JP7363879B2 - Spreading machine - Google Patents

Description

The present invention relates to a spreading work machine equipped with a spreading device such as a side boom.

A conventional spraying work machine is equipped with a chemical liquid tank that stores a chemical liquid to be sprayed at the rear of a traveling vehicle body, and extendable and retractable side booms that can be deployed on both the left and right sides of the machine body to spread the chemical liquid. The left and right side booms are composed of a fixed boom and a sliding boom, and spray nozzles for spraying chemicals are arranged at predetermined intervals on the fixed boom and the sliding boom.

The amount of expansion and contraction of the side booms on the left and right sides of the adjacent working row before turning is recorded for each predetermined position, and the edge of the chemical spraying range of the adjacent working row and the chemical spraying range of the current working row are recorded. The amount of expansion and contraction of the side booms on either side is controlled so that the ends do not overlap (Patent Document 1).

Patent No. 6244144

With conventional spraying machines, the spraying range of chemicals does not overlap between adjacent rows, so unnecessary use of chemicals can be suppressed.

However, although the spraying range of the chemicals sprayed from the spraying nozzle on the outer edge of the fuselage overlaps with that of the spraying nozzle on the inner side of the fuselage, the spraying range of the chemicals does not overlap on the outside of the fuselage. The amount will be less compared to other spray locations. Therefore, the chemical agent is not sufficiently sprayed near the end of each working row, causing a problem that pests and diseases are more likely to occur.

SUMMARY OF THE INVENTION In view of the conventional problems, an object of the present invention is to provide a spraying machine that can extend and retract a side arm so as to overlap the spraying range of chemicals on adjacent rows, and can spray a sufficient amount of chemicals.

The invention according to claim 1 provides a liquid agent spraying device (10) for spraying a liquid agent, the liquid agent spraying device (10) is provided with a plurality of spraying nozzles (130) at predetermined intervals, and the liquid agent spraying device (10) is provided with a plurality of spraying nozzles (130) at predetermined intervals. A spreading work vehicle (1) that is extendable and retractable is provided with a position information acquisition member (140) that obtains position information of the spreading work vehicle (1), and a position information acquisition member (140) that detects the amount of expansion and contraction of the liquid agent spraying device (10). A quantity detection member (108) is provided, and the position information acquired by the position information acquisition member (140) and the amount of expansion and contraction of the liquid agent spraying device (10) in the position information are recorded in the control device (200), and the control device (200) expands and contracts the liquid agent spraying device (10) based on the recorded position information and the amount of expansion/contraction of the liquid agent spraying device (10) in the recorded position information to spray the sprayed area from the spray nozzle (130). The liquid agent spraying device (10) includes a base-side spraying device (101) mounted on the spraying vehicle (1), and a base-side spraying device (101) that is attached to the spraying vehicle (1). The movable spreading device (103) moves in the extending or contracting direction along the longitudinal direction, and the moving spreading device (103) has the spreading nozzles (130) opened at a predetermined nozzle pitch (P). The dispersion device (101) is arranged so that the movable dispersion device (103) can be switched from the closed state to the open state or from the open state to the closed state one by one by moving the movable dispersion device (103) in the extension or contraction direction. Opening/closing nozzles (120) are arranged with a predetermined nozzle pitch (P), and a slide plate (102) is provided in the base-side dispersion device (101) so as to be movable along the base-side dispersion device (101). , the mobile spraying device (103) is provided on the slide plate (102), and the control device (200) controls the nozzle pitch (P) to be uniform when moving the mobile spraying device (103) in the extension or contraction direction. A scattering switching pin (112) is provided on the slide plate (102) in a posture protruding toward the base side spraying device (101), and the plurality of opening/closing nozzles (120) A switching cock (124) is provided for switching the opening/closing nozzle (120) between an open state and a closed state, and when the mobile spreading device (103) moves in the extension or contraction direction , the switching cock (124) is connected to the spreading switching pin ( 112) contacts to switch the opening/closing nozzle (120) into an open state or a closed state, and when the movement of the mobile spraying device (103) among the plurality of opening/closing nozzles (120) stops, The opening/closing nozzle (120), in which the switching pin (112) contacts the switching cock (124) , is switched to an intermediate state between the open state and the closed state, and the opening/closing nozzle (120) is in the open state. The spraying machine is also characterized by the fact that the amount of spraying is small.

According to a second aspect of the invention, the liquid agent dispersion device (10) includes a pair of left and right base side dispersion devices (101, 101) and a front boom (110) attached to a front frame (11) provided on the front side of the aircraft body. The left and right base spray devices (101, 101) and the front boom (110) are provided with side spray switches (301L, 301R) and a center spray switch (302) for detecting whether the liquid agent is being sprayed or stopped. , the control device (200) detects the respective detection states of the side spray switches (301L, 301R) and the center spray switch (302), and the left and right base side spray devices detected by the expansion/contraction amount detection member (108). Based on the amount of expansion and contraction of each mobile spreading device (103, 103) attached to (101, 101), the pair of left and right base side spreading devices (101, 101) are moved to the virtual field work map (FM). A spraying recording application (201) that colors the working strip on which the spraying device (103, 103) and the front boom (110) have sprayed chemicals, and also displays the ends of the working strip with different colors or different linear shapes. ) The spreading work machine according to claim 1, further comprising:

According to the invention of claim 1, the liquid agent spraying device (10) is expanded and contracted based on the amount of expansion and contraction of the liquid agent spraying device (10) for each position information recorded in the previous work line, and the adjacent previous one is moved from the discharge device (130). By dispersing the liquid agent on the working strip, it is possible to prevent the occurrence of a portion where the supply amount of the liquid agent is insufficient near the end of each working strip.

This prevents poor crop growth due to lack of liquid and loss of crops due to pests and diseases.
Furthermore, when the movement of the mobile spreading device (103) is stopped, the switching nozzle (120) where the switching spreading pin (112) contacts the switching cock (124) is switched to an intermediate state. It is possible to spray the medicine in a smaller amount than the set amount and in a narrow range.
As a result, when changing the spraying work area, it is possible to prevent the supply of chemicals from being insufficient in some areas, thereby preventing crops from being affected by pests and diseases and reducing commercial value and yield.

According to the invention of claim 2, in addition to the effect of the invention of claim 1, if at least one or more discharging devices (130) are not spraying the liquid to the adjacent previous working line, the liquid dispersing device (10 ) is extended, the required amount of liquid can be supplied to the end of each working row, and the growth of crops can be stabilized.

Side view of work vehicle Plan view of work vehicle Perspective view of the transmission case seen from the front Perspective view of the transmission case seen from the rear Perspective view of the transmission case seen from the rear bottom side Schematic sectional view of the mission case Enlarged view of the clutch inside the transmission case Perspective view of the front case of the mission case seen from the front Perspective view of the front case of the mission case seen from inside Perspective view of the center case of the mission case seen from the front Perspective view of the center case of the mission case seen from the rear Perspective view of the rear case of the mission case seen from inside Perspective view of the rear case of the transmission case seen from the rear Front view of clutch plate Partially enlarged view of the vicinity of the PTO axis in Figure 6 (a) A front view of the main parts showing the side boom in the retracted state, (b) A plan view of the main parts showing the side boom in the retracted state (a) A front view of the main parts showing the side boom in the extended state, (b) A plan view of the main parts showing the side boom in the extended state Side view of main parts of opening/closing nozzle (a) A front view of the main parts showing the opening/closing nozzle in the open state, (b) A front view of the main parts showing the opening/closing nozzle with the switching cock in contact with the dispersion switching pin, (c) A front view of the main parts showing the opening/closing nozzle in the intermediate state , (d) Main part front view showing the opening/closing nozzle in the closed state (a) A plan view of the main parts showing the opening/closing nozzle in the open state, (b) A plan view of the main parts showing the opening/closing nozzle with the switching cock in contact with the scattering switching pin, (c) A plan view of the main parts showing the opening/closing nozzle in the intermediate state , (d) Main part plan view showing the opening/closing nozzle in the closed state (a) A front view of main parts showing the opening/closing nozzle in another configuration example in the open state, (b) A front view of main parts showing the opening/closing nozzle in another configuration example in which the switching cock is in contact with the scattering switching pin, (c) In the intermediate state Main part front view showing an opening/closing nozzle of another configuration example, (d) Main part front view showing an opening/closing nozzle of another configuration example in a closed state (a) A plan view of the main parts showing the opening/closing nozzle in another configuration example in the open state, (b) A plan view of the main parts showing the opening/closing nozzle in another configuration example in which the switching cock is in contact with the scattering switching pin, (c) in the intermediate state. (d) A plan view of the main parts showing the opening/closing nozzle of another configuration example; (d) A plan view of the main parts showing the opening/closing nozzle of another configuration example in the closed state (a) A front view of the main part showing the overlap in the chemical spray range between nozzles, (b) A plan view of the main part showing the overlap in the chemical spray range between the nozzles Block diagram showing the input and output systems of each part of the aircraft Flowchart showing the extension and contraction operation of the side boom by manual operation and automatic control Schematic diagram showing a field work map showing colored areas where chemical spraying work has been performed Flowchart showing control of extension and contraction of the side boom that sprays chemicals in duplicate near the ends of adjacent rows. Main part front view showing the state where the end of the side boom does not reach the adjacent row Main part front view showing the side boom end in a position where it partially overlaps the adjacent strip Main part front view showing the state where the end of the side boom performs chemical spraying work overlapping the spraying position of the adjacent row Schematic diagram showing a field work map showing colored areas where chemical spraying work has been performed Flowchart showing coloring control of field work map corresponding to chemical spraying work Flowchart showing the conditions that allow automatic extension/retraction control when lowering the side boom Flowchart showing transition to simulation mode when operating a simulation switch (a) Schematic diagram of a control unit including a side boom deployment switch and storage switch; (b) Schematic diagram of a control unit in another configuration example including a side boom deployment switch and storage switch Flowchart of control configuration to automatically extend and retract the side boom on the storage side after lowering A flowchart showing the control for recognizing and controlling the amount of extension and contraction of the side boom on a section-by-section basis, as well as operating the side boom when a failure occurs in some or all sections.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In the embodiment of the present invention, a description will be given using a pest control work vehicle that sprays agricultural chemicals as an example of the work vehicle.

