thus, reservoir 161 and hydraulic pump are blocked after the rising for the pressure for detecting supply and discharge path 156 51 connection, it also can fully suppress excessively to supply working oil into reservoir 161.Alternatively, it is also possible to be, make orifice valve 162 be variable restrictor part, when operator enters to exercise the operation of the displacement of spray boom 4, temporarily reduces the flowpath face of tributary circuit 164 Product, so as to suppress inflow/outflow of the working oil relative to reservoir 161.

If there is no the excessive working oil of storage in reservoir 161, even if operator is carrying out making spray boom 4 to the right The operation for followed by carrying out making the side-sway direction displacement to the left of spray boom 4 of the operation of direction displacement is put, also will not be from the row of reservoir 161 Go out working oil, but working oil is discharged from rotating cylinder 141 to working fluid case T.Therefore, it is possible to make behaviour of the spray boom 4 to operator The displacement well of the response of work.

Hereinafter, reference picture 9 and Figure 10 illustrate to enter to exercise spray boom 4 relative to vehicle body 91 to the displacement of side-sway direction in operator The step of processing that controller 70 performs during operation.Fig. 9 is to represent to enter to exercise spray boom 4 relative to vehicle body 91 to the left in operator The flow chart of the step of processing that controller 70 performs when putting the operation of direction displacement, Figure 10 are to represent to enter to exercise spray in operator The flow chart of the step of processing that bar 4 performs relative to controller 70 during the operation of side-sway direction displacement to the right of vehicle body 91.

First, reference picture 9 illustrates to enter to exercise operation of the spray boom 4 relative to the side-sway direction displacement to the left of vehicle body 91 in operator When controller 70 perform processing the step of.

In fig.9, in step s 201, the detection of controller 70 left side arrange pass whether by operator from opening operation to connect It is logical.Operation panel 71 is arranged when pass is operated by operator in left side and will exported with the corresponding signal of operation to controller 70.

If detecting in step s 201, left side arranges pass and has been carried out making operation, into step S202, controller Reversal valve 152 is switched to retracted position 152b by 70, piston side room 145 is connected with working fluid case T.

By making piston side room 145 be connected with working fluid case T, so as to which the working oil in piston side room 145 is via supply and discharge Path 156 and drain passageway 57 are discharged to working fluid case T, and rotating cylinder 141 shrinks.Contraction with rotating cylinder 141 in linkage, is sprayed Bar 4 and side-sway platform 5 start relative to the side-sway direction rotation to the left of vehicle body 91.

Then, in step S203, controller 70 detection left side arrange pass whether by operator from making operation for disconnect. Generally, operator is while observe the interval between spray boom 4 and crops, while being best suitable for sprinkling agriculture in being tilted up to for spray boom 4 Left side pendulum is switched off during the inclination of medicine etc..

If being detected in step S203, left side arranges pass and has been carried out opening operation, into step S205, controller Reversal valve 152 is switched to stop position 152c, blocking piston side room 145 and working fluid case T connection by 70.Piston side room Turn into the state filled up by the working oil of scheduled volume in 145, inclination of the spray boom 4 relative to vehicle body 91 can be kept.

On the other hand, if not detected in step S203, left side arranges pass and has been carried out opening operation, enters step Rapid S204, controller 70 judge pressure detector 172 whether output contact signal, the confession that is detected by pressure detector 172 Whether the pressure for arranging path 156 is below predetermined pressure.

Here, when operator enters to exercise the operation of side-sway direction displacement to the left of spray boom 4, the pressure of supply and discharge path 156 into Be as described above during for below predetermined pressure rotating cylinder 141 at utmost shrink and spray boom 4 side-sway direction has been carried out most to the left During big degree displacement.If maintaining this state, the working oil in reservoir 161 can be also discharged, and cause make spray boom 4 to the right Postpone when putting direction displacement.

It is below predetermined value in the pressure detected by pressure detector 172, from pressure to suppress such action delay During 172 output contact signal of force detector, into step S205, reversal valve 152 is switched into stop position 152c, blocking piston Side room 145 and working fluid case T connection and reservoir 161 and working fluid case T connection.

In step S204 not in the case of the output contact signal of pressure detector 172, rotating cylinder 141 is in can also The state of contraction, therefore, step S203 is returned to, detection left side arranges whether pass from making operation is disconnected by operator again Open.

