JP2020171895A - Boom sprayer - Google Patents

Abstract

To provide a boom sprayer capable of improving workability.SOLUTION: A boom sprayer 1 includes: a center boom 5; a side boom 6; a lifting device 30 which moves the height position of the center boom 5; a hydraulic cylinder 47 which swivels the side boom 6; a hydraulic cylinder 57 which tilts the side boom 6; a control device 180 which controls the lifting device 30, the hydraulic cylinder 47, and the hydraulic cylinder 57 so as to switch between a storage state and a deploying state; and a switch 185 which inputs an instruction for switching the storage state and the deploying state to the control device 180.SELECTED DRAWING: Figure 10

Description

The present invention relates to a boom sprayer.

Patent Document 1 discloses a boom sprayer. This boom sprayer includes a center boom 5 and a telescopic boom. The center boom 5 extends in the left-right direction of the boom sprayer. The telescopic boom is provided at the end of the center boom 5, and can be changed to a closed position along the side portion of the boom sprayer and an open position extending in the left-right direction. Further, the boom sprayer has an open sensor device and a contraction sensor device. The open sensor device detects that the telescopic boom has changed from the closed position to the open position, and operates the hydraulic motor so as to bring the telescopic boom into the extended state. The contraction sensor device detects that the expansion / contraction boom is in the contracted state, and operates the hydraulic cylinder so as to close the expansion / contraction boom.

Japanese Unexamined Patent Publication No. 2010-15828

In the boom sprayer as described above, when the telescopic boom is rotated from the closed position to the open position and the telescopic boom is extended from the contracted state to the extended state, the operation for starting the expansion operation of the expansion / contraction boom is omitted. be able to. Therefore, workability can be improved. Further, when the telescopic boom is reduced from the extended state to the reduced state and the telescopic boom is rotated from the open position to the closed position, the operation for starting the rotational operation of the telescopic boom can be omitted. Therefore, workability can be improved. As described above, it is required to improve workability by allowing the user to easily operate the boom sprayer.

One aspect of the present invention is to provide a boom sprayer capable of improving workability.

The boom sprayer (1) on one side of the present invention is provided at the front portion of the traveling machine body (3), and at least one of the center boom (5) and the center boom (5) extending in the left-right direction of the traveling machine body (3). A side boom (6) whose base end is connected to the end, an elevating device (30) that moves the height position of the center boom (5) with respect to the traveling machine, and an opening that is aligned in a straight line with the center boom (5). A switchgear (47) that turns the side boom (6) between the position and the closed position that is folded sideways of the traveling machine body (3), and the tip of the side boom (6) is higher than the height of the center boom (5). The height positions of the tilting device (57) and the center boom (5) that tilt the side boom (6) between the high position and the low position where the tip of the side boom (6) is lower than the high position are predetermined. The retracted state where the height is equal to or higher than the height of the side boom (6), the turning position of the side boom (6) is the closed position, and the tilting position of the side boom (6) is higher than the low position, and at least the side boom (6). The lifting device (30), the opening / closing device (47), and the tilting device are switched to the deployed state in which the turning position of 6) is the open position and the tilting position of the side boom (6) is the low position. A control device (180) for controlling (57) and an input device (185) for inputting an instruction for switching between a stored state and an expanded state to the control device (180) are provided.

In the above boom sprayer, when the work is started, the center boom 5 and the side boom 6 are switched from the retracted state to the deployed state. Further, after the work is completed, the center boom 5 and the side boom 6 are switched from the deployed state to the retracted state. When an instruction for switching between the retracted state and the expanded state is input from the input device to the control device, the control device controls the elevating device 30, the switchgear (47), and the tilting device, and controls the retracted state and the expanded state. Perform a switch with. Therefore, the user only needs to input the instruction for switching between the stored state and the expanded state by the input device, so that the workability can be improved.

Further, the first detection means (130) for detecting the height position of the center boom (5) moved by the lifting device (30) and the second detection for detecting the tilting position of the side boom (6) tilted by the tilting device (6). A means (150) and a third detecting means (140) for detecting the turning position of the side boom (6) swiveled by the opening / closing device (47) are further provided, and the control device (180) is a first detecting means (130). ), The lifting device (30), the switching device (47), and the tilting device (57) may be controlled based on the detection results of the second detecting means (150) and the third detecting means (140). With this configuration, the states of the center boom 5 and the side boom 6 can be accurately grasped.