In this application, the side of the work vehicle 1 in the direction of travel of the vehicle is the front, the opposite side is the rear, the left hand side in the travel direction is the left, and the right hand side in the travel direction is the right.

As shown in FIGS. 1 and 2, the work vehicle 1 is a vehicle that sprays chemical solution for pest control, and is equipped with front wheels 2 and rear wheels 3, and has an engine ( (not shown) is covered. A control section 5 is provided behind the hood 4, and the control section 5 is provided with a steering handle 6 and a seat 8.

At the rear of the seat 8, a chemical liquid tank 9 for storing a chemical liquid is removably mounted. Further, the work vehicle 1 includes a hydraulic continuously variable transmission (HST) which is a mechanism capable of adjusting forward and reverse directions of movement and speed of the vehicle, and an engine start restriction device that restricts starting of the engine.

In addition, support brackets 12a that protrude in the left and right direction are provided on both left and right sides of the front part of the vehicle body of the work vehicle 1, and each of the left and right support brackets 12a has an elevating link 12 constituted by an upper and lower link body. Rotatably supported. The upper and lower link bodies of the lift link 12 are configured to interlock with each other, and a telescopic lift cylinder 13 is connected to the lower link body of the lift link 12 and the support bracket 12a. Since the lift cylinder 13 is extended and contracted, the lift link 12 can be swung in the vertical direction.

Further, the elevating link 12 extends to a position in front of the bonnet 4, and a front frame 11 is attached to the front end of the elevating link 12 so as to connect the left and right elevating links 12. Therefore, by simultaneously expanding and contracting the left and right lifting cylinders 13, the front frame 11 can be raised and lowered via the left and right lifting links 12 that move up and down.

At both ends of the front frame 11, a pair of left and right side booms 10, which are examples of working devices, are attached so as to be rotatable about the vertical direction as an axis for spraying a chemical solution. Boom rotation cylinders 109, 109 are provided that allow for independent expansion and folding in the left and right directions. A plurality of nozzles 100 are attached to the side boom 10, and a front boom 110 is attached to the front frame 11, in which a plurality of front nozzles 111 are provided at equal intervals in the left and right direction. Each of the front nozzles 111 of the front boom 100 and the front boom 110 is configured to be able to receive the chemical liquid from the chemical liquid tank 9 and spray the chemical liquid in the form of a spray. In addition, in FIG. 1, the right side boom 10 is omitted from the figure.

The state in which the side boom 10 is rotated inward in the left-right direction of the aircraft body, and then rotated downward to the left and right sides of the vehicle body is called the stowed position. After rotating upward, the state in which it is rotated outward in the left-right direction of the aircraft and extended left and right is called the chemical spraying posture. When in the storage position, the side boom 10 is placed on boom receivers 15 provided on both left and right sides of the work vehicle 1, so that the side boom 10 can be maintained in a state facing obliquely upward to the rear of the vehicle body.

3 is a perspective view of the mission case 20 mounted on the work vehicle of the present embodiment viewed from the front to the rear, FIG. 4 is a perspective view of the mission case 20 viewed from the rear to the front, and FIG. FIG. 2 is a perspective view of the mission case 20 of FIG.

3 to 5, 21 is a front case, 22 is a center case, 22a is a bottom surface of the center case 22, and 23 is a rear case. Further, 24 is an input shaft for transmitting power from the engine, and 25 and 26 are first and second hydraulic pumps. Further, 27 is a shaft for turning on and off a clutch which will be described later, 28 is a lift valve at the rear, and 29 is a running output shaft for the front wheels 2. Further, 30 is a hydraulic continuously variable transmission (HST), and 31 is a clutch lubrication hole. Further, 32 is a PTO shaft for a working device such as a boom sprayer, 33 is a live PTO output shaft (additional transmission shaft) to be described later, 34 is a vehicle speed sensor, 35 is a drain, 36 is a sub-shift shaft, 37 is a breather, 38 is a travel output shaft that transmits the driving force for driving the rear wheels 3.

Furthermore, the inside of the mission case 20 has a structure as shown in FIGS. 6 and 7. 6 is a schematic cross-sectional view of the entire structure, and FIG. 7 is an enlarged view centered on the clutch 55.

First, the front case 21 will be mainly explained. FIG. 8 is a perspective view of the front case 21 viewed from the front, and FIG. 9 is a perspective view of the front case 21 viewed from the rear. Here, the ball bearing of the bearing is omitted in FIGS. 8 and 9. The input shaft 24 is held by an input bearing 21a. A gear 40 is connected to the rear end of the input shaft 24. A gear 41 fixed to a clutch drive shaft 42 meshes with the gear 40. The front end of the clutch drive shaft 42 is supported by a clutch front bearing 43 formed in the front case 21. Here, 55 is a clutch.

Furthermore, the gear 41 meshes with a gear 44 located below, and this gear 44 is fixed to a gear pump drive shaft 45 that drives the first hydraulic pump 25, and a gear pump bearing 46 that is a bearing of this gear pump drive shaft 45 is formed on the front case 21.

On the other hand, a gear 47 attached to a shaft 48 meshes above the gear 40, and the tip of this shaft 48 is supported by a bearing 49 formed on the front case 21. Further, the rear end of the shaft 48 is supported by a bearing 50a provided in a part of a bearing plate portion 50 attached to the central case 22 side. A gear 51 is attached near the center of the shaft 48, and a gear 52 meshes with the gear 51, and the gear 52 is fixed to the above-mentioned live PTO output shaft 33. The front end of the live PTO output shaft 33 is supported by a bearing 54 formed on the front case 21, and the rear end is pivotally supported by a bearing 50b formed on the bearing plate portion 50, and protrudes rearward to provide a live PTO output shaft. It can be used as a PTO output shaft.

Here, when the driving force of the engine is input from the input shaft 24, the gear 40 rotates. This rotation causes the engaged gear 47 to rotate, and the shaft 48 to rotate. The rotation of the shaft 48 causes the gear 51 to rotate, and the engaged gear 52 to rotate.

As a result, the live PTO output shaft 33 fixed to the gear 52 rotates, and the driving force from the engine is extracted to the outside. Since this driving force is extracted from the upstream side (upper side) of the clutch 55, it is not affected by whether the clutch 55 is engaged or closed, and the driving force can be extracted while the engine is running.

Further, the gear 40 is further meshed with a gear 41, and since this gear 41 is fixed to a clutch drive shaft 42, the driving force of the engine is also transmitted from the input shaft 24 to this clutch drive shaft 42. Clutch drive shaft 42 is connected to clutch 55. Therefore, the driving force transmitted to the clutch drive shaft 42 depends on whether the clutch 55 is turned on or off.

