WO2016006434A1 - ブーム制振装置及びブームスプレーヤ - Google Patents
ブーム制振装置及びブームスプレーヤ Download PDFInfo
- Publication number
- WO2016006434A1 WO2016006434A1 PCT/JP2015/067976 JP2015067976W WO2016006434A1 WO 2016006434 A1 WO2016006434 A1 WO 2016006434A1 JP 2015067976 W JP2015067976 W JP 2015067976W WO 2016006434 A1 WO2016006434 A1 WO 2016006434A1
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- WO
- WIPO (PCT)
- Prior art keywords
- boom
- piston
- damping device
- roll direction
- fluid pressure
- Prior art date
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Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/005—Special arrangements or adaptations of the spraying or distributing parts, e.g. adaptations or mounting of the spray booms, mounting of the nozzles, protection shields
- A01M7/0053—Mounting of the spraybooms
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/005—Special arrangements or adaptations of the spraying or distributing parts, e.g. adaptations or mounting of the spray booms, mounting of the nozzles, protection shields
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B63/00—Lifting or adjusting devices or arrangements for agricultural machines or implements
- A01B63/02—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors
- A01B63/10—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors operated by hydraulic or pneumatic means
- A01B63/1006—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors operated by hydraulic or pneumatic means the hydraulic or pneumatic means structurally belonging to the tractor
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0025—Mechanical sprayers
- A01M7/0032—Pressure sprayers
- A01M7/0042—Field sprayers, e.g. self-propelled, drawn or tractor-mounted
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/005—Special arrangements or adaptations of the spraying or distributing parts, e.g. adaptations or mounting of the spray booms, mounting of the nozzles, protection shields
- A01M7/0071—Construction of the spray booms
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/005—Special arrangements or adaptations of the spraying or distributing parts, e.g. adaptations or mounting of the spray booms, mounting of the nozzles, protection shields
- A01M7/0071—Construction of the spray booms
- A01M7/0075—Construction of the spray booms including folding means
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0082—Undercarriages, frames, mountings, couplings, tanks
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0089—Regulating or controlling systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/005—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00 mounted on vehicles or designed to apply a liquid on a very large surface, e.g. on the road, on the surface of large containers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
- B05B15/60—Arrangements for mounting, supporting or holding spraying apparatus
- B05B15/62—Arrangements for supporting spraying apparatus, e.g. suction cups
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F13/00—Units comprising springs of the non-fluid type as well as vibration-dampers, shock-absorbers, or fluid springs
- F16F13/002—Units comprising springs of the non-fluid type as well as vibration-dampers, shock-absorbers, or fluid springs comprising at least one fluid spring
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F13/00—Units comprising springs of the non-fluid type as well as vibration-dampers, shock-absorbers, or fluid springs
- F16F13/005—Units comprising springs of the non-fluid type as well as vibration-dampers, shock-absorbers, or fluid springs comprising both a wound spring and a damper, e.g. a friction damper
- F16F13/007—Units comprising springs of the non-fluid type as well as vibration-dampers, shock-absorbers, or fluid springs comprising both a wound spring and a damper, e.g. a friction damper the damper being a fluid damper
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F2222/00—Special physical effects, e.g. nature of damping effects
- F16F2222/12—Fluid damping
- F16F2222/126—Fluid damping using gases
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F2238/00—Type of springs or dampers
- F16F2238/02—Springs
- F16F2238/026—Springs wound- or coil-like
Definitions
- the present invention relates to a boom sprayer that sprays a control liquid, and a boom damping device that suppresses boom vibration of the boom sprayer.
- a base part of an elevating link mechanism extending forward is pivotally supported by a mobile agricultural machine, and a boom support frame is provided at a front part of the elevating link mechanism.
- a boom sprayer in which a control boom is rotatably supported around a formed swing shaft in the front-rear direction.
- the boom sprayer described in JP2004-254526A is provided with a telescopic actuator between a boom support frame and a control boom, and a swing angle detection sensor provided in the vicinity of the swing shaft and a mobile agricultural machine side.
- the control boom is configured to maintain the control boom in a predetermined rolling posture.
- the present invention aims to suppress vibration in the roll direction of the boom.
- a boom damping device that suppresses vibration of a boom pivotally supported by a boom support body, the boom damping apparatus being provided between the boom and the boom support body, Boom damping comprising: a fluid pressure cylinder that urges the boom in one rotation direction; and an elastic member that is provided between the boom and the boom support and urges the boom in the other rotation direction.
- An apparatus is provided.
- FIG. 1 is a plan view of a boom sprayer to which a boom damping device according to a first embodiment of the present invention is applied.