The processing of the above is performed by using controller 70, so as to which spray boom 4 is maintained at into desired inclination, and can Prevent the working oil after rotating cylinder 141 at utmost shrinks in reservoir 161 from being discharged to working fluid case T.

Then, reference picture 10 illustrates to enter to exercise behaviour of the spray boom 4 relative to the side-sway direction displacement to the right of vehicle body 91 in operator The step of processing that controller 70 performs when making.

In Fig. 10, in step S211, the detection of controller 70 right side arrange pass whether by operator be from opening operation Connect.Operation panel 71 is arranged when pass is operated by operator on right side and will exported with the corresponding signal of operation to controller 70.

If being detected in step S211, right side arranges pass and has been carried out making operation, into step S212, controller Reversal valve 152 is switched to extended position 152a by 70, piston side room 145 is connected with hydraulic pump 51.

By making piston side room 145 be connected with hydraulic pump 51, so as to via supply and discharge path 156 and drain passageway 57 to piston Side room 145 supplies working oil, and rotating cylinder 141 extends.In linkage, spray boom 4 and side-sway platform 5 start phase for elongation with rotating cylinder 141 For vehicle body 91, side-sway direction rotates to the right.

Then, in step S213, controller 70 detection right side arrange pass whether by operator from making operation for disconnect. Generally, operator is while observe the interval between spray boom 4 and crops, while the inclination in spray boom 4 is to be best suitable for spraying insecticide Deng inclination when by right side pendulum switch off.

If being detected in step S213, right side arranges pass and has been carried out opening operation, into step S215, controller Reversal valve 152 is switched to stop position 152c, blocking piston side room 145 and the connection of hydraulic pump 51 by 70.In piston side room 145 As the state filled up by the working oil of scheduled volume, inclination of the spray boom 4 relative to vehicle body 91 can be kept.

On the other hand, if not detected in step S213, right side arranges pass and has been carried out opening operation, enters step Rapid S214, controller 70 judge pressure detector 172 whether output contact signal, the confession that is detected by pressure detector 172 Whether the pressure for arranging path 156 is more than predetermined pressure.

Here, when operator enters to exercise the operation of side-sway direction displacement to the right of spray boom 4, the pressure of supply and discharge path 156 into Be as described above during to be more than predetermined pressure rotating cylinder 141 at utmost extend and spray boom 4 side-sway direction has been carried out most to the right During big degree displacement.If maintaining this state, working oil can be excessively stored into reservoir 161, cause make spray boom 4 to the left Postpone during the displacement of side-sway direction.

It is more than predetermined value in the pressure detected by pressure detector 172, from pressure to suppress such action delay During 172 output contact signal of force detector, into step S215, reversal valve 152 is switched into stop position 152c, blocking piston Side room 145 and the connection of hydraulic pump 51 and the connection of reservoir 161 and hydraulic pump 51.

In step S214 not in the case of the output contact signal of pressure detector 72, rotating cylinder 141 is in can also The state of elongation, therefore, step S213 is returned to, detection right side arranges whether pass from making operation is disconnected by operator again Open.

The processing of the above is performed by using controller 70, so as to which spray boom 4 is maintained at into desired inclination, and can Prevent from excessively supplying working oil into reservoir 161 after rotating cylinder 141 at utmost extends.

The 2nd embodiment more than, obtains effect as shown below.

For the spray boom tumbler 140 of said structure, controller 70 performs such control：In order that spray boom 4 When moving and discharging relative to rotating cylinder 141 or supply working oil, when the state that rotating cylinder 141 is detected by pressure detector 172 During to have discharged or be supplied with the state of working oil more than scheduled volume, block working oil relative to reservoir 161 inflow/ Outflow.

Therefore, in order that the displacement of spray boom 4 and from rotating cylinder 141 discharge working oil when, suppress from reservoir 161 discharge work Make oil.In this case, even if operator is carrying out making followed by being made for the operation of side-sway direction displacement to the left of spray boom 4 The operation of the side-sway direction displacement to the right of spray boom 4, by hydraulic pump 51 supply Lai working oil will not also be flowed into reservoir 161, and It is to be flowed into rotating cylinder 141.