Further, a gear 44 meshes with the gear 41, and the driving force of the engine is transmitted from the input shaft 24 to a gear pump drive shaft 45 to which the gear 44 is fixed. The first hydraulic pump 25 is driven by this rotation of the gear pump drive shaft 45. The first hydraulic pump 25 pumps oil to the working hydraulic system. Note that the second hydraulic pump 26 attached to the front case 21 is also driven by a similar mechanism.

Next, the center case 22 and the rear case 23 will be explained. As shown in FIGS. 10 and 11, the central case 22 is removable from the front case 21 and the rear case 23 by a bolt mechanism. As shown in FIG. 6, A indicates the interface between the front case 21 and the center case 22, and B indicates the interface between the center case 22 and the rear case 23. Further, the central case 22 is fixed to the frame of the traveling vehicle body 1' of the work vehicle 1 by a connecting portion 53 (see FIG. 11). Note that FIG. 12 is a perspective view of the rear case 23 viewed from the inside, and FIG. 13 is a perspective view of the rear case 23 viewed from the rear outside.

Inside the central case 22, the above-mentioned bearing plate part 50 is formed at the front position, and a clutch bearing plate part 57 is formed at the center position.

A clutch 55 is disposed between the front bearing plate 50 and the clutch bearing plate 57, and the clutch drive shaft 42 is pivotally supported by the bearing 60 of the clutch bearing plate 57 via the clutch 55. Further, the rear portion of the clutch drive shaft 42 passes through a hole 61 (see FIG. 11) in the bearing portion 60, and is pivotally supported by a clutch drive shaft bearing 62 of the rear case 23.

Note that since the HST drive shaft is supported by the rear case 23, it is cantilevered by the rear case 23 or fixed to the HST itself.

Further, since the drive shaft is long in the front and rear, it is supported by the front case 21, the center case 22, and the rear case 23.

Furthermore, as shown in FIG. 6, a speed change gear 70 is fixed to the clutch drive shaft 42, and the speed change gear 70 is connected to a gear 71 (idle) that is freely rotatably attached to the shaft of the PTO shaft 32 for the work equipment. gear).

The rotation of the gear 71 is transmitted to the PTO shaft 32 by the clutch drive shaft 42 by a mechanism described later. Therefore, the rotation of the PTO shaft 32 for the working device depends on whether the clutch 55 is turned on or off. Note that 32a is a PTO bearing provided in the rear case 23.

On the other hand, a gear 63 is further attached to the clutch drive shaft 42, and the gear 63 meshes with the HST input gear 64. Further, the HST output gear 65 is connected to the front wheel running output shaft 29 and the rear wheel running output shaft 38 via three gear mechanisms 66, 67, and 68. In FIG. 8, 29a is a bearing for the running output shaft 29 of the front wheels. Therefore, the output shifted by the HST 30 is transmitted to the traveling output shafts 29 and 38. Here, 30a is the HST input side, and 30b is the HST output side. Further, 72 and 73 are an HST input bearing and an HST output bearing, respectively.

In this way, the mission case 20 is divided into the front, center, and rear parts, and the central case 22 is fixed to the frame of the traveling vehicle body 1' of the work vehicle 1 (connection part 53), so that the entire mission case 20 can be attached to the machine. The structure allows maintenance work to be carried out inside the case without having to take it down.

Next, the clutch 55 in this embodiment has a wet type structure rather than a so-called dry type. That is, as shown in FIGS. 6 and 7, both ends of the clutch drive shaft 42 are supported by the front case 21 and the rear case 23 (43, 62), and an oil passage is provided between the shaft and the support. It is formed. Lubricating oil is supplied from the clutch lubrication hole 31. The lubricating oil returns the hydraulic pressure of the pest control machine (working hydraulic system) to the oil path of the clutch drive shaft 42.

The clutch 55 is configured by having a plurality of clutch plates 55b housed in a clutch case 55a, and by providing the clutch case 55a on the clutch drive shaft 42. Further, the clutch drive shaft 42 has a flow path for hydraulic oil, and can supply hydraulic oil to the inner peripheral side of the clutch plate 55b. Furthermore, a return hole is formed in the clutch case 55a to return the hydraulic oil that has entered the clutch case 55a to the hydraulic circuit. Note that FIG. 14 shows a clutch plate 55b, and as shown by arrow C, a communication hole 92 is formed from the inner circumference to the outer circumference.

Since the clutch 55 has such a structure, by supplying hydraulic oil from the flow path of the clutch drive shaft into the clutch case 55a, it is possible to prevent the clutch plate 55b from seizing and becoming immobile. can be turned on and off reliably.

Furthermore, by forming the return hole in the clutch case 55a, the hydraulic oil that has entered the clutch case 55a can be returned to the transmission case 20, thereby preventing an increase in internal pressure and a shortage of hydraulic oil. Ru.

Furthermore, by forming the communication hole 92, the hydraulic oil that has entered between the clutch plate 55b and the clutch case 55a can be moved to the outside of the clutch case 55a, so that the hydraulic oil that does not return to the flow path becomes old. This will prevent problems from occurring.

In other words, since the communication hole 92 is formed by penetrating the clutch plate 55b at one place or multiple places toward the outer peripheral edge, when the communication hole 92 is immersed in the hydraulic oil stored in the transmission case 20, The hydraulic oil enters the inside of the communication hole 92 from that part and can penetrate into the inside of the clutch case 55a (this phenomenon occurs particularly when the clutch is stopped). Furthermore, when the hydraulic oil that has entered the communication hole 92 is scattered outside the clutch case 55a by the centrifugal force caused by the rotation of the clutch drive shaft 42, the hydraulic oil is sent into the transmission case 20. In other words, the structure is such that the hydraulic fluid can both enter the interior and discharge to the outside.

Moreover, FIG. 15 is a partially enlarged view of FIG. 6 centered on the PTO shaft 32 for a working device such as a boom sprayer.

Here, as described above, the speed change gear 70 is fixed to the clutch drive shaft 42, and the speed change gear 70 is connected to the gear 71 (with a loose fit) that is freely rotatably attached to the shaft of the PTO shaft 32 for the work equipment. gear). This gear 71 is meshed with a first counter gear 75 fixed to a counter shaft 76. Another second counter gear 77 is fixed to this counter shaft 76, and this second counter gear 77 meshes with a gear 78 fixed to the shaft of the PTO shaft 32. Note that 71a is a grooved washer.

Therefore, the gear 70 rotates due to the rotation of the clutch drive shaft 42, the rotation is transmitted to the gear 71 which is a loose fit gear, the rotation of the gear 71 is transmitted to the first counter gear 75, the rotation is transmitted to the counter shaft 76, and the rotation is transmitted to the first counter gear 75. The rotation is transmitted to the second counter gear 77, the rotation is transmitted to the gear 78, and as a result, the rotation is transmitted to the PTO shaft 32, causing it to rotate.

On the other hand, 90 is a lubricating oil pipe that returns and discharges hydraulic oil from the working hydraulic system into the mission case 20. 79 is a discharge port 79 of the lubricating oil supply pipe 90 provided in the rear case 23. The discharge port 79 of the lubricating oil supply pipe 90 is arranged above the work drive power transmission mechanism, which is arranged on the upper side inside the mission case 20. For example, the PTO shaft 32 is an example of the work transmission shaft of the present invention.

With this structure, by discharging the hydraulic oil from the upper side of the transmission case 20, it is possible to reliably lubricate the upper transmission mechanism where internal lubricating oil tends to be insufficient, thereby reducing wear and seizure. , a decrease in the durability of the mission case 20 can be suppressed.

In this case, the transmission case 20 itself also serves as an oil tank. The first hydraulic pump 25 described above pumps the oil in the oil tank as hydraulic oil again to the drive cylinder.

Furthermore, a diffusion member is rotatably mounted on the PTO shaft (work power transmission shaft) 32 to receive the hydraulic oil discharged from the discharge port 79 and to diffuse it around. An example of the diffusion member of the present invention is the free rotating gear 71 mentioned above.

By rotating the gear 71 of the diffusion member provided on the PTO shaft 32, the hydraulic oil can be spread over a wide range by centrifugal force, thereby further preventing wear and seizing due to lack of hydraulic oil.

Further, the gear 71 serving as the diffusion member is formed with an oil passage hole 91 into which hydraulic oil can enter. This makes it easier to spread the hydraulic oil over a wide range in addition to the rotational direction. It is desirable to provide a plurality of oil passage holes 91. For example, there are four pieces arranged at 90 degrees around the axis. There is also the effect that the lubricating oil flows into the inside of the gear 71.

