JP5916299B2 - Tractor-mounted boom sprayer - Google Patents

Description

  The present invention relates to a tractor-mounted boom sprayer that is directly attached to a tractor and sprays a chemical solution onto a farm field.

  In general boom sprayers, a plurality of spray nozzles for spraying chemicals such as pesticides are arranged on a frame structure called a boom that extends to the left and right. While spraying drugs. Such a boom sprayer is suitable for spreading a medicine over a wide range.

  However, there are pebbles, large and small muddyness, etc. in the farm field, and there are uneven and large running paths. For this reason, when the tractor travels in the field, it may sway or vibrate with the boom to which the vehicle body is attached. If the boom swings and tilts, the boom may come into contact with the field or crops, or the spraying direction may change, so the drug may be sprayed in a narrow area, or conversely, a non-sprayed area may be created. There is a problem of becoming.

  Therefore, the present applicant has so far proposed an invention related to a boom sprayer having a function of maintaining an equilibrium state between the boom and the field. For example, in Japanese Patent No. 2649827, a central boom that is directly mounted on a tractor, left and right base booms that are pivotally attached by an actuator with the left and right sides of the central boom as base ends, Left and right tip booms that are pivotally attached by an actuator with the tip as a base end, a distance sensor that detects the distance to the ground or crop of each boom, and the relative inclination angle between the vehicle body of the tractor and the front wheel frame A tilt sensor that measures the height of each boom relative to the field or crop by controlling each actuator provided on each boom before the rear wheels tilt based on the measurement signal of the tilt sensor. There has been proposed a boom control device for a sprayer directly mounted with a tractor characterized by being held within a range (Patent Document 1).

  That is, the invention described in Patent Document 1 uses a time lag from the passage of the front wheel to the passage of the rear wheel with respect to the uneven surface of the traveling road, and the boom before the rear wheel is inclined by the uneven surface. By controlling the above, the parallel relationship between the boom and the field or crop is maintained.

Japanese Patent No. 2649827

  However, in the invention described in Patent Document 1, the front wheels and the rear wheels are not always inclined in the same manner, but rather the degree of inclination is often different, so the rear wheels pass through the inclined traveling path. If the boom is controlled before, it may be tilted more than necessary or insufficient. For example, if a front wheel steps on a pebbles and tilts, the pebbles sink into the ground when the front wheels are stepped on, and the vehicle does not tilt even if the rear wheels pass over it. There may be no effect on the rear wheels. In such a case, the boom is tilt-controlled even if it passes through an uninclined travel path, which causes a loss of the parallel relationship between the boom and the field or crop. Therefore, there is a strong desire to maintain the parallel relationship between the boom and the field or crop by rotating the boom only when the boom is actually tilted.

  The present invention has been made to solve such problems and demands, and when a boom is actually tilted, the boom is quickly and appropriately controlled to be quickly corrected for the tilt angle. It aims at providing the tractor direct-mount boom boom sprayer which can do.

  A tractor directly-mounted boom sprayer according to the present invention includes a tractor having a front wheel and a rear wheel, a base frame installed behind the tractor, and supported by the base frame and extended to the left and right of the tractor. A boom, a plurality of spray nozzles installed on the boom for spraying chemical liquid, a chemical liquid storage tank for storing the chemical liquid, and a chemical liquid supply pump for supplying the chemical liquid from the chemical liquid storage tank to the spray nozzles A tractor-directly mounted boom sprayer, wherein the boom is rotatably supported in the vicinity of its center of gravity with respect to the base frame, and a boom rotating means for rotating the boom in forward and reverse directions; A front wheel inclination angle measuring means for measuring a relative inclination angle of the front wheel axle inclined by the surface unevenness with respect to the vehicle body, and a phase of the front wheel axle Preparation for rotating the boom in a direction opposite to the direction of the relative inclination angle of the front wheel axle before the rear wheel inclines due to unevenness of the traveling surface based on a general inclination angle. A boom rotation preparation control means to be executed by the means, a boom tilt angle measuring means for measuring a relative tilt angle of the boom with respect to the base frame, and a relative tilt angle of the boom exceeding a predetermined range And a boom rotation control means for controlling the relative inclination angle of the boom within a predetermined range by driving the boom rotation means in preparation for rotation to rotate the boom.

  Moreover, as one form of this invention, the said boom rotation means has a rotary motor which can rotate to a normal / reverse direction, and a clutch mechanism which enables switching of connection and disconnection of this rotary motor and the said boom. And when the relative inclination angle of the front wheel axle with respect to the vehicle body exceeds a predetermined range by the front wheel inclination angle measuring means, the boom rotation preparation control means moves the boom relative to the front axle. In preparation for rotating in the direction opposite to the tilt direction, the rotary motor is idled to stand by in a neutral state, and the boom tilt angle measuring means sets the relative tilt angle of the boom to the base frame within a predetermined range. If exceeded, the boom rotation control means controls the clutch mechanism to connect the rotary motor and the boom and rotate the boom. It may be allowed to.

