IES20040499A2 - A stabilising and release system for an agricultural apparatus - Google Patents

Abstract

A stabilising and release system, for an agricultural apparatus having a mounting portion for mounting the apparatus to a tractor, a pendulum mounted on the mounting portion, and a boom for spraying or cutting, which is pivotally mounted to the pendulum at a pivot point so as to allow pivoting of the boom relative to the pendulum. The system stabilises the boom against movement imparted to it by disruptive forces which disturb the natural position of the boom by providing a rigid damper arranged between the suppport frame and boom and arranged to damp relative movement of the boom and the mounting frame caused by said disruptive forces, the damper has an articulated coupling which allows the damper to articulate so that the damper can follow the motion of the boom thus damping any undesired swaying action caused by bumps and ruts over which the tractor passes. The invention also relates to an agricultural apparatus including the stabilising system. A release or break-away system is also provided to prevent damage to the boom. <Figure 1>

Description

A Stabilising and Release System for an Agricultural Apparatus Field of the Invention The invention relates to a stabilising and release system for an agricultural apparatus. The agricultural apparatus will typi-cally be adapted for mounting on an agricultural vehicle such as a tractor or the like. Apart from being releasably mountable (such as on a 3 point linkage) the invention may also be employed where the agricultural apparatus is part of the vehicle (generally permanently mounted thereon) such as in dedicated spraying or cutting vehicles. It will be appreciated by those skilled in the art that the term agricultural is not intended to exclude a machine which is used only in off-farm situations, such as in road side maintenance (e.g. spraying or cutting vegetation) or other non-farm applications such as spraying a paved area or the like.

The type of apparatus with which the present invention may be employed are those which have in particular a boom such as the type of boom utilised in spraying and cutting apparatus. The system of the present invention particularly is of interest where the apparatus includes a free hanging pendulum arrangement, as in general there are difficulties in stabilising such boom arrangements ..

Background to the Invention OPta ID P08UC INSPECTION moi* ttcnotl 28 AND BUIE » Within the class of apparatus that has such a free hanging pendulum arrangement are cutting machines typically 2qo(& ¢04 04 9 g provided with a plurality of cutting elements and adapted for cutting vegetation, for example at a desired height above ground level to avoid cutting short grass or other desirable plants-which are shorter than other undesirable plants such as relatively tall weeds. Another type of apparatus of interest is a spraying machine having a plurality of spraying heads and adapted for spraying plants with pesticides, herbicides and the like.

Various boom arrangements have been described in many documents, such as in International Application no. PCT/IE02/00097 (WO 03/005799) which is to the present inventor. The arrangement described includes a boom which is pivotally mounted to a pendulum arrangement. The arrangement described by the present inventors in that document is an important one, as it is necessary to ensure that the boom is provided in a stable operating condition such that the vehicle can traverse different terrain conditions without altering the performance of the functionality of the boom for example cutting or spraying. Generally the arrangement described in that document works well to maintain the boom in an orientation generally parallel to the plane of the surface over which the vehicle carrying the apparatus passes.

When a delicately balanced apparatus such as that described in the various embodiments of PCT/IE02/00097 is disrupted from its balanced position, such as by disruptive forces imparted to any part of the apparatus which forces disrupt the boom and/or pendulum position from the natural (equilibrium) position (determined by gravity), it may take a short while for the apparatus to dissipate the disruptive force, during which time the boom may remain in an IE04 04 99 undesired position, or possibly reciprocally move about (and past) a desired position.

A major cause of such disruptive forces are those imparted by irregular surfaces over which the vehicle is passing e.g. when a wheel of a vehicle passes over a rut, hole or depression in the surface causing the vehicle to lurch to one side and back again, - both actions disrupting the natural position of the boom and in cases where a substantial shock force is imparted a severe rocking of the boom to one side can occur. The boom can then undergo an undesirable see-saw action.

While the present inventor has described in PCT/IE02/00097 mechanisms for alleviating this problem there is still a need to provide a stabilising system for such an agricultural apparatus against such disruptive forces.