Further, in the control device (180), when an instruction for switching from the deployed state to the stored state is input by the input device (185), the height position of the center boom (5) is determined by the first detecting means (130). The side boom (6) is in a state where it is detected that the height is equal to or higher than the height of The lifting device (30), the switchgear (47) and the tilting device (57) may be controlled so as to be folded in the closed position. In this configuration, when the side boom 6 is swiveled from the open position to the closed position, the position of the side boom 6 is raised by the elevating device 30 or the tilting device. Therefore, contact between the traveling machine body and the side boom 6 can be suppressed.

Further, in the control device (180), when an instruction for switching from the deployed state to the stored state is input by the input device (185), the height position of the center boom (5) is determined by the first detecting means (130). The side boom (6) is detected to be within the height range of the side boom (6) and the tilt position of the side boom (6) is detected to be high by the second detecting means (150). The lifting device (30), the switchgear (47) and the tilting device may be controlled so that the is folded in the closed position. In this configuration, when the side boom 6 is swiveled from the open position to the closed position, the position of the side boom 6 is raised by the elevating device 30 and the tilting device. Therefore, contact between the traveling machine body and the side boom 6 can be suppressed.

Further, the first detection means (130) includes a first limit switch (131) for detecting that the height position of the center boom (5) is lower than the upper limit of the predetermined height range, and the center boom (5). A second limit switch (133) that detects that the height position is higher than the lower limit of the predetermined height range may be included. In this configuration, when the height position of the center boom 5 is outside the predetermined height range, it is easy to detect whether the height position of the center boom 5 is shifted up or down.

Further, when the input device (185) inputs an instruction to switch from the retracted state to the expanded state, the control device (180) determines the height position of the center boom (5) by the first detecting means (130). In the state where it is detected that the height is equal to or higher than the height of the side boom (6), or in the state where the tilting position of the side boom (6) is detected to be in the high position by the second detecting means (150). The elevating device (30), the opening / closing device (47), and the tilting device (57) may be controlled so that the turning position turns to the open position. In this configuration, when the side boom 6 is turned from the closed position to the open position, the position of the side boom 6 is raised by the elevating device 30 or the tilting device. Therefore, contact between the traveling machine body and the side boom 6 can be suppressed.

Further, in the control device (180), when an instruction for switching from the retracted state to the deployed state is input by the input device (185), the turning position of the side boom (6) is opened by the third detecting means (140). The lifting device (30), the opening / closing device (47), and the tilting device (57) may be controlled so that the tilting position of the side boom (6) is tilted to a low position in the state where the above is detected. .. In this configuration, when the side boom 6 is turned from the closed position to the open position, the position of the side boom 6 is raised by the tilting device. Therefore, contact between the traveling machine body and the side boom 6 can be suppressed.

Further, the side boom (6) includes a base boom (61) connected to the center boom (5) and a tip boom (65) that slides along the base boom (61) by the slide device (67). The control device (180) is a telescopic boom including the above, and when an instruction for switching from the expanded state to the stored state is input by the input device (185), the control device (180) is before the detection of the high position by the second detecting means (150). , The slide device (67) may be controlled so that the side boom (6) begins to shrink. In this configuration, the tilting operation and the contracting operation are executed at least temporarily at the same time, so that the switching time from the expanded state to the stored state can be shortened. Further, the load applied to the tilting device can be suppressed as compared with the case where the side boom 6 tilts in the extended state.

Further, the side boom (6) includes a base boom (61) connected to the center boom (5) and a tip boom (65) that slides along the base boom (61) by the slide device (67). The control device (180) is a telescopic boom including the above, and when an instruction for switching from the retracted state to the expanded state is input by the input device (185), the control device (180) is before the detection of the low position by the second detecting means (150). , The slide device (67) may be controlled so that the side boom (6) begins to extend. In this configuration, since the tilting operation and the extending operation are executed at least temporarily at the same time, the switching time from the stored state to the expanded state can be shortened. Further, the load applied to the tilting device can be suppressed as compared with the case where the side boom 6 tilts in the extended state.

