JP2018157775A - Riding control machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a riding control machine that can easily adjust a spray width.SOLUTION: A side boom 50 of a boom sprayer 1 comprises a first boom 51, and a second boom 52 that can move in a longitudinal direction with respect to the first boom 51. The boom sprayer 1 comprises a driving mechanism 100 for moving the second boom 52 with respect to the first boom 51, an initial position sensor 112 for detecting that the second boom 52 is retracted and located at an initial position, a displacement sensor 111 for detecting a displacement of the second boom 52 with respect to the first boom 51, and a controller 201 for controlling the driving mechanism 100 on the basis of input from the initial position sensor 112 and the displacement sensor 111.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a riding management machine such as a boom sprayer.

  As a technique in this field, as described in Patent Document 1, a boom telescopic device for a scattering work vehicle is known. The spreading work vehicle includes left and right spreading booms, and each spreading boom includes a fixed spreading boom and a movable spreading boom that is attached to the fixed spreading boom so as to be movable in the longitudinal direction. The fixed spraying boom and the moving spraying boom are provided with a plurality of spraying nozzles at predetermined intervals. The boom extender includes nozzle setting means that can increase or decrease the number of spray nozzles of a moving spray boom that protrudes beyond the spray nozzles at the side ends of the fixed spray boom. An operation panel provided on the side of the cockpit is provided with an expansion / contraction slide switch, an increase switch, a decrease switch, and the like.

JP 2012-90593 A

  In the conventional technique described above, the operator operates the telescopic slide switch to expand and contract the boom. Thereby, the control work is performed according to the spread width (work width) of the medicine in accordance with the width of the field. However, the work vehicle needs to change the spreading width while adjusting the switch. That is, since the adjustment is performed while looking at the tips of the left and right booms from the center of the work machine, it is difficult to check the spreading width. When the adjustment fails, the medicine is not sprayed on the necessary portions, and as a result, uncontrolled portions may occur. On the other hand, when a medicine is sprayed on unnecessary parts, it may lead to a phenomenon that a medicine damage occurs or a medicine prepared based on a control plan is insufficient.

  In order to avoid these, for example, a pole for length confirmation may be installed in the field. Moreover, if it is an unfamiliar worker, it will have to perform troublesome work, such as once getting off the implement and going to the tip of the boom to check the spreading width, or having another worker check the spreading width.

  An object of this invention is to provide the riding management machine which can adjust a spreading | diffusion width | variety easily.

  One aspect of the present invention is a side boom (50) attached to a vehicle (2), and a liquid feed pipe (60) provided along the side boom (50) and having a plurality of nozzles (90) attached thereto. ), The side boom (50) is a vehicle in a passenger management machine (1) that sucks the drug from the drug tank (10), presses the drug to the liquid feeding pipe (60), and jets the drug from the nozzle (90). A first boom (51) attached to (2) and attached to the first boom (51) and extending in the longitudinal direction of the first boom (51), A second boom (52) movable in the longitudinal direction, and a liquid feeding pipe (60) includes a first liquid feeding pipe (61) provided along the first boom (51) and a second A second liquid feeding pipe (62) provided along the boom (52), and a nozzle ( 0) has a plurality of first nozzles (91) attached to the first liquid feeding pipe (61) and a plurality of second nozzles (92) attached to the second liquid feeding pipe (62). , A drive mechanism (100) for moving the second boom (52) relative to the first boom (51), and an initial position for detecting that the second boom (52) is in the retracted initial position. From the sensor (112), the displacement sensor (111) for detecting the displacement of the second boom (52) relative to the first boom (51), the initial position sensor (112), and the displacement sensor (111) And a controller (201) for controlling the drive mechanism (100) based on the input.

  According to this riding management machine (1), the side boom (50) is telescopic as a whole by having the second boom (52) movable in the longitudinal direction of the first boom (51). The first boom (51) is provided with a first liquid feed pipe (61) and a first nozzle (91), and the second boom (52) is provided with a second liquid feed pipe (62) and a second nozzle ( 92). Therefore, the spread width of the medicine can be adjusted by moving the second boom (52). The drive mechanism (100) for moving the second boom (52) is controlled by the controller (201). Since this control is performed based on inputs from the initial position sensor (112) and the displacement amount sensor (111), a desired spraying width can be realized with certainty. It is not necessary for the operator to check the spray width by visual observation, and the spray width can be easily adjusted.

  The riding management machine (1) further includes an input device (210, 220) for inputting an indication value relating to the amount of advancement of the second boom (52) or the length of the side boom (50) determined by the advancement amount, and a controller (201) controls the drive mechanism (100) so that the advance amount of the second boom (52) or the length of the side boom (50) becomes a value corresponding to the indicated value. In this case, the length of the side boom (50) is easily adjusted to the intended length by using the input device (210, 220) and inputting an arbitrary numerical value as an instruction value to the controller (201). be able to.

  The first nozzle (91) or the second nozzle (92) provided in a range where the first liquid feeding pipe (61) and the second liquid feeding pipe (62) can overlap with each other is an on-off valve that opens and closes the medicine injection path. (94) is provided, and a lever (96) that opens and closes the on-off valve (94) by moving the distal end portion (96e) in the longitudinal direction is connected to the on-off valve (94), and the first boom (51 ) And the second boom (52) are provided at the tip of the arm part (53) and the arm part (53) extending toward any one of the on / off valves (94), And an operating part (54) that can come into contact with the distal end part (96e) of the lever (96) when the boom (52) moves in the longitudinal direction. The second boom (52) at a position over the tip (96e) of (96) Controlling the drive mechanism (100) to stop. In this case, since the on-off valve (94) opens and closes as the second boom (52) moves, overlapping spraying in the overlapping range is avoided. It is assumed that the second boom (52) is moved in the first direction and the second boom (52) is stopped in a state where the operating portion (54) is in contact with the tip end portion (96e) of the lever (96). In that case, even if the second boom (52) is moved again in the second direction opposite to the first direction, the on-off valve (94) remains closed or open, and the desired opening / closing operation is performed. Is not done. Control by the controller (201) is performed so that the second boom (52) stops at a position where the operating portion (54) has passed over the tip end portion (96e) of the lever (96). 52), the actuating part (54) comes into contact with the tip part (96e) of the lever (96) again, and the tip part (96e) is moved in the second direction. Therefore, the opening and closing of the on-off valve (94) is switched reliably, and the above-described problems are avoided.