An additional problem that presents itself whenever a boom of relatively large span is utilised, is prevention of straining/bending out of shape of the boom due to encountered resistance forces. This is a difficult task particularly where the boom is to be free to move under gravitatipnal forces. Typically the resistance forces arise in two circumstances - the first due to the boom catching on something, e.g. catching a fence, gate post, hedge or becoming entangled in vegetation being part of a crop or otherwise; and the second due to its own inertia e.g. the moment it experiences about the fulcrum point when the vehicle carrying it changes velocity, for example by a sharp increase in speed or due to turning the vehicle relatively sharply. ΙΕΟ4 04 99 There is also a need to protect such a boom from being damaged by such resistance forces. It will be appreciated by those skilled in the art that the boom could be bent out of shape by such forces.

Object of the Invention It is an object of the present invention to provide a stabilising system for stabilising a boom arrangement which is free-hanging (moves under the force of gravity), and in particular those of the type mounted on a free-hanging pendulum such as those described herein and in PCT/IE02/0QQ97. It is also an object of the invention to protect such a boom from being damaged by resistance forces Such as those described above.

Summary of the Invention The present inventor has provided a stabilising system, for an agricultural apparatus, the agricultural apparatus having a mounting portion for mounting the apparatus to a vehicle, a pendulum mounted on the mounting portion, and a boom which is pivotally mounted to the pendulum at a pivot point so as to allow pivoting of the boom relative to the pendulum, the stabilising system for stabilising the boom against movement imparted to it by disruptive forces which disturb the natural position of the boom and comprising: a rigid damper arranged between the support frame and the boom and arranged to damp relative movement of the ΙΕΟ 4 04 99 boom and the mounting frame caused by said disruptive forces, the damper including at least one articulated coupling which allows the damper to articulate with respect to at least one of the mounting frame and the boom so that the damper can follow the motion of the boom.

Generally the system of the present invention has been found by the present inventor to work extremely well to damp erratic movements of the boom imparted by sudden shock while not interfering to any substantial extent with the balance of the boom.

The apparatus can take the form of those generally described in PCT/IE02/00097 the entire contents of which are hereby incorporated by reference into the present application.

Of particular interest to the present inventor, and forming an aspect of the present invention that may be used independently of the present invention or together with the present invention, is an apparatus of the type which comprises : a mounting portion including at least one vertical support, the support being pivotable to the mounting frame, a pendulum having a first end suspended from the vertical support by an arched roller arrangement, and a second end on which a pivotable boom is mounted, ¢0 4 04 99 a pendulum pivot arranged at a position between the first and second ends of the pendulum which pivotally connects the pendulum to the vertical support, the arched roller arrangement and the pendulum pivot being arranged to cooperate so as to allow gravitational swinging of the pendulum by simultaneous arched roller arrangement movement and pivoting about the pendulum pivot, and a boom pivotally attached to the second end of the pendulum.

Such an apparatus gives a particularly well defined, and regular pendulum motion, which is less easily upset than that of other constructions. This is due at least in part to the presence of the pendulum pivot. Generally the vertical support will be adjustable to allow alignment of the vertical support with the pendulum if desired.

In relation to the stabilising system of the present invention, the damper may comprise a rigid shaft which is free to articulate, for example at one or both ends. In particular it is desirable that the shaft is arranged so that the articulation point is substantially aligned with a longitudinal axis of the shaft. It is desirable that the shaft articulates about one or both of its ends. The skilled person will however appreciate that the articulated coupling can be provided at any point along the shaft.

It is desirable that the shaft extends from the mounting portion to the boom in a direction substantially perpendicular to the longitudinal axis of the boom. (The longitudinal axis of the boom will generally be transverse to the direction of travel.) £°4 04 89 For example the damper may comprise: (i) a rigid shaft and the articulated coupling may be provided by a universal joint; (ii) a rigid shaft and the articulated coupling may be provided by a ball and socket joint; or (iii) a rigid shaft and the articulated coupling may be provided by a male part of the shaft which is received and can articulate within a female receiver part; or (iv) a rigid shaft and the articulated coupling may be provided by a flexible or flex coupling such as a tie, deformable joint (e.g. a rubber connector); and any combination thereof.

Where a rigid shaft is utilised it will appreciated that the rigid shaft itself articulates about the coupling.