According to one aspect of the present invention, there is provided a boom sprayer capable of improving workability.

It is a perspective view of an example boom sprayer seen from diagonally forward. It is a perspective view which looked at the boom device diagonally from the rear. It is a top view of the boom device. It is a front view of the boom device. It is a partially enlarged view of FIG. 2, and is the figure for demonstrating the elevating sensor. It is a figure for demonstrating the elevating sensor. It is a figure for demonstrating an open / close sensor. It is a figure for demonstrating the tilt sensor. It is a figure for demonstrating the expansion / contraction sensor. It is a block diagram explaining the structure of a control system. It is a flow figure which shows the operation when a boom device is deployed. It is a flow chart which shows the operation when a boom device is retracted.

Hereinafter, embodiments according to the present invention will be specifically described with reference to the drawings. For convenience, substantially the same elements may be designated by the same reference numerals and the description thereof may be omitted. In the description, the XYZ Cartesian coordinate system shown in the drawings may be referred to. In some cases, the X direction is the front-rear direction, the Y direction is the left-right direction or the width direction, and the Z direction is the up-down direction.

FIG. 1 is a perspective view of one form of boom sprayer as viewed diagonally from the front. A boom sprayer is a self-propelled passenger management machine that sprays chemicals on farmland or crops in the field. The boom sprayer 1 includes a traveling machine body 3 having a machine body frame, and a boom device 4 attached to the front portion of the traveling machine body 3. The boom device 4 includes an elevating device 30 supported by the traveling machine body 3, a center boom 5 supported by the elevating device 30, and a pair of side booms 6 connected to both ends of the center boom 5. The center boom 5 and the side boom 6 have a liquid feeding pipe for spraying a chemical solution provided with a plurality of nozzles. When spraying the chemical solution, the side boom 6 is spread so as to be in line with the center boom 5. The side boom 6 is stored in a folded state when the chemical solution is not sprayed.

The side boom 6 of the present embodiment is a telescopic boom including a base end boom 61 connected to the center boom 5 and a tip end boom 65 that slides along the base end boom 61 by a slide mechanism. As an example, the tip boom 65 slides along the base boom 61 by the operation of a slide motor (expansion / contraction device) 67 (see FIG. 9) provided on the base boom 61. By operating the slide motor 67, the side boom 6 can shift between a reduced state in which the tip boom 65 is located closest to the proximal end side and an extended state in which the tip boom 65 is located closest to the distal end side. it can.

A cabin 7 is provided at the front portion of the traveling machine body 3 to form a space in which an operator can sit. An engine room 8 for accommodating an engine is provided at the rear of the traveling machine body 3. A chemical solution tank 9 for accommodating the chemical solution sprayed from the center boom 5 and the side boom 6 is provided between the cabin 7 and the engine room 8. The traveling machine body 3 includes a pair of front wheels 11 and a pair of rear wheels 12.

The boom sprayer 1 is further provided with a side floor 20 in order to improve the ease of getting on and off. The side floor 20 is a portion that projects laterally from the left and right side edges of the traveling machine body 3, and extends from the side of the cabin 7 to the rear end of the traveling machine body 3.

Above the side floor 20, a pair of boom receivers 2 for supporting the stored side boom 6 are provided. The boom receiver 2 is fixed to the traveling machine body 3, and when the side boom 6 is stored, the tip portion of the side boom 6 is supported from below.

Subsequently, the boom device 4 will be further described. FIG. 2 is a perspective view of the boom device 4 as viewed obliquely from the rear. FIG. 3 is a plan view of the boom device 4. FIG. 4 is a front view of the boom device 4. In each of the boom devices 4 shown in FIGS. 2 to 4, the side boom 6 is shown in an open state, that is, a state in which the side boom 6 is aligned with the center boom 5 in the left-right direction. In each drawing, the side boom 6 in the reduced state is shown.