  The passenger management machine (1) further includes a display device (80) for displaying information on the amount of advancement of the second boom (52) or the length of the side boom (50) determined by the amount of advancement. In this case, the operator can easily confirm the length of the side boom (50) only by looking at the display device (80).

  According to some embodiments of the present invention, the spreading width can be easily adjusted.

It is a right view which shows one Embodiment of the boom sprayer of this invention. It is a top view which shows the boom sprayer of FIG. It is a figure which shows schematic structure of the piping system in the boom sprayer of FIG. It is a perspective view which shows a side boom. It is a figure which shows schematic structure of the drive mechanism of a side boom. It is a figure which shows the surrounding structure of an arm part and an action | operation part. It is a block diagram which shows the structural example of a control system. FIG. 8A and FIG. 8B are views showing a state where the on-off valve is closed and an opened state, respectively. It is a figure which shows an example of a user interface. It is a flowchart which shows an example of the basic control by a control system. It is a flow figure showing an example of extension control of a side boom by a control system. It is a flowchart which shows an example of the degeneration control of the side boom by a control system. FIG. 13A to FIG. 13D are diagrams showing the movement of the operating portion with respect to the lever. It is a flowchart which shows another example of the basic control by a control system.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the description of the drawings, the same elements are denoted by the same reference numerals, and redundant descriptions are omitted.

  First, a basic configuration of a boom sprayer 1 according to an embodiment will be described with reference to FIGS. 1 and 2. The boom sprayer 1 is a self-propelled riding management machine that includes a vehicle 2 and a boom nozzle device 3 that is a chemical solution spraying device. The boom sprayer 1 sprays the chemical solution (medicine) stored in the chemical solution tank 10 while running the vehicle 2 in the field. In the following description, “front”, “back”, “left”, and “right” are based on the boom sprayer 1 unless otherwise specified.

  The vehicle 2 has a rectangular body frame 4 that is long in the front-rear direction. A front axle (front axle) 8 and a rear axle (rear axle) 9 extending in the width direction of the vehicle 2 are attached to the front portion and the rear portion of the vehicle body frame 4, respectively. A front wheel 6 and a rear wheel 7 are attached to the front axle 8 and the rear axle 9 via knuckles 8a and 9a extending in the vertical direction. The boom sprayer 1 can be driven by four-wheel drive by driving and rotating these front wheels 6 and rear wheels 7.

  As the front wheels 6 and the rear wheels 7, narrow wheels are used. Long knuckles are used as the knuckles 8a and 9a. The boom sprayer 1 is a so-called high clearance type boom sprayer, and can travel across crops in a field. The lengths of the front axle 8 and the rear axle 9 and the distance between the front wheel 6 and the rear wheel 7 in the left-right direction are appropriately determined according to the size of the space between the fields.

  The body frame 4 is provided with a chemical tank 10 at the center in the front-rear direction. The chemical tank 10 is disposed between the front axle 8 and the rear axle 9. In the center of the upper surface of the chemical liquid tank 10, a chemical liquid inlet 10a is provided. A concave portion is formed in the center of the front end portion of the chemical liquid tank 10, and a driver seat 11 on which a driver sits is provided in the concave portion. An engine room 13 is provided behind the chemical liquid tank 10. A boarding step 20 extending downward is fixed to the left end of the vehicle body frame 4.

  At the front end of the vehicle body frame 4, an operation device unit 12 including an operation device for driving operation and an operation device for spraying chemical liquid (chemical solution) is disposed at a front side of the driver's seat 11. Yes. The operation device unit 12 controls a handle 23 for steering the vehicle 2, a boom operation unit 24 for operating the boom nozzle device 3, and a pressure regulating valve 16 to be described later to adjust the pressure of the chemical solution. And a pressure handle 26. The boom operation unit 24 and the pressure adjustment handle 26 are disposed on the right side of the handle 23, for example. The boom operation unit 24 includes a boom moving lever 27 for performing an opening / closing operation of the side boom 50 and a boom expansion / contraction switch 28 for performing an expansion / contraction operation of the side boom 50. The boom expansion / contraction switch 28 includes two switches respectively corresponding to the pair of left and right side booms 50.

  The boom nozzle device 3 described above is attached to the vehicle body frame 4 in front of the operating device section 12. The central part in the left-right direction of the boom nozzle device 3 is supported by the vehicle body frame 4, and the boom nozzle device 3 can swing in a pendulum shape. More specifically, a four-bar linkage device 41 is installed at the front end of the body frame 4 so as to extend forward. The boom nozzle device 3 is supported by the vehicle body frame 4 via a four-bar linkage device 41 and a boom suspension mechanism 42. When the four-bar link device 41 is operated by the expansion / contraction operation of the lifting / lowering cylinder 43, the center boom 40 of the boom nozzle device 3 fixed to the front link of the four-bar link device 41 is moved up and down. Yes. As a result, the vertical position of the boom nozzle device 3 is adjusted.

  A display device 80 is provided in front of the driver seat 11. The display device 80 has a display 81 (see FIG. 9) made up of a liquid crystal display device or the like. The display 81 may include a 7 segment display. The display device 80 displays information about the length of the side boom 50 determined by the amount of advancement of the second boom 52 or the amount of advancement of the second boom 52. In the example shown in FIG. 9, the lengths of the left and right side booms 50 are displayed. Moreover, the full length of the width direction of the boom nozzle apparatus 3 containing the center boom 40 and a pair of side booms 50 and 50 is displayed. When the display device 80 is used as a user interface, the indication value of the side boom 50 may be displayed on the display 81. In that case, the display device 80 is provided in a range that can be reached by an operator who is seated in the driver's seat 11. When the display device 80 is not used as a user interface and has only a display function, only current information may be displayed on the display 81. When the side boom 50 is extended or retracted using the boom extension / contraction switch 28, the current information display allows easy adjustment of the spreading width.

  The information regarding the length of the side boom 50 may be the length of the side boom 50 including the first boom 51 and the second boom 52. The information regarding the length of the side boom 50 may be a spraying width obtained from the position of the second nozzle 92 provided at the extreme end.

  The boom nozzle device 3 includes a center boom 40 that extends in the left-right direction, and a pair of side booms 50, 50 that are coupled to both left and right ends of the center boom 40.

  The boom nozzle device 3 is provided with opening and closing mechanisms 70 and 70 for opening and closing the side booms 50 and 50 with respect to the center boom 40, respectively. The opening / closing mechanism 70 rotates the side boom 50 around both ends of the center boom 40 and rotates the side boom 50 around the base end of the side boom 50. The boom moving lever 27 is operated, and the side boom 50 is opened and closed and moved up and down sequentially or simultaneously, whereby the side boom 50 can be deployed and stored.

  The side boom 50 is deployed by the opening / closing mechanism 70 so as to be in a straight line with the center boom 40 in the use state. By operating the boom moving lever 27, the left and right side booms 50 can be opened and closed independently.

  A boom pipe 46 extending in the left-right direction is attached to the center boom 40. The boom pipe 46 is an extruded product made of aluminum, for example. A spray pipe 46a (see FIG. 3) is embedded in the boom pipe 46, and a plurality of nozzles 46b are attached to the spray pipe 46a at equal intervals.

  The side boom 50 is attached to the vehicle 2. A four-bar linkage device 41, a boom suspension mechanism 42, a center boom 40, and an opening / closing mechanism 70 are interposed between the vehicle 2 and the side boom 50. Note that these may not be provided, and the side boom 50 may be directly attached to the vehicle 2. Some of these may be omitted and the side boom 50 may be attached to the vehicle 2.

  A piping system in the boom sprayer 1 will be described with reference to FIG. As shown in FIG. 3, the boom sprayer 1 includes a pumping pump 19 for pumping the chemical solution. A liquid supply valve 17, a drain plug 18, and a strainer 21 are provided in this order on the first supply line L1 that connects the chemical liquid tank 10 and the pressure pump 19. A pressure regulating valve 16 is provided in the second supply line L2 connected to the discharge side of the pressure feed pump 19. A center liquid feed line L3 connected to the spray pipe 46a of the center boom 40 and a pair of side liquid feed lines L4 and L4 connected to the liquid feed pipe 60 of the side boom 50 are connected to the pressure regulating valve 16. The pressure regulating valve 16 is connected to the chemical liquid tank 10 via the first return line L5 and the second return line L6. A cock 15a is provided in the first return line L5. The second return line L6 is connected to the discharge side of the jet pump 15. The second return line L6 is provided with a foot valve 15b. The first return line L5 joins on the discharge side of the jet pump 15 and on the upstream side of the foot valve 15b.

  Next, a configuration related to the side boom 50 will be described with reference to FIGS. As shown in FIGS. 3 and 4, the boom nozzle device 3 is attached to the pair of left and right side booms 50, the liquid feeding pipes 60 provided along the side booms 50, and the liquid feeding pipes 60. And a plurality of nozzles 90. The boom sprayer 1 sucks the chemical solution from the chemical solution tank 10 and pumps the chemical solution to the liquid feeding pipe 60 to eject the chemical solution from the nozzle 90.

  The side boom 50 has a first boom 51 on the proximal end side and a second boom 52 on the distal end side. The first boom 51 is attached to the vehicle 2. The first boom 51 is a member that extends straight, and its cross section is substantially constant in the longitudinal direction. The second boom 52 is attached to the first boom 51. The second boom 52 is a member extending straight, and its cross section is substantially constant in the longitudinal direction.

  The second boom 52 extends in the longitudinal direction of the first boom 51. That is, the second boom 52 is provided adjacent to the first boom 51 and parallel to the first boom 51. With the side boom 50 deployed, the second boom 52 is located behind the first boom 51. The second boom 52 is movable in the longitudinal direction with respect to the first boom 51. Thereby, the side boom 50 is made telescopic as a whole.

  FIG. 5 is a diagram illustrating a schematic configuration of the drive mechanism 100 of the side boom 50. The drive mechanism 100 includes a sprocket 101 provided at the proximal end portion 51a of the first boom 51, a wire roller 102 provided at the distal end portion 51b of the first boom 51, a chain 103 engaged with the sprocket 101, a wire And a wire 104 hung on the roller 102. A base end 103 a of the chain 103 is connected to a base end portion 52 a of the second boom 52 using a turnbuckle 107. The distal end 103 b of the chain 103 and the proximal end 104 a of the wire 104 are connected using a joint 106. The distal end 104b of the wire 104 is fixed to the proximal end portion 52a.

  The sprocket 101 is connected to the output shaft of the motor 110 provided at the base end portion 51 a of the first boom 51, and the sprocket 101 is rotated by the motor 110. The sprocket 101, the wire roller 102, the chain 103, the wire 104, the joint 106, and the turnbuckle 107 constitute a connecting portion 120 that connects the motor 110 and the second boom 52. When the motor 110 generates a driving force, the second boom 52 moves forward or backward. Thereby, the side boom 50 is extended or retracted.

  As shown in FIG. 4, the liquid feeding pipe 60 includes a first liquid feeding pipe 61 provided along the first boom 51 and a second liquid feeding pipe 62 provided along the second boom 52. Have. The nozzle 90 includes a plurality of first nozzles 91 attached to the first liquid feeding pipe 61 and a plurality of second nozzles 92 attached to the second liquid feeding pipe 62. The first nozzle 91 and the second nozzle 92 are attached at equal intervals.

  The first liquid feeding pipe 61 is embedded in the first boom 51. For example, half of the first liquid feeding pipe 61 (half cylindrical portion) is embedded in the side portion of the first boom 51. The first liquid feeding pipe 61 is disposed on the front side of the first boom 51 in a state where the side boom 50 is deployed. Therefore, the first nozzle 91 is disposed on the front side of the first boom 51.

  The second liquid feeding pipe 62 is embedded in the second boom 52. A half (half-cylindrical portion) of the second liquid feeding pipe 62 is embedded in the side portion of the second boom 52. The second liquid feeding pipe 62 is disposed on the rear side of the second boom 52 in a state where the side boom 50 is deployed. Therefore, the second nozzle 92 is disposed on the front side of the second boom 52.

  Contrary to the above configuration, the first boom 51 and the first nozzle 91 are arranged on the rear side of the first boom 51, and the second boom 52 and the second nozzle 92 are arranged on the front side of the second boom 52. Also good. Since the second boom 52 slides with respect to the first boom 51, the first nozzle 91 and the second nozzle 92 are arranged at opposite positions in the front and rear directions in order to avoid interference between the nozzles.

  As shown in FIGS. 3 and 4, the second liquid feeding pipe 62 has a coil hose 64 provided by branching from the side liquid feeding line L <b> 4 between the pressure feeding pump 19 and the first liquid feeding pipe 61. It is connected. The coil hose 64 has a spiral shape and is extendable in the longitudinal direction of the first boom 51. The proximal end portion of the coil hose 64 is branched from a chemical solution supply pipe 66 provided at the proximal end portion of the liquid feeding tube 60, and the distal end portion of the coil hose 64 is connected to the proximal end portion of the second liquid feeding tube 62. It is connected. The coil hose 64 supplies the chemical liquid to the second liquid feeding pipe 62 without any problem regardless of the expansion / contraction state of the side boom 50.

  In the boom sprayer 1, since the second boom 52 is movable, the side boom 50 can be expanded and contracted within a predetermined width range. Since the side boom 50 can be extended and contracted, the spreading width in the boom sprayer 1 can be adjusted within a predetermined range. By operating the boom extension switch 28, the left and right side booms 50 can be extended and retracted independently.

  Here, with reference to FIG. 7, the structural example of the expansion-contraction control system 200 with which the boom sprayer 1 is provided is demonstrated. As shown in FIG. 7, the expansion / contraction control system 200 includes a controller 201, and a boom extension switch 210 and a boom reduction switch 220 that output an operation signal including an instruction value to the controller 201. The boom extension switch 210 and the boom retract switch 220 are input devices for inputting an instruction value related to the length of the side boom 50 determined by the advance amount of the second boom 52 or the advance amount of the second boom 52. The boom extension switch 210 and the boom reduction switch 220 are provided in the boom extension switch 28, for example.

  Note that the boom extension switch 210 and the boom reduction switch 220 may be displayed on the display 81 of the display device 80. That is, the display device 80 may also serve as an input device for inputting an instruction value related to the length of the side boom 50 determined by the advance amount of the second boom 52 or the advance amount of the second boom 52.

  The expansion / contraction control system 200 detects a displacement amount of the second boom 52 relative to the first boom 51 and a limit switch (initial position sensor) 112 for detecting that the second boom 52 is located at the most retracted initial position. And a rotary encoder (displacement amount sensor) 111. The limit switch 112 and the rotary encoder 111 each output a signal indicating the detection result to the controller 201. The rotary encoder 111 is attached to the motor 110 described above.

  The limit switch 112 is attached to, for example, the base end portion 51a of the first boom 51 (see FIG. 5), and detects that the second boom 52 has fully retracted. A proximity sensor or the like may be used as the initial position sensor.

  The rotary encoder 111 detects the amount of displacement of the second boom 52 relative to the first boom 51 by detecting the rotation of the motor 110. The rotary encoder 111 outputs a pulse for detecting the displacement amount of the second boom 52. The displacement of the second boom 52 per pulse is uniquely determined by the reduction ratio from the motor 110 to the sprocket 101, the number of teeth of the sprocket 101, and the link length of the chain 103. The controller 201 accumulates (adds or subtracts) the number of pulses in the direction in which the motor 110 is driven, so that the side boom 50 changed from the initial state (when the second boom 52 is positioned at the initial position) to the present time. The length can be grasped. The amount of displacement from the initial position of the second boom 52 corresponds to the amount of advancement of the second boom 52. A proximity sensor that detects the teeth of the sprocket 101 may be used as the displacement sensor.

  The expansion / contraction control system 200 includes a motor drive circuit 202 that receives a control signal output from the controller 201, and a motor 110 that is driven by the motor drive circuit 202. The controller 201 generates a control signal based on inputs from the limit switch 112 and the rotary encoder 111 and outputs the control signal to the motor drive circuit 202 to drive the motor 110. The controller 201 controls the drive mechanism 100 so that the advance amount of the second boom 52 or the length of the side boom 50 becomes a value corresponding to the instruction value. The controller 201 can extend and contract the left and right side booms 50 independently.

  A configuration relating to the nozzle 90 (the first nozzle 91 and the second nozzle 92) will be described with reference to FIGS. As shown in FIG. 4, the first nozzle 91 provided in a range where the first liquid feeding pipe 61 and the second liquid feeding pipe 62 can overlap each other is provided with an on-off valve 94 for opening and closing the chemical liquid injection path. Yes. In a state where the second boom 52 is moved to the vehicle 2 side and the side boom 50 is retracted, most of the first liquid feeding pipe 61 and the second liquid feeding pipe 62 can overlap. Therefore, for example, on / off valves 94 are provided in all the first nozzles 91 except for one or a plurality of first nozzles 91 located on the proximal end side in the first liquid feeding pipe 61. For example, the first nozzle 91 (10 in the figure) provided in the range R in which the first liquid feeding pipe 61 and the second liquid feeding pipe 62 can overlap each other is provided with an on-off valve 94. The first nozzle 91 (two in the figure) provided in a range where the first liquid feeding pipe 61 and the second liquid feeding pipe 62 do not overlap is not provided with the on-off valve 94.

  As the on-off valve 94, for example, a ball cock is used. The on-off valve 94 projects forward of the first liquid feeding pipe 61. The on-off valve 94 is a direction perpendicular to the longitudinal direction of the first boom 51 and forms a part of a tubular portion extending in the horizontal direction with the side boom 50 deployed.

  As shown in FIG. 6, the second boom 52 includes an arm portion 53 that extends toward the first boom 51, and a dog plate (operating portion) 54 provided at the tip of the arm portion 53. The arm portion 53 is provided so as to cross the upper surface of the first boom 51. The dog plate 54 is provided at a position on the front side of the first boom 51. The dog plate 54 includes a first working surface 54a facing the distal end side in the longitudinal direction and a second working surface 54b facing the proximal end side in the longitudinal direction. The first operating surface 54a and the second operating surface 54b are V-shaped, for example.

  On the other hand, a lever 96 for opening and closing the on-off valve 94 is connected to the upper part of the on-off valve 94. As shown in FIG. 8, the lever 96 is disposed inside a plate piece 96a that extends horizontally in a state in which the side boom 50 is deployed, and a hole 96f that is formed on the base end side of the plate piece 96a. It includes a rotational force transmission piece 96c and a shaft 96b that passes through the rotational force transmission piece 96c and is fixed to the rotational force transmission piece 96c. The shaft 96 b extending in the vertical direction is inserted into the on-off valve 94 and is engaged with or connected to the valve body inside the on-off valve 94. The shaft 96b rotates to rotate the valve body. The injection path is opened and closed by the rotation of the valve body.

  The lever 96 rotates around the shaft 96b. A roller (tip portion) 96 e is provided on the tip end side of the lever 96. The rotation axis of the roller 96e is parallel to the shaft 96b. The lever 96 opens and closes the on-off valve 94 when the roller 96e is moved in the longitudinal direction. For example, as shown in FIG. 8A, when the shaft 96b is in a position to close the on-off valve 94, when the roller 96e is moved to the front end side in the longitudinal direction (upward in the figure), the rotational force transmitting piece 96c. Is pressed against the flat peripheral edge of the hole 96f and rotates together with the shaft 96b (counterclockwise in the figure). Thereby, the on-off valve 94 is opened. As shown in FIG. 8B, when the roller 96e is moved to the base end side in the longitudinal direction (downward in the figure) when the shaft 96b is in a position to open the on-off valve 94, the rotational force transmitting piece 96c is It is pressed against the flat peripheral edge of the hole 96f and rotates together with the shaft 96b (clockwise in the figure). Thereby, the on-off valve 94 is closed.

  The above-described dog plate 54 provided on the second boom 52 is provided at a position where the dog plate 54 can come into contact with the rollers 96e aligned in a straight line while being separated in the longitudinal direction. That is, the movement trajectory of the dog plate 54 overlaps all the rollers 96e. When the second boom 52 moves in the longitudinal direction, the dog plate 54 contacts the roller 96e of the lever 96 to move the roller 96e, thereby opening and closing the on-off valve 94.

  A torsion spring 96d (see FIG. 6) wound around the shaft 96b is attached between the shaft 96b and the plate piece 96a. The plate piece 96a is configured to always return to the reference position (see FIGS. 8A and 8B) by the biasing force of the torsion spring 96d. On the other hand, the hole 96f is formed larger than the rotational force transmitting piece 96c. A gap is always formed between the flat peripheral edge of the hole 96f and the rotational force transmitting piece 96c. The plate piece 96a always returns to the reference position, but the plate piece 96a allows the rotational force transmitting piece 96c to stop at the two positions described above in the hole 96f.

  When the second boom 52 advances and the side boom 50 extends, the first operating surface 54a of the dog plate 54 comes into contact with the roller 96e and moves the lever 96 (see FIG. 8A). As a result, the on-off valve 94 is opened in the first nozzle 91 after the dog plate 54 has passed. When the second boom 52 is retracted and the side boom 50 is retracted, the second operating surface 54b of the dog plate 54 comes into contact with the roller 96e and moves the lever 96 (see FIG. 8B). Thereby, the on-off valve 94 is closed in the first nozzle 91 after the dog plate 54 has passed.

  As shown in FIG. 4, the on-off valve 94 of the first nozzle 91 provided in the range Rb where the first liquid feeding pipe 61 and the second liquid feeding pipe 62 overlap is closed. On the other hand, since the second nozzle 92 provided in the range Rb where the first liquid feeding pipe 61 and the second liquid feeding pipe 62 overlap is not provided with an opening / closing structure of the injection path, the injection of the second nozzle 92 is performed. The route is always open. The on-off valve 94 of the first nozzle 91 provided in the range Ra where the first liquid feeding pipe 61 and the second liquid feeding pipe 62 do not overlap is opened. Thereby, the overlapping spreading in the whole side boom 50 is prevented. As described above, the first nozzle 91 and the second nozzle 92 in a state where the on-off valve 94 is opened is provided with a mechanism in which the nozzles are always arranged at equal intervals.