In addition, in order that the displacement of spray boom 4 and to rotating cylinder 141 supply working oil when, suppress to reservoir 161 excessively Supply working oil.In this case, though operator make the operation of side-sway direction displacement to the right of spray boom 4 followed by Entering to exercise the operation of the side-sway direction displacement to the left of spray boom 4, working oil will not also discharge from reservoir 161, but from rotating cylinder 141 Discharge.

Like this, rotating cylinder 141 and the operation of operator are correspondingly rapidly stretched, as a result, can make the response of spray boom 4 Displacement well.

Then, the variation of this 2nd embodiment is illustrated.

In above-mentioned 2nd embodiment, pressure detector 172 is pressure switch.It can also replace, pressure detector 172 be the pressure sensor that can detect absolute pressure.In this case, controller 70 compare in Fig. 9 step S204 by The pressure value and the 3rd pressure value of storage that pressure detector 172 detects, when the pressure value detected is less than 3 pressure value, Reversal valve 152 is switched into stop position 152c, in Figure 10 step S214, compares what is detected by pressure detector 172 Pressure value and high the 4th pressure value of the pressure values of Bi 3, when the pressure value detected is higher than 4 pressure value, by reversal valve 152 Switch to stop position 152c.

In addition, in above-mentioned 2nd embodiment, controller 70 is based on whether from the output contact signal of pressure detector 172 To judge spray boom 4 whether positioned at side-sway direction has carried out the position of at utmost displacement to the left or side-sway direction has been carried out most to the right The position of big degree displacement.It can also replace, the inspection of the stroke sensor based on the stroke for detecting rotating cylinder 141 Measured value judges whether spray boom 4 is reached near the position for having carried out at utmost displacement.In addition, in order to judge whether spray boom 4 arrives The position of at utmost displacement has been carried out up to side-sway direction to the left or side-sway direction has carried out the position of at utmost displacement to the right Near, it can also use and contact letter is sent when rotating cylinder 141 is and at utmost shrinks or at utmost extend neighbouring state Number travel switch, in the position of side-sway platform 5 carried out the position of at utmost displacement or side-sway to the right for side-sway direction to the left Direction sent when near the position of at utmost displacement signal contact-type or non-contact type limit switch, for detecting Angular transducer of the side-sway platform 5 to the angle of inclination in side-sway direction.Alternatively, it is also possible to make multiple above-mentioned sensors, switches set Close, based on their detected value come judge spray boom 4 whether reach side-sway direction to the left carried out at utmost displacement position or Side-sway direction has been carried out near the position of at utmost displacement to the right.

In addition, in the case where using travel switch, limit switch as state detecting section, can be set as in rotating cylinder 141 at utmost shrink or send contact signal before at utmost extending, are set as reaching side-sway direction to the left in spray boom 4 The position of at utmost displacement is carried out or side-sway direction sent out with having nargin before the position of at utmost displacement to the right Go out contact signal.Therefore, with using the pressure for being used to detect the pressure after rotating cylinder 141 at utmost shrinks or at utmost extended Force detector 172 is compared as the situation of state detecting section, can reliably prevent from discharging working oil, to storage from reservoir 161 Liquid device 161 excessively supplies working oil.

In addition, in above-mentioned 2nd embodiment, left side is located at when rotating cylinder 141 from the front of vehicle body 91 from carrying out. Can also be replaced structure as use：The position of rotating cylinder 141 and metal spring 80 is exchanged, from the front of vehicle body 91 Rotating cylinder 141 is located at right side when being observed.

In addition, in above-mentioned 2nd embodiment, rotating cylinder 141 and metal spring 80 are set across the ground of support shaft 6.Also may be used With the structure as use that replaces：It is double rod type to make rotating cylinder 141, and the Room for making to be separated out by piston turns with forming spray boom Hydraulic pump 51, the reservoir 161 of dynamic device 140 are connected can supply, discharge working oil, another room is connected with reservoir, So that another room plays a role in the same manner as metal spring 80.In this case, metal spring 80 can be saved.

In addition, in above-mentioned 2nd embodiment, reversal valve 152 is the electromagnetic switching valve using electromagnetic force switching position. It can replace, reversal valve 152 is the manual switching valve by operator's manual switching.Hereinafter, 11~Figure 13 of reference picture explanations Reversal valve 152 is the situation of manual switching valve.