As described above, the boom device 4 includes an elevating device 30, a center boom 5, and a side boom 6. The elevating device 30 can move the height position of the center boom 5 with respect to the traveling machine body 3. As shown in FIG. 2, the elevating device 30 has a pair of left and right parallel link portions 31, connecting pieces 32A, 32B, 32C for connecting the parallel link portions 31, and a hydraulic cylinder. The parallel link portion 31 includes a vertical member 33 extending in the vertical direction, a horizontal member 34 axially fixed to the upper part of the vertical member 33, a horizontal member 35 axially fixed to the lower part of the vertical member 33, and horizontal members 34, 35. Includes a vertical member 36 that is axially fastened to the tip of the. The vertical member 33 is fixed to the traveling machine body 3. The connecting piece 32A connects a pair of left and right horizontal members 34 to each other. The connection piece 32B connects a pair of left and right horizontal members 35 to each other. The connection piece 32C connects a pair of left and right vertical members 36 to each other at the center in the vertical direction. The hydraulic cylinder 37 connects the connecting piece 32B and the connecting piece 32C to each other. In such an elevating device 30, the height position of the vertical member 36 can be changed by expanding and contracting the hydraulic cylinder 37.

The center boom 5 is provided at the front portion of the traveling machine body 3 via the elevating device 30, and extends along the left-right direction of the traveling machine body 3. In one form, a horizontal control device 38 is provided at the front portion of the elevating device 30, and the center boom 5 is supported by the horizontal control device 38. The horizontal control device 38 can swing the center boom 5 with respect to the elevating device 30 so that the center boom 5 is in a horizontal state, for example, by the action of a pair of left and right bumpers.

The side boom 6 is a boom that can project outward from the traveling machine body 3 in the left-right direction. In one form, the base ends of the side boom 6 are connected to both ends of the center boom 5. Brackets 62 are provided at both ends of the center boom 5 (see FIG. 8). A bracket 63 is further provided on the bracket 62, and the base end boom 61 of the side boom 6 is connected to the bracket 63.

The bracket 62 has a first plate-shaped portion 62a extending in the vertical direction, a pair of second plate-shaped portions 62b protruding from the first plate-shaped portion 62a and sandwiching the end portion of the center boom 5 from the vertical direction, and a pair of second plate-shaped portions 62b in the vertical direction. A pair of third plate-shaped portions 62c projecting from both ends of the first plate-shaped portion 62a to the opposite side of the second plate-shaped portion 62b is included. The pair of second plate-shaped portions 62b are rotatably supported by the shaft body 62d with respect to the end portion of the center boom 5. The shaft body 62d has an axial center along the vertical direction.

The bracket 63 includes a first plate-shaped portion 63a extending in the vertical direction and fixed to the base end of the base end boom 61, and a pair of second plates protruding from both ends of the first plate-shaped portion 63a along the vertical direction. Includes a plate-shaped portion 63b. The pair of second plate-shaped portions 63b of the bracket 63 are located between the pair of third plate-shaped portions 62c of the bracket 62. The second plate-shaped portion 63b of the bracket 63 and the third plate-shaped portion 62c of the bracket 62 are axially fixed to each other by a shaft body 63c at their upper portions. The shaft body 63c has an axial center along the horizontal direction. With such a configuration, the side boom 6 is connected to the center boom 5 so as to be rotatable and tiltable.

An example of the boom device 4 is a hydraulic cylinder (switchgear) 47 that swivels the side boom 6 between the center boom 5 and the open position arranged in a straight line in the left-right direction and the closed position folded sideways of the traveling machine body 3. Has (see FIG. 8). In the illustrated example, one end of the hydraulic cylinder 47 is pivotally fixed to a connecting member fixed to one second plate-shaped portion 62b (for example, the upper second plate-shaped portion 62b). The other end of the hydraulic cylinder 47 may be pivotally fixed to, for example, the horizontal control device 38. In such a configuration, the turning positions of the bracket 62, the bracket 63, and the side boom 6 supported by the center boom 5 can be changed by expanding and contracting the hydraulic cylinder 47.