In this respect it will be appreciated by those skilled in the art that the articulation required will need to follow the motion of the boom/pendulum arrangement which will necessarily require the coupling(s) to allow freedom of movement to follow the various arcs of (boom) movement in question. Pendulum arc movements involve a combination of movement 'in horizontal and vertical planes and thus the coupling allows articulation in both these planes also and in particular it is desirable to allow shaft to boom coupling through 360° (in a radial direction perpendicular to the longitudinal axis of the coupling). The coupling thus acts as a swivel. ¢04 04 99 In effect- the boom can move left to right and up and down without any substantial interference from the damper during regular motion of the boom under gravitational forces.

Indeed the present inventor has found that an agriculturally apparatus according to the present invention works extremely well and without interference from the stabilisers during normal movement of the boom.

However when a sudden shock occurs and the boom sways rapidly the boom will experience an inertia (a dampening) from the damper to such sudden motions. This inertia will increase as the degree of movement of the boom from its rest position increases, and the tendency then is for the boom to resume its correct gravitational orientation within a very short period.

The damper thus acts to prevent unwanted swinging (arcuating action) of the boom (and the pendulum) and also acts to return the pendulum to its natural position. In this way the apparatus is stabilised as desired. While shocks to the boom cannot be avoided the effects of same can be minimised utilising the present invention.

It will be appreciated that the boom may generally comprise two arms which extend a substantial distance each side of the vehicle when in use. It is desirable that the arms extend at least 2 metres, preferably at least 3 metres, such as at least 4 metres either side of the vehicle.

It is desirable that a second damper is provided in the same manner as the first. Generally it desirable that the first and second dampers are spaced apart, for example provided on opposing sides of the pendulum. A second damper IE 0 4 0 4 9 9 helps to further dampen the boom against disruptive forces (and to maintain the boom in a desired transverse position). The greater the length (reach) of the boom the greater the damping force required.

Where the boom comprises two arms it is desirable that a damper is provided between the support frame and an arm. Where two dampers are provided it is desirable that each is provided between the support frame and a respective arm. Generally the boom, for example each arm thereof, will have an inoperative position for non-working transport thereof, for example by a mechanism which allows the arms to be turned to a position along the vehicle or by a retracting mechanism such as folding mechanism which reduces the length of the boom. Generally in the working position the boom is substantially transverse to a longitudinal axis (or the direction of travel) of the vehicle.

The stabilising system according to the present invention may further comprise a release system (also referred to as a break-away or kickback system) for releasing the boom from a first (operating) position, to a second (release) position when the boom encounters a resistance to movement above a pre-determined resistance threshold. The release system may comprise: a release pivot between the boom and the mounting portion for allowing the boom to move from the first position to the second position about the release pivot; a release coupling for holding the boom in the first position until the pre-determined resistance threshold is reached.

IE0 4 04 99 It is desirable that the release coupling is provided by the damper. In such an arrangement the release coupling can be provided by providing a damper which can itself extend such as described above and for example by way of an extendible shaft or as will be described below. In any event it is desirable that the release coupling action of the damper is a biased one, providing for return of the boom to the first position when the resistance force reduces below the threshold.

In use then, when the boom encounters such a resistance to movement which exceeds the threshold, the release mechanism allows the boom to move from a first position which is substantially transverse to the direction of travel, to a second position which may be a folded back (or turned back) position. This helps to avoid damage to the boom by possibly allowing the operator of the machine time to stop the vehicle, allowing the boom to be moved past an obstacle without damage (by breaking away from its normal orientation and then returning), or where the resistance load is due to inertia of the boom, simply to avoid' overstraining the boom by allowing it to move away and return. The boom will thus automatically return to the first position. It can be seen therefore that the damper can provide a dual function.

In one preferred arrangement the release coupling comprises a tensioned tie running in a guide element and acting between the boom and the mounting portion and being arranged to allow the boom to move about the release pivot into the second position by allowing additional tie length when the pre-determined resistance threshold is reached. ¢04 04 99 This provides a simple yet reliable construction. The tie is preferably a flexible one. Suitable ties include ropes and cables, including those which are made of natural and man-made fibres, including those constructed of plastics and metallic (e.g. wire rope) materials. The additional tie length is provided between the boom and the mounting portion to allow the movement of the boom in the manner described.