In this case, as shown in figure 11, the lever 152d that operator's operation links with reversal valve 152, in spray boom 4 to be made To the right in the case of the displacement of side-sway direction, extended position 152a is switched to, in the situation of spray boom 4 to be made side-sway direction displacement to the left Under, retracted position 152b is switched to, in order to keep the inclination of spray boom 4, switches to stop position 152c.Controller 70 according to for The detected value for detecting the position sensor 152e of the position of reversal valve 152 is operated to which to detect reversal valve 152 by operator Position.

In the case where reversal valve 152 like this is manual switching valve, no above-mentioned 2nd embodiment of the image of Buddha is like that according to pressure Reversal valve 152 is switched to stop position 152c by the detected value of force detector 172.That is, reservoir 161 and workflow can not be blocked Body case T or hydraulic pump 51 connection.Therefore, in the variation, by making the valve closing of open and close valve 163, come block reservoir 161 with Working fluid case T or hydraulic pump 51 connection.

Hereinafter, reference picture 12 and Figure 13 illustrate that spray boom 4 is entered to exercise relative to vehicle body in the position of operator's switching reversal valve 152 91 to the displacement of side-sway direction operation when controller 70 perform processing the step of.Figure 12 is to represent that operator enters to exercise spray boom 4 Relative to the flow chart during operation of side-sway direction displacement to the left of vehicle body 91 the step of the processing of the execution of controller 70, Figure 13 is table Show that operator enters to exercise the step for the processing that spray boom 4 performs relative to controller 70 during the operation of side-sway direction displacement to the right of vehicle body 91 Rapid flow chart.

First, reference picture 12 illustrates that the position of reversal valve 152 is switched to retracted position 152b and enters to exercise spray boom 4 by operator Relative to during the operation of side-sway direction displacement to the left of vehicle body 91 controller 70 perform processing the step of.

In fig. 12, in step S221, controller 70 detects reversal valve based on position sensor 152e detected value Whether 152 by operator switch to retracted position 152b.If reversal valve 152 is switched to retracted position 152b, piston side room 145 connect with working fluid case T, and the working oil in piston side room 145 is via supply and discharge path 156 and drain passageway 57 to workflow Body case T is discharged, and rotating cylinder 141 shrinks.In linkage, spray boom 4 and side-sway platform 5 start side-sway side to the left for contraction with rotating cylinder 141 To rotation.

If being detected in step S221, reversal valve 152 is switched to retracted position 152b, into step S222, control Device 70 detects whether reversal valve 152 by operator switches to stop position 152c.Generally, operator is while observation spray boom 4 and agriculture Interval between crop, while switching to reversal valve 152 when being tilted up to the inclination for being best suitable for spraying insecticide etc. in spray boom 4 Stop position 152c.

Here, if reversal valve 152 switches to stop position 152c, piston side room 145 and working fluid case T by operator Connection be blocked.Now, the connection of reservoir 161 and working fluid case T is also blocked, therefore is not concerned about in reservoir 161 Working oil to working fluid case T discharge.Therefore, if detecting in the step 212, reversal valve 152 is switched to stop position 152c, controller 70 just terminate to handle.

On the other hand, if not detected in step S222, reversal valve 152 is switched to stop position 152c, enters Step S223, controller 70 are detected whether from the output contact signal of pressure detector 172.

In order to suppress such action delay, detecting that the pressure of supply and discharge path 156 is predetermined by pressure detector 172 When value is following, into step S224, open and close valve 163 is switched into blocking position 163b, blocks reservoir 161 and working fluid case T connection.

In step S223 not in the case of the output contact signal of pressure detector 172, rotating cylinder 141 is in can also The state of contraction, therefore, step S222 is returned to, detect whether reversal valve 152 by operator switches to stop position again 152c。

The processing of the above is performed by using controller 70, so as to make spray boom 4 turn to as desired inclination, and It can prevent the working oil after rotating cylinder 141 at utmost shrinks in reservoir 161 from being discharged to working fluid case T.

Then, reference picture 13 illustrates that the position of reversal valve 152 is switched to extended position 152a and enters to exercise spray boom 4 by operator Relative to during the operation of side-sway direction displacement to the right of vehicle body 91 controller 70 perform processing the step of.