  Furthermore, as one aspect of the present invention, the boom rotating means includes a hydraulic boom rotating mechanism that rotates the boom in the forward and reverse directions by hydraulic pressure, an oil storage tank that stores hydraulic oil, and the oil. A hydraulic pump that supplies the oil from the storage tank to the hydraulic boom rotation mechanism, and the hydraulic boom rotation mechanism and the oil storage tank are directly connected to make the rotation of the boom free. A boom-free oil passage, a boom-rotating oil passage that communicates the hydraulic boom turning mechanism and the oil storage tank via the hydraulic pump, and an inflow / outflow direction of oil to the hydraulic boom turning mechanism. A direction switching valve that controls the boom so as to be rotatable in forward and reverse directions by switching, and an oil path switching valve that arbitrarily switches the flow path between the boom-free oil path and the boom rotation oil path. And the front wheel inclination angle When the relative inclination angle of the front wheel axle with respect to the vehicle body exceeds a predetermined range by the measuring means, the boom rotation preparation control means rotates the boom in a direction opposite to the relative inclination direction of the front wheel axle. In preparation for moving, the flow path is switched to the opposite direction by the direction switching valve, and the boom is made to wait in a neutral state by switching to the boom-free oil path by the oil path switching valve. When the relative inclination angle of the boom with respect to the base frame exceeds a predetermined range by the boom inclination angle measuring means, the boom rotation control means causes the boom rotation oil to flow through the flow path by the oil path switching valve. While switching to a path, the boom may be rotated by operating the hydraulic pump.

  According to the present invention, when the boom is actually tilted, the boom can be quickly and appropriately controlled to be rotated, and the tilt angle can be quickly corrected.

It is the rear view seen from back which shows a first embodiment of a tractor direct-mounting boom sprayer concerning the present invention. It is the top view seen from the upper part which shows 1st embodiment of the tractor directly-mounted boom sprayer which concerns on this invention. 1 is a side view showing a first embodiment of a tractor directly mounted boom sprayer according to the present invention. It is a block block diagram which shows the means to control the inclination-angle of the boom in this 1st embodiment. It is an enlarged front view which shows the front-wheel axle which passes on the uneven surface of a travel path. It is an enlarged side view showing a base frame and a boom in the first embodiment. It is an expanded rear view which shows the base frame and boom in this 1st embodiment. It is an enlarged plan view which shows the connection part of the base frame and boom in this 1st embodiment. It is a flowchart which shows the control procedure of the boom control means in the first embodiment. It is a block diagram which shows the boom rotation means in the second embodiment. It is an expansion perspective view which shows the base frame and boom in this 2nd embodiment. It is a longitudinal cross-sectional view which shows the structure of the hydraulic cylinder in this 2nd embodiment.

  Hereinafter, a first embodiment of a tractor directly-mounted boom sprayer according to the present invention will be described with reference to the drawings. 1, 2, and 3 are a rear view, a plan view, and a side view of the tractor directly-mounted boom sprayer 1 according to the first embodiment.

  The tractor direct-mounted boom sprayer 1 according to the first embodiment mainly includes a tractor 2, a base frame 3 installed behind the tractor 2, a boom 4 supported by the base frame 3, and the boom 4. The spray nozzle 5 installed in the tank, the chemical solution storage tank 6 for storing the chemical solution, the chemical solution supply pump 7 for supplying the chemical solution to the spray nozzle 5, the boom rotating means 8 for rotating the boom 4, and the front wheel axle 24. The front wheel tilt angle measuring means 9 for measuring the tilt angle, the boom tilt angle measuring means 10 for measuring the tilt angle of the boom 4, and the boom rotation preparation control means 11 and the boom rotation control means 12 shown in FIG. And boom control means 13. Hereinafter, each configuration will be described in detail.

  The tractor 2 is a traveling vehicle that travels on a farm field, and includes at least a vehicle body 21, a front wheel 22 provided in front of the vehicle body 21, and a rear wheel 23 provided in the rear of the vehicle body 21, with a rear portion. The boom can be attached. The vehicle body 21 is provided with a cockpit for maneuvering various functions. Although not shown, the steering wheel has a steering wheel for steering and a controller 25 for adjusting the tilt angle of the boom, and is connected to the controller 25. The boom control means 13 is provided.

  The front wheel 22 is composed of left and right tires, and enables the tractor to turn by rotating in conjunction with the handle. Further, as shown in FIG. 5, the left and right tires are connected by a front wheel axle 24, and the front wheel axle 24 is rotatably connected at the bottom of the vehicle body 21. Therefore, when the front wheel passes through the uneven road, the front wheel axle 24 follows the uneven surface and tilts to the left and right, but the vehicle body 21 absorbs the shake and does not tilt.

  On the other hand, the rear wheel 23 is composed of left and right tires that use an engine provided in front of the vehicle body 21 as a driving force. When the rear wheel 23 passes through an uneven road, the rear wheel 23 follows the uneven surface. In addition to inclining left and right, the vehicle body 21 is also inclined together.

  The base frame 3 is installed behind the tractor 2 and serves as the base of the boom 4. In the first embodiment, as shown in FIGS. 1 to 3, 6 and 7, a guide frame 31 fixed to the rear of the tractor 2, and an upper and lower slidable up and down along the guide frame 31. The frame 32 and a boom up / down hydraulic cylinder 33 that allows the upper / lower frame 32 to be moved up and down by hydraulic control.

  The boom 4 is rotatably supported near the center of gravity with respect to the base frame 3 and extends to the left and right of the tractor 2. In the first embodiment, as shown in FIG. 8, the first embodiment is pivotally supported via a boom rotating means 8 provided on the upper and lower frames 32.

  Further, the boom 4 in the first embodiment includes a central boom 41, base booms 42 and 42 connected to the left and right respectively with the left and right ends of the central boom 41 as base ends, and the base booms 42 and 42. It consists of tip booms 43 and 43 connected with the tip end as the base end, and a hydraulic actuator 44 that can rotate in a substantially horizontal direction is provided at the connection between the central boom 41 and the base boom 42. A connecting portion between the base boom 42 and the tip boom 43 is provided with a hydraulic actuator 44 that can rotate in a substantially vertical direction. That is, the boom 4 in the first embodiment can be folded at the connecting portion by hydraulic control of the actuator 44.