Further, the boom device 4 tilts the side boom 6 between a high position where the tip of the side boom 6 is higher than the height of the center boom 5 and a low position where the tip of the side boom 6 is lower than the high position. It has a hydraulic cylinder (tilt device) 57 to be operated (see FIGS. 8 and 9). In the illustrated example, one end of the hydraulic cylinder 57 is pivotally fixed to the lower end of one of the third plate-shaped portions 62c (for example, the rear third plate-shaped portion 62c). Further, the other end of the hydraulic cylinder 57 is pivotally fixed to a bracket 61a provided at the lower part of the base end boom 61. In such a configuration, the tilting positions of the bracket 63 and the side boom 6 supported by the bracket 62 can be changed by expanding and contracting the hydraulic cylinder 57.

Subsequently, the elevating sensor (first detection means) 130, the open / close sensor (third detection means) 140, the tilt sensor (second detection means) 150, and the expansion / contraction sensor 160 provided in the boom device 4 will be described.

FIG. 5 is a partially enlarged view of FIG. 2 and is a diagram for explaining the elevating sensor 130. FIG. 6 is a diagram for explaining the elevating sensor 130. The elevating sensor 130 is a sensor for detecting the height position of the center boom 5 moved by the elevating device 30. An example elevating sensor 130 has a first limit switch 131, a first cam 132, a second limit switch 133, and a second cam 134. As shown in FIG. 5, the first limit switch 131 and the first cam 132 are provided on the parallel link portion 31 located on the left side when facing the front of the traveling machine body 3. The first limit switch 131 has a switch main body 131a and a movable plate 131b projecting forward from the switch main body 131a, and outputs a signal when the movable plate 131b is pressed toward the switch main body 131a. At the tip of the movable plate 131b in the illustrated example, a roller that can come into contact with the object is provided.

The first cam 132 has a substantially rectangular plate shape. One end of the first cam 132 is axially fixed to the lower part of the vertical member 33 of the parallel link portion 31. An elongated hole 132a is formed on the other end side of the first cam 132 along the extending direction of the cam. A rod 35a fixed to the lateral member 35 of the parallel link portion 31 is inserted through the elongated hole 132a. Further, on one end side of the first cam 132, a plate-shaped extending portion 132c protruding rearward from the axial center 132b is formed. When the horizontal member 35 is rotated with respect to the vertical member 33 by the drive of the elevating device 30, the first cam 132 rotates with the vertical movement of the rod 35a. In this case, when the rotation position of the first cam 132 is within a predetermined range, the extending portion 132c of the first cam 132 presses the movable plate 131b via the roller.

As shown in FIG. 6, the second limit switch 133 and the second cam 134 are provided on the parallel link portion 31 located on the right side when facing the front of the traveling machine body 3. The second limit switch 133 has a switch main body 133a, a movable plate 133b protruding forward from the switch main body 133a, and a roller provided at the tip of the movable plate 133b. The second limit switch 133 outputs a signal when the movable plate 133b is pressed toward the switch body 133a via a roller.

The second cam 134 has a substantially rectangular plate shape. One end of the second cam 134 is axially fixed to the lower part of the vertical member 33 of the parallel link portion 31. An elongated hole 134a is formed on the other end side of the second cam 134 along the extending direction of the cam. A rod 35a fixed to the lateral member 35 of the parallel link portion 31 is inserted through the elongated hole 134a. Further, on one end side of the second cam 134, a plate-shaped extending portion 134c protruding rearward from the axial center 134b is formed. The second cam 134 rotates with the vertical movement of the rod 35a when the horizontal member 35 rotates with respect to the vertical member 33 by the drive of the elevating device 30. In this case, when the rotation position of the second cam 134 is within a predetermined range, the extending portion 134c of the second cam 134 presses the movable plate 133b via the roller.

In the illustrated example, the extending portion 132c of the first cam 132 extends diagonally upward rearward, whereas the extending portion 134c of the second cam 134 extends diagonally downward rearward. Exists. When viewed from the left-right direction, the extending portion 132c of the first cam 132 and the extending portion 134c of the second cam 134 partially overlap each other. As a result, the range of the height position of the center boom 5 when the signal is output by the first limit switch 131 and the range of the height position of the center boom 5 when the signal is output by the second limit switch 133. Partially shifts.