In fig. 13, in step S231, controller 70 detects reversal valve based on position sensor 152e detected value Whether 152 by operator switch to extended position 152a.If reversal valve 152 is switched to extended position 152a, piston side room 145 are connected with hydraulic pump 51, and working oil, rotating cylinder are supplied to piston side room 145 via supply and discharge path 156 and supply passageway 55 141 elongations.In linkage, spray boom 4 and side-sway platform 5 start side-sway direction rotation to the right for elongation with rotating cylinder 141.

If being detected in step S231, reversal valve 152 is switched to extended position 152a, into step S232, control Device 70 detects whether reversal valve 152 by operator switches to stop position 152c.Generally, operator is while observation spray boom 4 and agriculture Interval between crop, while switching to reversal valve 152 when being tilted up to the inclination for being best suitable for spraying insecticide etc. in spray boom 4 Stop position 152c.

Here, if reversal valve 152 switches to stop position 152c, piston side room 145 and hydraulic pump 51 by operator Connection is blocked.Now, the connection of reservoir 161 and hydraulic pump 51 is also blocked, therefore is not concerned about into reservoir 161 excessive Ground stores working oil.Therefore, if detecting in step 232, reversal valve 152 is switched to stop position 152c, and controller 70 is just End is handled.

On the other hand, if not detected in step S232, reversal valve 152 is switched to stop position 152c, enters Step S233, controller 70 are detected whether from the output contact signal of pressure detector 172.

In order to suppress such action delay, detecting that the pressure of supply and discharge path 156 is predetermined by pressure detector 172 When being worth the above, into step S234, open and close valve 163 is switched into blocking position 163b, blocks reservoir 161 and hydraulic pump 51 Connection.

In step S233 not in the case of the output contact signal of pressure detector 172, rotating cylinder 141 is in can also The state of elongation, therefore, step S232 is returned to, detect whether reversal valve 152 by operator switches to stop position again 152c。

The processing of the above is performed by using controller 70, so as to make spray boom 4 turn to as desired inclination, and It can prevent from excessively supplying working oil into reservoir 161 after rotating cylinder 141 at utmost extends.

Hereinafter, the structure, function and effect of embodiments of the present invention are summed up and illustrated.

For making displacement be supported on the spray boom 4 of vehicle body 91 freely relative to vehicle body 91 along above-below direction or side-sway direction The spray boom gearshift 40,140 of displacement includes：Hydraulic cylinder 41,141, it makes the displacement of spray boom 4 by stretching；Supply and discharge path 56, 156, it is for the working fluid relative to hydraulic cylinder 41,141 inflow/outflow；Reservoir 61,161, itself and supply and discharge path 56th, 156 connection, for storing pressurized working oil；Pressure detector 72,172, it is capable of detecting when hydraulic cylinder 41,141 Whether state is the state for having discharged or being supplied with working oil more than scheduled volume；And controller 70, it is based on by pressure The state for the hydraulic cylinder 41,141 that detector 72,172 detects controls inflow/stream of the working oil relative to reservoir 61,161 Go out, controller 70 is predetermined to have discharged or being supplied with the state that hydraulic cylinder 41,141 is detected by pressure detector 72,172 Inflow/outflow of the working oil relative to reservoir 61,161 is blocked when measuring the state of the working fluid of the above.

In the case of such a construction, controller 70 performs such control：In order that the displacement of spray boom 4 and relative to hydraulic pressure When cylinder 41,141 is discharged or supplies working oil, when the state that hydraulic cylinder 41,141 is detected by pressure detector 72,172 is discharge Or the working oil being supplied with more than scheduled volume state when, block inflow/stream of the working oil relative to reservoir 61,161 Go out.Therefore, in order that the displacement of spray boom 4 and from hydraulic cylinder 41,141 discharge working oil when, suppress from reservoir 61,161 discharge Working oil.In this case, though operator carried out the operation for making spray boom 4 to a direction displacement followed by carry out make spray Operation from bar 4 to other direction displacement, by hydraulic pump 51 supply Lai working oil will not also be flowed into reservoir 61,161, but Flowed into hydraulic cylinder 41,141.In addition, in order that the displacement of spray boom 4 and to hydraulic cylinder 41,141 supply working oil when, suppress to Reservoir 61,161 excessively supplies working oil.In this case, even if operator make spray boom 4 to other direction position The operation of shifting followed by carries out the operation for making spray boom 4 to a direction displacement, and working oil will not also discharge from reservoir 61,161, But discharged from hydraulic cylinder 41,141.Like this, hydraulic cylinder 41,141 and the operation of operator are correspondingly rapidly stretched, knot Fruit, the displacement well of the response of spray boom 4 can be made.