  Next, the spray nozzle 5, the chemical storage tank 6, and the chemical supply pump 7, which are configured as a sprayer that sprays the chemical onto the field, will be described.

  The spray nozzle 5 sprays the pumped chemical liquid in a liquid, drop-like or mist-like form, in a straight line shape, a conical shape, or a fan shape. In the first embodiment, a plurality of spray nozzles 5 are installed along the boom 4 at a predetermined interval. The type and number of spray nozzles 5, the installation interval, etc. are not particularly limited, and are appropriately selected based on the type of chemical solution to be sprayed, the state of the field and crop, the length of the boom 4, and the like. is there.

  The chemical solution storage tank 6 is a tank for storing the chemical solution supplied to the spray nozzle 4. The chemical storage tank 6 in the first embodiment is installed between the base frame 3 and the rear portion of the tractor 2 as shown in FIGS. 1 to 3.

  The chemical solution supply pump 7 is a pump that pumps the chemical solution from the chemical solution storage tank 6 to each spray nozzle 5. The pump used can be appropriately selected from positive displacement pumps, spiral pumps, and the like. The power source of the pump is not particularly limited, and may be electric power of a tractor battery, engine rotational force, or the like.

  Next, the boom rotation means 8, the front wheel inclination angle measurement means 9, the boom inclination angle measurement means 10 and the boom control means 13 which are mechanisms for maintaining the equilibrium state of the boom 4 with respect to the field or crop will be described.

  The boom rotating means 8 is for rotating the boom 4 supported by the base frame 3 in an arbitrary direction. In the first embodiment, it also serves as a support member that supports the boom 4 to the base frame 3, and supports the boom 4 in the vicinity of the center of gravity.

  As shown in FIG. 8, the boom rotating means in the first embodiment includes a rotary motor 81 that can rotate in the forward and reverse directions, and a clutch that enables switching between connection and disconnection of the rotary motor 81 and the boom 4. Mechanism 82.

  The rotary motor 81 is a drive source for rotating the boom 4 in an arbitrary direction, and is fixed to the upper and lower frames 32. Note that the rotary motor 81 used in the boom rotating means 8 is not particularly limited, and is appropriately selected from an electric rotary motor, a hydraulic rotary motor, and the like.

  The clutch mechanism 82 is capable of intermittently connecting and disconnecting the rotary motor 81 and the boom 4. Therefore, the rotational force of the rotary motor 81 can be transmitted to the boom 4 by connecting the rotary motor 81 and the boom 4. Further, by separating the rotary motor 81 and the boom 4, the rotary motor 81 can be idled to be in a neutral state. The clutch mechanism 82 is not particularly limited, and is appropriately selected from a single plate dry clutch, a spring clutch, and the like. Further, a gear or the like may be provided between the rotary motor 81 and the clutch mechanism 82 in order to adjust the rotational torque transmitted to the boom 4.

  The front wheel inclination angle measuring means 9 measures a relative inclination angle of the front wheel axle 24 that is inclined by the uneven surface of the traveling road with respect to the vehicle body 21. In the first embodiment, as shown in FIG. 5, the vehicle includes a front wheel axle tilt sensor 91 provided on the front wheel axle 24 and a vehicle body tilt sensor 92 provided on the vehicle body 21. These inclination sensors 91 and 92 are sensors that can measure an inclination angle with respect to a horizontal plane.

  The boom tilt angle measuring means 10 measures a relative tilt angle of the boom 4 with respect to the base frame 3. As shown in FIG. 8, the first embodiment includes a boom tilt sensor 101 provided on the boom 4 and a base frame tilt sensor 102 installed on the base frame 3. The tilt sensors 101 and 102 in the boom tilt angle measuring unit 10 are sensors that can measure the tilt angle with respect to the horizontal plane, similar to the tilt sensors 91 and 92 of the front wheel tilt angle measuring unit 9.

  The front wheel inclination angle measuring means 9 and the boom inclination angle measuring means 10 are not limited to those using two inclination sensors as described above. For example, the connecting portion between the front wheel axle 24 and the vehicle body 21, the boom 4 and the like. You may use the rotation angle measuring device etc. which measure the rotation angle of the support part with the base frame 3 directly.

  As shown in FIG. 4, the boom control means 13 in the first embodiment is mainly composed of a computer having an input interface 14, a storage means 15, an arithmetic processing means 16, a timer 17 and an output interface 18.

  The input interface 14 is a receiver that receives various signals. The input interface 14 mainly includes a front wheel tilt angle signal indicating the tilt angle of the front wheel axle 24 and the vehicle body 21 measured by the front wheel tilt angle measuring unit 9, and the boom tilt angle measuring unit 10. The boom 4 and the boom tilt angle signal indicating the tilt angle of the base frame 3 measured by the above are received. In the first embodiment, the boom turning means 8, the boom up / down hydraulic cylinder 33, the actuator 44 installed on the boom 4, and the chemical supply pump 7 are instructed by the user by the controller 25 provided in the cockpit. The operation instruction signal is received.

  The storage unit 15 includes a ROM (Read Only Memory), a RAM (Random Access Memory), a hard disk, a flash memory, and the like. The storage unit 15 stores various data and a working area when the arithmetic processing unit 16 performs the calculation. It functions as.

  In the first embodiment, a program storage unit 151 that stores a boom control program, a front wheel inclination angle threshold storage unit 152 that stores a threshold value of a front wheel inclination angle for starting preparation for turning the boom, And a boom tilt angle threshold value storage unit 153 that stores a threshold value of the boom tilt angle for starting the rotation of the boom.

