JP2008307516A - Sprinkler system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To effectively suppressing generation and diffusion of dust, and also to minimize operation burden of an operator for that, thereby securing efficiency and quality of demolition work. <P>SOLUTION: In the sprinkler system, a control signal from a cylinder control part 16 based on a radio command from a transmitter 13 operated by the operator controls electric cylinders 8, 9, and these cylinders 8, 9 make sprinkling nozzles 7, 7 perform vertical and lateral continuous reciprocating oscillating movement. In addition, an electromagnetic valve control element 17 controls sprinkling/stop of sprinkling. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a watering device used in a place where dust is generated such as a dismantling site.

  For example, since a large amount of dust is generated at the time of demolition work at a demolition site such as a building, water is sprayed toward the demolition part while working to suppress this dust.

  Conventionally, as a means of performing watering, a watering nozzle is provided at the tip of the dismantling machine itself, that is, a dismantling attachment (for example, a crushing device), and water is sprayed from the above-ground tank unit (tank and pump) to the watering nozzle. Is known.

  Also, there is a dedicated watering vehicle (Patent Document 1) equipped with a set of watering equipment such as a tank, pump, and watering nozzle on a crawler-type self-propelled carriage, and an excavator combined vehicle (Patent Document 2) equipped with a watering equipment on an excavator. It is known.

Further, as shown in Patent Document 2, a technique is also known in which a watering nozzle is supported so as to be able to swing up and down and left and right, and the direction of the nozzle can be adjusted by wireless control.
Japanese Patent Laid-Open No. 11-13548 JP 2007-75705 A

  However, according to the above known technique, although the direction of the watering nozzle (watering direction) can be adjusted, the watering target is a point, so in the situation where dust is generated in a wide range, the generation and diffusion of dust is suppressed. The efficiency in terms of points was low.

  Although it is possible to widen the watering range by continuously changing the direction of the watering nozzle, it is necessary to continuously perform the direction adjustment operation for this purpose, so this nozzle operation becomes extremely troublesome, especially dismantling. When the operator of the machine operates the nozzle, attention is paid to the nozzle operation, which causes a detrimental effect that the efficiency and quality of the essential dismantling work are lowered.

  Therefore, the present invention can effectively suppress the generation and diffusion of dust by the automatic reciprocating swing motion of the watering nozzle, and can ensure the efficiency and quality of the dismantling work by minimizing the burden on the operator for that purpose. A watering device is provided.

  According to a first aspect of the present invention, there is provided a watering nozzle supported by a fixed portion in a state where reciprocating swing motion in at least one direction can be performed, an actuator for causing the water spray nozzle to perform reciprocating head swing motion, and remote control of the actuator. And a control means, the control means being operated by an operator to output an operation command signal, and a reciprocating swing motion in which the watering nozzle is continuous based on a continuous swing command signal from the operation section. And an actuator control unit for controlling the operation of the actuator so as to perform the above.

  According to a second aspect of the present invention, in the configuration of the first aspect, the watering nozzle is supported by the fixed portion in a state where it can perform the reciprocating swing motion in the vertical direction and the left-right direction. And a left and right swing actuator that causes the nozzle to perform a reciprocating left and right swing motion are provided to operate independently of each other. It is configured so that it can be controlled independently.

  According to a third aspect of the present invention, in the configuration of the first or second aspect, the actuator control unit is configured to set the range of the reciprocating swing motion of the watering nozzle according to time.

  According to a fourth aspect of the present invention, in the configuration according to any one of the first to third aspects, the actuator control unit changes the direction of the watering nozzle during the reciprocating swing motion based on the direction change command signal from the operation unit. It is comprised as follows.

  According to a fifth aspect of the present invention, in the configuration according to any one of the first to fourth aspects, the actuator control unit can expand and contract the reciprocating motion range of the watering nozzle based on the motion range change command signal from the operation unit. It is configured.

  According to a sixth aspect of the present invention, in the configuration of the fifth aspect, the actuator control unit is configured to store a motion range when the motion range change command signal from the operation unit stops.