In one example, the first limit switch 131 detects that the height position of the center boom 5 is higher than the lower limit of the predetermined height range. That is, the first limit switch 131 outputs a signal when the height position of the center boom 5 is higher than the lower limit of the predetermined height range, and the height position of the center boom 5 is higher than the lower limit of the predetermined height range. When it becomes low, the signal is stopped. Further, the second limit switch 133 detects that the height position of the center boom 5 is lower than the upper limit of the predetermined height range. That is, the second limit switch 133 outputs a signal when the height position of the center boom 5 is lower than the upper limit of the predetermined height range, and the height position of the center boom 5 is lower than the upper limit of the predetermined height range. When it becomes high, the signal is stopped. As an example, the upper limit of the predetermined height range may be a position lower than the height position of the boom receiver 2. Further, as an example, the lower limit of the predetermined height range is a straight line connecting the boom receiver 2 and the center boom 5 (that is, the side boom 6 supported by the boom receiver 2) from the front wheel 11 when viewed from the left and right. May be in the upper position.

For example, in the examples of FIGS. 5 and 6, the height position of the center boom 5 is within a predetermined height range, and signals are output from both the first limit switch 131 and the second limit switch 133. It has become. When the center boom 5 moves downward from this state, the front end of the first cam 132 moves downward, and the extending portion 132c of the first cam 132 moves upward. In this case, the extending portion 132c of the first cam 132 is separated from the movable plate 131b. That is, the output from the first limit switch 131 is stopped. The second cam 134 also operates in the same manner as the first cam 132, but since the extending portion 134c of the second cam 134 extends diagonally downward to the rear, the extending portion 134c is immediately movable. It does not separate from the plate 133b.

On the other hand, when the center boom 5 moves upward from the states of FIGS. 5 and 6, the front end of the second cam 134 moves upward, and the extending portion 134c of the second cam 134 moves downward. In this case, the extending portion 134c of the second cam 134 is separated from the movable plate 133b. That is, the output from the second limit switch 133 is stopped. The first cam 132 also operates in the same manner as the second cam 134, but since the extending portion 132c of the first cam 132 extends diagonally upward rearward, the extending portion 132c immediately becomes a movable plate. It does not separate from 131b.

FIG. 7 is a diagram for explaining the open / close sensor 140. In FIG. 7, a part of the boom device 4 is viewed from below. The open / close sensor 140 is a sensor for detecting the turning position of the side boom 6 swiveled by the hydraulic cylinder 47. An example open / close sensor 140 has a limit switch 141, an open position cam 142, and a closed position cam 143. The limit switch 141 has a switch main body 141a, a movable plate 141b protruding from the switch main body 141a, and a roller provided at the tip of the movable plate 141b. The limit switch 141 outputs a signal when the movable plate 141b is pressed toward the switch body 141a via a roller. As shown in FIG. 7, the limit switch 141 is fixed to the end of the center boom 5.

The open position cam 142 has a substantially rectangular plate shape. The open position cam 142 is fixed to the lower second plate-shaped portion 62b of the bracket 62. As a result, the open position cam 142 rotates with the rotation of the bracket 62 when the side boom 6 is opened and closed by the drive of the hydraulic cylinder 47. An example of the open position cam 142 protrudes outward from the second plate-shaped portion 62b in a plan view, and is fixed at a position where the movable plate 141b is pressed when the side boom 6 is in the open state. ing. As a result, when the side boom 6 is in the open state, the open position cam 142 presses the movable plate 141b, so that a signal is output from the limit switch 141.

The closed position cam 143 has a substantially rectangular plate shape. The closed position cam 143 is fixed to the lower second plate-shaped portion 62b of the bracket 62. As a result, the closed position cam 143 rotates with the rotation of the bracket 62 when the side boom 6 is opened and closed by the drive of the hydraulic cylinder 47. An example of the closed position cam 143 projects outward from the second plate-shaped portion 62b in a plan view, and is fixed at a position where the movable plate 141b is pressed when the side boom 6 is in the closed state. ing. As a result, when the side boom 6 is in the closed state, the closed position cam 143 presses the movable plate 141b, so that a signal is output from the limit switch. In the illustrated example, the position where the open position cam 142 protrudes from the second plate-shaped portion 62b and the position where the closed position cam 143 protrudes from the second plate-shaped portion 62b are the axial centers of the shaft body 62d. They are 90 degrees apart from each other as centers.