Since the gear 71, which is a diffusion member, rotates in a fixed direction, if this is done alone, the hydraulic oil tends to be spread slightly in the direction of rotation, but an oil passage hole 911 is formed by passing through the gear 71. As a result, the hydraulic oil that has entered the interior from the discharge port 79 is released by centrifugal force at a position other than the position where it is repelled by the wing portion (corresponding to the gear tooth portion) of the gear 71, and the hydraulic oil is also released on the downstream side in the rotation direction. becomes easier to spread.

Note that the lubricating oil pipe 90 is attached to the front or rear side of the transmission case 20, and an orifice is formed in the discharge port 79 of the lubricating oil pipe 90, and the orifice faces the inside of the mission case 20. This allows the hydraulic oil to be scattered further.

As described above, the hydraulic pressure returning from the pest control machine to the mission case 20 (working hydraulic system) includes a system that returns from the clutch lubrication hole 31 via the clutch 55, and a system that returns the hydraulic pressure from the clutch lubrication hole 31 to the rear case 23 of the mission case 20. There is a system that returns from the discharge port 79 of the oil pipe 90, but there is also a system in which hydraulic oil discharged from the lift valve and lower link cylinder returns into the mission case 20 from a main valve provided on the side of the mission case case 20. be.

The left and right side booms 10, 10 are configured to be extendable and retractable in order to adjust the range in which pest control chemicals and the like are sprayed. As shown in FIGS. 1, 2, 16(a), 16(b), and 17(a)(b), the base boom 101 can be rotated vertically and horizontally at the left and right ends of the front frame 11. A slide frame 102 is provided on the top of the base boom 101 so as to be slidable along the base boom 101, and a movable boom 103 is provided on the slide plate 102, so that the movable boom can be moved by sliding the slide plate 102 from side to side. By changing the extent to which the blade 103 extends in the left-right direction of the body, the amount of expansion and contraction, in other words, the spraying range of the medicine can be changed.

Specifically, a driven pulley 104 is rotatably provided on the end side of the base boom 101 (on the rear side of the body or on the outside of the body), and a driven pulley 104 is rotatably provided on the base side of the base boom 101 (on the front side of the body or on the inside of the body). A boom telescoping motor 106 is provided to drive the pulley 105, and a telescoping wire 107 is brought into contact with the driving pulley 105 and the driven pulley 104, and both ends of the telescoping wire 107 are attached to the mounting bent portions 102a at the left and right ends of the slide plate 102. 102a. Furthermore, a rotary encoder 108 is provided on the side of the drive pulley 105 to calculate the amount of sliding of the movable boom 103 from the rotation caused by contact with the telescopic wire 107.

Note that the sensor for the amount of expansion and contraction of the side boom 10 may be replaced with the rotary encoder 108 described above, and may be a sensor that calculates the amount of sliding of the movable boom 103 from the reflection time of oscillated ultrasonic waves or lasers.

With the above configuration, when the boom telescoping motor 106 is activated, the telescoping wire 107 slides the slide frame 102 in the left and right direction, thereby changing the amount of lateral protrusion of the movable boom 103 supported by the slide frame 102. The scatter range can be changed.

The above-mentioned nozzles 100 are provided at predetermined intervals on the base boom 101 and the movable boom 103, and depending on the opening degree of each nozzle 100 and the output setting of the chemical liquid pump 9a that sends out the chemical from the chemical liquid tank 9, The configuration is such that a set amount of medicine is sprayed.

When the side boom 10 is extended to the maximum extent, that is, when the movable boom 103 protrudes outward from the aircraft body at its maximum, the chemical is sprayed from all nozzles 100 to supply the chemical to the set range. becomes possible. However, when the horizontal length of the side boom 10 is not the maximum, the chemical spray range of some nozzles 100 may be the same or most of them may overlap, and if all nozzles 100 are opened, There is a problem of excessive use of drugs. Furthermore, there are problems in that oversupply of chemicals causes poor growth of crops, and chemicals remain in harvested products, reducing commercial value.

In order to prevent the above-mentioned problems from occurring, as well as problems such as pests and diseases due to shortage of chemicals and uneven spraying, the nozzle 100 provided on the base boom 101 is configured as follows. As shown in FIGS. 18 to 20, a drug flow path 122 through which the drug passes is formed inside the opening/closing nozzle body 121, and a switching rotation shaft 123 forming a switching flow path 123a can be rotated to the drug flow path 122. By inserting it into the holder, it is possible to switch between the open and closed states. Then, insert the bent portion (corner) of the L-shaped (or V-shaped, F-shaped)-shaped switching cock 124 into the switching rotation shaft 123, and rotate the switching cock 124 to open the drug flow path 122. This constitutes an open/close nozzle 120 that switches between a closed state and a closed state.

As shown in FIGS. 19(a) to (d) and FIGS. 20(a) to (d), the switching cock 124 is configured to rotate within a range of about 180 degrees, and when switching from the open state to the closed state, It has a first contact part OC that contacts the spreading switching pin 112 and a second contact part CO that contacts the spreading switching pin 112 when switching from the closed state to the open state, and the first contact part OC and the second contact part Either one of the COs is configured to face the movement path of the dispersion switching pin 112. Note that, as shown in FIGS. 19(a) to (d), when the switching cock 124 rotates 90 degrees, the switching flow path 123a is rotated 45 degrees, and when the switching cock 124 rotates 180 degrees, it is rotated 90 degrees. composition.

In addition, as shown in FIGS. 21 and 22, limit pins 125 are provided in at least two locations on the opening/closing nozzle stand 121 in order to prevent the drug flow path 122 and the switching flow path 123a from becoming misaligned due to excessive rotation. Good too.

A spreading switching pin 112 that projects toward the base boom 101 is provided at the lower part of the slide frame 102, and the spreading switching pin 112 contacts the downwardly projecting portion of the switching cock 124, thereby controlling each opening/closing nozzle. 120 is configured to switch between an on state and an off state.

Note that, as shown in FIGS. 16(a), (b) and 17(a) and (b), the movable boom 103 is not provided with the above-described opening/closing nozzle 120, but is provided with a constant spraying nozzle 130 whose opening degree can only be adjusted. Regardless of changes in the spraying range of the side boom 10, the chemical agent is always sprayed while the side boom 10 is in the spraying operation.

As mentioned above, the nozzle 100 is a member name that includes the opening/closing nozzle 120 and the constant spraying nozzle 130. In addition, the spraying range of the opening/closing nozzle 120, the constant spraying nozzle 130, and the front nozzle 110 spreads out in a conical shape from the center point of each nozzle in a plan view of FIG. 23(b). In FIG. 23(a), which is a front (back) view, each nozzle spreads out in a triangular shape from the lower end.

As shown in FIGS. 24 and 25, the boom telescoping motor 106 is operated by manual operation by a worker or in response to a telescoping signal from a control program, and moves the movable boom 103 to extend and retract the side boom 10. It is. A manual adjustment switch (not shown) that adjusts the length by manual operation is activated by transmitting a signal from the control device 200 to the boom telescoping motor 106 only during operation, and when the operation is stopped, a predetermined nozzle is activated as described later. The boom telescoping motor 106 stops at a position corresponding to the pitch P, and the spraying range of the movable boom 103 is changed.

This allows the operator to spray chemicals in the optimal range while visually checking the condition of the crops. On the other hand, the operator is required to extend and retract one or both of the left and right side booms 10, 10 while driving the traveling vehicle body 1, which poses a problem of imposing a large burden on the operator.

The extension and contraction of the side boom 10 according to the control program is performed by moving a plurality of opening/closing nozzles 120 or continuous spraying nozzles 130 in units of left and right intervals, that is, nozzle pitch P (eg, 300 mm) per signal.

Thereby, the spraying work width of the side boom 10 can be automatically switched, so the worker can concentrate on operating the work vehicle 1, and deviations in the traveling direction are less likely to occur.

In addition, it prevents the spread of chemicals from becoming too wide and the chemicals being supplied to overlapping areas, causing poor crop growth due to the chemicals. This prevents the crop from being unable to be harvested.

Note that the boom telescoping motor 106 is connected to the control device 200 and operates or stops in response to a control signal. When a stop signal is issued from the control device 200, the boom telescoping motor 106 shall be able to operate during expansion or contraction by at least one nozzle pitch P.