  According to a seventh aspect of the present invention, in the configuration according to any one of the first to sixth aspects, the actuator control unit reciprocates to the watering nozzle around the position of the watering nozzle when a continuous swing command signal is input from the operation unit. It is configured to exercise.

  According to an eighth aspect of the present invention, in the configuration of any one of the first to seventh aspects, an electromagnetic valve for controlling the watering / watering stop operation of the watering nozzle is provided, and the control means is a watering / watering stop command signal from the operation unit. The electromagnetic valve control part which controls opening and closing of this electromagnetic valve based on this is comprised.

  According to the present invention, the water spray nozzle performs continuous reciprocating swinging motion in at least one direction (up and down direction and left and right direction in claim 2), and can spray water over a wide area around the dismantling part without interruption. Generation and diffusion can be suppressed.

  In addition, since the watering nozzle automatically performs a continuous reciprocating swing motion (hereinafter referred to as a continuous swing motion) based on a command signal from the operation unit, the operator can only issue a continuous swing motion command by the operation unit. Good. Accordingly, the operational burden on the operator can be reduced to a minimum, and the efficiency and quality of the dismantling work can be ensured.

  In this case, according to the invention of claim 2, since the vertical and horizontal swing motions can be controlled independently, the swing motion with the best watering efficiency is selected from the vertical and horizontal motions and combinations thereof. be able to.

  According to the third aspect of the present invention, instead of controlling the swinging motion range of the watering nozzle by detecting how much the watering nozzle has moved up and down or left and right, the swinging range of the watering nozzle is set to the time. Therefore, unlike the sensor type, there is no possibility that the sensor and its wiring get wet with water and malfunction or break down, and the durability and reliability of the device is increased. Further, since the sensor and the wiring are not necessary, the maintenance becomes easy and the cost is reduced.

  According to the invention of claim 4, based on the direction change command signal from the operation unit, the direction of the watering nozzle in motion is changed from the forward to the reverse, or vice versa. Since the reciprocating motion range of the watering nozzle can be changed based on the motion range change command signal from the unit, the watering target portion can be changed to the occasional support according to the dust generation status and the like.

  According to the sixth aspect of the present invention, since the motion range at the time when the motion range change command signal from the operation unit is stopped is stored, the swing motion is resumed in the updated latest motion range. Can do.

  According to the seventh aspect of the invention, since the watering nozzle is configured to reciprocate around the position of the watering nozzle when the continuous swing command signal from the operation unit is input, the current position of the nozzle is the neck. It becomes easy to determine the watering range by becoming the swing center.

  According to the eighth aspect of the present invention, the watering / watering stop of the watering nozzle can be controlled independently of the swinging motion of the nozzle, so that useless watering can be avoided and an efficient watering operation can be performed.

  An embodiment of the present invention will be described with reference to the drawings.

  The hard part of the watering device according to this embodiment is attached to the bucket mark in a state where the bucket is removed from the tip of the attachment in the hydraulic excavator, for example. Or you may attach to a dedicated trolley | bogie or the support stand installed on the ground.

  As shown in FIGS. 1 and 2, the hard part includes a base 1 and a main frame 4 attached to the base 1 through a bracket 2 so as to swing up and down around a horizontal axis 3 in the left-right direction. A nozzle frame 6 attached to the main frame 4 so as to swing left and right around the vertical axis 5 and one or a plurality of watering nozzles attached to the nozzle frame 6 (two left and right in the figure will be described). 7, 7), a vertical swing cylinder 8 as an actuator for swinging and swinging the main frame 4 up and down, and a left and right neck as an actuator for swinging and swinging the nozzle frame 6 left and right A swing cylinder 9 and first and second solenoid valves (shown in FIG. 3) 10a and 10b for controlling water spray / stop of water spray from the nozzles 7 and 7 are provided.

  Both cylinders 8 and 9 are configured as electric cylinders that convert the rotational force of the motor (electric motor) into a reciprocating motion by a rack and a pinion or the like, and the rotation of the motor is controlled by a control means described below to perform an expansion and contraction motion.