  The arithmetic processing means 16 is composed of a CPU (Central Processing Unit) and the like, and by executing a program stored in the program storage unit 151 of the storage means 15, as shown in FIG. Functions as means 11 and boom rotation control means 12. Moreover, in this first embodiment, it has the preparation stop determination means 161 which stops the rotation preparation of the boom 4, and the operation control means 162 which processes so that an operation control signal may be transmitted.

  The boom rotation preparation control unit 11 causes the boom rotation unit 8 to prepare for rotating the boom 4 based on the measurement result of the front wheel inclination angle measurement unit 9. In the first embodiment, as illustrated in FIG. 4, the tilt angle calculation unit 111, the tilt angle determination unit 112, and the rotary motor control unit 113 are included.

  The inclination angle calculation unit 111 acquires the inclination angles of the front wheel axle 24 and the vehicle body 21 measured by the front wheel axle inclination sensor 91 and the vehicle body inclination sensor 92 of the front wheel inclination angle measuring unit 9, and calculates the front wheel axle 24 from the difference between the inclination angles. The relative inclination angle is calculated. It should be noted that this configuration is not necessary when the front wheel inclination angle measuring means 9 directly measures the relative inclination angle between the front wheel axle 24 and the vehicle body 21.

  The inclination angle determination unit 112 determines whether or not the relative inclination angle between the front wheel axle 24 and the vehicle body 21 exceeds a predetermined angle serving as a correction reference. In the first embodiment, the threshold value stored in the front wheel inclination angle threshold value storage unit 152 is acquired, and it is determined whether or not the relative inclination angle of the front wheel axle 24 is larger than the threshold value. Yes.

  The rotation motor control unit 113 causes the rotation motor 81 to execute rotation in an arbitrary direction. In particular, when the relative inclination angle of the front wheel axle 24 exceeds a predetermined angle, the rotary motor 81 is rotated in a direction opposite to the direction of the relative inclination angle.

  The boom rotation control unit 12 causes the boom rotation unit 8 to rotate the boom 4 based on the measurement result measured by the boom tilt angle measurement unit 10. In the first embodiment, the boom tilt angle calculation unit 121, the boom tilt angle determination unit 122, and the clutch control unit 123 are configured.

  The boom tilt angle calculation unit 121 acquires the tilt angles of the boom 4 and the base frame 3 measured by the boom tilt sensor 101 and the base frame tilt sensor 102 of the boom tilt angle measuring unit 10, and the boom 4 is calculated from the difference between the tilt angles. The relative inclination angle is calculated. Note that this configuration is not necessary when the boom tilt angle measuring means 10 directly measures the relative tilt angle between the boom 4 and the base frame 3.

  The boom inclination angle determination unit 122 determines whether or not the relative inclination angle between the boom 4 and the base frame 3 exceeds a predetermined angle. In the first embodiment, the threshold stored in the boom tilt angle threshold storage unit 153 is acquired, and it is determined whether or not the relative tilt angle of the boom 4 is larger than the threshold. .

  The clutch control unit 123 causes the clutch mechanism 82 to connect and disconnect the rotary motor 81 and the boom 4. In particular, when the relative inclination angle of the boom 4 exceeds a predetermined range, the rotary motor 81 and the boom 4 are connected.

  The preparation stop means 161 determines whether or not the time after the boom turning preparation control means 11 has made preparations for turning the boom 4 with respect to the boom turning means 8 exceeds a predetermined time. When the predetermined time is exceeded, the boom rotation preparation control means 11 stops the rotation preparation of the boom 4. Although preparations were made to correct the inclination by determining the inclination angle of the front wheel axle 24, the preparation for turning was canceled based on an appropriate time passage, such as when the rear wheel was not inclined enough to be corrected. Is to do. In the first embodiment, after the front wheel 22 is inclined by the elapsed time from when the preparation for rotating the boom 4 is executed and the uneven surface of the travel path, the uneven surface of the travel path is set to the rear wheel. The determination is made by comparing the time required until 23 passes.

  In addition, the preparation stop means 161 in the first embodiment prepares to rotate the boom 4 on the basis of the elapsed time since the preparation for rotating the boom 4 with respect to the boom rotating means 8 is executed. However, the criterion for determination is not limited to this. For example, the traveling distance of the tractor 2 that has traveled after the boom 4 has been prepared for rotation may be used as a reference.

  Based on the operation instruction signal received by the input interface 14, the operation control unit 162 performs processing to transmit an operation control signal to the boom rotation unit 8 and the like via the output interface 18.

  The timer 17 is for measuring the time after the boom rotation preparation control means 11 executes preparation for rotating the boom 4 with respect to the boom rotation means 8.

  The output interface 18 is controlled by the arithmetic processing means 16 and transmits an operation control signal to the boom rotating means 8. In the first embodiment, an operation control signal is also transmitted to the boom up / down hydraulic cylinder 33, the actuators 44 provided in the boom 4, and the chemical supply pump 7.

  Next, the operation of each component of the tractor directly mounted boom sprayer 1 according to the first embodiment will be described.

  First, adjustment is performed so that the boom 4 and the field or crop are in an equilibrium state. Specifically, the user gives an operation instruction to the boom up / down hydraulic cylinder 33, the actuators 44 provided on the boom 4, and the boom rotation means 8 by the controller 25. The input interface 14 receives an operation instruction signal based on an instruction from the user via the controller 25. Based on the received operation instruction signal, the arithmetic processing means 16 transmits an operation control signal from the output interface 18 to the boom up / down hydraulic cylinder 33 and the like. The boom up / down hydraulic cylinder 33 and the like operate according to the operation control signal, and adjust the boom 4 to be in an equilibrium state with the field or the crop.

  After the adjustment of the boom 4, the rotary motor 81 and the boom 4 are separated by the clutch mechanism 82 so that the boom 4 can be rotated.