In one embodiment the tie is tensioned by a suitable tensionser such as a spring, e.g. a compression or extension spring, or hydraulic spring arrangement (for example a gas spring). In this respect the additional tie length can be provided by increased tension transmitted to the tensi-oner so as to compress/extend the tensioner in the appropriate manner.

It is not necessary for the guide to extend and in one simple arrangement a fixed length guide is provided. Indeed the guide can simply held in place by threading of a tie through it i.e. it can be a sliding sleeve. When the movement of the boom toward the second position occurs the guide may simply be held by the tie.

Alternatively or additionally the release coupling may be a telescopic arrangement, for example the shaft could be telescopic. It is also worth noting that if desired, the telescopip motion may be biased, for example utilising a spring. The spring(s) could be fitted over the shaft or held within the shaft. For example, where the boom movement causes extension of the telescopic arrangement, the telescopic motion could be biased against such extension. «0 4 04 99 In this way a simple, but effective stabilising system can be provided.

Where two or more dampers are provided a single tensioner can be arranged to tension ties to both dampers.

In one arrangement two dampers are provided and a single tensioned tie is employed to allow the required additional tie length as required to either or both dampers.

In one arrangement the guide for the tie is provided by the shaft and in one desirable arrangement the shaft is hollow and the tie runs internally therein.

In one particularly desirable arrangement the tie forms part of the articulated coupling also (together with the guide). The relative movement of a portion of the tie extending within and/or past the guide can flex in the normal way providing the desired articulation.

In a one simple yet highly effective construction the damper is provided by a construction comprising a tensioned tie running from the boom to the mounting frame through a guide in the form of a hollow shaft and through a female receiver part in which a male part of the hollow shaft is received and can articulate.

In this arrangement the shaft can act as a spacer between the boom and the mounting frame and the guide for the tie (which will maintain the tie running along a desired path), while the articulation of the shaft within the female receiver will allow the desired movement of the boom while damping any erratic movement of the boom. It will also «04 04 99 provide the second aspect of the dual functionality of the damper by allowing the boom to move under a restoring force .

Opposing ends of a single tie may be utilised in respective dampers within a dual damper arrangement.

The male part of the shaft may be a tapered part thereof e.g. a head portion thereon.

A stop (e.g. a clamp on a tie) may optionally be provided to prevent the tensioned tie retracting too far.

A further aspect of the present invention, which can be utilised independently of, or in combination with, one or both of the agricultural apparatus or stabilising systems of the present invention, is a release system for an agricultural apparatus, the agricultural apparatus having a mounting portion for mounting the apparatus to a vehicle, a pendulum mounted on the mounting portion, and a boom which is pivotally mounted to the pendulum at a pivot point so as to allow pivoting of the boom relative to the pendulum, the release system for releasing the boom from a first (operating) position, to a second (release) position when the boom encounters a resistance to movement above a pre-determined resistance threshold, the release system comprising: a release pivot between the boom and the mounting portion for allowing the boom to move from the first position to ΙΕΟ 4 04 99 the second position about the release pivot; and a release coupling for holding the boom in the first position until the predetermined resistance threshold is reached.

The invention extends to an agricultural apparatus, a stabilising system or a release system as illustrated in the accompanying drawings .

Brief Description of the Drawings Figure 1 is a side (part-sectional) view of an apparatus of the invention and incorporating the additional aspects of the invention, namely the stabilising system and the release system - the arms of the boom have been removed for ease of illustration; Figure 2 is a front perspective view of the apparatus of Figure 1 - with the arms in place,Figure 3 is a schematic representation of a combined stabilising and release system in a (first) rest position; and Figure 4 is a schematic representation of a combined stabilising and release system in a (second) folded back position.

Detailed Description of the Drawings The various aspects of the present invention will now be described with reference to the accompanying drawings. ¢040499 With reference to Figures 1-4, in particular Figures 1-2, an agricultural apparatus 1 is illustrated. The apparatus 1 is of the' type which comprises a mounting portion 2 which includes at least one vertical support 3. The mounting portion 2 has a 3-point linkage part 4 which allows for the attachment of the apparatus 1 to the 3-point linkage part of a tractor. The apparatus 1 may be attached to the front or the rear of the tractor.