- FIG. 2 is a side view of a boom sprayer to which the boom damping device according to the first embodiment of the present invention is applied.
- FIG. 3 is a partial perspective view of a boom sprayer to which the boom damping device according to the first embodiment of the present invention is applied.
- FIG. 4 is a configuration diagram of the boom damping device according to the first embodiment of the present invention.
- FIG. 5 is a characteristic diagram showing the relationship between the rotation angle and the rotation moment in the first embodiment of the present invention and the comparative example.
- FIG. 6 is a configuration diagram of a boom damping device according to the second embodiment of the present invention.
- FIG. 1 is a plan view of a boom sprayer to which a boom damping device according to a first embodiment of the present invention is applied.
- FIG. 2 is a side view of a boom sprayer to which the boom damping device
- FIG. 7 is a characteristic diagram showing the relationship between the rotation angle and the rotation moment in the second embodiment of the present invention and the comparative example.
- FIG. 8 is a configuration diagram of a boom damping device according to the third embodiment of the present invention.
- FIG. 9 is a configuration diagram of a boom damping device according to the fourth embodiment of the present invention.
- FIG. 10 is a configuration diagram of a boom vibration control device according to the fifth embodiment of the present invention.
- FIG. 11 is a configuration diagram of a boom vibration control device according to the sixth embodiment of the present invention.
- the X axis is the longitudinal direction of the vehicle (substantially horizontal vertical direction)
- the Y axis is the lateral direction of the vehicle (substantially horizontal horizontal direction)
- Z The embodiment will be described on the assumption that the shaft extends in the vertical direction (substantially vertical direction) of the vehicle, the rotation direction about the X axis is the roll direction, and the rotation direction about the Z axis is the yaw direction.
- a boom sprayer 1 shown in FIG. 1 is an agricultural working machine that is mounted on the front side of a work vehicle 90 that travels in a farm field and that sprays a control liquid (pesticidal chemical) from the work vehicle 90.
- the boom sprayer 1 includes a pair of booms 4 extending from the work vehicle 90 to the left and right.
- a nozzle (not shown) for spraying the control liquid is attached to the boom 4.
- the control liquid is sprayed from the nozzles of the boom 4 while the work vehicle 90 travels in the field.
- the boom sprayer 1 includes a pair of link arms 2 attached to a vehicle body 91 of a work vehicle 90, a lifting platform 3 supported by the link arm 2 so as to be movable up and down with respect to the vehicle body 91, and a roll direction with respect to the lifting platform 3.
- a roll base 5 rotatably supported about the X axis, and left and right booms 4 extending from the roll base 5 to the left and right sides of the vehicle body 91 (Y-axis direction).
- the vehicle body 91, the link arm 2, or the lifting platform 3 corresponds to the boom support.
- the roll base 5 constitutes a support portion of the boom 4 that cantilever-supports the left and right booms 4 with respect to the lifting / lowering base 3.
- the boom 4 is cantilevered so that its base end 4A can turn in the yaw direction (around the Z axis) via a storage hinge (not shown) with respect to the roll base 5, and its tip 4B is a free end.
- a distal end side frame 16 having a distal end portion 4 ⁇ / b> B is supported by a proximal end side frame 15 having a proximal end portion 4 ⁇ / b> A so as to be extendable and contractible.
- the state shown in FIG. 1 is a deployed state in which the left and right booms 4 extend in the left and right horizontal direction of the vehicle body 91.
- the distal end side frame 16 is contracted and stored in the proximal end side frame 15 from the work position where at least one of the booms 4 is in the deployed state.
- the boom 4 is folded so as to extend in the front-rear direction along the side of the vehicle body 91 by pivoting the base end side frame 15 backward via the storage hinge.
- the roll table 5 is supported by the lift table 3 via a support shaft 6 so as to be rotatable in the roll direction.
- the support shaft 6 is a cylindrical pin, but is not limited to this, and a spherical bearing or the like may be used.
- FIG. 2 is a side view of the boom sprayer 1 and the link arm 2
- FIG. 3 is a perspective view of the vicinity of the link arm 2 and the lifting platform 3.
- the link arm 2 includes an upper link 21 and a lower link 22 extending in parallel to each other, and constitutes a link mechanism having a parallelogram shape in a side view.
- the upper end of the upper link 21 is rotatably connected to the vehicle body 91 via the pin 12, and the distal end thereof is rotatably connected to the lifting platform 3 via the pin 11.
- the lower link 22 has a base end portion rotatably connected to the vehicle body 91 via the pin 14, and a distal end portion rotatably connected to the lifting platform 3 via the pin 13.