  The same nozzle is used as the first nozzle 91 and the second nozzle 92. The first nozzle 91 and the second nozzle 92 are perpendicular to the longitudinal direction of the side boom 50 and are connected to the first liquid feeding pipe 61 by a tubular portion extending in a horizontal direction with the side boom 50 deployed. Connected. For example, with respect to the first nozzle 91, the on-off valve 94 forms part of a tubular portion. Even when the on-off valve 94 is not provided, the first nozzle 91 is connected to the first liquid feeding pipe 61 by the tubular portion 95. Similarly, the second nozzle 92 is connected to the second liquid feeding pipe 62 by the tubular portion 95.

  Next, a control procedure performed by the expansion / contraction control system 200 will be described. 10 is a flowchart showing an example of basic control by the extension / contraction control system 200, FIG. 11 is a flowchart showing an example of extension control of the side boom 50, and FIG. 12 shows an example of reduction control of the side boom 50. FIG.

  As shown in FIG. 10, when the power is turned on (or when the engine is started), the controller 201 determines whether or not the initial position sensor is ON (step S101). The controller 201 inputs a signal indicating the detection result output from the limit switch 112 to determine whether or not the second boom 52 is located at the initial position. If it is determined that the initial position sensor is ON, that is, if it is determined that the second boom 52 is positioned at the initial position (step S101: YES), the controller 201 resets the length of the side boom 50 (step S102). The controller 201 stores the fact that the second boom 52 is most retracted, that is, the length of the side boom 50 is the shortest. At this time, the advance amount of the second boom 52 is zero. This means that the spreading width is the smallest. The controller 201 drives the motor 110 to retract the second boom 52 until it is detected that the second boom 52 is located at the initial position when the power is turned on or the engine is started. When the second boom 52 is located at the initial position, the expansion / contraction control system 200 enters a standby state.

  On the other hand, in the standby state, the operator uses the boom extension switch 210 or the boom retract switch 220 to perform an operation for extending the side boom 50 or contracting the side boom 50. In the state where the second boom 52 is located at the initial position, the controller 201 invalidates the operation of retracting the side boom 50 and validates only the operation of extending the side boom 50.

  Subsequently, the controller 201 determines whether or not the displacement amount sensor is ON and the motor 110 is driven in the direction in which the side boom 50 is extended (step S103). When the controller 201 determines that the displacement sensor is ON and the motor 110 is driving in the direction in which the side boom 50 is extended (step S103: YES), the controller 201 increases the length count of the side boom 50 by 1 (increment). (Step S104). The length count of the side boom 50 corresponds to the advance amount of the second boom 52.

  Subsequently, the controller 201 determines whether or not the displacement amount sensor is ON and the motor 110 is driven in a direction in which the side boom 50 is retracted (step S105). When the controller 201 determines that the displacement sensor is ON and the motor 110 is driving in a direction to retract the side boom 50 (step S105: YES), the controller 201 decrements the length count of the side boom 50 by 1 (decrement). (Step S106).

  As shown in FIG. 11, in the extension control of the side boom 50, the controller 201 turns off the output to the motor 110 for extending the side boom 50 (step S111). The controller 201 determines whether or not the output to the motor 110 for retracting the side boom 50 is ON (step S112). When the controller 201 determines that the output for retracting the side boom 50 is ON (step S112: YES), the controller 201 returns to the process of step S111. When the controller 201 determines that the output for retracting the side boom 50 is not ON (step S112: NO), the controller 201 determines whether the length count of the side boom 50 is the maximum (step S113). For this process, the controller 201 stores the maximum value of the length count of the side boom 50 corresponding to the most advanced position of the second boom 52.

  When the controller 201 determines that the length count of the side boom 50 is the maximum (step S113: YES), the controller 201 returns to the process of step S112. When the controller 201 determines that the length count of the side boom 50 is not the maximum (step S113: NO), the controller 201 determines whether or not the boom extension switch 210 is ON (step S114). When the controller 201 determines that the boom extension switch 210 is ON (step S114: YES), the controller 201 turns ON the output to the motor 110 for extending the side boom 50 (step S115). Thereby, the motor 110 is driven in the direction in which the side boom 50 is extended, and the second boom 52 advances. Then, the process returns to step S112.

  On the other hand, if it is determined that the boom extension switch 210 is not ON (step S114: NO), the controller 201 turns off the output to the motor 110 for extending the side boom 50 (step S116). Then, the process returns to step S112.

  As shown in FIG. 12, in the retracting control of the side boom 50, the controller 201 turns on the output to the motor 110 for retracting the side boom 50 (step S121). Next, the controller 201 determines whether or not the initial position sensor is ON (step S122). If the controller 201 determines that the initial position sensor is not ON (step S122: NO), the process returns to step S121.

  If it is determined that the initial position sensor is ON (step S122: YES), the controller 201 turns OFF the output to the motor 110 for retracting the side boom 50 (step S123). With these controls, the controller 201 drives the motor 110 to retract the second boom 52 until it detects that the second boom 52 is located at the initial position.

  Subsequently, the controller 201 determines whether or not the boom retract switch 220 is ON and the initial position sensor is OFF (step S124). When the controller 201 determines that the boom retract switch 220 is ON and the initial position sensor is OFF (step S124: YES), the controller 201 turns ON the output to the motor 110 for retracting the side boom 50 (step S125). If the controller 201 determines that the boom retract switch 220 is not ON or that the initial position sensor is not OFF (step S124: NO), the controller 201 determines whether or not the initial position sensor is ON (step S126). . When the controller 201 determines that the initial position sensor is ON (step S126: YES), the controller 201 turns off the output to the motor 110 for retracting the side boom 50 (step S128).