The vertical support 3, at a lower end 5 thereof, is pivotally mounted to the 3-point linkage part 4 as described in PCT/IE02/00097. The vertical support 3 is height adjustable relative to the linkage part 4 by a hydraulic ram held internally within the support 3 and the support 3 can extend telescopically. An accumulator 6, hydraulically connected to the internal ram, provides a hydraulic spring or damper for shocks to the vertical support 3.

The vertical support 3 has mounted thereon, and an upper end 7 thereof, a supporting member or spar 8. The supporting member 8 is arranged generally perpendicular to the supporting member 7 in a generally horizontal orientation.

A pendulum 10 is suspended from a first end 11 thereof from the support 7, by an arched roller arrangement 12. A first pivotal coupling 13 is provided between the part of the pendulum attaching to the arched roller arrangement and the remainder of the pendulum. The pivotal coupling 13 allows the arched roller arrangement 12 to follow its path. £040499 At the (second) lower end 25 of the pendulum 10 is a boom 26. The boom 26 is pivotally attached to the lower end 25 of the pendulum 10.

As best seen in Figure 2, a hydraulic ram 20 mounted between a bracket 40 on the pendulum 10 and a bracket 41 on a carrier arm 21 which forms part of the boom 26. This ram may be utilised to adjust the angle of the boom 26 relative to the pendulum, which is useful where, for operational reasons it is not desired to have the boom perpendicular to the pendulum.

The boom 26 has support members 40 on which boom arms 41 are located (See Figure 2). Cutting heads 42 are provided on the boom for topping operations and the like. A guard 43 for the cutting elements is provided (see Figure 1).

Also provided on the boom 26 are two rams 44,45 which are connected between the pendulum 10 and the arms 41 each of which can be employed to raise or lower a respective arm as indicated by arrow A. In this way the arms 41 can be folded up and back toward the pendulum 10.

A second vertical support 14, forming part of the mounting portion, is provided and is attached to the spar 8 and by an angled support member 15 to further hollow member 16.

The member 16 forms part of a tension/tie guide system which comprises an angled bracket 17 which forms a housing 18 for a compression spring 19 which is fixed within the housing. The hollow member 16 has an inverted Y- shape with each limb 30 extending (transversely) outwardly from a stem part 31 at the junction 32 of members 15 and 16. At the lower ends 33 of the Y-shaped member 16 and located IF 0 4 ft 4 9 9 internally therein are pulleys 34. The lower ends 33 are therefore located on opposing sides of the pendulum 10.

Also provided on the support 14 is a combined pendulum pivot and release pivot 50. Combining the pendulum pivot 51 and the (double) release pivot 52 in this way is another aspect of the present invention.

It is to be noted that the arched roller arrangement 12 and the pendulum pivot 51 are arranged to cooperate so as to allow gravitational swinging of the pendulum 10 by simultaneous arched roller arrangement movement and pivoting about the pendulum pivot 51. In this respect the pivot 51 is fixed and only moves with the pendulum when the release mechanism operates as will be described in more detail below with reference to Figures 3 and 4.

As best seen from Figure 1 a stabilising system is shown which comprises a rigid damper 60 which has a shaft in the form of a hollow spacer 61 which is dimensioned so that a male part thereof (one end thereof) is dimensioned to be received within a female receiver part 62 . The male., and female parts are arranged so as to form an articulated coupling. The female part 62 is connected to the boom 26.

As can be seen a tie in the form of a length of cable 70 is connected at one end 71 and the other 72 to the boom 26 (see Figure 3) and in particular respective ones of the left and right arms 41. In particular the female receiver part is made of a resiliently deformable material such as rubber and can thus act as a flex coupling by flexing as the male part articulates (radially about 360°) within it. The articulated coupling acts/a damper to stabilise the boom against disruptive forces, as the resistance to ¢040499 movement of the spacer 61 within the receiver 62 increases as the angle of movement increases. Normal operation will not generally be interfered with, while larger angular movements of the spacer 61 (caused by relatively large arc movement of the boom due to disruptive forces) are damped more heavily and quickly.