When the mobile boom 103 moves in the extension direction, the opening/closing nozzle 120 located at the outermost side of the fuselage within the extension range stops in the middle of switching from the closed state to the open state, and the mobile boom 103 moves in the retraction direction. In this case, the control configuration is such that the opening/closing nozzle 120 located at the outermost side of the fuselage within the contraction range is stopped in the middle of switching from the open state to the closed state. In other words, the intermediate state is a state where the dispersion switching pin 112 is located between the left and right sides of the first contact portion OC and the second contact portion CO, as shown in FIGS. 19(c) and 20(c).

The boom telescoping motor 106 is configured to suddenly stop when the rotary encoder 108 detects a predetermined rotation angle when the boom telescoping motor 106 receives a signal from the control device 200 by a manual stop operation or by satisfying a stop condition. The rotation angle of the rotary encoder 108 is detected by providing a separate sensor (not shown) for detecting the angle, or by calculating it from the rotation angle of the rotary body that the rotary encoder 108 reads.

Alternatively, after receiving a stop signal and stopping, it may be configured to rotate to a predetermined angle due to inertia.

In this stop control configuration, when the operation to move the mobile boom 103 is stopped, the spreading switching pin 112 rotates the switching cock 124 by about 45 degrees and moves it to an intermediate state between the open state and the closed state. Stop at.

The above intermediate state is a state in which the switching channel 123a obliquely contacts the drug channel 122 in the vertical direction of the machine, that is, the channel is in communication although it is narrow, and the drug flow rate and pump pressure are sufficient. If there is, a smaller amount of medicine than the set amount is sprayed from the opening/closing nozzle 120 due to internal pressure. At this time, the amount of medicine sprayed is smaller than that of the opening/closing nozzle 120 in the open state, and the spraying range becomes an isosceles triangular shape with a small apex angle or a cylindrical shape.

As described above, when the boom telescoping motor 106 stops, the switching cock 124 of the opening/closing nozzle 120 located furthest outside the machine body in the changed spraying work range becomes the intermediate state, so that the amount from this opening/closing nozzle 120 is lower than the set amount. , and the drug can be dispersed in a narrow area.

As a result, when changing the spraying work range of the side boom 10, a sufficient amount of chemicals can be supplied even near the outer edge of the spray work range, which can prevent crops from being affected by diseases and pests due to lack of chemicals, reducing commercial value and yield. It is prevented from decreasing.

In addition, since a smaller amount of chemicals is supplied near the outer edge than in other areas, consumption of excess chemicals is suppressed, and excessive supply of chemicals is prevented from adversely affecting crop growth. .

As shown in FIGS. 16 and 17, at least one spray nozzle 130 is always provided on the base side of the base boom 101, so that when the movable boom 103 is retracted to the maximum extent, the movable boom 103 and the slide frame The front end of the base frame 102 is stopped at a position closer to the end than the constant spray nozzle 130 provided at the end of the base frame 101 . At this time, as shown in FIGS. 16 and 17, the continuous spraying nozzles 130 provided at predetermined intervals on the movable boom 103 and the opening/closing nozzles 120 provided at predetermined intervals on the base frame 101 are operated in the longitudinal direction of the aircraft during spraying work. In addition, when stored, the arrangement is such that they overlap in the left and right directions of the aircraft.

Note that among the constant spraying nozzles 130 provided on the movable boom 103, at least one from the end side, two in this application, are spaced apart from the end of the base boom 101 and do not overlap with the opening/closing nozzle 120.

With the above configuration, when the movable boom 103 is retracted to the maximum extent, the chemical is sprayed only by the constant spraying nozzles 130 arranged at a constant nozzle pitch P, so that excessive consumption of the chemical is prevented. This prevents the occurrence of poor crop growth and reduces work costs.

In addition, by providing the constant spraying nozzle 130 that does not overlap with other nozzles on the base side of the base boom 101 and the end side of the movable boom 103, regardless of the amount of expansion and contraction of the side boom 10, A set amount of medicine can be stably supplied to the left and right sides and the outer end of the side boom 10.

As shown in FIG. 26, when the above-mentioned side boom 10 is automatically controlled to expand and contract using the control device 200, the end of the adjacent strip where the chemical spraying work has been completed and the end of the current working strip are An operation that overlaps over a predetermined distance can be considered. The end of the working strip is sprayed with chemicals from a normally open nozzle 130 provided near the outer end of the movable boom 103, but the spraying range of the always open nozzle 130 provided on the outermost side is greater than that of the other normally open nozzles 130. Since there is no overlap with the opening/closing nozzle 120, there is a possibility that the amount of medicine sprayed will be reduced due to the influence of wind direction, etc.

However, if the amount of sprayed chemicals is to be suppressed, the edge of the adjacent row where the chemical has been sprayed should be used as the boundary line, and the outer end of the side boom 10 should always be controlled to expand and contract so that it does not enter the adjacent row as much as possible based on this boundary line. It is desirable that this be done. With this spraying control, duplication of chemical spraying positions can be suppressed as much as possible, and the amount of chemical used can be reduced.

On the other hand, although the amount of chemical used increases, in order to spray the chemical at the same position as the other nozzles 100 (open/close nozzle 120, continuous spray nozzle 130) at the end of the working strip, it is necessary to It is desirable that the outermost continuous spraying nozzle 130 be exposed near the end of the spray nozzle 130 so that the chemical spraying positions overlap.

In order to control the extension and contraction of the side boom 10 described above, as shown in FIGS. performs a process of correlating and recording the coordinates received by the receiving antenna 140 and the amount of movement of the mobile boom 103 detected by the rotary encoder 108 at the time of reception, and also performs the chemical spraying work on the virtual field work map FM. A spraying record application 201 is installed or made available via a cloud server, which displays the working strips and the ends of the working strips using different colors, different linear shapes, etc.

Regarding the control device 200, it is necessary to perform various control calculation processes at the same time, so a high performance device is required to perform it with a single device, but if the processing load is large, it may be necessary to replace it in a short period of time. There is a possibility that it will be required.

Therefore, the control device 200 includes a first CPU 202 that performs control processing such as extension/contraction control and deployment/storage control of the side booms 10, 10, a second CPU 203 that processes signal information obtained from the receiving antenna 140, and a control device that controls the side booms 10, 10 in the spreading state. The third CPU 204 controls the coloring of the dispersion recording application 201 by determining whether the dispersion is in the non-dispersion state or not.

As mentioned above, by distributing different controls to multiple CPUs, each CPU receives only the load of control processing, and multiple controls are executed in parallel, so the aircraft's operations associated with the controls can be performed accurately. be exposed.

However, each of the CPUs 202 to 204 described above may not perform only a single task, but may perform processing in parallel depending on the situation.

Further, when performing work with one of the left and right side booms 10, 10 extended and spraying stopped, the first CPU 202 grasps the attitude of the side boom 10 and the third CPU 204 performs the spraying work. Since it can be determined whether or not the spraying work is being performed, it is possible to prevent the spraying recording application 201 from coloring and recording areas where the spraying work is not performed. This increases the reliability of the dispersion record.

In the above description, when the side boom 10 is determined to be in the non-spreading state, the spraying recording application 201 is controlled not to color the corresponding range, but it may be colored in a different color to indicate the non-spreading state.

Note that the satellite with which the receiving antenna 140 communicates is one such as GNSS, GLONAS, Michibiki, etc. that can stably receive satellite signals at the work place. , IMU, etc. may be provided to perform control other than the chemical spraying operation.

In addition, in order to improve reception accuracy, it is desirable to install the receiving antenna 140 at the top of the vehicle body 1, so if a cabin is provided that covers the seat 8, it should be installed on the roof of this cabin and at the center of the vehicle body in the left-right direction. If a rope is provided near the rear of the seat 8, it is preferably provided above the rope and near the center in the left-right direction of the aircraft. At this time, since there is a certain distance between the receiving antenna 140 and the side boom 10 in the longitudinal direction, if the accuracy is to be further improved, the control device 200 should be used to correct the distance between the receiving antenna 140 and the side boom 10. It is better to let

If the distance between the side boom 10 and the receiving antenna 140 is to be reduced, an antenna pole may be erected by protruding upward from the bonnet 4, or an antenna frame may be provided to straddle the bonnet 4.

Alternatively, as shown in FIGS. 1 and 2, a receiving antenna 140 with high reception accuracy even at a low position may be attached to the surface of the hood 4. In either case, if the receiving antenna 140 is installed near the center position on the left and right sides of the aircraft, it can be spaced almost equally from both the left and right side booms 10, 10, and the deviation in position detection accuracy can be reduced. Prevented.

A handle potentiometer 141 is provided to detect the amount of operation of the steering wheel 6 of the vehicle body 1, and when an amount of operation that can be considered as turning the vehicle body 1 due to the operation of the steering handle 6 is detected, the control device 200 It is assumed that it is determined which side, left or right, is the outer side in the turning direction.