  In FIG. 1, reference numerals 11 and 11 denote water supply hoses connected to the nozzles 7 and 7. Water in a tank installed on the ground is pumped (both not shown) by the water supply hoses 11 and 11 and the first and second water supply hoses. It is supplied to the nozzles 7 and 7 through both solenoid valves 10a and 10b.

  FIG. 3 shows a block configuration of a control system of the watering device.

  The vertical and horizontal swing cylinders (motors) 8 and 9 and the solenoid valves 10a and 10b are remotely operated by the control means 12 which is a software part of the apparatus.

  The control means 12 includes, for example, a transmitter 13 that is operated by an operator of the dismantling machine and outputs an operation command signal (radio signal), and a receiver that receives this signal via an antenna 14 on the hardware side. 15, a cylinder control unit (actuator control unit) 16 that controls the swing operation of both cylinders 8 and 9 based on the operation command signal, and an electromagnetic that controls the opening / closing operation of the electromagnetic valves 10 a and 10 b based on the operation command signal. It consists of a valve control unit 17.

  The transmitter 13 has a plurality of push buttons as shown in FIG. 4, and an operation command signal is output by operating these buttons.

  Specifically, as an push button, an “up” button 18 for instructing upward driving for the vertical swing cylinder 8, a “down” button 19 for instructing downward driving, and leftward driving for the left and right swing cylinder 9 Simultaneous operation of the “left” button 20 for instructing the right direction, the “right” button 21 for instructing rightward driving, the “water” button 22 for instructing the solenoid valves 10a and 10b to open or close, and other buttons. An “F” button 23 for commanding setting / changing of the swing motion range is provided.

  The relationship between each button and operation is set as follows.

Nozzle operation A. When each of the “up”, “down”, “left”, and “right” buttons 18 to 21 is pressed alone, the nozzles 7 and 7 move up, down, left, and right only while they are pressed.

  B. When the “up” and “down” buttons 18 and 19 are pressed at the same time, the nozzles 7 and 7 continuously swing up and down around the current nozzle position.

  C. When the “left” and “right” buttons 20 and 21 are pressed at the same time, the nozzles 7 and 7 continuously swing left and right around the current nozzle position.

  D. When the “up” button 18 is pressed during the vertical swing motion, the direction of motion is changed upward until the button operation is stopped if the downward motion is being performed. If it is moving upward, it moves upwards.

  E. If the “down” button 19 is pressed during the vertical swing motion, the direction of motion is changed upward until the button operation is stopped if the upward motion is being performed. If you are exercising downward, it moves downward.

  F. If the “left” button 20 is pressed during the left and right continuous swing motion, the motion direction is changed to the left until the button operation is stopped if the right motion is being performed. If it is moving leftward, it will move leftward.

  G. When the “right” button 21 is pressed during the left and right continuous swing motion, if the left motion is being performed, the motion direction is changed to the right until the button operation is stopped. If it is moving rightward, it moves rightward.

  H. When the “F” button 23 and the “up” button 18 are pressed simultaneously during the vertical swing motion, the range of the vertical swing motion is widened. When the button operation is stopped, the motion range at that time is stored.

  I. If the “F” button 23 and the “down” button 19 are pressed at the same time during the vertical swing motion, the range of the vertical swing motion is narrowed. When the button operation is stopped, the motion range at that time is stored.

  J. et al. If the “F” button 23 and the “right” button 21 are pressed simultaneously during the left and right continuous swing motion, the range of the left and right swing motion is widened. When the button operation is stopped, the motion range at that time is stored.

  K. If the “F” button 23 and the “left” button 20 are pressed simultaneously during the left and right swing motion, the range of the left and right swing motion is narrowed. When the button operation is stopped, the motion range at that time is stored.

Watering operation L. When the “water” button 22 is pressed alone, only one (for example, the left side) nozzle 7 exits the water. Press again to stop the water.

  M.M. When the “water” button 22 and the “F” button 23 are pressed at the same time, water comes out from the other nozzle 7 (for example, the right side). Press again at the same time to stop the water.