  The tractor 2 travels on the field in this state. When the user gives an operation instruction for chemical solution spraying by the controller 25, the operation instruction signal is received by the input interface 14, and the operation control signal is transmitted from the output interface 18 to the chemical solution supply pump 7 by the operation control means 162. The chemical liquid supply pump 7 pumps the chemical liquid from the chemical liquid storage tank 6 to the spray nozzle 5 according to the operation control signal. Thereby, a chemical | medical solution is sprayed from the spraying nozzle 5, and is sprayed on a farm field.

  At this time, since the boom 4 is supported by the base frame 3 in the vicinity of the center of gravity, the boom 4 hardly tilts due to small unevenness on the traveling path. However, when the travel path has relatively large irregularities due to stones or the like, the vehicle body 21 tilts as the rear wheel 23 passes over it, and the boom 4 is caused by the frictional force or the like at the support portion between the base frame 3 and the boom 4. May tilt.

  Therefore, when there is an unevenness in which the boom 4 is inclined on the travel path, the boom control means 13 is operated to perform control so that the boom 4 and the field or the crop are kept parallel. Specifically, this will be described below with reference to the flowchart shown in FIG.

  First, the front wheel inclination angle measuring means 9 measures a relative inclination angle of the front wheel axle 24 with respect to the vehicle body 21 (step S1). In the first embodiment, the front wheel axle tilt sensor 91 and the vehicle body tilt sensor 92 provided on the front wheel axle 24 and the vehicle body 21 respectively measure the inclination angles of the front wheel axle 24 and the vehicle body 21 with respect to the horizontal plane.

  Next, the tilt angle calculation unit 111 of the boom rotation preparation control means 11 acquires the tilt angles of the front wheel axle 24 and the vehicle body 21 measured by the front wheel axle tilt sensor 91 and the vehicle body tilt sensor 92, and the difference between the tilt angles. The relative inclination angle of the front wheel axle 24 with respect to the vehicle body 21 is calculated (step S2).

  The inclination angle discriminating unit 112 acquires the threshold value stored in the front wheel inclination angle threshold value storage unit 152 and compares it with the calculated relative inclination angle of the front wheel axle 24. It is determined whether or not the inclination angle exceeds a threshold value (step S3). When the relative inclination angle of the front wheel axle 24 does not exceed the threshold value (step S3: NO), the process returns to step S1 to continue monitoring whether the front wheel axle 24 is relatively inclined.

  On the other hand, when the relative inclination angle of the front wheel axle 24 exceeds the threshold value (step S3: YES), the rotary motor control unit 113 transmits an operation control signal to the rotary motor 81 via the output interface 18. The rotation is started (step S4). At this time, the rotation direction of the rotary motor 81 is opposite to the direction of the relative inclination angle of the front wheel axle 24. At this stage, since the clutch mechanism 82 is in a state where the rotary motor 81 and the boom 4 are separated, the rotary motor 81 idles and is in a neutral state. Further, the timer 17 starts time measurement after the rotation of the rotary motor 81 is started.

  Next, the boom tilt angle measuring means 10 measures the relative tilt angle of the boom 4 with respect to the base frame 3 (step S5). In the first embodiment, the boom tilt sensor 101 and the base frame tilt sensor 102 measure the tilt angles of the boom 4 and the base frame 3 with respect to the horizontal plane, respectively.

  The boom tilt angle calculation unit 121 of the boom rotation control unit 12 acquires the tilt angles of the boom 4 and the base frame 3 measured by the boom tilt sensor 101 and the base frame tilt sensor 102, and the boom 4 is calculated from the difference between the tilt angles. The relative inclination angle with respect to the base frame 3 is calculated (step S6).

  The boom tilt angle determination unit 122 acquires the threshold value stored in the boom tilt angle threshold value storage unit 153 and compares it with the calculated relative tilt angle of the boom 4. It is determined whether or not the inclination angle exceeds a threshold value (step S7).

  When the relative inclination angle of the boom 4 does not exceed the threshold value (step S7: NO), the time when the preparation stopping means 161 is measured by the timer 17, that is, the time after the rotation of the rotary motor 81 is started, It is determined whether or not a predetermined time required until the rear wheel 23 passes after the front wheel 22 is tilted (step S8). Here, when the time after the rotation start of the rotary motor 81 does not exceed the predetermined time (step S8: NO), the process returns to step S5 to continue monitoring whether the boom 4 is tilted. If the time after the rotation of the rotary motor 81 has started exceeds a predetermined time (step S8: YES), the rotary motor 81 is stopped (step S12), and the process proceeds to step S13.

  Thus, when the boom 4 is not tilted by the preparation stop means 161 even though the front wheel axle 24 is tilted, the rotation motor 81 is stopped to control the unevenness of the next travel path. Can be switched.

  On the other hand, when the relative inclination angle of the boom 4 exceeds the threshold value (step S7: YES), the clutch control unit 123 transmits an operation control signal to the clutch mechanism 82 via the output interface 18, The rotary motor 81 and the boom 4 are connected (step S9).

  Since the rotation motor 81 has already been rotated by the boom rotation preparation control means 11, the boom 4 starts to rotate immediately when the rotation motor 81 and the boom 4 are connected. Further, since the rotation direction of the rotary motor 81 is rotating in the direction opposite to the direction in which the boom 4 is tilted, it can be quickly rotated so that the relative tilt angle of the boom 4 is within a predetermined range. it can.

  Then, it is determined whether or not the relative inclination angle of the boom 4 is within a threshold value (step S10). When the relative inclination angle of the boom 4 exceeds the threshold value (step S10: NO), the process returns to step S9, and until the relative inclination angle of the boom 4 falls within a predetermined range, The connection with the boom 4 is maintained.