Also, spray boom gearshift 40,140 also includes：Hydraulic pump 51, it is used to supply work to hydraulic cylinder 41,141 Oil；Working fluid case T, it is imported for the working oil discharged from hydraulic cylinder 41,141；And reversal valve 52,152, it is used to switch Hydraulic pump 51 and working fluid case T and supply and discharge path 56,156 connected state, reversal valve 52,152 have and make the and of hydraulic pump 51 Any one communicating position 52a, 52b, 152a, 152b for being connected with supply and discharge path 56,156 and resistance in working fluid case T Disconnected hydraulic pump 51 and working fluid case T and stop position 52c, 152c of the connection of supply and discharge path 56,156, controller 70 by Pressure detector 72,172 detects that the state of hydraulic cylinder 41,141 is to have discharged or be supplied with workflow more than scheduled volume During the state of body, reversal valve 52,152 is switched into stop position 52c, 152c.

In the case of such a construction, the reversal valve 52,152 for switch operating oil phase for the supply and discharge of hydraulic cylinder 41,141 Stop position 52c, 152c are forcibly switched to by controller 70, so as to which working oil is relative to inflow/stream of reservoir 61,161 Go out to be blocked.Therefore, even if operator continues the operation for making the displacement of spray boom 4, working oil can also be suppressed relative to liquid storage Device 61,161 inflow/outflow.

Also, spray boom gearshift 40,140 also includes：Tributary circuit 64,164, it connects reservoir 61,161 and supply and discharge Path 56,156；And open and close valve 63,163, it is located at tributary circuit 64,164, for being opened and closed tributary circuit 64,164, control Device 70 is being detected the state of hydraulic cylinder 41,141 by pressure detector 72,172 to have discharged or be supplied with more than scheduled volume Working fluid state when, make open and close valve 63,163 valve closing.

In the case of such a construction, for being opened and closed the open and close valve 63,163 of tributary circuit 64,164 by controller 70 forcibly Disconnect, so as to which working oil is blocked relative to the inflow/outflow of reservoir 61,161.Therefore, it is used for operator is manually operated Switch operating oil phase for the supply and discharge of hydraulic cylinder 41,141 reversal valve 52,152 in the case of, even if operator continues to make The operation of the displacement of spray boom 4, it can also suppress working oil relative to reservoir 61,161 inflow/outflow.

In addition, pressure detector of the state detecting section based on the pressure for detecting supply and discharge path 56,156, for detecting At least one in the stroke detector of the travel position of hydraulic cylinder 41,141 and the displacement detector of the displacement for detecting spray boom 4 The testing result of person detects whether the state of hydraulic cylinder 41,141 is to have discharged or be supplied with working oil more than scheduled volume State.

In the case of such a construction, pressure detector based on the pressure for detecting supply and discharge path 56,156, for examining Survey in the stroke detector of travel position and the displacement detector of the displacement for detecting spray boom 4 of hydraulic cylinder 41,141 at least The testing result of one detects whether the state of hydraulic cylinder 41,141 is to have discharged or be supplied with work more than scheduled volume The state of oil.Therefore, it is possible to combine the installation of each detector, cost etc. to select most suitable detector.Also, by making With multiple detectors can reliably detect hydraulic cylinder 41,141 state whether be discharged or be supplied with scheduled volume with On working oil state.

In addition, spray bar type spraying machine 100,200 includes above-mentioned spray boom gearshift 40,140.

In the case of such a construction, above-mentioned spray boom gearshift 40,140 is located at spray bar type spraying machine 100,200.Therefore, The operability raising of the spray boom 4 operated by operator of spray bar type spraying machine 100,200 can be made.