FIG. 8 is a diagram for explaining the tilt sensor 150. The tilt sensor 150 is a sensor for detecting the tilt position of the side boom 6 tilted by the hydraulic cylinder 57.
An example tilt sensor 150 has a limit switch 151, a high position cam 152, and a low position cam 153. The limit switch 151 has a switch main body 151a, a movable plate 151b protruding from the switch main body 151a, and a roller provided at the tip of the movable plate 151b. The limit switch 151 outputs a signal when the movable plate 151b is pressed against the switch body 151a via a roller. As shown in FIG. 7, the limit switch 151 is fixed to the upper end of the bracket 62.

The high position cam 152 has a substantially rectangular plate shape. The high position cam 152 is fixed to a flange 63d provided on a shaft body 63c that pivotally fixes the bracket 62 and the bracket 63 to each other. As a result, when the side boom 6 is tilted by the drive of the hydraulic cylinder 57, the high position cam 152 rotates with the rotation of the shaft body 63c. An example of the high position cam 152 projects radially from the flange 63d and is fixed at a position where the movable plate 151b is pressed when the side boom 6 is in the high position. As a result, when the side boom 6 is controlled to a high position, the high position cam 152 presses the movable plate 151b, so that a signal is output from the limit switch 151. In one example, a signal is output from the limit switch 151 when the angle between the side boom 6 and the center boom 5 is about 135 degrees, that is, when the side boom 6 is tilted 45 degrees from the horizontal state.

The low position cam 153 has a substantially rectangular plate shape. The low position cam 153 is fixed to the flange 63d. As a result, the low position cam 153 rotates with the rotation of the shaft body 63c when the side boom 6 is tilted by the drive of the hydraulic cylinder 57. An example low-position cam 153 projects radially from the flange 63d and is fixed at a position where the movable plate 151b is pressed when the side boom 6 is in the low position. As a result, when the side boom 6 is controlled to the low position, the low position cam 153 presses the movable plate 151b, so that a signal is output from the limit switch 151. In one example, a signal is output from the limit switch 151 when the angle between the side boom 6 and the center boom 5 is about 180 degrees, that is, when the side boom 6 is horizontal.

FIG. 9 is a diagram for explaining the expansion / contraction sensor 160. In FIG. 9, a part of the boom device 4 is viewed from the rear side. The expansion / contraction sensor 160 is a sensor for detecting the state of the side boom 6 that slides by the slide motor 67.

An example telescopic sensor 160 has a limit switch 161 and a pressing piece 69, and a lever 68. The limit switch 161 has a switch main body 161a, a movable plate 161b protruding from the switch main body 161a, and a roller provided at the tip of the movable plate 161b. The limit switch 161 outputs a signal when the movable plate 161b is pressed against the switch body 161a side via a roller. As shown in FIG. 9, the limit switch 161 is fixed to the proximal end side of the proximal end boom 61 constituting the side boom 6.

The pressing piece 69 is fixed to the base end of the tip boom 65 constituting the side boom 6. As a result, when the side boom 6 slides due to the drive of the slide motor 67, the pressing piece 69 moves along with the slide of the tip boom 65. The pressing piece 69 of one example projects from the base end of the tip boom 65 along the extending direction of the side boom 6.

The lever 68 is pivotally stopped by a shaft body 68a at a position adjacent to the limit switch 161 at the base end of the base end boom 61. The lever 68 has a plate-shaped contact piece 68b that is pressed by the pressing piece 69 when the side boom 6 contracts. In the illustrated example, the contact piece 68b includes a receiving portion 68c for receiving the pressing piece 69. Further, the contact piece 68b of the lever 68 is formed with a plate-shaped extending portion 68d extending in a substantially fan shape centered on the shaft body 68a. When the side boom 6 is in the contracted state, the lever 68 rotates about the shaft body 68a when the contact piece 68b is pressed by the pressing piece 69. The extending portion 68d is designed to press the movable plate 161b when the contact piece 68b is pressed by the pressing piece 69. As a result, when the side boom 6 is reduced, the lever 68 presses the movable plate 161b, so that a signal is output from the limit switch 161. On the other hand, when the pressing of the contact piece 68b by the pressing piece 69 is released, the lever 68 is rotated to a position where the contact piece 68b comes into contact with the stopper 68e by an urging member such as a torsion coil spring. The extending portion 68d is designed so as not to press the movable plate 161b when the contact piece 68b is in contact with the stopper 68e.