  On the other hand, when the relative inclination angle of the boom 4 is equal to or smaller than the threshold value (step S10: YES), the clutch control unit 123 disconnects the connection between the rotary motor 81 and the boom 4 and rotates the rotary motor 81. Is stopped (step S11).

  Finally, it is determined whether or not there is an instruction to end control by the user (step S13). If there is no instruction to end the control (step S13: NO), the above steps S1 to S12 are repeated. Thus, the parallelism between the boom 4 and the field or crop is maintained during control. Then, when the engine is stopped or the control end instruction is given by the controller 25 (step S13: YES), the control is ended.

According to the tractor directly mounted boom sprayer 1 of the first embodiment as described above, the following effects can be obtained.
1. Since the boom 4 is rotatably supported in the vicinity of the center of gravity with respect to the base frame 3, the boom 4 hardly tilts with respect to the tilt of the vehicle body due to small unevenness of the traveling path, and the boom 4 and the field or crop Can be maintained in parallel.
2. If the boom 4 is inclined due to large unevenness on the travel path, the boom 4 can be rotated until the boom 4 is stopped by the boom rotation control means 12 until the boom 4 is parallel to the field or the crop.
3. Since the relative inclination angle between the front wheel axle 24 and the vehicle body 21 is measured and the boom 4 is prepared for rotation in advance, the boom 4 is rotated and corrected as soon as the boom 4 starts to tilt. Therefore, almost real-time control can be performed.
4). The rotation control of the boom 4 can be performed only when the boom 4 is actually tilted.

  Next, a second embodiment of the tractor directly mounted boom sprayer 1 according to the present invention will be described with reference to the drawings. Note that, in the configuration of the second embodiment, the same or equivalent configuration as the configuration of the first embodiment described above is denoted by the same reference numeral, and the description thereof is omitted.

  FIG. 10 is a block diagram showing the boom rotation means 8b in the second embodiment. The boom rotation means 8b in the second embodiment includes a hydraulic boom rotation mechanism 83 that rotates the boom 4 in the forward and reverse directions by hydraulic pressure, an oil storage tank 84 that stores hydraulic oil, and a hydraulic boom. A hydraulic pump 85 that supplies oil to the rotation mechanism 83, a boom-free oil passage 86 that directly connects the hydraulic boom rotation mechanism 83 and the oil storage tank 84 to rotate the boom 4 in a free state; A boom rotating oil passage 87 that connects the hydraulic boom rotating mechanism 83 and the oil storage tank 84 via the hydraulic pump 85 and the boom 4 by switching the oil inflow / outflow direction to the hydraulic boom rotating mechanism 83. Is configured to include a direction switching valve 88 that controls to be rotatable in the forward and reverse directions, and an oil passage switching valve 89 that arbitrarily switches the flow path between the boom-free oil passage 86 and the boom rotation oil passage 87.

  The hydraulic boom rotating mechanism 83 rotates the boom 4 in the forward / reverse direction by hydraulic pressure. In the second embodiment, the hydraulic cylinder 831 is extendable and retractable. As shown in FIG. 11, the end of the piston of the hydraulic cylinder 831 and the end of the cylinder are connected to the boom 4 and the upper and lower frames 32, respectively. Yes. As shown in FIG. 12, the hydraulic boom rotation mechanism 83 is provided with an oil chamber 834 to which oil is supplied, and is slidably provided in the oil chamber 834 so that the oil chamber 834 is made into the first oil chamber 832 and the oil chamber 834. And a sliding plate 835 that is divided into second oil chambers 833. When oil is supplied to the first oil chamber 832, the sliding plate 835 slides in the direction of the second oil chamber 834, whereby the hydraulic cylinder 831 is extended, and the oil in the second oil chamber 833 is discharged to the outside. When oil is supplied to the second oil chamber 833, the sliding plate 835 slides in the direction of the first oil chamber 832, so that the hydraulic cylinder 831 contracts and the oil in the first oil chamber 832 is released to the outside. It has a structure.

  The hydraulic boom rotation mechanism 83 is not limited to that using the hydraulic cylinder 831. For example, the hydraulic boom rotation mechanism 83 is provided between the boom 4 and the base frame 3 as a support portion that supports the boom 4. A motor may be used.

  The oil storage tank 84 stores hydraulic oil supplied to the hydraulic boom rotation mechanism 83. The oil storage tank 84 communicates with the outside, and oil is stored at atmospheric pressure.

  The hydraulic pump 85 is for supplying the oil stored in the oil storage tank 84 to the hydraulic boom rotation mechanism 83. The pump used can be appropriately selected from positive displacement pumps, spiral pumps, and the like.

  The boom-free oil passage 86 is an oil passage that directly connects the hydraulic boom rotation mechanism 83 and the oil storage tank 84. In the second embodiment, as shown in FIG. 10, a hydraulic boom turning mechanism that connects the oil storage tank 84 and the oil passage switching valve 89, and the oil passage switching valve 89 through the direction switching valve 88. And a flow path connecting up to 83.

  On the other hand, the boom rotation oil path 87 is an oil path that connects the hydraulic boom rotation mechanism 83 and the oil storage tank 84 via the hydraulic pump 85. In the second embodiment, a flow path connecting from the oil storage tank 84 to the oil path switching valve 89 via the hydraulic pump 85, and from the oil path switching valve 89 to the hydraulic boom turning mechanism 83 via the direction switching valve 88. And a flow path connecting the two.

  The direction switching valve 88 is a switching valve for controlling the boom 4 to be rotatable in the forward and reverse directions. In the second embodiment, in order to control the boom 4 to be rotatable in the forward and reverse directions, the inflow / outflow directions of the first oil chamber 832 and the second oil chamber 833 are switched.