  The operation of this apparatus including these operations will be described with reference to the flowcharts shown in FIGS.

  FIG. 5 shows a main flow, and each control of the vertical swing control Sa, the left and right swing control Sb, and the electromagnetic valve control Sc is sequentially performed as the control is started by turning on the power.

Vertical swing control (see FIGS. 6 to 9)
“Vertical swing control” refers to each control of upward and downward drive of the vertical swing cylinder 8 and continuous vertical swing (automatic reciprocal swing).

  First, the control flow of the entire vertical swing is described with reference to FIG. 6, and then the control content of the upward and downward drive is described with reference to FIGS. 7 and 8, and the control content of the continuous vertical swing is described with reference to FIG.

  As shown in FIG. 6, it is determined whether or not an “up” button input (operation) has been made in step S1 when the control is started. If there is an input (in the case of YES), whether or not a “down” button input has been made in step S2. It is determined whether or not.

  In the case of NO here, that is, when only the “up” button operation is performed, it is determined in step S3 whether the up / down continuous swing flag is ON or not. Assuming that the “up” button 18 is pressed, the vertical swing cylinder 8 is driven upward in step S4, and the nozzles 7 and 7 are moved upward.

  If YES in step S3, it is determined in step S5 whether or not an "F" button is input. If NO in this step, it is determined in step S6 whether or not the down flag is ON.

  If “YES” is determined here, the “upper” button 18 is pressed at the time of downward movement during the vertical swing motion, and the vertical swing cylinder 8 is driven upward in step S7. In the case of NO, it is assumed that the “up” button 18 has been pressed during upward movement during the vertical swing motion, and the vertical swing motion is continued in step S8.

  On the other hand, if there is no “up” button input in step S1 (in the case of NO), it is determined in step S9 whether or not a “down” button input has been made. Continuous vertical swing motion is continued.

  If YES in step S9, it is determined in step S11 whether the up / down continuous swing flag is ON. If NO, it is determined that the “down” button 19 is pressed when the vertical continuous swing motion is not being performed. In step S12, the vertical swing cylinder 8 is driven downward to move the nozzles 7 and 7 downward.

  If YES in step S11 (up / down continuous flag ON), it is determined that there is no “F” button input in step S13 and the upward flag is ON in step S14. Assuming that the "down" button 19 is pressed, the vertical swing cylinder 8 is driven downward (step 15).

  In the case of NO at step 14, assuming that the “down” button 19 is pressed when going downward during the vertical swing motion, the vertical swing motion is continued at step S16.

  If YES in step S13 (“F” button input), it is determined in step S17 whether Tud is greater than the minimum value Tudmin. If YES, Tud is (Tud−0.5 seconds) in step S18. Set to

  That is, if the “F” button 23 and the “down” button 19 are pressed at the same time during the continuous vertical swing motion, the vertical swing motion range is narrowed, and when the button operation is stopped, the current motion range (Tud) Is memorized.

  In step S19 following step S18, it is determined whether or not a “down” button has been input, and the process returns to step S1 after waiting for the “down” button 19 to be released. If NO in Step S17 (Tud does not exceed the minimum value Tudmin), since it is the lower limit of the round-trip time Tud, it returns to Step S1 because no action is required.

  On the other hand, if YES in step S5 (with “F” button input), it is determined in step S20 whether Tud is smaller than the maximum value Tudmax. If YES, Tud is set to (Tud + 0.5 seconds) in step S21. Is set.

  That is, if the “up” button 18 and the “F” button 23 are pressed at the same time during the continuous vertical swing motion, the range of the vertical swing motion is widened, and when the button operation is stopped, the motion range (Tud) at that time Is memorized.

  In step S22, it is determined whether or not an “up” button is input, and the process returns to step S1 after waiting for the “up” button 18 to be released.

  If YES in step S2 (when both the "up" button 18 and the "down" button 19 are pressed), the process proceeds to step S23, and it is determined whether or not the up / down continuous swing flag is ON.

  In the case of YES here, the up / down continuous start flag and the up / down continuous swing flag are turned off in steps S24 and S25, and in step S26, the process waits for the release of the “up” button 18 or the “down” button 19 to step S1. Return.