- each link arm 2 supports the lifting platform 3 so that it can be raised and lowered at the front portion of the vehicle body 91.
- a guide rail extending in the Z-axis direction may be provided at the front portion of the vehicle body 91, and the lifting platform 3 may be supported by the guide rail so as to be movable up and down.
- a pair of lifting cylinders 40 as lifting mechanisms are provided on the left and right sides of the vehicle body 91. Each lifting cylinder 40 is interposed between the vehicle body 91 and the upper link 21.
- the raising / lowering cylinder 40 is an actuator which raises / lowers the raising / lowering stand 3 and the boom 4 by each expansion / contraction.
- the elevating cylinder 40 includes a cylinder tube 41 filled with hydraulic oil as hydraulic fluid, a piston rod 42 slidably inserted into the cylinder tube 41, a piston 43 provided at the base end of the piston rod 42, Is provided.
- the base end portion of the cylinder tube 41 is rotatably connected to the vehicle body 91 via the pillow ball 46
- the tip end portion of the piston rod 42 is rotatably connected to the upper link 21 via the pillow ball 47.
- the pillow balls 46 and 47 are constituted by balls and spherical bearings, for example. The connecting portion of the lifting cylinder 40 is prevented from being twisted by the pillow balls 46 and 47.
- the inside of the cylinder tube 41 is partitioned into a piston side chamber 44 and a rod side chamber 45 by a piston 43.
- the hydraulic fluid is supplied to and discharged from the piston side chamber 44 and the rod side chamber 45 by a working fluid supply / discharge device (not shown), and the elevating cylinder 40 expands and contracts according to the supply and discharge of the hydraulic oil.
- the raising / lowering cylinder 40 is a double-acting fluid pressure cylinder.
- a single-acting fluid pressure cylinder in which hydraulic oil is supplied to and discharged from only one of the piston side chamber 44 and the rod side chamber 45 may be used as the elevating cylinder 40.
- the left and right lifting cylinders 40 extend and contract in synchronization with each other to rotate the left and right link arms 2, thereby lifting and lowering the lifting platform 3 and the boom 4 with respect to the vehicle body 91.
- the elevating cylinder 40 is extended, the link arm 2 is rotated upward, and the elevating platform 3 and the boom 4 are raised.
- the lifting cylinder 40 contracts, the link arm 2 rotates downward, and the lifting platform 3 and the boom 4 are lowered.
- the boom sprayer 1 can adjust the height of the boom 4 with respect to the crop in the field by extending and retracting the elevating cylinder 40.
- a boom vibration control device 9 is provided between the lifting table 3 and the roll table 5.
- the boom damping device 9 suppresses vibration in the roll direction in which the boom 4 rotates in the left-right roll direction. Thereby, the vibration which the front-end
- the boom damping device 9 is provided between any one of the lifting platform 3, the vehicle body 91, and the link arm 2, and either the boom 4 or the roll platform 5.
- FIG. 4 is a schematic configuration diagram of the boom damping device 9.
- the counterclockwise rotation direction around the X axis is the right roll direction (one rotation direction), and the clockwise rotation is performed.
- the following description will be given with the moving direction as the left roll direction (the other rotating direction).
- the boom damping device 9 is provided at a position symmetrical to the fluid pressure cylinder 30 with the support shaft 6 sandwiched between the fluid pressure cylinder 30 that expands and contracts as the boom 4 rotates in the left-right roll direction.
- a metal spring 60 as an elastic member that expands and contracts in conjunction with the rotation of 4 in the left-right roll direction.
- the metal spring 60 uses a coil spring, but may be another type of spring.
- the fluid pressure cylinder 30 includes a cylinder tube 31 filled with hydraulic oil as a hydraulic fluid, and a piston rod 32 slidably inserted into the cylinder tube 31.
- the hydraulic cylinder 30 uses hydraulic fluid, but hydraulic fluid such as a water-soluble alternative fluid may be used instead of hydraulic fluid.
- the cylinder tube 31 is rotatably connected to the lifting platform 3 via a bracket 39.
- the tip of the piston rod 32 is rotatably connected to the roll base 5 via a bracket 37.
- the cylinder tube 31 is connected to the work vehicle 90 via the lifting platform 3, and the piston rod 32 is connected to the boom 4 via the roll platform 5.
- the fluid pressure cylinder 30 expands and contracts.
- the piston rod 32 may be connected to the work vehicle 90 via the lifting platform 3, and the cylinder tube 31 may be connected to the boom 4 via the roll platform 5.