Further, when the handle potentiometer 141 detects an operation amount that can be considered as a turning operation, the control device 200 contracts the boom rotation cylinder 109 of the side boom 10 corresponding to the outer side in the turning direction, and moves the side boom 10 toward the outer side in the turning direction. Switch to upward tilt position. This can prevent the side boom 10 on the outside of the swing from coming into contact with the slope or wall of the ridge end and being damaged.

In addition, by operating the automatic cut-off button when turning in accordance with the way the crops are planted near the turning position at the edge of the field, chemicals can be supplied to the left and right side booms 10, 10 and the front boom 110 while turning. It is also possible to adopt a configuration in which the pump stops, or a configuration in which the spraying of chemicals from the left and right side booms 10, 10 and the front boom 110 can be turned off at will.

With the above configuration, under work conditions where it is necessary to spray a chemical while turning, the chemical can be sufficiently supplied to crops near the turning position, and the effects of pests and diseases due to lack of the chemical can be prevented.

On the other hand, if there are no crops near the turning position, the supply of chemicals can be stopped, so the consumption of chemicals can be suppressed and agricultural costs can be reduced.

Note that the control device 200 records the left-right width of the traveling vehicle body 1 and the length of the base boom 101 when it is deployed to the sides of the vehicle body, and the base boom It is assumed that a constant numerical value is output for the distance to the outer end of 101. If the configuration is such that the mounting position of the receiving antenna 140 and the outer end of the base boom 101 in the deployed state are shifted in the longitudinal direction of the aircraft, a correction value using a trigonometric function is applied.

Furthermore, although the left and right position of the movable boom 103 changes depending on the amount of expansion and contraction, by setting the interval between the spray nozzles 130, the so-called nozzle pitch P, at all times to 30 cm, and making this 30 cm one unit detected by the rotary encoder 108, The control device 200 can be caused to calculate the current amount of expansion and contraction.

As shown in FIG. 27, after the above-described turning travel control, when it is determined that the next work line has been reached, that is, when the detected value of the handle potentiometer 141 can be considered as a non-turning operation, the control device 200 performs the following operations. The outer end of the side boom 10 on the inside of the turn, that is, the moving boom, calculated from the position coordinates currently received via the receiving antenna 140 and the detected value of the rotary encoder 108 on the side located on the inside of the turn during the turn. The amount of expansion and contraction of 103 is calculated.

Then, corresponding to the acquired current position coordinates, the end position of the adjacent strip where the chemical was sprayed earlier and the current center position of the continuous spray nozzle 130 provided at the outermost side of the movable boom 103 in plan view. The difference in the left and right direction is calculated, the boom telescoping motor 106 is operated based on the calculated difference, and the operation of the boom telescoping motor 106 is stopped in accordance with the detection of the rotary encoder 108.

As shown in FIG. 28, when the continuous spraying nozzle 130 provided at the outer end of the movable boom 103 is located within the width of the current working row and has not entered the adjacent row, the control device 200 The movable boom 103 is extended toward the adjacent strip by the nozzle pitch P, that is, 300 mm.

Then, as shown in FIG. 30, the detection value becomes such that it can be considered that the continuous spraying nozzle 130 has exceeded the end EX of the adjacent strip and is located above the adjacent strip, that is, the spraying range of the continuous spraying nozzle 130 is If it is calculated that the spray nozzle 130 has entered the edge EX by 150 mm or more, the distance X between the center of the continuous spray nozzle 130 and the recorded end position of the adjacent strip is calculated. If this separation distance X is 150 mm or more, the overlapping spraying position of one continuous spraying nozzle 130 can be appropriately secured on the adjacent row, so the control device 200 stops the boom telescoping motor 106.

In addition, if the boom extension/retraction motor 106 continues to operate due to inertia even after stopping, the boom will extend/retract approximately 20 to 30 mm before reaching the target (this value may vary depending on factors such as the performance of the motor and the structure of the boom extension/retraction mechanism). A configuration may also be adopted in which a stop signal for the motor 106 is transmitted.

On the other hand, as shown in FIG. 29, when the separation distance The boom telescoping motor 106 is activated to move the boom by one pitch P, that is, 300 mm.

The boom position is calculated as described above for each position coordinate that matches the position coordinates obtained in the adjacent row, and the boom telescoping motor is activated while the adjacent row has a spraying range of approximately 300 mm, which is equivalent to one continuous spray nozzle 130. 106 is not activated, but when it is detected that the spraying range of the outermost continuous spraying nozzle 130 is entering the current workplace side from the end of the adjacent row, the moving boom 103 is moved by 300 mm + separation distance X to the adjacent row side. The configuration is such that the boom telescoping motor 106 operates in order to move the boom.

Note that acquisition of position coordinates is often performed multiple times in a short period of time, and calculating the boom spraying range each time increases the load on the control device 200. If the movable boom 103 of the boom 10 repeatedly expands and contracts in a short period of time, the spraying nozzle 130 may not be able to remain at an appropriate spraying position at all times. Therefore, if the position information of the adjacent strip and the current working strip is compared every time a predetermined time or a predetermined number of points pass, the calculation frequency of the control device 200 can be suppressed and the load can be reduced. The outermost continuous spraying nozzle 130 of the movable boom 103 can be kept at an appropriate position so as to be able to spray the chemical, and a sufficient amount of the chemical can be supplied to the overlapping spraying positions.

Alternatively, calculate the difference in coordinates in the left and right direction between at least two points caused by lateral displacement of the traveling vehicle body 1, and even if the number of points is within a predetermined time or within a predetermined value, the difference in coordinates exceeds the allowable range. In some cases, the controller 200 may be configured to send an activation signal to the boom telescoping motor 106.

With the above configuration, it is possible to automatically spray the chemical overlappingly near the ends of adjacent rows, so other open/close nozzles 120, continuous spray nozzles 130, or locations where open/close nozzles 120 and continuous spray nozzles 130 are adjacent to each other. Since chemicals are supplied in the same way as above, it is possible to prevent a decrease in commercial value and yield due to the effects of pests and diseases due to a shortage of chemicals.

The dispersion record application 201 will be explained in more detail.

As shown in FIG. 24, the base boom 101 of the left and right side booms 10 and the front boom 110 are provided with left and right side spray switches 301L and 301R, and a center spray switch 302, which determine whether or not a chemical is to be sprayed. will be established.

As shown in FIG. 32, whether the side spray switches 301L, 301R and the center spray switch 302 are on or off is determined based on whether or not a signal is sent to the third CPU 204. As shown in FIG. 31, on the virtual map FM shown in FIG.

This replacement is performed in real time as the traveling vehicle body 1 moves forward, so when the operator looks at the display, it appears as if the screen is being repainted, so "replacement" can also be called "coloring." At this time, in order to carry out coloring in real time as the traveling vehicle body 1 moves forward, the second CPU 203 processes the signal information acquired from the receiving antenna 140, and controls the left and right side spray switches 301L, 301R and the center spray switch at each acquisition time. The range to be colored is changed in relation to the on/off state of 302.

Note that the amount of protrusion of the movable boom 103 that constitutes the side booms 10, 10 in the left-right direction of the aircraft differs depending on settings and extension/contraction control, so the current amount of extension/contraction of the movable boom 103 input to the first CPU 202 is transmitted to the third CPU 204. and increase/decrease the colored range indicating the spraying work in the left and right directions of the aircraft.

When the rotary encoder 108 is used to detect the amount of expansion and contraction of the movable boom 103, the first CPU 202 determines the current amount of protrusion based on the rotational speed detected by the rotary encoder 108. For example, if the left-right distance between adjacent opening/closing nozzles 120 is the nozzle pitch P (e.g. 300 mm), and one revolution detected by the rotary encoder 108 is the same distance as the nozzle pitch P, then the amount of protrusion can be determined from the number of rotations. can.

Then, the third CPU 204 expands or contracts the coloring range in accordance with the rotational speed detected by the rotary encoder 108. In addition, by assuming that the rotation speed detected by the rotary encoder 108 when the movable boom 103 is not protruding at all, in other words, when it is retracted to the maximum extent, is 0, and adding the rotation speed to this, the protrusion amount of the movable boom 103 and A corresponding coloring range can be determined.

Note that when a laser or ultrasonic wave is used for detection, the distance is calculated from the time required for reflection, and the first CPU 202 determines the most approximate protrusion amount.