  On the other hand, if NO in step S23, the up / down continuous start flag and the up / down continuous flag are turned ON in steps S27 and 28, respectively, and waits for the release of the “up” button 18 or the “down” button 19 in step S29. To return to step S1.

  The control flow of the cylinder upward drive in steps S4 and S7 and the downward drive of steps S12 and S15 will be described with reference to FIGS.

  In the cylinder upward drive, as shown in FIG. 7, after the cylinder downward drive is stopped in step Su1 (cylinder downward OFF), there is no upward overload in Su2 (the upward stroke end has been reached). It is determined whether or not a predetermined time has passed after overloading (whether it has changed downward). If YES, the cylinder upward drive is started in step Su3 (cylinder upward ON). In the case of NO, the cylinder upward drive is stopped in step Su4 (cylinder upward OFF).

  Whether or not there is an overload is determined by detecting the motor current of the vertical swing cylinder 7.

  The same applies to the downward driving of the cylinder. As shown in FIG. 8, after the upward driving of the cylinder is stopped in step Sd1 (cylinder upward OFF), there is no downward overload in step Sd2 (downward stroke). It is determined whether or not a predetermined time has passed after overloading (whether it has changed upward). If YES, the cylinder downward drive is started in step Sd3 (cylinder downward ON) ). In the case of NO, the cylinder downward drive is stopped in step Sd4 (cylinder downward OFF).

  The control contents of the continuous vertical swing will be described with reference to FIG.

  In step Sud1, it is confirmed whether the vertical swing flag is ON. If NO, the vertical swing cylinder 8 is stopped in step Sud2.

  On the other hand, if YES in step Sud1, it is determined in step Sud3 whether or not the up / down continuous start flag is ON. If YES here, in step Sud4, the nozzle 7 moves between the upper limit and the lower limit. It is determined whether or not half of a preset Tud (1/2 Tud) has elapsed as a time required for.

  That is, it is determined whether or not the first upward stroke when starting the up-and-down reciprocating motion centering on the current nozzle position is completed. If NO, the cylinder upward drive is performed in step Sud, In Sud6, the upward flag is turned ON.

  If YES in Step Sud4 (1/2 Tud elapses), the up / down continuous start flag is turned off in Step Sud7, and the up / down continuous timer zero reset is performed in Step Sud8, and then whether or not the up flag is turned on in Step Sud9. Determined.

  Here, since the first upward stroke has been completed in the first step Sud9 after the start of the automatic vertical swing, the determination is YES, and after the vertical continuous timer is reset to zero in step Sud13, the cylinder downward drive (step Su14) And the downward flag is turned ON in step Sud15.

  If NO in step Sud3 (the up / down continuous start flag is not set), it is determined in step Sud16 whether Tud has elapsed. If YES, step Sud9 determines the current cylinder traveling direction. Control proceeds so as to invert.

  That is, if the upward flag is determined to be OFF in Step Sud9 (currently driven downward), the up / down continuous timer zero reset is performed in Step Sud10, the cylinder is upwardly driven in Step Sud11, and the upward flag is ON in Step Sud12. Become. On the other hand, if the upward flag is determined to be ON in step Sud9 (currently driven upward), the process proceeds to step Sud13, step Sud14, and step Sud15, and reverses downward.

  In step Sud17, it is determined whether or not the upward flag is ON. When YES, cylinder upward driving (step Sud18) is performed, and when NO, cylinder downward driving (step Sud) is performed.

Left / right swing control (see Figs. 10 and 11)
Since the contents of the left and right swing control are basically the same as the above vertical swing control, the description of the same control is applied mutatis mutandis.

  Here, “up and down” in the vertical swing control is set to “left and right”, “cylinder up” and “cylinder down” to “cylinder right” and “cylinder left”, “down button” and “up button” The “left button”, “right button”, and “Tud” may be read as “Trl”.

  Further, Steps S31 to S59 in FIG. 10 correspond to Steps S1 to S29 in FIG.