- the connecting means is not limited to the bracket, and any means may be used as long as the fluid pressure cylinder 30 can be rotatably connected between the lift table 3 and the roll table 5.
- a piston 33 slidable along the inner peripheral surface of the cylinder tube 31 is provided at the end of the piston rod 32.
- the inside of the cylinder tube 31 is partitioned into a rod side chamber 34 and a piston side chamber 35 by a piston 33.
- the piston 33 is provided with a flow path 38 that communicates the rod side chamber 34 and the piston side chamber 35.
- the fluid pressure cylinder 30 is a single-acting fluid pressure cylinder that is driven when hydraulic oil is supplied to and discharged from the piston side chamber 35.
- the rod side chamber 34 and the piston side chamber 35 communicate with each other through a flow path 38. Instead, a seal member is provided in the piston 33, the flow path 38 is eliminated, and the rod side chamber 34. May be configured to communicate with the atmosphere.
- the accumulator 50 is connected to the piston side chamber 35. As the boom 4 rotates in the roll direction, the hydraulic oil in the piston side chamber 35 enters and exits the accumulator 50.
- the accumulator 50 includes an oil chamber 52 that communicates with the piston-side chamber 35, a gas chamber 51 that stores compressed gas that pressurizes the oil chamber 52, and a partition member 53 that partitions the gas chamber 51 and the oil chamber 52.
- the fluid pressure cylinder 30 By connecting the accumulator 50, the fluid pressure cylinder 30 generates a biasing force that biases the boom 4 in the right roll direction via the roll base 5.
- the partition member 53 may be of any type such as a free piston, bellows, or bladder. Further, the partition member 53 may not be provided as long as the gas in the gas chamber 51 does not dissolve in the hydraulic oil.
- a damping valve 54 as a throttle is provided in a flow path 55 that communicates the oil chamber 52 of the accumulator 50 and the piston side chamber 35 of the fluid pressure cylinder 30.
- the damping valve 54 generates a damping force that suppresses the boom 4 from vibrating in the roll direction by applying resistance to the flow of hydraulic oil.
- the damping valve 54 is a variable throttle whose opening area increases as the flow velocity of the passing hydraulic oil increases.
- the flow path 55 may be provided with a fixed throttle such as an orifice, or a throttle that can manually adjust the flow path area or flow path length.
- the damping valve 54 is provided in the flow path 55, it may replace with this and the structure which provides the damping valve 54 in the flow path 38 which connects the rod side chamber 34 of the piston 33 and the piston side chamber 35 is good.
- the damping valve 54 may replace with this and the structure which provides the damping valve 54 in the flow path 38 which connects the rod side chamber 34 of the piston 33 and the piston side chamber 35 is good.
- the damping valve 54 may replace with this and the structure which provides the damping valve 54 in the flow path 38 which connects the rod side chamber 34 of the piston 33 and the piston side chamber 35 is good.
- One end of the metal spring 60 is supported by a spring receiver 61 attached to the lifting platform 3, and the other end is supported by a spring receiver 62 attached to the roll table 5.
- the metal spring 60 is interposed between the lifting platform 3 and the roll platform 5 in a compressed state. The metal spring 60 urges the boom 4 in the left roll direction via the roll base 5.
- the boom sprayer 1 includes a working fluid supply / discharge device 70 that supplies and discharges hydraulic fluid to and from the fluid pressure cylinder 30.
- the hydraulic fluid supply / discharge device 70 supplies / discharges hydraulic oil to / from the hydraulic pressure cylinder 30, whereby the hydraulic pressure cylinder 30 expands and contracts, and the roll angle of the boom 4 is adjusted to the set value.
- the working fluid supply / discharge device 70 constitutes a roll angle adjusting device that adjusts the roll angle of the boom 4 by rotating the boom 4 in the roll direction.
- the working fluid supply / discharge device 70 includes a supply / discharge passage 71 communicating with the piston side chamber 35 of the fluid pressure cylinder 30, an operation check valve 72 interposed in the supply / discharge passage 71, a hydraulic pump 74 and a tank for the supply / discharge passage 71. And a direction switching valve 77 for switching the communication of 75.
- the direction switching valve 77 includes a supply passage 78 that guides the hydraulic oil discharged from the hydraulic pump 74, a discharge passage 79 that returns the hydraulic oil to the tank 75, and an operation passage 73 that communicates with the pilot pressure chamber of the operation check valve 72.
- a supply / discharge passage 71 communicating with the piston-side chamber 35 is connected.