The stabilising system in the embodiment shown further includes a pair of pulley wheels 80 mounted on a common axle mount 81 within the housing 18. A further pulley 82 is mounted on movable axle mount 83. The pulley 82 and the mount 83 are arranged to impart compressive force in the cable 70 (in response to movement of the arms 41 due to operation of the release mechanism) to the spring 19 - thus compressing spring 19.

As can be seen from Figures 1, 3 and 4 the cable 70 runs from the boom 26, and in particular one arm 41 thereof, through the female part 62 and the spacer 61 up the limb 30 of Y- shaped piece 16, through the stem part 31 thereof, about one of the pulleys 80 through to the pulley 82 and back in a mirror image arrangement (through the other pulley 80) to the other arm 41 of the boom 26.

It will be noted that the damper is created in part by the retention of the male part of shaft 61 in receiver 62 and in part by flexing of the cable 70 on which the spacer 61 is mounted. This retention is due in part to the cable 70 as the shaft 61 is a rigid hollow sleeve that is not fixed at either end. It will be appreciated that a second female receiver could be provided at the end 33 of the limb 30 for each damper arrangement. ¢040499 It is also to be noted at this stage that the pendulum 10 has as an upper part 90 and a lower part 91 which can twist (break-away) with respect to each other about a hinge line 92 .

As will be explained now with reference to Figures 3 and 4 the release system operates as follows.

In the schematic representations of Figures 3 and 4 it is assumed that the right arm 41 has been subjected to a resistance force above the threshold of the release system in the direction indicated by arrow B. At this point it is worth noting that the mounting frame 4, the upright'3 including spar 8, and supports 14, 15, Y-shaped member 16, and upper portion 90 of pendulum 10, all remain in the same relative position, while lower portion 91 of pendulum 10 and the boom 26 are carried with lower portion 91 and move in response to the action of the release mechanism.

The pendulum pivot 51 is carried on a support plate 55 by a pivot mount 56. When the release mechanism is activated the cable 70 is subjected to increased tension from the boom which is transmitted along the cable path described above to the spring 19 causing compression of the spring 19 because of movement of pulley 82 and its mount.

Simultaneously the double release pivot opens on side 54 thereof, causing the lower portion 91 of the pendulum 90 to break-away from the remainder of the apparatus. It will be seen that the pendulum pivot 51 moves away with this action, as of course does the boom 26 and the right arm 41. Once the force is removed the double pivot 52 closes and the release mechanism is closed automatically (in the *040499 direction of arrow C) by the restorative tension of the spring 19. In the same way if the left side of the boom is subjected to sufficient force, it too will break-away in an analogous^ fashion due to opening of the double pivot 52 about side 53.

Articulation of the spacers 61 can occur by flexing of the receivers 62 about the spacer 61 as indicated by arrows D in Figure 3.

It is appreciated that certain features of the invention, which are, for clarity, described in the context of separate embodiments, may also be provided in combination in a single embodiment. Conversely, various features of the invention which are, for brevity, described in the context of a single embodiment, may also be provided separately or in any suitable sub-combination.

The words comprises/comprising and the words having/including when used herein with reference to the present invention are used to specify the presence of stated features, integers, steps or components but does not preclude the presence or addition of one or more other features, integers, steps, components or groups thereof.

Claims (19)

Claims

1. A stabilising system, for an agricultural apparatus, the agricultural apparatus having a mounting portion for mounting the apparatus to a vehicle, a pendulum mounted on the mounting portion, and a boom which is pivotally mounted to the pendulum at a pivot point so as to allow pivoting of the - boom relative to the pendulum, the stabilising system for stabilising the boom against movement imparted to it by disruptive forces which disturb the natural position of the boom and comprising: a rigid damper arranged between the support frame and the boom and arranged to damp relative movement of the boom and the mounting frame caused by said disruptive forces, the damper including at least one articulated coupling which allows the damper to articulate with respect to at least one of the mounting frame and the boom so that the damper can follow the motion of the boom.

2. A stabilising system according to claim 1, wherein the damper comprises a rigid shaft which is free to articulate at one or both ends thereof.

3. A stabilising system according to claim 1 or claim 2, wherein the shaft is free to articulate about one or both of its ends.