  Furthermore, the control flow of cylinder leftward drive and cylinder rightward drive is the same as the control flow of cylinder downward drive and cylinder upward drive shown in FIGS. To do.

  As described above, according to this watering device, the nozzles 7 and 7 automatically perform up and down or left and right continuous swinging motion, and water can be continuously sprayed over a wide area around the dismantling part. Can be suppressed.

  In addition, since the nozzles 7 and 7 automatically perform continuous swing motion based on the command signal from the transmitter 13, the operator only needs to command the continuous swing motion using the transmitter 13. Accordingly, the operational burden on the operator can be reduced to a minimum, and the efficiency and quality of the dismantling work can be ensured.

  In this case, the vertical and horizontal swing motions are controlled independently, and both swing motions can be performed at the same time. You can choose a good swing motion.

  Also, instead of detecting how much the nozzles 7 and 7 have moved up and down or left and right by controlling the swing motion of the nozzles 7 and 7, in order to set the swing range of the nozzles 7 and 7 by time Tud and Trl, As in the case of the sensor type, there is no possibility that the sensor or its wiring gets wet with water and malfunctions or breaks down, so that the durability and reliability of the device are increased. Further, since the sensor and the wiring are not necessary, the maintenance becomes easy and the cost is reduced.

  Further, the direction of movement of the moving nozzles 7 and 7 is changed based on the direction change command signal from the transmitter 13, and the reciprocation of the nozzles 7 and 7 is changed based on the movement range change command signal from the transmitter 13. Since the range can be enlarged or reduced, the sprinkling target portion can be changed to occasional support according to the dust generation status or the like.

  On the other hand, since the exercise range at the time when the exercise range change command signal from the transmitter 13 is stopped is stored, the swing motion can be resumed within the updated latest exercise range.

  Further, since the nozzles 7 and 7 are caused to reciprocate around the position of the nozzles 7 and 7 when the continuous swing command signal from the transmitter 13 is input, the current position of the nozzles 7 and 7 is the center of the swing. It becomes easy to determine the watering range.

Solenoid valve control (see Fig. 12)
In step S61, it is determined whether or not there is a water button input, and this is repeated until there is an input.

  If there is a water button input (YES in step S61), it is determined in step S62 whether or not there is an “F” button input. If NO, the process proceeds to step S63.

  In step S63, it is determined whether or not the first solenoid valve flag is ON. If NO, the first solenoid valve is turned on in step S64, and the first solenoid valve flag is turned on in step S65.

  In the case of YES in step S63, it is determined that the water button 22 has been operated again once again, the first solenoid valve is turned off in step S66, the first solenoid valve flag is turned off in step S67, and the process returns to step S61.

  That is, when the “water” button 22 of the transmitter 13 is pressed alone, the water exits from only one (for example, the left side) nozzle 7. Press again to stop the water.

  On the other hand, if YES in step S62 (“F” button input), it is determined in step S68 whether or not the second electromagnetic valve flag is ON. If not, the second electromagnetic valve 10b is turned ON in step S69. In step S70, the second electromagnetic valve flag is turned ON.

  If YES in step S68, the second electromagnetic valve 10b is turned OFF in step S71, the second electromagnetic valve flag is turned OFF in step S72, and the process returns to step S61.

  That is, when the “water” button 22 and the “F” button 23 are pressed at the same time, water comes out from the other nozzle 7 (for example, the right side). Press again at the same time to stop the water.

  In this manner, since the sprinkling / splashing stop of the nozzles 7 and 7 can be controlled independently of the swinging motion of the nozzles 7 and 7, it is possible to avoid wasteful sprinkling and to perform an efficient watering action.

Other Embodiments (1) In the above embodiment, the electric cylinders 8 and 9 driven by the electric motor are used as the actuators for swinging the nozzles 7 and 7 up and down and left and right. It may be used.

  In this case, the electromagnetic control valve for controlling the operation of the hydraulic cylinder is controlled by the cylinder control unit 17 in FIG. The overload determination can be made by detecting the pressure in the cylinder circuit with a pressure sensor.