With the above configuration, the field work map FM can be colored in accordance with the actual chemical spraying work, making it easier to visually determine how the chemical spraying work in the field has been performed. For example, if there are many uncolored areas, it is easy to judge whether there is some kind of problem with the extension/contraction control settings of the side booms 10, 10 or the operation of the traveling vehicle body 1, and where the effects of drug shortage are likely to occur. This makes it easier to make future work plans and countermeasures.

On the other hand, when controlling the extension and contraction of the side booms 10 and 10 to intentionally generate overlapping spraying positions with adjacent rows, it becomes easier to visually judge whether the width of the overlapping spraying positions is appropriate, so that the chemical spraying work can be improved. It becomes easier to identify areas for improvement.

As for overlapping positions, as shown in Figures 26 and 31, the overlap can be easily understood by changing the density of the color (for example, making it darker) or by adding a shaded line, etc. This will make it easier to understand the work details.

The above-mentioned side booms 10, 10 automatically raise the outer side of the swing when turning, or stop spraying on one side near the edge of the field, which may result in uneven work on the left and right sides or uneven posture of the boom. Therefore, if automatic telescoping control were to operate all the time, an unnecessary operating load would be placed on the boom telescoping motor 106, and the movable boom 103 would come into contact with the wall at the edge of the field and be damaged. .

In order to prevent this, as shown in FIGS. 24 and 33, the control device 200 (first CPU 202) turns on the electromagnetic clutch 205 that switches on and off of the chemical pump 9a, and the side spray switches 301L and 301R and the center spray switch. 302 is ON, and the detection angle of the boom potentiometer 206 that detects the inclination angle of the side boom 10 is less than 20 degrees (when the maximum descending time is 0 degrees. When the maximum rising time is 0 degrees) , 70 degrees or more), automatic expansion/contraction control is permitted. Note that the condition also includes that the operator turns on the automatic expansion/contraction control switch 303.

The angle of the boom potentiometer 206 mentioned above is based on the range in which it can be moved up and down in consideration of crop growth and field shape during chemical spraying work, and if it is changeable, it can be adapted to changes in work conditions. It becomes easier to become.

For the purpose of explanations to workers, simulations, etc., there are situations in which it is desired to perform automatic extension and contraction control of the side boom 10 without spraying chemicals. At this time, as shown in FIG. 34, when the simulation switch 304 provided in the control unit 5 is turned on, the control device 200 controls the side spray switches 301L, 301R and the center spray switch 302 even if the electromagnetic clutch 205 is off. If either one is ON and the detected angle of the boom potentiometer 206 that detects the inclination angle of the side boom 10 is less than 20 degrees, the automatic extension/contraction control is permitted.

This allows workers to visually or experience the behavior of the automatic expansion/contraction control without consuming the chemical, making it easier to judge whether the automatic expansion/contraction control is working properly during chemical spraying work. .

Therefore, it is possible to notice an abnormality in the control at an early stage, suppressing unnecessary consumption of the drug, and preventing the occurrence of areas where the drug is insufficient. Further, the operator can concentrate on operating the traveling vehicle body 1, and it is easy to travel straight or turn at an appropriate position.

Also, depending on the work conditions, when the side boom 10 is rotated toward the outside of the aircraft body, the boom telescoping motor 106 is activated before the detection angle of the boom potentiometer 206 becomes less than 20 degrees, and the movable boom 103 is automatically moved. There may also be situations where it is desired to perform expansion and contraction.

As shown in FIGS. 1, 2, and 24, the control section 5 is provided with a manual control switch 305 in order to perform automatic telescoping control even in a state where basic automatic telescoping control conditions are not satisfied. When this manual control switch 305 is operated, the boom telescoping motor 106 is activated without delay, and automatic telescoping control of the movable boom 103 is started. Note that after operating the manual control switch 305, even if the hand is released from the manual control switch 305, the control device 200 continues the automatic expansion/contraction control until the next condition for stopping automatic expansion/contraction is met.

This allows the mobile boom 103 to extend and retract even when the side boom 10 is in a lowering operation, such as at the end of a turning run, so that the spreading work width of the side boom 10 corresponding to the work position is secured.

In addition, since it is possible to color the appropriate spraying work range on the field work map FM shown in Figs. 26 and 31, the difference between the acquired work data and the actual work can be suppressed, and the accuracy of the work data can be improved. .

On the other hand, even if the detection angle of the boom potentiometer 206 exceeds 20 degrees while the side boom 10 is being rotated toward the traveling vehicle body 1, the boom extension motor 106 is operated to automatically extend and retract the movable boom 103. Situations may arise where you want to do so.

At this time, the manual control switch 305 is constituted by a toggle switch or the like, and the automatic expansion/contraction control is continued not only when descending but also when ascending.

When the manual control switch 305 is operated during the ascending operation, the boom telescoping motor 106 is operated without delay and automatic telescoping control of the mobile boom 103 is started, but when the side boom 10 is rotated toward the traveling vehicle body 1, the spraying Since it is time to finish the work, it is preferable that when the hand is released from the manual control switch 305, the expansion/contraction operation for one nozzle pitch P is performed, or the automatic expansion/contraction control is stopped after a predetermined period of time has elapsed. It is assumed that when the side boom 10 rises to an angle at which spraying cannot be performed, the operation of the boom telescoping motor 106 is stopped when the telescoping operation for one nozzle pitch P is performed even during control.

The manual control switch 305 described above may be provided separately in the control section 5 as shown in FIG. 35(a) so that the left boom telescoping motor 106 and the right boom telescoping motor 106 can be operated separately. On the other hand, the situation in which the side boom 10 is extended or retracted even at a predetermined angle or more is basically for either the left or right side, so as shown in FIG. If the side that is moving up or down is automatically controlled to extend or contract, the arrangement of harnesses etc. becomes simpler.

When the left and right side booms 10, 10 are rotated downwardly toward the outside of the vehicle body, they enter a deployed state in which a spraying operation is performed, and when rotated upward toward the traveling vehicle body 1, they are brought into a retracted state in which a spraying operation is not performed. This operation may be performed by rotating the boom up/down operation switches 306, 306 to a predetermined position, but in order to allow the operator to concentrate on other tasks, the left and right deployment switches 307, 307 and the left and right storage switches 308, 308 may be provided in the control section 5.

When one of the left and right side booms 10 is in the stored state and the other side boom 10 is in the deployed state and is performing automatic extension and contraction control, the side boom 10 in the stored state is also brought into the deployed state to perform the spraying work. This is a possible working state.

At this time, when the deployment switch 307 is operated, the side boom 10 on the corresponding side is rotated downward, but the control device 200 interrupts the automatic extension and contraction control while descending, and also activates the notification device 309 such as a buzzer. Notify that it is descending. When the descent is completed, the notification device 309 is operated in a different pattern from that during descent after a predetermined period of time (e.g. 3 seconds) has elapsed, and after the notification device 309 has stopped, the automatic extension and contraction control of the left and right side booms 10, 10 is restarted. .

On the other hand, when the storage switch 308 is operated, the side boom 10 on the corresponding side is rotated upward, but the control device 200 interrupts the automatic extension/contraction control during the ascent, and also activates the notification device 309 such as a buzzer to raise it. Notify that it is inside. When the ascent is completed, the notification device 309 is operated in a pattern different from that during the ascent after a predetermined time (e.g. 3 seconds) has elapsed, and after the notification device 309 has stopped, the automatic extension and contraction control of the side boom 10 on the side that is in the deployed state is activated. Let it restart.

This notifies the operator that switching to the expanded state or the stowed state of the side boom 10 is completed and automatic extension/contraction control is restarted, thereby preventing the operator from performing unnecessary automatic extension/contraction control.

In addition, if the deployment switch 307 and storage switch 308 are operated incorrectly, the chemical may be sprayed in areas that do not need to be worked on, or may not be sprayed in areas where it is necessary, or the side boom 10 may come into contact with an obstacle. Problems such as damage may occur.

In order to prevent this, the expansion switch 307 and the storage switch 308 may be configured to respond only when pressed for a predetermined period of time (eg, 1 second) or longer. This prevents damage to the side boom 10 and inappropriate supply of medicine, although the responsiveness is reduced.

The manual control switch 305 is capable of performing a movement operation of the movable boom 103, that is, switching the operation of the boom telescoping motor 106, with priority over the control of the control device 200, even when the side boom 10 is not being raised or lowered. shall be.