4. A stabilising system according to any preceding claim wherein the shaft extends from the mounting portion to the ¢040499 boom in a direction substantially perpendicular to the longitudinal axis of the boom.

5. A stabilising system according to any preceding claim wherein the damper comprises at least one of: (i) a rigid shaft and the articulated coupling is provided by a universal joint; (ii) a rigid shaft and the articulated coupling is provided by a ball and socket joint; or (iii) a rigid shaft and the articulated coupling is provided by a male part of the shaft which is received and can articulate within a female receiver part; or (iv) a rigid shaft and the articulated coupling is provided by a flexible or flex coupling such as a tie, deformable joint (e.g. a rubber connector); or any combination thereof.

6. A stabilising system according to any preceding claim wherein an additional damper is provided.

7. A stabilising system according to claim 6 wherein the dampers are provided on opposing sides of the pendulum.

8. A stabilising system according to any preceding claim wherein the apparatus further comprises a release system for releasing the boom from a first position, to a second position when the boom encounters a resistance to movement above a pre-determined resistance threshold, and the damper(s) are adapted to allow operation of the release system. £040499

9. A stabilising system according to claim 8 wherein the release system comprises: a release pivot between the boom and the mounting portion for allowing the boom to move from the first position to the second position about the release pivot; and a release coupling for holding the boom in the first position until the pre-determined resistance threshold is reached.

10. A stabilising system according to claim 9 wherein the release coupling is provided by the damper.

11. A stabilising system according to claim 9 or 10 wherein the release coupling comprises a tensioned tie running in a guide element and acting between the boom and the mounting portion and being arranged to allow the boom to move about the release pivot into the second position by allowing additional tie length when the pre-determined resistance threshold is reached.

12. An agricultural apparatus the agricultural apparatus having a mounting portion for mounting the apparatus to a vehicle, a pendulum mounted on the mounting portion, and a boom which is pivotally mounted to the pendulum at a pivot point so as to allow pivoting of the boom relative to the pendulum, and a stabilising system according to any preceding claim.

13. A release system for an agricultural apparatus, IE-4 04 99 the agricultural apparatus having a mounting portion for mounting the apparatus to a vehicle, a pendulum mounted on the mounting portion, and a boom which is pivotally mounted to the pendulum at a pivot point so as to allow pivoting of the boom relative to the pendulum, the release system for releasing the boom from a first (operating) position, to a second (release) position when the boom encounters a resistance to movement above a pre-determined resistance threshold, the release system comprising: a release pivot between the boom and the mounting portion for allowing the boom to move from the first position to the second position about the release pivot; and a release coupling for holding the boom in the first position until the pre-determined resistance threshold is reached.

14. An agricultural apparatus the agricultural apparatus having a mounting portion for mounting the apparatus to a vehicle, ' a pendulum mounted on the mounting portion, and a boom which is pivotally mounted to the pendulum at a pivot point so as to allow pivoting of the boom relative to the pendulum, and a release system according to claim 13.

15. An agricultural apparatus the agricultural apparatus having a mounting portion for mounting the apparatus to a vehicle, «0 4 04 99 a pendulum mounted on the mounting portion, and a boom which is pivotally mounted to the pendulum at a pivot point so as to allow pivoting of the boom relative to the pendulum, a stabilising system according to any one of claims 1 to 11 and a release system according to claim 13 or 14.

16. An apparatus of the type which comprises: a mounting portion including at least one vertical support, the support being pivotable to the mounting f rame, a pendulum having a first end suspended from the vertical support by an arched roller arrangement, and a second end on which a pivotable boom is mounted, a pendulum pivot arranged at a position between the first and second ends of the pendulum which pivotally connects the pendulum to the vertical support, the arched roller arrangement and the pendulum pivot being arranged to cooperate so as to allow gravitational swinging of the pendulum by simultaneous arched roller arrangement movement and pivoting about the pendulum pivot, and a boom pivotally attached to the second end of the pendulum.

17. An apparatus according to claim 16 further comprising a stabilising system according to any one of claims 1 to 11.

18. An apparatus according to claim 16 or claim 17 further comprising a release system according to claim 13. ¢040499

19. An apparatus according to claim 16 further comprising a stabilising system according to any one of claims 1 to 11; and a release system according to claim 13.