  Or you may take the structure which combines an electric motor and a crank mechanism, comprises an up-and-down and right-and-left swing mechanism, and controls an electric motor as an actuator.

  (2) In the above embodiment, in order to reduce the size of the transmitter 13, for example, when the “up” button 18 and the “down” button 19 are pressed simultaneously, a vertical swing motion is performed, and the “F” button 23 and the “up” "When the buttons 18 are pressed at the same time, the range of continuous swing motion is increased. For example, an operation command is issued by simultaneous operation of a plurality of buttons. You may comprise so that it may instruct | command.

  (3) In the above embodiment, the transmitter 13 is used as an operation unit for remote operation, and the cylinder control unit (actuator control unit) 16 is wirelessly controlled. However, the operation unit and the control unit are operated. It may be configured to connect with a line and perform wired control.

  (4) Although it is desirable that the nozzles 7 and 7 perform both vertical and horizontal swing movements as in the above-described embodiment, the nozzles 7 and 7 may be configured to perform only one of them. Alternatively, an oblique swing motion may be performed.

It is a side view which shows the structure of the hardware part of the watering apparatus concerning embodiment of this invention. It is the same top view. It is a figure which shows the block structure of the control system of a watering apparatus. It is a figure which shows button arrangement | positioning of a transmitter. It is a figure which shows the main flow of control. It is a flowchart of vertical swing control. It is a flowchart of a cylinder upward drive. It is a flowchart of a cylinder downward drive. It is a flowchart of the vertical swing control. It is a flowchart of left-right swing control. It is a flowchart of left-right automatic swing control. It is a flowchart of solenoid valve control.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Base as fixed part 3 Horizontal axis | shaft used as the center of a nozzle's up-and-down swing 4 Main frame for nozzle attachment 5 Vertical axis used as the center of a left-and-right swing of a main frame 6 Nozzle frame 7,7 Sprinkling nozzle 8 Cylinder as actuator for swinging and driving 9 Cylinder as actuator for swinging the watering nozzle left and right 10a, 10b Electromagnetic valve 12 Control means 13 Transmitter as operating means 16 Cylinder control part as actuator control part 17 Electromagnetic valve Control unit

Claims (8)

  A watering nozzle supported by a fixed portion in a state where reciprocating swing motion in at least one direction can be performed, an actuator for causing the sprinkling nozzle to perform reciprocating head swing motion, and control means for remotely operating the actuator, The control unit is operated by an operator to output an operation command signal, and based on a continuous swing command signal from the operation unit, the water spray nozzle performs a continuous reciprocating swing motion of the actuator. A watering device comprising an actuator control unit for controlling operation.   The watering nozzle is supported by the fixed part in a state where it can perform reciprocating swinging movements in the vertical and horizontal directions. The left and right swing actuators that perform the swing motion are provided so as to operate independently of each other, and the actuator control unit is configured to be able to control the operation of both actuators independently of each other. The watering device according to claim 1.   The watering device according to claim 1 or 2, wherein the actuator control unit is configured to set a range of reciprocating swing motion of the watering nozzle according to time.   4. The actuator control unit according to claim 1, wherein the actuator control unit is configured to change a direction of the watering nozzle during the reciprocating swing motion based on a direction change command signal from the operation unit. The watering apparatus as described in a term.   5. The actuator control unit according to claim 1, wherein the actuator control unit is configured to be able to expand and contract the reciprocating motion range of the watering nozzle based on a motion range change command signal from the operation unit. The watering device described.   The watering device according to claim 5, wherein the actuator control unit is configured to store a motion range when the motion range change command signal from the operation unit is stopped.   The actuator control unit is configured to cause the watering nozzle to reciprocate around the position of the watering nozzle when a continuous swing command signal from the operation unit is input. The watering apparatus of any one of.   An electromagnetic valve for controlling the watering / watering stop operation of the watering nozzle is provided, and the control means includes an electromagnetic valve control unit that controls opening / closing of the electromagnetic valve based on the watering / watering stop command signal from the operation unit. The watering apparatus of any one of Claims 1-7 characterized by the above-mentioned.

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