- the direction switching valve 77 has a left roll position a, a right roll position b, and a neutral position c, and these positions are switched by the driver operating the lever 76. Instead of the lever 76, input setting and operation of the direction switching valve 77 may be performed electrically using a controller or the like.
- the supply passage 78 and the operation passage 73 communicate with each other, and the supply / discharge passage 71 and the discharge passage 79 communicate with each other.
- the operation check valve 72 is opened by the discharge pressure of the hydraulic pump 74 guided as the pilot pressure through the operation passage 73, and the piston side chamber 35 communicates with the tank 75 through the supply / discharge passage 71 and the discharge passage 79.
- the piston side chamber 35 contracts by the urging force of the metal spring 60 and the fluid pressure cylinder 30 contracts, and the boom 4 moves in the left roll direction. To turn.
- the boom 4 rotates in the left-right roll direction and stops, whereby the roll angle of the boom 4 is adjusted.
- the working fluid supply / discharge device 70 is not limited to the configuration in which the hydraulic oil is supplied / discharged to / from the piston side chamber 35 of the fluid pressure cylinder 30 and the boom 4 is rotated in the roll direction. It is good also as a structure which rotates 4 in a roll direction.
- the pressure of the gas chamber 51 of the accumulator 50 acts on the piston 33 via the oil chamber 52 and the piston side chamber 35.
- an urging force that rotates in the right roll direction acts on the boom 4 via the piston rod 32 extending from the piston 33.
- the metal spring 60 is interposed between the lifting platform 3 and the roll platform 5 in a compressed state.
- an urging force that rotates in the left roll direction acts on the boom 4. Therefore, the boom 4 is held at a position where the urging force in the right roll direction by the fluid pressure cylinder 30 and the urging force in the left roll direction by the metal spring 60 are balanced. Gas is charged in the gas chamber 51 in advance so that the pressure acting on the piston 33 becomes an urging force balanced with the urging force of the metal spring 60.
- the boom sprayer 1 sprays the control liquid from the nozzle of the boom 4 while the work vehicle 90 travels in the field. During this work, the work vehicle 90 travels over the unevenness of the farm field, and the posture of the work vehicle 90 may rotate in the left-right roll direction.
- the boom damping device 9 absorbs the relative displacement in the roll direction between the lifting platform 3 and the boom 4 by the action of the gas chamber 51 and the metal spring 60 of the accumulator 50, and moves the boom 4 to the horizontal position. Therefore, the vibration in the roll direction of the boom 4 is suppressed.
- the damping valve 54 is provided in the flow path 55 that connects the oil chamber 52 and the piston side chamber 35 of the accumulator 50, so that resistance to the fluid flowing between the piston side chamber 35 and the oil chamber 52 during vibration is increased. Therefore, the vibration in the roll direction can be quickly damped.
- Fig. 5 shows the characteristics of the relationship between the rotation angle of the boom 4 and the rotation moment.
- the horizontal axis represents the rotation angle of the boom 4
- the vertical axis represents the rotation moment of the boom 4.
- gas spring means for biasing the boom 4 in the right roll direction
- a gas spring means for biasing the boom 4 in the right roll direction
- gas spring a configuration in which the fluid pressure cylinder 30 and the accumulator 50 are combined
- the characteristics when used as a “right roll direction urging means” are shown as gas springs (R), and the characteristics when a metal spring is used as the right roll direction urging means are similarly described below.
- R Characteristics when the gas spring is used as means for urging the boom 4 in the left roll direction (hereinafter simply referred to as “left roll direction urging means”) are the characteristics of the gas spring (L) and the metal spring.
- L The characteristic when used as a left roll direction urging means is shown as a metal spring (L).
- the first embodiment shown in FIG. 5 has a configuration in which the right roll direction biasing means is a gas spring and the left roll direction biasing means is a metal spring 60.
- the characteristic is a combination of the characteristics of the gas spring (R) and the metal spring (L).
- the comparative example A is a configuration in which both the right and left roll direction urging means are metal springs.
- the characteristic is a combination of the characteristics of the metal spring (R) and the metal spring (L).
- the comparative example B has a configuration in which both the right and left roll direction urging means are gas springs.
- the characteristic is a combination of the characteristics of the gas spring (R) and the gas spring (L).
- the rotational moment is larger than that of the comparative example B in which both roll direction urging means are constituted by gas springs. Becomes larger.
- both are gas springs as in Comparative Example B, the spring constant is reduced and the rotational moment is reduced.
- the rotational moment is reduced, when the work vehicle 90 is tilted, the relative displacement in the roll direction between the lifting platform 3 and the boom 4 can be absorbed more.