More than, embodiments of the present invention are illustrated, but above-mentioned embodiment only shows the present invention's A part for application examples, its objective simultaneously do not lie in the concrete structure that protection scope of the present invention is defined to above-mentioned embodiment.

For example, spray boom 4 can also only to the left and right in either one extension.Alternatively, it is also possible to for the spray extended to the left and right Bar 4 sets spray boom tumbler 140 respectively.

Alternatively, it is also possible to be, lift cylinders 41 at utmost contraction state and spray boom 4 reach extreme lower position when, rotate Cylinder 141 at utmost contraction state and spray boom 4 makes lamp light or send out when side-sway direction has carried out at utmost displacement to the left Go out alarm tone.By that in such manner, it is possible to make operator recognize that the displacement of spray boom 4 reaches capacity, can avoid turning into from reservoir 61st, the situation of 161 discharge working oils.

Alternatively, it is also possible to be, lift cylinders 41 at utmost elongation state and spray boom 4 reach extreme higher position when, rotate Cylinder 141 at utmost elongation state and spray boom 4 makes lamp light or send out when side-sway direction has carried out at utmost displacement to the right Go out alarm tone.By that in such manner, it is possible to make operator recognize that the displacement of spray boom 4 reaches capacity, can avoid turning into reservoir 61st, 161 excessively supply working oil situation.

In addition, spray bar type spraying machine can both include above-mentioned spray lance lifting device 40 and above-mentioned spray boom tumbler 140 this Both, can also only include either of which.

The application is advocated based on the Japanese Patent Application 2016-15595 to be filed an application to Japan Office on January 29th, 2016 Priority, it is incorporated into by referring to by the entire disclosure of which in this specification.

Claims

1. a kind of spray boom gearshift, its spray boom for being used to making displacement be supported on vehicle body freely relative to the vehicle body along Lower direction or the displacement of side-sway direction, wherein,

The spray boom gearshift includes：

Hydraulic cylinder, it makes the spray boom displacement by flexible；

Fluid passage, it supplies the working fluid flowed in and out relative to the hydraulic cylinder；

Reservoir, it is connected with the fluid passage, for storing pressurized working fluid；

State detecting section, it is capable of detecting when whether the state of the hydraulic cylinder is to have discharged or be supplied with more than scheduled volume The state of working fluid；And

Control unit, its based on the state of the hydraulic cylinder detected by the state detecting section come control working fluid relative to The reservoir flows in and out,

The control unit is predetermined to have discharged or being supplied with the state that the hydraulic cylinder is detected by the state detecting section When measuring the state of the working fluid of the above, inflow/outflow of the working fluid relative to the reservoir is blocked.

2. spray boom gearshift according to claim 1, wherein,

The spray boom gearshift also includes：

Pump, it is used to supply working fluid to the hydraulic cylinder；

Working fluid case, it from the working fluid of hydraulic cylinder discharge for importing；And

Switching valve, it is used for the connected state for switching the pump and the working fluid case and the fluid passage,

The switching valve has any one company connected with the fluid passage made in the pump and the working fluid case Logical position and the blocking position for the connection for blocking the pump and the working fluid case and the fluid passage,

The control unit is predetermined to have discharged or being supplied with the state that the hydraulic cylinder is detected by the state detecting section When measuring the state of the working fluid of the above, the switching valve is switched into the blocking position.

3. spray boom gearshift according to claim 1, wherein,

The spray boom gearshift also includes：

Tributary circuit, it connects the reservoir and the fluid passage；And

Open and close valve, it is located at the tributary circuit, for being opened and closed the tributary circuit,

The control unit is predetermined to have discharged or being supplied with the state that the hydraulic cylinder is detected by the state detecting section When measuring the state of the working fluid of the above, make the open and close valve valve closing.

4. the spray boom gearshift according to any one in claims 1 to 3, wherein,

Pressure detector of the state detecting section based on the pressure for detecting the supply and discharge path, for detecting the hydraulic pressure At least one of the stroke detector of the travel position of cylinder and the displacement detector of displacement for detecting the spray boom Testing result, to detect whether the state of the hydraulic cylinder is the shape of having discharged or be supplied with working fluid more than scheduled volume State.

5. a kind of spray bar type spraying machine, wherein,

The spray bar type spraying machine includes the spray boom gearshift described in claim 1.