  Specifically, when supplying oil to the first oil chamber 832 and releasing the oil from the second oil chamber 833, the direction switching valve 88 allows the hydraulic pump 85 and the first oil chamber 832 to communicate with each other, The second oil chamber 833 and the oil storage tank 84 are communicated. In addition, when supplying oil to the second oil chamber 833 and releasing the oil from the first oil chamber 832, the direction switching valve 88 allows the hydraulic pump 85 and the second oil chamber 833 to communicate with each other and the first oil chamber. 832 communicates with the oil storage tank 84.

  The oil passage switching valve 89 is constituted by an electromagnetic valve or the like, and arbitrarily switches the flow path between the boom free oil passage 86 and the boom rotation oil passage 87. In the second embodiment, one of the flow paths of the boom free oil path 86 and the boom rotation oil path 87 is selected and switched.

  Next, the operation of each component related to the boom rotation means 8 in the tractor directly mounted boom sprayer 1 of the second embodiment will be described.

  First, the boom turning means 8 in the second embodiment selects the boom turning oil passage 87 as an oil passage by the oil passage switching valve 89, and the first oil chamber 832 and the second oil chamber 833 by the direction switching valve 88. By switching the inflow / outflow direction, the boom 4 can be rotated in any direction if the hydraulic cylinder 831 is expanded and contracted in this state.

  On the other hand, when the boom turning means 8 in the second embodiment selects the boom-free oil passage 86 as the oil passage by the oil passage switching valve 85, the direction switching valve 88 is switched in any direction regardless of the direction. The oil chamber 832 and the second oil chamber 833 are in direct communication with the oil storage tank 84, and there is no pressure difference between the first oil chamber 832 and the second oil chamber 833. It is maintained freely.

  Therefore, when the relative inclination angle of the front wheel axle 24 with respect to the vehicle body 21 measured by the front wheel inclination angle measurement means 9 exceeds a predetermined range, the boom rotation preparation control means 11 causes the direction switching valve 88 to pass the flow path. While switching to the direction in which the boom 4 is rotated in a direction opposite to the relative inclination direction of the front wheel axle 24, the flow path is switched to the boom-free oil path 86 by the oil path switching valve 89, and the neutral state is waited. The boom 4 is brought into a rotation preparation state.

  Further, after the boom 4 is prepared for rotation, when the relative inclination angle of the boom 4 with respect to the base frame 3 measured by the boom inclination angle measurement means 10 exceeds a predetermined range, the boom rotation control means 12 controls the oil path switching valve 89 to switch the oil path to the boom rotation oil path 87 and operates the hydraulic pump 85 to rotate the boom 4.

  As described above, in the second embodiment, the same effects as in the first embodiment can be obtained. That is, even if the hydraulic boom turning mechanism 83 is used, the relative inclination angle between the front wheel axle 24 and the vehicle body 21 is measured, and preparations for turning the boom 4 are made in advance. The boom 4 can be rotated as soon as it starts.

  In addition, the tractor directly-mounted boom sprayer 1 according to the present invention is not limited to the above-described embodiments, and can be changed as appropriate.

  For example, although boom control means 13 in each embodiment is constituted by a computer, it is not limited to this. For example, when the relative inclination angle of the front wheel axle 24 measured by the front wheel inclination angle measuring unit 9 with respect to the vehicle body 21 exceeds a predetermined range, an alarm sound is generated and the boom 4 is prepared for rotation. May be done manually.

DESCRIPTION OF SYMBOLS 1 Tractor directly-mounted boom sprayer 2 Tractor 3 Base frame 4 Boom 5 Spray nozzle 6 Chemical liquid storage tank 7 Chemical liquid supply pump 8 Boom rotation means 9 Front wheel inclination angle measurement means 10 Boom inclination angle measurement means 11 Boom rotation preparation control means 12 Boom rotation control means 13 Boom control means 14 Input interface 15 Storage means 16 Arithmetic processing means 17 Timer 18 Output interface 21 Car body 22 Front wheel 23 Rear wheel 24 Front wheel axle 25 Controller 31 Guide frame 32 Vertical frame 33 Boom vertical hydraulic cylinder 41 Center Boom 42 Base boom 43 Forward boom 44 Actuator 81 Rotating motor 82 Clutch mechanism 83 Hydraulic boom turning mechanism 84 Oil storage tank 85 Hydraulic pump 86 Boom-free oil passage 87 Boo Rotating oil passage 88 Direction switching valve 89 Oil passage switching valve 91 Front wheel axle tilt sensor 92 Car body tilt sensor 101 Boom tilt sensor 102 Base frame tilt sensor 111 Inclination angle calculation unit 112 Inclination angle determination unit 113 Rotation motor control unit 121 Boom inclination Angle calculation unit 122 Boom tilt angle determination unit 123 Clutch control unit 161 Preparation stop unit 162 Operation control unit 831 Hydraulic cylinder 832 First oil chamber 833 Second oil chamber 834 Oil chamber 835 Sliding plate

Claims (3)

A tractor with front and rear wheels;
A base frame installed behind this tractor,
A boom supported by the base frame and extending to the left and right of the tractor;
A plurality of spray nozzles installed on this boom to spray chemicals,
A chemical storage tank for storing the chemical,
A tractor directly-mounted boom sprayer having a chemical solution supply pump for supplying the chemical solution from the chemical solution storage tank to the spray nozzles,
A boom rotating means for rotating the boom in forward and reverse directions while being supported rotatably around the center of gravity of the boom relative to the base frame;
Front wheel inclination angle measuring means for measuring a relative inclination angle of the front axle with respect to the vehicle body, which is inclined by unevenness of the running surface;
Preparation for rotating the boom in a direction opposite to the direction of the relative inclination angle of the front wheel axle before the rear wheel is inclined due to the unevenness of the traveling surface based on the relative inclination angle of the front wheel axle. Boom rotation preparation control means for causing the boom rotation means to execute,
A boom tilt angle measuring means for measuring a relative tilt angle of the boom with respect to the base frame;
When the relative inclination angle of the boom exceeds a predetermined range, the boom rotation means in preparation for rotation is driven to rotate the boom, thereby setting the relative inclination angle of the boom to a predetermined range. A boom rotation control means for controlling within a range ;
Progress when the relative inclination angle of the boom does not exceed a predetermined range, and the boom rotation preparation control means causes the boom rotation means to prepare the boom rotation. Preparation stop means for stopping the boom rotation preparation by the boom rotation preparation control means when the time or the travel distance exceeds a predetermined elapsed time or a predetermined travel distance;
Tractor-mounted boom sprayer with A tractor with front and rear wheels;
A base frame installed behind this tractor,
A boom supported by the base frame and extending to the left and right of the tractor;
A plurality of spray nozzles installed on this boom to spray chemicals,
A chemical storage tank for storing the chemical,
A tractor directly-mounted boom sprayer having a chemical solution supply pump for supplying the chemical solution from the chemical solution storage tank to the spray nozzles,
A boom rotating means for rotating the boom in forward and reverse directions while being supported rotatably around the center of gravity of the boom relative to the base frame;
Front wheel inclination angle measuring means for measuring a relative inclination angle of the front axle with respect to the vehicle body, which is inclined by unevenness of the running surface;
Preparation for rotating the boom in a direction opposite to the direction of the relative inclination angle of the front wheel axle before the rear wheel is inclined due to the unevenness of the traveling surface based on the relative inclination angle of the front wheel axle. Boom rotation preparation control means for causing the boom rotation means to execute,
A boom tilt angle measuring means for measuring a relative tilt angle of the boom with respect to the base frame;
When the relative inclination angle of the boom exceeds a predetermined range, the boom rotation means in preparation for rotation is driven to rotate the boom, thereby setting the relative inclination angle of the boom to a predetermined range. And a boom rotation control means for controlling within the range,
The boom rotating means has a rotation motor that can rotate in forward and reverse directions, and a clutch mechanism that enables switching between connection and disconnection of the rotation motor and the boom,
When the relative inclination angle of the front wheel axle with respect to the vehicle body exceeds a predetermined range by the front wheel inclination angle measuring means, the boom rotation preparation control means is configured to make the boom a relative inclination direction of the front wheel axle. In preparation for rotating in the opposite direction, the rotary motor is idled and waits in a neutral state,
When the relative inclination angle of the boom with respect to the base frame exceeds a predetermined range by the boom inclination angle measuring means, the boom rotation control means controls the clutch mechanism to control the rotation motor and the boom. It was ligated, rotating the boom, tractor ChokuSoshiki boom sprayer. A tractor with front and rear wheels;
A base frame installed behind this tractor,
A boom supported by the base frame and extending to the left and right of the tractor;
A plurality of spray nozzles installed on this boom to spray chemicals,
A chemical storage tank for storing the chemical,
A tractor directly-mounted boom sprayer having a chemical solution supply pump for supplying the chemical solution from the chemical solution storage tank to the spray nozzles,
A boom rotating means for rotating the boom in forward and reverse directions while being supported rotatably around the center of gravity of the boom relative to the base frame;
Front wheel inclination angle measuring means for measuring a relative inclination angle of the front axle with respect to the vehicle body, which is inclined by unevenness of the running surface;
Preparation for rotating the boom in a direction opposite to the direction of the relative inclination angle of the front wheel axle before the rear wheel is inclined due to the unevenness of the traveling surface based on the relative inclination angle of the front wheel axle. Boom rotation preparation control means for causing the boom rotation means to execute,
A boom tilt angle measuring means for measuring a relative tilt angle of the boom with respect to the base frame;
When the relative inclination angle of the boom exceeds a predetermined range, the boom rotation means in preparation for rotation is driven to rotate the boom, thereby setting the relative inclination angle of the boom to a predetermined range. And a boom rotation control means for controlling within the range,
The boom pivoting means pivots the boom in the forward and reverse directions by hydraulic pressure, an oil storage tank that stores hydraulic oil, and the hydraulic boom pivot from the oil storage tank. A hydraulic pump that supplies the oil to a mechanism, a boom-free oil passage that directly connects the hydraulic boom rotation mechanism and the oil storage tank to rotate the boom, and the hydraulic type A boom rotation oil passage that communicates the boom rotation mechanism and the oil storage tank via the hydraulic pump, and a forward / reverse direction of the boom by switching an oil inflow / outflow direction to the hydraulic boom rotation mechanism. A directional switching valve that is pivotally controlled, and an oil passage switching valve that arbitrarily switches a flow path between the boom-free oil passage and the boom turning oil passage,
When the relative inclination angle of the front wheel axle with respect to the vehicle body exceeds a predetermined range by the front wheel inclination angle measuring means, the boom rotation preparation control means sets the boom to a relative inclination direction of the front wheel axle. In preparation for rotating in the opposite direction, the flow path is switched to the opposite direction by the direction switching valve, and the boom is in a neutral state by switching to the boom-free oil path by the oil path switching valve. Wait,
When the relative inclination angle of the boom with respect to the base frame exceeds a predetermined range by the boom inclination angle measuring means, the boom turning control means moves the boom through the flow path by the oil passage switching valve. with switching the oil passage, rotating the boom by operating the hydraulic pump, tractor ChokuSoshiki boom sprayer.