When the manual control switch 305 is operated to extend or retract, the control device 200 operates the boom telescoping motor 106 in accordance with the operating amount or operating time of the manual control switch 305 while interrupting automatic telescoping control. When the manual control switch 305 is no longer operated, the notification device 309 is activated after a predetermined period of time (for example, 3 seconds) has elapsed, and after the notification device 309 has stopped, automatic extension and contraction control of the side boom 10 is restarted.

Thereby, when manually adjusting the amount of protrusion of the side boom 10, it is possible to prevent the automatic extension/contraction control from interfering, so that the extension/contraction operation can be performed smoothly and the medicine can be sprayed in an appropriate range.

Further, after adjusting the protrusion amount, the automatic extension/contraction control is automatically restarted, and the notification device 309 notifies the restart, thereby eliminating the need to reset the automatic extension/contraction control, improving work efficiency.

As described above, the movable boom 103 constituting the side boom 10 is configured to open the opening/closing nozzles 120 of the fixed boom 101 one by one from the end when it extends or contracts, so it is difficult to extend or contract between the nozzle pitches P. There is no point in stopping the automatic expansion/contraction control program, and it is desirable to basically set the nozzle pitch P unit, for example, 300 mm, as one section of movement. Further, each of the open/close nozzles 120 is provided with a nozzle sensor 310 that detects the open/closed state, and the first CPU 202 is configured to be able to determine up to which section the number of sections is in the open state based on the detection by the nozzle sensor 310.

Although it is possible to roughly determine which section the current section is in from the rotational speed detected by the rotary encoder 108, the switching cock 124 of the opening/closing nozzle 120 is in the open and closed states unless the movable boom 103 is extended to its maximum extent. Since the structure is such that expansion and contraction stops midway through, there is a possibility of errors in section judgment, so it is desirable to use it as an auxiliary aid.

In accordance with the determination of the section by the first CPU 202, the second CPU 203 determines from the position information acquired how many sections the boom telescoping motor 106 should be operated in the extension direction or contraction direction.

As shown in FIG. 37, the first CPU 202 of the control device 200 determines that the movable boom 103 is at the most retracted position when the section information is section 0, and when a signal to move it to section 0 is sent. , the boom telescoping motor 106 is operated in the retracting direction until the moving boom 103 reaches section 0, no matter what section it is in. A contraction detection switch 311 is provided at the inner end of the movable boom 103, which is compressed and becomes a detection state when the moving boom 103 moves to the maximum contraction position. to stop.

Note that the signal for moving to section 0 is transmitted, for example, when the manual control switch 305 is continuously operated or when the storage switch 308 is pressed for a long time.

Furthermore, even when the section information is not transmitted to the control device 200 side and the boom retraction motor 106 can be energized, the boom extension and retraction motor 106 may be operated to move to section 0. At this time, the control device 200 operates the notification device 309 in a pattern that notifies the failure, or displays the failure of the side boom 10 on a liquid crystal panel, tablet, or the like.

As a result of the above, the horizontal length of the side boom 10 can be made as short as possible, so that the side boom 10 in the stored state is prevented from coming into contact with the surroundings and being damaged.

In addition, when the section cannot be determined, the side boom 10 is automatically retracted to the maximum extent, which may cause the side boom 10 to come into contact with an obstacle and be damaged, or the chemical to be sprayed in areas where it is not necessary. You can prevent it from continuing.

Different from the above, if the signal from some sections is interrupted but the signals from other sections continue to be emitted, the nozzle sensor 310 may partially malfunction or have a false detection. Since there is a high possibility that the mobile boom 103 is moving to the outermost section where the signal is being transmitted, the boom telescoping motor 106 is configured to extend or retract.

As a result, the side boom 10 can continue to expand and contract with the position where the signal is normally transmitted being the outermost side, thereby preventing the traveling vehicle body 1 from traveling without the chemical being supplied to the area where it is necessary to spray the chemical. It can be prevented. This eliminates the need to separately supply a drug, thereby reducing work time and labor.

The third CPU 204 of the control device 200 allows the operator to control the traveling vehicle body 1 when it is no longer possible to send a signal to the boom telescoping motor 106 due to a disconnection of the harness or when it is no longer possible to exchange signals with the nozzle sensor 310. The field work map FM continues to be colored in accordance with the previous coloring range until the travel of the field work map FM is stopped or the automatic expansion/contraction control is turned off.

As a result, even if there is a malfunction in a part of the machine, the work range can be colored on the field work map FM, and the spraying work information can be recorded. In particular, it becomes easier to recognize the location after the location where the side boom 10 no longer extends or contracts as the location where the failure has occurred.

INDUSTRIAL APPLICATION This invention is most suitable for the spraying machine of chemicals etc. which is equipped with the telescopic side boom which sprays chemicals on a field.

1 Traveling vehicle body 10 Side boom (liquid spraying device)
101 Base boom (base side spreading device)
102 Slide plate (sliding support member)
103 Mobile boom (sliding spreading device)
106 Boom telescoping motor (sliding actuator)
108 Rotary encoder (sliding amount detection member)
112 Spreading switching pin
120 Opening/closing nozzle (discharge device)
121 Opening/closing nozzle stand (liquid discharge member)
123 Switching rotation axis (rotation pin)
124 Switching cock (discharge switching arm)
130 Continuous spray nozzle (continuous discharge device)
140 Receiving antenna (location information acquisition member)
200 Control device

Claims (2)

A spraying operation in which a liquid spraying device (10) for spraying a liquid is provided, the liquid spraying device (10) is provided with a plurality of spraying nozzles (130) at predetermined intervals, and the liquid spraying device (10) is extendable and retractable. In the car (1),
A position information acquisition member (140) is provided for acquiring position information of the spraying vehicle (1), and an expansion/contraction detection member (108) is provided for detecting the expansion/contraction amount of the liquid agent spraying device (10).
recording the position information acquired by the position information acquisition member (140) and the amount of expansion and contraction of the liquid agent spraying device (10) in the position information in a control device (200);
The control device (200) expands and contracts the liquid agent spraying device (10) based on the recorded position information and the amount of expansion and contraction of the liquid agent spraying device (10) in the recorded position information, and removes the liquid from the spraying nozzle (130). The structure is such that the chemical is sprayed so as to include part of the spraying area,
The liquid agent spreading device (10) moves in the direction of extension or contraction along the longitudinal direction of the base side spreading device (101) attached to the spreading vehicle (1) and the base side spreading device (101). Consisting of a mobile scattering device (103),
The mobile spraying device (103) has the spraying nozzle (130) arranged at a predetermined nozzle pitch (P),
The base-side spreading device (101) includes opening/closing nozzles (which can be switched one by one from a closed state to an open state or from an open state to a closed state by moving the movable spreading device (103) in the extension or contraction direction. 120) are arranged with a predetermined nozzle pitch (P),
The base-side spreading device (101) is provided with a slide plate (102) movable along the base-side spreading device (101), and the slide plate (102) is provided with the mobile spreading device (103),
The control device (200) moves the nozzle pitch (P) as one unit when moving the mobile spraying device (103) in the extension or contraction direction,
A spreading switching pin (112) is provided on the slide plate (102) so as to protrude toward the base side spreading device (101). A switching cock (124) is provided for switching between the closed state and the closed state,
The spreading switching pin (112) comes into contact with the switching cock (124) when the mobile spreading device (103) moves in an extension or contraction direction to switch the opening/closing nozzle (120) into an open state or a closed state. ,
Among the plurality of opening/closing nozzles (120), the opening/closing nozzle (120) in which the spreading switching pin (112) contacts the switching cock (124) when the movement of the mobile spreading device (103) stops , A spraying work machine characterized in that it is switched to an intermediate state between an open state and a closed state, and the amount of spraying is smaller than when the opening/closing nozzle (120) is in the open state. The liquid agent dispersion device (10) is composed of a pair of left and right base side dispersion devices (101, 101) and a front boom (110) attached to a front frame (11) provided on the front side of the machine. Side spray switches (301L, 301R) and a center spray switch (302) are provided to detect whether the side spray devices (101, 101) and the front boom (110) are in a liquid spraying state or a stopped state,
The control device (200) controls the detection state of each of the side spray switches (301L, 301R) and the center spray switch (302), and the left and right base side spray devices (detected by the expansion/contraction amount detection member (108)). Based on the amount of expansion and contraction of each of the mobile spreading devices (103, 103) attached to the left and right pair of base side spreading devices (101, 101) and the mobile spreading devices (101, 101), A spray recording application (201) that colors the working strip on which the devices (103, 103) and the front boom (110) have sprayed chemicals, and displays the ends of the working strip with different colors, different linear shapes, etc. The spreading work machine according to claim 1, further comprising: