WO2017013962A1 - Dispositif de levage de bras et pulvérisateur à bras - Google Patents

Dispositif de levage de bras et pulvérisateur à bras Download PDF

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Publication number
WO2017013962A1
WO2017013962A1 PCT/JP2016/067270 JP2016067270W WO2017013962A1 WO 2017013962 A1 WO2017013962 A1 WO 2017013962A1 JP 2016067270 W JP2016067270 W JP 2016067270W WO 2017013962 A1 WO2017013962 A1 WO 2017013962A1
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WO
WIPO (PCT)
Prior art keywords
boom
valve
pressure
raising
lowering
Prior art date
Application number
PCT/JP2016/067270
Other languages
English (en)
Japanese (ja)
Inventor
伊藤　達夫
Original Assignee
Ｋｙｂ株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Ｋｙｂ株式会社 filed Critical Ｋｙｂ株式会社
Priority to CN201680037761.1A priority Critical patent/CN107708415B/zh
Priority to KR1020187001957A priority patent/KR102078486B1/ko
Publication of WO2017013962A1 publication Critical patent/WO2017013962A1/fr

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Classifications

    • 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
    • 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
    • B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
    • B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
    • B05B13/0405—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with reciprocating or oscillating spray heads
    • B05B13/041—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with reciprocating or oscillating spray heads with spray heads reciprocating along a straight line
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01C—PLANTING; SOWING; FERTILISING
    • A01C15/00—Fertiliser distributors
    • 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
    • A01M7/0082—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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
    • B05B12/004—Arrangements for controlling delivery; Arrangements for controlling the spray area comprising sensors for monitoring the delivery, e.g. by displaying the sensed value or generating an alarm
    • B05B12/006—Pressure or flow rate sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
    • B05B12/02—Arrangements for controlling delivery; Arrangements for controlling the spray area for controlling time, or sequence, of delivery
    • 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
    • B05B15/70—Arrangements for moving spray heads automatically to or from the working position
    • B05B15/72—Arrangements for moving spray heads automatically to or from the working position using hydraulic or pneumatic means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B9/00—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour
    • B05B9/03—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour characterised by means for supplying liquid or other fluent material
    • B05B9/04—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour characterised by means for supplying liquid or other fluent material with pressurised or compressible container; with pump
    • B05B9/0403—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour characterised by means for supplying liquid or other fluent material with pressurised or compressible container; with pump with pumps for liquids or other fluent material

Definitions

  • the present invention relates to a boom sprayer and a boom lifting device that lifts and lowers the boom of the boom sprayer.
  • JP2013-102A a link arm attached to the vehicle body, a boom supported at one end by the link arm, a cylinder interposed between the vehicle body and the link arm, and supply and discharge of hydraulic oil to and from the cylinder
  • a boom sprayer including a boom lifting device that lifts and lowers the boom.
  • an accumulator that absorbs pressure fluctuation in the cylinder is connected to the cylinder in order to suppress the vibration of the vehicle body from being transmitted to the boom.
  • the pressure in the accumulator is usually equal to the pressure in the piston side chamber of the cylinder.
  • the pressure in the piston side chamber is a pressure necessary for maintaining the boom at a predetermined height with respect to the vehicle body, that is, a pressure corresponding to the weight of a member such as a link arm or a boom supported by the cylinder. .
  • the piston side chamber and the accumulator communicate with each other. For this reason, even if hydraulic oil is supplied from the pump to increase the pressure in the piston side chamber, the hydraulic oil flows into the oil chamber of the accumulator communicating with the piston side chamber and contracts the spring chamber of the accumulator. Then, as the pressure of the accumulator increases due to contraction of the spring chamber, the pressure in the piston-side chamber also gradually increases. When the pressure in the piston side chamber rises by an amount corresponding to the inertial force acting on the boom, the cylinder extends to raise the boom relative to the vehicle body.
  • the boom does not rise unless the pressure of the accumulator rises. Therefore, even if the operator raises the boom, the boom may not rise quickly.
  • An object of the present invention is to improve the responsiveness of a boom sprayer to a boom raising / lowering operation.
  • an elevating member that is movable up and down with respect to a vehicle body, a boom that is supported at one end by the elevating member and the other end is provided as a free end, and sprays liquid, the vehicle body and the elevating member,
  • a hydraulic cylinder interposed between the hydraulic cylinder, a hydraulic fluid supply / discharge device that feeds / discharges the hydraulic fluid to / from the hydraulic cylinder and raises / lowers the boom relative to the vehicle body, and the hydraulic cylinder.
  • An accumulator that stores pressurized working fluid; an on-off valve that opens and closes a passage that connects the hydraulic cylinder and the accumulator; and a control unit that controls the on-off valve in response to an operation by an operator.
  • the control unit is provided with a boom elevating device that closes the on-off valve when an operation of raising or lowering the boom by an operator is detected.
  • FIG. 1 is a plan view of a boom sprayer according to the first embodiment of the present invention.
  • FIG. 2 is a hydraulic circuit diagram of the boom lifting device and a side view of the boom sprayer.
  • FIG. 3 is a flowchart of a boom lifting process executed by the control unit of the boom sprayer according to the first embodiment of the present invention.
  • FIG. 4 is a flowchart of a modification example of the boom lifting process executed by the control unit of the boom sprayer according to the first embodiment of the present invention.
  • FIG. 5 is a hydraulic circuit diagram of a boom lifting device and a side view of a boom sprayer according to a second embodiment of the present invention.
  • FIG. 6 is a flowchart of the boom lifting process executed by the control unit of the boom sprayer according to the second embodiment of the present invention.
  • FIG. 7 is a flowchart of a modification example of the boom lifting process executed by the control unit of the boom sprayer according to the second 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)
  • 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
  • the rotation direction about the Z axis is the yaw direction.
  • a boom sprayer 100 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 sprays a chemical solution such as a control liquid or liquid fertilizer from the work vehicle 90.
  • the boom sprayer 100 includes a pair of booms 4 that extend from the work vehicle 90 to the left and right.
  • a nozzle (not shown) for spraying a chemical solution is attached to the boom 4.
  • the chemical solution is sprayed from the nozzles of the boom 4 while the work vehicle 90 travels in the field.
  • the boom sprayer 100 includes a pair of link arms 2 attached to the vehicle body 91 of the work vehicle 90, an elevator 3 as an elevator member supported by the link arm 2 so as to be movable up and down with respect to the vehicle body 91, On the other hand, a roll base 5 that is rotatably supported in the roll direction (around 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) are provided.
  • the boom 4 is cantilevered so that its base end 4a can rotate 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.
  • the distal end side frame 16 having the distal end portion 4 b is supported by the proximal end side frame 15 having the proximal end portion 4 a so as to be extendable and contractible.
  • FIG. 1 shows the unfolded state in which the left and right booms 4 extend in the horizontal direction of the vehicle body 91.
  • the boom 4 is retracted from the unfolded state shown in FIG. 1 and stored in the proximal frame 15 after being retracted, and then rotated backward via the storage hinge.
  • the boom 4 is folded and stored so as to extend in the front-rear direction along the side of the vehicle body 91.
  • 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.
  • a cylindrical pin member is used for the support shaft 6.
  • a fluid pressure cylinder 30 that expands and contracts in conjunction with the rotation of the boom 4 in the left-right roll direction, and a position that is symmetrical to the fluid pressure cylinder 30 with the support shaft 6 interposed therebetween.
  • a metal spring 32 that expands and contracts in conjunction with the rotation of the boom 4 in the left-right roll direction.
  • the fluid pressure cylinder 30 and the metal spring 32 suppress vibration in the roll direction in which the boom 4 rotates in the left-right roll direction. By these, the vibration which the top part 4b of the boom 4 shakes to an up-down direction is suppressed, and it is prevented that the front-end
  • FIG. 2 is a side view of the boom sprayer 100.
  • the link arm 2 has an upper link 21 and a lower link 22 that extend in parallel to each other.
  • the upper link 21 has a base end portion rotatably connected to the vehicle body 91 via the pin 12, and a distal end portion 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.
  • a pair of lifting cylinders 40 as hydraulic cylinders are provided on the left and right sides of the vehicle body 91.
  • Each raising / lowering cylinder 40 is interposed between the vehicle body 91 and the upper link 21, and raises / lowers the lifting platform 3 and the boom 4 by extending and contracting in synchronization.
  • the elevating cylinder 40 includes a cylinder tube 41 filled with hydraulic oil as a working fluid, a piston rod 42 inserted in the cylinder tube 41 so as to freely advance and retreat, and a piston 43 provided at a base end portion of the piston rod 42.
  • 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 piston 43 is formed with a flow path 43 a that allows the hydraulic oil to pass between the piston side chamber 44 and the rod side chamber 45.
  • the hydraulic fluid is supplied to and discharged from the piston side chamber 44 by the working fluid supply / discharge device 50, 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 single acting fluid pressure cylinder.
  • a double-acting fluid pressure cylinder in which hydraulic oil is supplied to and discharged from both the piston side chamber 44 and the rod side chamber 45 may be used as the elevating cylinder 40.
  • each elevating cylinder 40 expands and contracts, and each link arm 2 rotates to raise and lower the elevating platform 3 and the boom 4.
  • 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 in the Z-axis direction.
  • each raising / lowering cylinder 40 is interposed between the vehicle body 91 and the raising / lowering stand 3, and changes the height of the raising / lowering stand 3 with respect to the vehicle body 91 by extending / contracting.
  • the working fluid supply / discharge device 50 includes a tank T in which hydraulic oil is stored, a hydraulic pump 51 as a hydraulic pump that is driven by an electric motor (not shown) and can supply the hydraulic oil in the tank T to the piston side chamber 44, and a pair.
  • a direction switching valve 52 is a direction switching valve 52.
  • the direction switching valve 52 includes a supply passage 55 that guides the hydraulic oil discharged from the hydraulic pump 51, a discharge passage 57 that returns the hydraulic oil to the tank T, and an operation passage 59 that communicates with the pilot pressure chamber of the operation check valve 53.
  • a supply / exhaust passage 56 communicating with the piston side chamber 44 is connected.
  • the relief passage 58 that connects the supply passage 55 and the discharge passage 57 is provided with a relief valve 54 that opens when the hydraulic pressure of the supply passage 55 exceeds a set pressure.
  • the direction switching valve 52 is an electromagnetic having an extended position 52a as an operating position for extending the lifting cylinder 40, a contracted position 52b as an operating position for contracting the lifting cylinder 40, and a stop position 52c for stopping the lifting cylinder 40. It is a switching valve. The position of the direction switching valve 52 is appropriately switched so that the height of the boom 4 with respect to the vehicle body 91 becomes a desired height.
  • the boom sprayer 100 can adjust the height of the boom 4 with respect to the vehicle body 91, that is, the height of the boom 4 with respect to the crop in the field, by extending and retracting the lifting cylinder 40.
  • the boom sprayer 100 configured as described above, the vertical vibration of the vehicle body 91 is transmitted to the link arm 2 and the boom 4 via the lifting cylinder 40.
  • the boom sprayer 100 further includes a boom damping device 60.
  • the boom damping device 60 includes an accumulator 61 connected to the piston side chamber 44 of the elevating cylinder 40, and a damping valve 62 that imparts resistance to the hydraulic fluid that moves between the piston side chamber 44 and the accumulator 61.
  • the inside of the accumulator 61 has an oil chamber 61a connected to the piston side chamber 44 that supports the link arm 2, and a spring chamber 61b that applies pressure to the oil chamber 61a.
  • the spring chamber 61b is a gas chamber in which a pressurized gas such as nitrogen is sealed, and applies a gas pressure to the liquid surface that is a boundary surface with the oil chamber 61a.
  • a free piston that partitions the oil chamber 61a and the spring chamber 61b may be accommodated in the accumulator 61. Further, the free piston that partitions the oil chamber 61a and the spring chamber 61b may be accommodated in the accumulator 61, and the spring may be accommodated in the spring chamber 61b.
  • a pressure may be applied to the oil chamber 61a using a spring.
  • the characteristics of the accumulator 61 are set by adjusting the gas pressure in the spring chamber 61b, the volume of the accumulator 61, and the like.
  • the oil chamber 61 a is connected to a branch passage 64 that branches from between the piston side chamber 44 and the operation check valve 53 in the supply / discharge passage 56. That is, the oil chamber 61 a and the piston side chamber 44 are connected through the supply / discharge passage 56 and the branch passage 64.
  • the branch passage 64 is provided with a damping valve 62, and an open / close valve 63 that opens and closes the branch passage 64 is provided adjacent to the damping valve 62.
  • the on-off valve 63 is an electromagnetic on-off valve having a communication position 63a that allows communication between the piston side chamber 44 and the accumulator 61 and a blocking position 63b that blocks communication between the piston side chamber 44 and the accumulator 61.
  • the on-off valve 63 is in the communication position 63a, and the piston side chamber 44 and the accumulator 61 are in communication with each other.
  • the working oil flows between the piston side chamber 44 and the oil chamber 61 a of the accumulator 61.
  • the hydraulic oil flowing into the oil chamber 61a is pushed back to the piston side chamber 44 by the gas pressure in the spring chamber 61b.
  • resistance is given by the damping valve 62 to the flow of the hydraulic oil flowing back and forth between the piston side chamber 44 and the oil chamber 61a.
  • a damping force is generated and the vibration of the lifting cylinder 40 can be suppressed from being transmitted to the boom 4.
  • the on-off valve 63 can be switched to the blocking position 63b by the operator. It is said.
  • the oil chamber 61 a and the piston side chamber 44 may be directly connected by a passage independent of the supply / discharge passage 56.
  • the damping valve 62 and the on-off valve 63 are provided in the independent passages.
  • the boom sprayer 100 further includes a controller 70 as a control unit that controls the direction switching valve 52 and the on-off valve 63.
  • the controller 70 is a microcomputer including a central processing unit (CPU), a read only memory (ROM), a random access memory (RAM), and an input / output interface (I / O interface).
  • the read-only memory stores in advance a control program executed by the central processing unit, and the random access memory stores data in the processing of the central processing unit.
  • the I / O interface is used for input / output of information with a device connected to the controller 70.
  • the controller 70 receives a signal from an operation panel 71 operated by an operator.
  • the operation panel 71 is provided with a boom raising switch (not shown) that is operated when the boom 4 is raised with respect to the vehicle body 91 and a boom lowering switch that is operated when the boom 4 is raised with respect to the vehicle body 91.
  • These switches may be a button type that is turned on or off, or may be a toggle type.
  • you may provide the stop switch which stops operation of the boom 4 separately from a boom raising switch and a boom lowering switch.
  • the lever type which operates the raising and lowering of the boom 4 may be used.
  • the controller 70 determines that the raising switch is turned on when the lever is tilted to one side, determines that the lowering switch is turned on when the lever is tilted to the other side, and the lever is in the neutral state. It is determined that the up switch and the down switch are turned off. In the controller 70, the control described later is executed based on a signal from the operation panel 71, and the positions of the direction switching valve 52 and the on-off valve 63 are switched by the controller 70.
  • the controller 70 is not limited to a microcomputer, and may have any configuration as long as the positions of the direction switching valve 52 and the on-off valve 63 can be appropriately switched according to the operation of the operator. For example, a relay or an electronic timer may be simply combined.
  • the operation panel 71 may be integrated with the controller 70.
  • the piston side chamber 44 and the oil chamber 61a of the accumulator 61 are normally in communication. For this reason, even if hydraulic oil is supplied from the hydraulic pump 51 to increase the pressure in the piston side chamber 44, the hydraulic oil flows into the oil chamber 61 a of the accumulator 61 communicating with the piston side chamber 44, and the spring of the accumulator 61 The chamber 61b is contracted. As the pressure of the accumulator 61 increases due to the contraction of the spring chamber 61b, the pressure in the piston side chamber 44 also gradually increases. When the pressure in the piston side chamber 44 increases by an amount corresponding to the inertial force acting on the boom 4, the lifting cylinder 40 extends and the boom 4 rises with respect to the vehicle body 91.
  • the lifting cylinder 40 does not extend unless the pressure of the accumulator 61 increases. For this reason, even if the operator performs an operation of raising the boom 4, the boom 4 may not rise quickly.
  • the controller 70 controls the on-off valve 63 and the oil in the piston side chamber 44 and the accumulator 61 is controlled.
  • the communication with the chamber 61a is blocked. Accordingly, the hydraulic oil is prevented from flowing into the oil chamber 61a when the boom 4 is raised, and the hydraulic oil is prevented from flowing out from the oil chamber 61a when the boom 4 is lowered.
  • the boom 4 can be raised and lowered with respect to the vehicle body 91 in response to the operator's operation.
  • the controller 70 controls the on-off valve 63 and the direction switching valve 52 according to the procedure shown in the flowchart of FIG.
  • the flowchart of FIG. 3 shows a processing procedure for raising the boom 4.
  • step S101 the controller 70 detects whether or not the raising switch has been operated from OFF to ON by the operator.
  • the operation panel 71 outputs a signal corresponding to the operation to the controller 70 when the raising switch is operated by the operator.
  • step S102 the controller 70 switches the on-off valve 63 to the shut-off position 63b to establish communication between the piston side chamber 44 and the oil chamber 61a of the accumulator 61. Cut off.
  • the controller 70 switches the direction switching valve 52 to the extended position 52a to allow the piston side chamber 44 and the hydraulic pump 51 to communicate with each other.
  • step S103 the controller 70 detects whether or not the raising switch has been operated from on to off by the operator.
  • step S104 the controller 70 switches the direction switching valve 52 to the stop position 52c and blocks communication between the piston side chamber 44 and the hydraulic pump 51.
  • the supply of hydraulic oil from the hydraulic pump 51 to the piston side chamber 44 is stopped, and the back flow from the piston side chamber 44 to the hydraulic pump 51 is blocked by the operation check valve 53. It becomes a state filled with oil.
  • the pressure in the piston side chamber 44 becomes a pressure that balances the weight of the lifting platform 3 and the boom 4 supported by the lifting cylinder 40 from the pressure increased by the amount corresponding to the inertial force, that is, the pressure before the boom 4 is lifted. Until gradually. Note that the amount of hydraulic oil to be filled does not change even when the pressure in the piston side chamber 44 decreases, so the extension amount of the elevating cylinder 40 does not change, and as a result, the height of the boom 4 is maintained.
  • the pressure in the piston side chamber 44 is higher than that in the oil chamber 61a. Since it is high, the hydraulic oil in the piston side chamber 44 moves to the oil chamber 61a. As a result, the elevating cylinder 40 may be temporarily contracted slightly, or the amount of extension of the elevating cylinder 40 may become unstable due to the hydraulic oil traveling between the piston side chamber 44 and the oil chamber 61a. .
  • a predetermined first holding time t1 for preventing the opening / closing valve 63 from being switched from the stop position 52c to the communication position 63a is provided.
  • the first holding time t1 is set to a time from when the direction switching valve 52 is switched to the stop position 52c until the pressure in the piston side chamber 44 returns to the pressure before the boom 4 is raised.
  • step S105 it is determined whether or not the first hold time t1 set in this way has elapsed since step S104 was executed.
  • step S106 the controller 70 switches the on-off valve 63 to the communication position 63a.
  • the boom 4 is raised to a desired height.
  • the communication between the piston side chamber 44 and the oil chamber 61a of the accumulator 61 is allowed after a sufficient time has passed for the pressure in the piston side chamber 44 to return to the pressure before raising and lowering the boom 4. For this reason, after the on-off valve 63 is switched to the communication position 63a, the hydraulic oil travels between the piston side chamber 44 and the oil chamber 61a due to the pressure difference between the pressure in the piston side chamber 44 and the pressure in the oil chamber 61a. Is suppressed. As a result, after the raising / lowering of the boom 4 is stopped, the raising / lowering cylinder 40 is prevented from extending or contracting.
  • the direction switching valve 52 is not limited to a type whose position is switched by electromagnetic force, but may be a valve whose position is manually switched.
  • the operator operates a lever or the like interlocked with the direction switching valve 52 to switch the boom 4 to the extended position 52a, and to lower the boom 4, switch to the retracted position 52b. Is stopped, the position is switched to the stop position 52c.
  • the controller 70 detects the position where the direction switching valve 52 has been operated by the operator, and controls the on-off valve 63 based on the detection result. Specifically, when the direction switching valve 52 is operated to the extended position 52a or the contracted position 52b by the operator, the controller 70 switches the on-off valve 63 to the cutoff position 63b.
  • the controller 70 switches the on-off valve 63 to the communication position 63a after the first holding time t1 has elapsed.
  • the controller 70 switches the on-off valve 63 to the shut-off position 63b and shuts off the communication between the piston side chamber 44 and the oil chamber 61a of the accumulator 61.
  • the controller 70 switches the direction switching valve 52 to the stop position 52c, and after the predetermined first holding time t1 has elapsed, the on-off valve 63 Is switched to the communication position 63a.
  • the piston side chamber 44 and the oil chamber 61a of the accumulator 61 are communicated with each other after a sufficient time has passed for the pressure in the piston side chamber 44 to return to the pressure before the boom 4 is raised and lowered.
  • the switching of the open / close valve 63 to the communication position 63a is performed after the operation of stopping the boom 4 is performed by the operator and the direction switching valve 52 is switched to the stop position 52c, and then the predetermined first hold. Performed when time t1 has elapsed.
  • the switching of the on-off valve 63 to the communication position 63a is performed after an operation of raising and lowering the boom 4 by the operator and the direction switching valve 52 is switched to the extended position 52a or the contracted position 52b. It may be performed when two hold times t2 have elapsed.
  • the piston side chamber 44 is located more than the oil chamber 61a. Since the pressure is high, the hydraulic oil in the piston side chamber 44 moves to the oil chamber 61a. As a result, the elevating cylinder 40 may be temporarily contracted slightly, or the amount of extension of the elevating cylinder 40 may become unstable due to the hydraulic oil traveling between the piston side chamber 44 and the oil chamber 61a. .
  • the pressure in the piston-side chamber 44 becomes higher than the pressure before the boom 4 is raised because of the influence of the inertial force acting on the boom 4.
  • This inertial force acts when the boom 4 is accelerating, such as when the boom 4 is lifted from a stationary state. That is, it does not work when the entire boom 4 is raised at a constant speed. For this reason, when a certain amount of time elapses after the boom 4 starts to rise, the inertial force does not act on the entire boom 4, so that the pressure in the piston side chamber 44 returns to the pressure before raising the boom 4. .
  • the switching of the opening / closing valve 63 to the communication position 63a is performed after the direction switching valve 52 is switched to the extended position 52a or the contracted position 52b, that is, after the opening / closing valve 63 is switched to the cutoff position 63b. This is performed after a predetermined second hold time t2.
  • the controller 70 controls the on-off valve 63 and the direction switching valve 52 according to the procedure shown in the flowchart of FIG.
  • the flowchart of FIG. 4 shows a processing procedure for raising the boom 4.
  • step S111 and step S112 are the same as step S101 and step S102 in the first embodiment, description thereof is omitted.
  • step S113 it is determined whether or not the second hold time t2 has elapsed since step S112 was executed.
  • the second holding time t2 is after the direction switching valve 52 is switched to the extended position 52a until the boom 4 as a whole rises at a constant speed, and the pressure in the piston side chamber 44 returns to the pressure before raising the boom 4. Set to a sufficient time.
  • step S114 the controller 70 switches the on-off valve 63 to the communication position 63a.
  • the controller 70 switches the direction switching valve 52 to the stop position 52 c and establishes communication between the piston side chamber 44 and the hydraulic pump 51. Cut off. However, switching of the on-off valve 63 to the communication position 63a is not performed until the second holding time t2 elapses regardless of whether or not the raising switch is turned off. That is, although not shown in the flowchart of FIG.
  • the controller 70 when the controller 70 detects that the ascent switch is turned off regardless of whether or not the second holding time t2 has elapsed, the controller 70 Switches the direction switching valve 52 to the stop position 52 c and blocks the communication between the piston side chamber 44 and the hydraulic pump 51.
  • the controller 70 detects the operation of raising and lowering the boom 4 by the operator and switches the on-off valve 63 to the shut-off position 63b. After the predetermined second holding time t2 has elapsed, the on-off valve 63 Is switched to the communication position 63a. That is, the communication between the piston side chamber 44 and the oil chamber 61a of the accumulator 61 is allowed after a sufficient time has passed for the pressure in the piston side chamber 44 to return to the pressure before raising and lowering the boom 4.
  • the communication between the piston side chamber 44 and the oil chamber 61a is allowed without waiting for the operator to stop the lifting and lowering of the boom 4. For this reason, the function of the boom damping device 60 can be quickly restored, and the vibration of the vehicle body 91 can be suppressed from being transmitted to the boom 4. As a result, the raising / lowering operation of the boom 4 can be smoothly executed without being affected by the inertial force acting on the boom 4 or the vibration of the vehicle body 91.
  • the basic configuration of the boom sprayer 200 is the same as that of the boom sprayer 100 according to the first embodiment.
  • the switching of the on-off valve 63 to the communication position 63a is performed after a predetermined holding time has elapsed, whereas in the boom sprayer 200, the communication position 63a of the on-off valve 63 is switched. Is switched based on the pressure difference ⁇ P between the pressure in the piston side chamber 44 and the pressure in the oil chamber 61a of the accumulator 61.
  • the boom sprayer 200 is provided in the supply / discharge passage 56, and is provided in a first pressure sensor 72 that detects the pressure in the piston side chamber 44 and the branch passage 64, and is a second pressure that detects the pressure in the oil chamber 61 a of the accumulator 61.
  • the differential pressure detection unit 74 outputs the detected differential pressure ⁇ P to the controller 70.
  • the piston side chamber 44 if the communication between the piston side chamber 44 and the oil chamber 61a of the accumulator 61 is allowed before the pressure in the piston side chamber 44 returns to the pressure before the boom 4 is raised, the piston is more than the oil chamber 61a. Since the pressure in the side chamber 44 is high, the hydraulic oil in the piston side chamber 44 moves to the oil chamber 61a. As a result, the elevating cylinder 40 may be temporarily contracted slightly, or the amount of extension of the elevating cylinder 40 may become unstable due to the hydraulic oil traveling between the piston side chamber 44 and the oil chamber 61a. .
  • the switching of the on-off valve 63 to the communication position 63a occurs when the pressure difference ⁇ P between the pressure in the piston side chamber 44 and the pressure in the oil chamber 61a becomes equal to or less than a predetermined threshold value ⁇ . This is performed when the pressure in the piston side chamber 44 and the pressure in the oil chamber 61a become substantially equal.
  • the controller 70 controls the on-off valve 63 and the direction switching valve 52 according to the procedure shown in the flowchart of FIG.
  • the flowchart of FIG. 6 shows a processing procedure for raising the boom 4.
  • step S201 to step S204 are the same as step S101 to step S104 in the first embodiment, description thereof will be omitted.
  • step S205 the controller 70 determines whether or not the pressure difference ⁇ P between the pressure in the piston-side chamber 44 and the pressure in the oil chamber 61a input from the differential pressure detection unit 74 is equal to or less than a predetermined threshold value ⁇ .
  • the predetermined threshold value ⁇ is a value at which the hydraulic oil hardly flows between the piston side chamber 44 and the oil chamber 61a even when the piston side chamber 44 and the oil chamber 61a are communicated with each other, and the extension amount of the elevating cylinder 40 is maintained.
  • step S206 the controller 70 switches the on-off valve 63 to the communication position 63a.
  • the boom 4 is raised to a desired height.
  • the pressure difference ⁇ P between the pressure in the piston side chamber 44 and the pressure in the oil chamber 61a may be obtained by a differential pressure sensor that detects the differential pressure before and after the on-off valve 63. Further, the differential pressure detection unit 74 may be integrated into the controller 70.
  • the controller 70 switches the direction switching valve 52 to the stop position 52c, and then the pressure between the pressure in the piston side chamber 44 and the pressure in the oil chamber 61a.
  • the on-off valve 63 is switched to the communication position 63a.
  • the switching of the on-off valve 63 to the communication position 63a is based on the pressure difference ⁇ P after the operator performs an operation to stop the boom 4 and the direction switching valve 52 is switched to the stop position 52c. Done. Instead of this, the switching of the on-off valve 63 to the communication position 63a is performed by the operator operating the boom 4 up and down to switch the direction switching valve 52 to the extended position 52a or the contracted position 52b, and then the pressure difference ⁇ P. May be performed on the basis of
  • the controller 70 controls the on-off valve 63 and the direction switching valve 52 according to the procedure shown in the flowchart of FIG.
  • the flowchart of FIG. 7 shows a processing procedure when the boom 4 is raised.
  • step S211 and step S212 are the same as step S201 and step S202 in the second embodiment, description thereof is omitted.
  • step S213 the controller 70 determines whether or not the pressure difference ⁇ P between the pressure in the piston side chamber 44 and the pressure in the oil chamber 61a input from the differential pressure detection unit 74 has become equal to or less than a predetermined threshold value ⁇ .
  • the controller 70 switches the on-off valve 63 to the communication position 63a in step S214.
  • the controller 70 switches the direction switching valve 52 to the stop position 52c, and the communication between the piston side chamber 44 and the hydraulic pump 51 is established. Shut off. However, the switching of the on-off valve 63 to the communication position 63a is not performed until the differential pressure ⁇ P becomes equal to or less than the threshold value ⁇ , regardless of whether the raising switch is turned off. That is, although not shown in the flowchart of FIG.
  • the controller 70 when the controller 70 detects that the raising switch has been turned off regardless of whether or not the differential pressure ⁇ P has become equal to or less than the threshold value ⁇ , the controller 70 70 switches the direction switching valve 52 to the stop position 52 c and blocks communication between the piston side chamber 44 and the hydraulic pump 51.
  • the controller 70 detects the operation of raising and lowering the boom 4 by the operator and switches the on-off valve 63 to the shut-off position 63b, and then the pressure difference between the pressure in the piston-side chamber 44 and the pressure in the oil chamber 61a.
  • ⁇ P becomes equal to or less than the threshold value ⁇
  • the on-off valve 63 is switched to the communication position 63a.
  • the communication between the piston side chamber 44 and the oil chamber 61a is allowed without waiting for the operator to stop the lifting and lowering of the boom 4. For this reason, the function of the boom damping device 60 can be quickly restored, and the vibration of the vehicle body 91 can be suppressed from being transmitted to the boom 4. As a result, the raising / lowering operation of the boom 4 can be smoothly executed without being affected by the inertial force acting on the boom 4 or the vibration of the vehicle body 91.
  • the boom lifting device includes a lifting platform 3 that is movable up and down with respect to a vehicle body 91, a boom 4 that has one end supported by the lifting platform 3 and has the other end as a free end, and sprays a chemical solution, and the vehicle body 91 and the lifting platform 3.
  • An elevator cylinder 40 interposed therebetween, a hydraulic fluid supply / discharge device 50 for supplying and discharging hydraulic oil to and from the elevator cylinder 40 to raise and lower the boom 4 with respect to the vehicle body 91, and an elevator cylinder 40,
  • An accumulator 61 that stores pressurized hydraulic oil
  • an on-off valve 63 that opens and closes a passage that communicates between the elevating cylinder 40 and the accumulator 61
  • a controller 70 that controls the on-off valve 63 in response to an operation by an operator.
  • the controller 70 is characterized by closing the on-off valve 63 when detecting an operation of raising and lowering the boom 4 by the operator.
  • the controller 70 switches the on-off valve 63 to the shut-off position 63b and shuts off the communication between the piston side chamber 44 and the oil chamber 61a of the accumulator 61.
  • the working fluid supply / discharge device 50 includes a hydraulic pump 51 that supplies hydraulic oil to the elevating cylinder 40, a tank T to which hydraulic oil discharged from the elevating cylinder 40 is guided, and a connection between the elevating cylinder 40 and the hydraulic pump 51.
  • a direction switching valve 52 that switches between the state and the connection state between the lifting cylinder 40 and the tank T, and the direction switching valve 52 controls the extension position 52a and the contraction position 52b for operating the lifting cylinder 40, and the lifting cylinder 40.
  • the controller 70 detects an operation of raising and lowering the boom 4 by the operator, the controller 70 closes the on-off valve 63 and moves the direction switching valve 52 to the extended position 52a or the contracted position 52b. It is characterized by switching.
  • the controller 70 switches the on-off valve 63 to the shut-off position 63b and shuts off the communication between the piston side chamber 44 and the oil chamber 61a of the accumulator 61.
  • the controller 70 switches the direction switching valve 52 to the extended position 52a or the contracted position 52b.
  • controller 70 is characterized in that, when detecting an operation for stopping the lifting and lowering of the boom 4 by the operator, the opening / closing valve 63 is opened after a predetermined first holding time t1 has elapsed after the detection.
  • the controller 70 switches the direction switching valve 52 to the stop position 52c, and after the predetermined first holding time t1 has elapsed, the controller 70 moves the on-off valve 63 to the communication position. Switch to 63a.
  • the piston side chamber 44 and the oil chamber 61a of the accumulator 61 are communicated with each other after a sufficient time has passed for the pressure in the piston side chamber 44 to return to the pressure before the boom 4 is raised and lowered.
  • the boom elevating device further includes a differential pressure detecting unit 74 that detects a pressure difference between the pressure of the elevating cylinder 40 and the pressure of the accumulator 61, and the controller 70 detects an operation of stopping the lifting of the boom 4 by the operator.
  • the on-off valve 63 is opened when the pressure difference detected by the differential pressure detecting unit 74 becomes a predetermined threshold value ⁇ or less.
  • the controller 70 switches the direction switching valve 52 to the stop position 52c, and then the pressure between the pressure in the piston side chamber 44 and the pressure in the oil chamber 61a.
  • the on-off valve 63 is switched to the communication position 63a.
  • controller 70 detects the operation of raising and lowering the boom 4 by the operator to close the on-off valve 63, and then opens the on-off valve 63 after a predetermined second holding time t2 has elapsed. To do.
  • the controller 70 detects the operation of raising and lowering the boom 4 by the operator and switching the on-off valve 63 to the shut-off position 63b regardless of whether or not the boom 4 is stopped. After t2 has elapsed, the on-off valve 63 is switched to the communication position 63a. That is, the communication between the piston side chamber 44 and the oil chamber 61a of the accumulator 61 is allowed after a sufficient time has passed for the pressure in the piston side chamber 44 to return to the pressure before raising and lowering the boom 4.
  • the boom elevating device further includes a differential pressure detecting unit 74 that detects a pressure difference between the pressure of the elevating cylinder 40 and the pressure of the accumulator 61, and the controller 70 detects the operation of raising and lowering the boom 4 by the operator and opens and closes it. After the valve 63 is closed, the on-off valve 63 is opened when the pressure difference detected by the differential pressure detecting unit 74 becomes a predetermined threshold value ⁇ or less.
  • the controller 70 detects the operation of raising and lowering the boom 4 by the operator regardless of whether or not the operation of stopping the boom 4 is performed and switches the on-off valve 63 to the shut-off position 63b.
  • the on-off valve 63 is switched to the communication position 63a.
  • Boom sprayers 100 and 200 are provided with the boom lifting device.
  • the boom 4 can be moved up and down with respect to the vehicle body 91 in response to the operation of the operator.
  • different controls may be employed depending on whether the boom 4 is raised or lowered.
  • the opening / closing valve 63 is switched to the communication position 63a after a predetermined time has elapsed since the stop operation, and when the boom 4 is lowered, the boom 4 is lowered regardless of the stop operation.
  • the opening / closing valve 63 may be switched to the communication position 63a after a predetermined time has elapsed since the operation was started.
  • the on-off valve 63 is switched to the communication position 63a based on the pressure difference ⁇ P between the pressure in the piston side chamber 44 and the pressure in the oil chamber 61a, and the boom 4 is lowered.
  • the on-off valve 63 may be switched to the communication position 63a based on the elapsed time.