- a seal member exists in the piston rod 32 and the cylinder tube 31 of the fluid pressure cylinder 30, and a frictional resistance is generated by this seal member.
- Comparative Example B Since Comparative Example B has a small spring constant, the influence of frictional resistance is relatively large. For this reason, the vibration of the boom 4 is abruptly attenuated by the frictional resistance, and the boom 4 may not be kept in a horizontal state. Further, the boom 4 may stop before the boom 4 returns to the neutral position due to frictional resistance, or may not rotate while stopped at the neutral position. Moreover, in order to configure as a gas spring, a fluid pressure cylinder and an accumulator are required, which is expensive and requires a space for installation.
- a boom vibration control device 19 according to a second embodiment of the present invention will be described with reference to FIGS. Below, it demonstrates centering on a different point from the said 1st Embodiment, the same code
- the second embodiment is different from the first embodiment in that the means for urging the boom 4 in the left roll direction is an air spring 80.
- the air spring 80 is interposed between the cradle 81 attached to the elevator 3 and the cradle 82 attached to the roll base 5 in a compressed state. Therefore, the urging force of the air spring 80 acts to rotate the boom 4 in the left roll direction.
- the air spring 80 uses a multistage bellows type air spring, but may be of any type.
- Fig. 7 shows the characteristics of the relationship between the rotation angle of the boom 4 and the rotation moment.
- the fluid pressure cylinder 30 and the accumulator 50 (hereinafter, the combination of the fluid pressure cylinder 30 and the accumulator 50 is simply referred to as “gas spring”) when the boom 4 is used as the right roll direction urging means.
- the characteristic is shown as a gas spring (R).
- the characteristic when the boom 4 is used as the left roll direction urging means is used as the gas spring (L)
- the air spring is used as the left roll direction urging means.
- the characteristic when there is is shown as an air spring (L).
- the characteristic is a combination of the characteristics of the gas spring (R) and the air spring (L).
- the comparative example C is a configuration in which both the right and left roll direction urging means are gas springs.
- the characteristic is a combination of the characteristics of the gas spring (R) and the gas spring (L).
- the air spring 80 has a smaller spring constant than the gas spring.
- an air spring is used as the urging means for urging in the left roll direction, so that the spring constant is lower than that of Comparative Example C, and the rotational moment is reduced.
- the second embodiment has a lower spring constant than the comparative example C. It contracts easily and absorbs the displacement in the relative roll direction between the lifting platform 3 and the boom 4. Therefore, the boom 4 can maintain the horizontal state further. Further, since there is no portion that generates frictional resistance in the air spring, as in the first embodiment, overdamping due to frictional resistance can be suppressed and the neutral position can be stabilized.
- FIG. 8 a boom damping device 109 according to a third embodiment of the present invention will be described. Below, it demonstrates centering on a different point from the said 1st Embodiment, the same code
- the third embodiment is different from the first embodiment in that the accumulator 50 and the fluid pressure cylinder 30 in the first embodiment constitute a fluid pressure cylinder 130.
- a free piston 153 as a partition member is slidably inserted into the cylinder tube 131.
- a gas chamber 151 is defined by a free piston 153 on the end side of the cylinder tube 131.
- a partition 156 is provided between the free piston 153 and the piston 33.
- a piston side chamber 135 is defined by the piston 33 and the partition wall 156
- an oil chamber 152 is defined by the free piston 153 and the partition wall 156.
- the gas chamber 151, the oil chamber 152, the free piston 153, and the partition wall 156 constitute an accumulator 150.
- the partition wall 156 is provided with a flow path 155 that communicates the piston side chamber 135 and the oil chamber 152.
- a damping valve 154 is provided in the flow path 155.
- boom damping device 109 configured as described above operates in the same manner as the boom damping device 9 of the first embodiment, the description thereof is omitted.
- the partition member is not limited to the free piston, but may be of any type such as a bellows or a bladder.
- the partition member may not be provided as long as the gas in the gas chamber does not dissolve in the hydraulic oil.
- a fixed throttle such as an orifice, or a throttle channel area or throttle channel length can be manually adjusted.
- the accumulator 150 is integrally formed in the fluid pressure cylinder 130, piping for connecting the accumulator 150 is not required, and the number of assembling steps can be reduced and space can be saved.
- the fourth embodiment differs from the third embodiment in that a fluid pressure cylinder 230 having a configuration in which the partition wall 156 is removed from the fluid pressure cylinder 130 in the third embodiment is provided.
- a free piston 253 as a partition member is slidably inserted into the cylinder tube 231.