  On the other hand, when determining that the initial position sensor is not ON (step S126: NO), the controller 201 determines whether or not the length count of the side boom 50 is the NG position (step S127). Here, the length count of the side boom 50 being the NG position means a position where the dog plate 54 overlaps the lever 96, that is, a position where the dog plate 54 contacts the lever 96. The controller 201 stores the NG position of the length count according to the quantity of the first nozzles 91 provided with the on-off valve 94 and the interval provided with the first nozzles 91.

  When the controller 201 determines that the length count of the side boom 50 is not in the NG position (step S127: NO), the controller 201 turns off the output to the motor 110 for retracting the side boom 50 (step S128). On the other hand, if it is determined that the length count of the side boom 50 is the NG position (step S127: YES), the controller 201 makes an output to the motor 110 for retracting the side boom 50 after making the determination of step S124. Is turned on (step S125).

  When it is instructed to stop the dog plate 54 at a position where it overlaps the lever 96 by this series of processes, the controller 201 drives the drive mechanism to advance and retract the side boom 50 until the dog plate 54 gets over the lever 96. 100 is controlled.

  As shown in FIG. 13A, when the second boom 52 is retracted, the dog plate 54 approaches the lever 96. As shown in FIG. 13B, when the second operating surface 54b of the dog plate 54 abuts on the roller 96e, the rotational force transmitting piece 96c and the shaft 96b rotate clockwise, and the on-off valve 94 closes.

  Further, as shown in FIG. 13C, the dog plate 54 moves to a position over the roller 96e and stops. At this time, the plate piece 96a has returned to the reference position. As shown in FIG. 13D, when the second boom 52 advances and the dog plate 54 moves again, the dog plate 54 approaches the lever 96 from the opposite side. When the first working surface 54a of the dog plate 54 abuts on the roller 96e, the rotational force transmitting piece 96c and the shaft 96b rotate counterclockwise, and the on-off valve 94 is opened.

  In this way, the controller 201 controls the drive mechanism 100 so that the opening and closing of the on-off valve 94 is reliably switched so that the second boom 52 stops at the position where the dog plate 54 has passed the roller 96e of the lever 96.

  According to the boom sprayer 1 of the present embodiment, the side boom 50 has the second boom 52 that can move in the longitudinal direction of the first boom 51, so that it can expand and contract as a whole. The first boom 51 is provided with a first liquid feed pipe 61 and a first nozzle 91, and the second boom 52 is provided with a second liquid feed pipe 62 and a second nozzle 92. Therefore, by moving the second boom 52, the spread width of the medicine can be adjusted. The drive mechanism 100 for moving the second boom 52 is controlled by the controller 201. Since this control is performed based on inputs from the limit switch 112 and the rotary encoder 111, it is possible to reliably realize a desired spreading width. It is not necessary for the operator to check the spray width by visual observation, and the spray width can be easily adjusted. Regardless of whether the worker is an expert or a non-skilled worker, the predetermined work width can be set easily and reliably. Thereby, the chemical damage by the adjustment mistake of boom length is prevented, and the chemical | medical agent sprayed wastefully is reduced. Furthermore, the confirmation time of the spreading width is shortened. It is also possible to make it unnecessary to check the spreading width.

  By using the boom extension switch 210 and the boom reduction switch 220 as input devices and inputting any numerical value as an instruction value to the controller 201, the length of the side boom 50 can be easily adjusted to the intended length. Can do.

  Since the on-off valve 94 opens and closes with the movement of the second boom 52, overlapping spraying in the overlapping range is avoided. It is assumed that the second boom 52 is stopped in a state where the second boom 52 is moved in the first direction and the dog plate 54 is in contact with the roller 96e of the lever 96 (for example, the state shown in FIG. 13B). In that case, even if the second boom 52 is moved again in the second direction opposite to the first direction, the on-off valve 94 remains closed, and the opening operation is not performed. If the spraying operation is performed while the on-off valve 94 is closed, the chemical solution is not ejected from the second nozzle 92 corresponding to the location, and uneven dispersion occurs. Therefore, in the present embodiment, the controller 201 performs control so that the second boom 52 stops at the position where the dog plate 54 has passed over the roller 96e of the lever 96 (see FIG. 13C). When the second boom 52 is moved, the dog plate 54 comes into contact with the roller 96e of the lever 96 again, and the roller 96e is moved in the second direction (see FIG. 13D). Therefore, the opening / closing of the on-off valve 94 is switched reliably, and the above-described problems are avoided.

  When the display device 80 is provided, the operator can easily confirm the length of the side boom 50 only by looking at the display device 80 (see FIG. 9). For example, when the side boom 50 is extended or retracted using the boom extension switch 28, the display of the current information enables easy adjustment of the spreading width.

  Even when the boom extension switch 210 and the boom reduction switch 220 are provided not in the user interface but in the boom extension switch 28 similar to the conventional one, the controller 201 detects the ON of these switches and drives the motor 110. Further, when the dog plate 54 and the roller 96e of the lever 96 overlap each other, the time until the drive is turned off is shifted (the second boom 52 is moved excessively) to provide the second nozzle 92. It is possible to prevent the opening / closing valve 94 from failing to open and close.

  As mentioned above, although embodiment of this invention was described, this invention is not limited to the said embodiment.

  The boom sprayer 1 may include a user interface as shown in FIG. A left numerical value increase switch 82, a left numerical value decrease switch 83, a right numerical value increase switch 84, and a right numerical value decrease switch 85 may be displayed on the display 81. By using the left numerical value increase switch 82 and the left numerical value decrease switch 83, an instruction value related to the length of the left side boom 50 can be input. Using the right numerical value increase switch 84 and the right numerical value increase switch 84, an instruction value related to the length of the right side boom 50 can be input. The indication value (X (m)) of the left side boom 50 and the indication value (Y (m)) of the right side boom 50 can be arbitrary numerical values.

  When the user interface is used, as shown in FIG. 14, first, the length of the side boom 50 is set by the operator (step S141). Thereafter, the controller 201 determines whether the actual length of the side boom 50 is larger than the set value (step S142) or smaller than the set value (step S144). Depending on these determination results, the output to the motor 110 for retracting the side boom 50 is turned on (step S143), or the output to the motor 110 for extending the side boom 50 is turned on (step S145). Alternatively, the output to the motor 110 for extending the side boom 50 is turned off (step S146), and the output to the motor 110 for retracting the side boom 50 is turned off (step S147).

  In addition, the controller 201 creates a work history based on a positioning signal such as GPS, and refers to this work history to control the drive mechanism 100 so that there is no overlap or lack of spraying of chemicals or the like. Good. In this case, the second boom 52 can automatically move based on the positioning position. A function equivalent to that of the above embodiment can be realized at a low cost by interlocking with the GPS.

  Moreover, it can be set as the structure which makes the 2nd boom 52 advance or retreat by a predetermined length unit (for example, space | interval with which the 2nd nozzle 92 was attached) by input devices, such as a switch.

  The boom extension switch 210 and the boom reduction switch 220 may be omitted. The controller 201 stores a predetermined boom length, and the side boom 50 may be automatically extended so that the boom length is realized.

  The controller 201 is not limited to the case where the second boom is stopped when the operating unit has climbed over the lever. The controller 201 may stop the second boom in a state where the operating unit is in contact with the lever. The on-off valve 94 may not be provided. The display device 80 may not be provided.

  The first nozzle 91 is not limited to the case where the opening / closing valve 94 is provided, and the second nozzle 92 may be provided with the opening / closing valve 94. In that case, a lever is provided on the on-off valve 94, and an arm part and an operating part for operating the lever are provided on the first boom 51. The arm portion and the operating portion do not move, and the on-off valve 94 and the lever move relative to them.

  In the above embodiment, the sliding side boom that expands and contracts in two stages has been described. However, a sliding side boom that expands and contracts in three stages may be used. In that case, a third boom movable relative to the second boom is further provided. A drug other than the drug solution may be sprayed.

  The present invention may be applied to a riding management machine that includes only one retractable multi-stage side boom and that the side boom can be reversed in the left-right direction.

  DESCRIPTION OF SYMBOLS 1 ... Boom sprayer (passenger management machine), 2 ... Vehicle, 10 ... Chemical solution tank, 50 ... Side boom, 51 ... First boom, 52 ... Second boom, 53 ... Arm part, 54 ... Dog plate (operation part), 60 ... liquid feeding pipe, 61 ... first liquid feeding pipe, 62 ... second liquid feeding pipe, 80 ... display device, 90 ... nozzle, 91 ... first nozzle, 92 ... second nozzle, 94 ... open / close valve, 96 ... Lever, 96e ... roller (tip), 100 ... drive mechanism, 111 ... rotary encoder (displacement sensor), 112 ... limit switch (initial position sensor), 200 ... expansion / contraction control system, 201 ... controller, 210 ... boom extension switch (Input device), 220... Boom reduction switch (input device).

Claims (4)

A side boom (50) attached to the vehicle (2), and a liquid feeding pipe (60) provided along the side boom (50) and having a plurality of nozzles (90) attached thereto; In the riding management machine (1) for sucking the medicine from the tank (10), feeding it to the liquid feeding pipe (60) and injecting the medicine from the nozzle (90),
The side boom (50) includes a first boom (51) attached to the vehicle (2) and a first boom (51) attached to the longitudinal direction of the first boom (51). A second boom (52) movable in the longitudinal direction relative to the first boom (51),
The liquid feeding pipe (60) includes a first liquid feeding pipe (61) provided along the first boom (51) and a second liquid feeding pipe provided along the second boom (52). (62)
The nozzle (90) includes a plurality of first nozzles (91) attached to the first liquid feeding pipe (61) and a plurality of second nozzles (92) attached to the second liquid feeding pipe (62). )
A drive mechanism (100) for moving the second boom (52) relative to the first boom (51);
An initial position sensor (112) for detecting that the second boom (52) is located at an initial position retracted;
A displacement sensor (111) for detecting a displacement of the second boom (52) relative to the first boom (51);
A riding management machine (1) comprising: a controller (201) that controls the drive mechanism (100) based on inputs from the initial position sensor (112) and a displacement sensor (111). An input device (210, 220) for inputting an instruction value relating to the advance amount of the second boom (52) or the length of the side boom (50) determined by the advance amount;
The controller (201) controls the drive mechanism (100) so that the advance amount of the second boom (52) or the length of the side boom (50) becomes a value corresponding to the indicated value. The passenger management machine (1) according to claim 1, characterized in that: The first nozzle (91) or the second nozzle (92) provided in a range where the first liquid feeding pipe (61) and the second liquid feeding pipe (62) can overlap each other has a medicine injection path. An on-off valve (94) for opening and closing is provided, and a lever (96) for opening and closing the on-off valve (94) by connecting a tip portion (96e) in the longitudinal direction is connected to the on-off valve (94). And
One of the first boom (51) and the second boom (52) includes an arm part (53) extending toward the other provided with the on-off valve (94), and the arm part (53). ), And an operating portion (54) capable of abutting on the tip portion (96e) of the lever (96) when the second boom (52) moves in the longitudinal direction,
The controller (201) controls the drive mechanism (100) such that the second boom (52) stops at a position where the operating portion (54) has passed over the tip end portion (96e) of the lever (96). The riding management machine (1) according to claim 1 or 2, wherein the riding management machine (1) is controlled.   The display apparatus (80) which further displays the information regarding the length of the said second boom (52) or the length of the said side boom (50) determined by the said advance amount, The any one of Claims 1-3 characterized by the above-mentioned. The passenger management machine (1) according to claim 1.

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