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  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Pest Control & Pesticides (AREA)
  • Insects & Arthropods (AREA)
  • Wood Science & Technology (AREA)
  • Zoology (AREA)
  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Soil Sciences (AREA)
  • Catching Or Destruction (AREA)

Abstract

Selon l'invention, un dispositif de levage de bras comprend : une base ascendante et descendante (3) capable de monter et de descendre par rapport à un corps de véhicule (91) ; un bras (4) supporté par la base ascendante et descendante ; un cylindre de levage (40) disposé entre le corps de véhicule et la base ascendante et descendante ; une alimentation en fluide de travail et un dispositif de refoulement (50) permettant de fournir du fluide de travail au cylindre et d'en refouler de celui-ci ; un accumulateur (61) raccordé au cylindre de levage ; une vanne d'ouverture et de fermeture (63) permettant d'ouvrir et de fermer un passage pour fournir une communication entre le cylindre de levage et l'accumulateur ; et un système de commande (70) permettant de commander la vanne d'ouverture et de fermeture en fonction d'une opération par un opérateur. Lors de la détection de l'opération d'opérateur de levage ou d'abaissement du bras, le système de commande ferme la vanne d'ouverture et de fermeture.
PCT/JP2016/067270 2015-07-21 2016-06-09 Dispositif de levage de bras et pulvérisateur à bras WO2017013962A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN201680037761.1A CN107708415B (zh) 2015-07-21 2016-06-09 喷杆升降装置和喷杆式喷雾机
KR1020187001957A KR102078486B1 (ko) 2015-07-21 2016-06-09 붐 승강 장치 및 붐 스프레이어

Applications Claiming Priority (2)

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JP2015144245A JP6514594B2 (ja) 2015-07-21 2015-07-21 ブーム昇降装置及びブームスプレーヤ
JP2015-144245 2015-07-21

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KR (1) KR102078486B1 (fr)
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CN108184806B (zh) * 2018-03-29 2020-11-10 姜志祥 一种自旋转全方位施药的打药机喷杆
CN109518647B (zh) * 2018-10-23 2021-03-23 福建龙马环卫装备股份有限公司 一种抑尘车控制装置及抑尘车
JP7221165B2 (ja) * 2019-07-31 2023-02-13 井関農機株式会社 自走式薬剤散布機
JP7322942B2 (ja) * 2019-07-31 2023-08-08 井関農機株式会社 自走式薬剤散布機
JP7192729B2 (ja) * 2019-09-26 2022-12-20 井関農機株式会社 薬剤散布機
CN114263641A (zh) * 2021-12-09 2022-04-01 北京特种机械研究所 一种高压油控制高压水实现保压和大流量喷射的方法

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EP1167095A1 (fr) * 2000-06-26 2002-01-02 K.U. Leuven Research & Development Procédé et dispositif de commande et de stabilisation d' un mouvement
US20050184175A1 (en) * 2004-02-25 2005-08-25 Wubben Thomas M. Boom breakaway system
US20070289438A1 (en) * 2006-06-15 2007-12-20 Thompson Dennis G System for and method of locking a roll suspension arrangement for a boom assembly mounted on an agricultural sprayer
JP2010248766A (ja) * 2009-04-14 2010-11-04 Hitachi Constr Mach Co Ltd 作業機械
JP2013000102A (ja) * 2011-06-21 2013-01-07 Kyb Co Ltd ブームスプレーヤ及びブーム制振装置

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JP5763438B2 (ja) * 2011-06-21 2015-08-12 カヤバ工業株式会社 ブームスプレーヤ及びブーム制振装置
JP6083736B2 (ja) * 2013-01-11 2017-02-22 株式会社やまびこ ブームスプレーヤ及びブーム昇降装置

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Publication number Priority date Publication date Assignee Title
EP1167095A1 (fr) * 2000-06-26 2002-01-02 K.U. Leuven Research & Development Procédé et dispositif de commande et de stabilisation d' un mouvement
US20050184175A1 (en) * 2004-02-25 2005-08-25 Wubben Thomas M. Boom breakaway system
US20070289438A1 (en) * 2006-06-15 2007-12-20 Thompson Dennis G System for and method of locking a roll suspension arrangement for a boom assembly mounted on an agricultural sprayer
JP2010248766A (ja) * 2009-04-14 2010-11-04 Hitachi Constr Mach Co Ltd 作業機械
JP2013000102A (ja) * 2011-06-21 2013-01-07 Kyb Co Ltd ブームスプレーヤ及びブーム制振装置

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JP2017023041A (ja) 2017-02-02
KR20180020253A (ko) 2018-02-27
CN107708415B (zh) 2021-03-23
JP6514594B2 (ja) 2019-05-15
CN107708415A (zh) 2018-02-16
KR102078486B1 (ko) 2020-02-17

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