- a gas chamber 251 is defined on the end side of the cylinder tube 231 by a free piston 253.
- a piston-side chamber 235 is defined by the piston 233 and the free piston 253.
- the pressure of the gas chamber 251 acts on the piston 233 via the piston-side chamber 235, and urges the boom 4 in the right roll direction via the piston rod 32.
- the hydraulic oil in the piston side chamber 235 pushes the piston 233 via the free piston 253 due to the pressure in the gas chamber 251, and the piston rod 32 extends.
- the piston rod 32 contracts, the hydraulic oil in the piston side chamber 235 is pushed by the piston 233, and the gas chamber 251 contracts via the free piston 253.
- the gas chamber 251 and the free piston 253 constitute the accumulator 250.
- the damping valve 254 is provided in the flow path 238 that communicates the piston-side chamber 235 and the rod-side chamber 234 of the piston 233. As the fluid pressure cylinder 230 expands and contracts, the volumes of the piston side chamber 235 and the rod side chamber 234 change, and the hydraulic oil passes through the flow path 238. At this time, a damping force is generated by the damping valve 254 imparting resistance to the hydraulic oil flowing through the flow path 238.
- the partition member is not limited to the free piston, but may be of any type such as a bellows or a bladder.
- the partition member may not be provided as long as the gas in the gas chamber does not dissolve in the hydraulic oil.
- a fixed throttle such as an orifice, a throttle channel area or a throttle channel length may be manually adjusted.
- a boom damping device 309 according to a fifth embodiment of the present invention will be described with reference to FIG. Below, a different point from the said 1st Embodiment is demonstrated, the same code
- the fifth embodiment is different from the first embodiment in that the fluid pressure cylinder 30 and the metal spring 60 in the first embodiment are arranged at positions facing each other with the roll table 5 interposed therebetween.
- the boom damping device 309 configured in this way, a biasing force that biases the boom 4 in the right roll direction by the fluid pressure cylinder 30 acts, and a biasing force acts in the left roll direction by the metal spring 60. . Therefore, the boom damping device 309 operates in the same manner as the boom damping device 9 of the first embodiment.
- the sixth embodiment is different from the first embodiment in that the roll base 405 is configured in a T shape.
- the boom damping device 409 configured in this way, a biasing force that biases the boom 4 in the right roll direction is applied by the fluid pressure cylinder 30, and a biasing force is applied in the left roll direction by the metal spring 60. . Therefore, the boom damping device 409 operates in the same manner as the boom damping device 9 of the first embodiment.
- the fluid pressure cylinder 30 and the metal spring 60 are arranged on one side with respect to the support shaft 6 of the roll base 5, the space on the other side can be used effectively.
- the convex part of the roll base 405 formed in T shape is lengthened and it comprises so that the metal spring 60 may urge the roll base 405 in the position away from the support shaft 6, the urging
- the fluid pressure cylinder is configured to bias the boom in the right roll direction, but the fluid pressure cylinder may be configured to bias the boom in the left roll direction.
- the urging force is applied from the upper surface side of the boom by the fluid pressure cylinder and the elastic member.
- the urging force may be applied from the lower surface side of the boom.
- a boom sprayer is not only a self-propelled type equipped with an engine, a motor, etc., but also a tow type pulled by a traveling body equipped with an engine, a motor, etc., and a mount type used by being mounted on a vehicle body such as a tractor. Also good.
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Abstract
Description
まず、図1及び図2を参照して、本発明の第1実施形態に係るブーム制振装置9が適用されるブームスプレーヤ1について説明する。
図6、図7を参照して、本発明の第2実施形態に係るブーム制振装置19について説明する。以下では、上記第1実施形態と異なる点を中心に説明し、第1実施形態のブーム制振装置と同一の構成には、同一の符号を付して説明を省略する。
図8を参照して、本発明の第3実施形態に係るブーム制振装置109について説明する。以下では、上記第1実施形態と異なる点を中心に説明し、第1実施形態のブーム制振装置と同一の構成には、同一の符号を付して説明を省略する。
図9を参照して、本発明の第4実施形態に係るブーム制振装置209について説明する。以下では、上記第3実施形態と異なる点を説明し、第3実施形態のブーム制振装置と同一の構成には、同一の符号を付して説明を省略する。
図10を参照して、本発明の第5実施形態に係るブーム制振装置309について説明する。以下では、上記第1実施形態と異なる点を説明し、第1実施形態のブーム制振装置と同一の構成には、同一の符号を付して説明を省略する。
図11を参照して、本発明の第6実施形態に係るブーム制振装置409について説明する。以下では、上記第1実施形態と異なる点を説明し、第1実施形態のブーム制振装置と同一の構成には、同一の符号を付して説明を省略する。
Claims (5)
- ブーム支持体に回動可能に軸支されるブームの振動を抑えるブーム制振装置であって、
前記ブームと前記ブーム支持体との間に設けられ、前記ブームを一方の回動方向に付勢する流体圧シリンダと、
前記ブームと前記ブーム支持体との間に設けられ、前記ブームを他方の回動方向に付勢する弾性部材と、を備えるブーム制振装置。 - 請求項1に記載のブーム制振装置であって、
前記流体圧シリンダは、
前記ブーム支持体と前記ブームのいずれか一方に連結され作動液が封入されるシリンダチューブと、
前記ブーム支持体と前記ブームのいずれか他方に連結され前記シリンダチューブ内に挿入されるピストンロッドと、
前記ピストンロッドに連結され前記シリンダチューブの内をロッド側室とピストン側室に仕切るピストンと、を備え、
前記ロッド側室または前記ピストン側室の一方を加圧するガス室を有するアキュムレータを備えるブーム制振装置。 - 請求項1に記載のブーム制振装置であって、
前記弾性部材が、金属ばねであるブーム制振装置。 - 請求項1に記載のブーム制振装置であって、
前記弾性部材が、空気ばねであるブーム制振装置。 - 請求項1に記載のブーム制振装置を備えるブームスプレーヤ。
Priority Applications (4)
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CN201580013793.3A CN106102459B (zh) | 2014-07-11 | 2015-06-23 | 喷杆减振装置以及喷杆式喷雾器 |
KR1020167024440A KR20160118327A (ko) | 2014-07-11 | 2015-06-23 | 붐 제진 장치 및 붐 스프레이어 |
US15/125,813 US20170020121A1 (en) | 2014-07-11 | 2015-06-23 | Boom vibration control device and boom sprayer |
EP15819657.6A EP3106030A4 (en) | 2014-07-11 | 2015-06-23 | Boom vibration control device and boom sprayer |
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JP2014-143698 | 2014-07-11 | ||
JP2014143698A JP6378956B2 (ja) | 2014-07-11 | 2014-07-11 | ブーム制振装置及びブームスプレーヤ |
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US (1) | US20170020121A1 (ja) |
EP (1) | EP3106030A4 (ja) |
JP (1) | JP6378956B2 (ja) |
KR (1) | KR20160118327A (ja) |
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WO2017130651A1 (ja) * | 2016-01-29 | 2017-08-03 | Kyb株式会社 | ブーム変位装置及びブームスプレーヤ |
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JP6637369B2 (ja) * | 2016-04-08 | 2020-01-29 | Kyb株式会社 | ブーム制振装置及びブームスプレーヤ |
CN106622773B (zh) * | 2016-11-19 | 2022-05-27 | 农业农村部南京农业机械化研究所 | 一种喷雾机仿形喷杆及其控制方法 |
US10667507B2 (en) * | 2017-12-11 | 2020-06-02 | Cnh Industrial America Llc | Front-boom sprayer with a boom center section and lift arm arrangement for improved field of view |
KR102037176B1 (ko) * | 2018-05-21 | 2019-10-28 | 이리중 | 트랙터 탑재용 농약 분무기 |
CN109924188A (zh) * | 2018-12-26 | 2019-06-25 | 丰疆智慧农业股份有限公司 | 长悬臂喷淋作业车及其应用 |
US11523602B2 (en) | 2019-04-29 | 2022-12-13 | Cnh Industrial America Llc | Spray boom for an agricultural machine |
CN110252564B (zh) * | 2019-07-05 | 2024-02-13 | 农业农村部南京农业机械化研究所 | 一种喷杆减振稳定装置及控制方法 |
CN111990388B (zh) * | 2020-05-27 | 2021-11-16 | 农业农村部南京农业机械化研究所 | 选择性喷洒系统,地空协同施药系统及协作方法 |
CN112167213A (zh) * | 2020-08-18 | 2021-01-05 | 南京农业大学 | 一种应用于喷雾机喷杆的主动空气悬架 |
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JP6378956B2 (ja) | 2018-08-22 |
EP3106030A4 (en) | 2017-12-13 |
US20170020121A1 (en) | 2017-01-26 |
CN106102459B (zh) | 2019-03-01 |
JP2016019478A (ja) | 2016-02-04 |
EP3106030A1 (en) | 2016-12-21 |
KR20160118327A (ko) | 2016-10-11 |
CN106102459A (zh) | 2016-11-09 |
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