Subsequently, the control mechanism of the boom device 4 will be described. FIG. 10 is a block diagram illustrating the configuration of the control system. As shown in FIG. 10, in the present embodiment, the hydraulic cylinder 37, the hydraulic cylinder 47, the hydraulic cylinder 57, the slide motor 67, the elevating sensor 130, the open / close sensor 140, the tilt sensor 150, and the telescopic sensor 160 are connected to the control device 180. Has been done. Further, the control device 180 is connected to the switch 185 as an input device. The switch 185 is a device for inputting an instruction for switching between the stored state and the deployed state of the boom device 4 to the control device 180.

An example switch 185 may selectively (alternatively) output a signal for instructing the stored state and a signal for instructing the expanded state. For example, the switch 185 is a so-called toggle switch, and outputs a signal for instructing the stored state when pressed in one direction, and outputs a signal for instructing the expanded state when pressed in the other direction. The switch 185 does not output any signal when it is not pressed. The switch 185 may be arranged, for example, around the driver's seat provided inside the cabin 7. In one example, a switch 185 corresponding to the side boom 6 on the right side when facing the front of the traveling machine body 3 and a switch 185 corresponding to the left side may be separately provided. In the following description, it is assumed that the left and right side booms 6 are controlled at the same time. That is, an example in which the entire boom device 4 is controlled by one switch 185, or an example in which two switches corresponding to the left and right side booms 6 are controlled at the same time will be described.

The control device 180 automatically controls the hydraulic cylinder 37, the hydraulic cylinder 47, the hydraulic cylinder 57, and the slide motor 67 so that the boom device 4 is in the deployed state when a signal indicating the deployed state is input from the switch 185. To do. Further, the control device 180 automatically sets the hydraulic cylinder 37, the hydraulic cylinder 47, the hydraulic cylinder 57, and the slide motor 67 so that the boom device 4 is in the retracted state when a signal indicating the retracted state is input from the switch 185. Control with. Here, the retracted state means that the height position of the center boom 5 is equal to or higher than a predetermined height, the turning position of the side boom 6 is the closed position, and the tilting position of the side boom 6 is lower than the lower position. Is also high. In the retracted state, the side boom 6 is located above the front wheels 11 and the rear wheels 12, and may be instructed by, for example, the boom receiver 2. Further, the deployed state is a state in which at least the turning position of the side boom 6 is the open position and the tilting position of the side boom 6 is the low position (horizontal).

In one form, the control device 180 is a hydraulic cylinder based on a signal input from the switch 185 and a signal (detection result) input from the elevating sensor 130, the open / close sensor 140, the tilt sensor 150, and the telescopic sensor 160. 37, the operation of the hydraulic cylinder 47, the hydraulic cylinder 57, and the slide motor 67 is controlled.

Hereinafter, the operation of the boom device 4 controlled by the control device 180 will be described. FIG. 11 is a flow chart showing an operation when the boom device 4 shifts from the retracted state to the expanded state. That is, FIG. 11 shows an operation flow when the switch 185 is operated by the user so that a signal for instructing the deployed state is output when the boom device 4 is in the retracted state.

When the switch 185 is operated by the user, first, the side boom 6 starts to rise (step S01). That is, the control device 180 to which the signal is input from the switch 185 operates the hydraulic cylinder 57 to change the tilting position of the side boom 6, and raises the tip side of the side boom 6. Then, the control device 180 determines whether or not the tip of the side boom 6 has risen to a predetermined position (step S02). In the present embodiment, when the tilt position of the side boom 6 becomes a high position, a signal is output from the limit switch 151 constituting the tilt sensor 150 to the control device 180. Therefore, the control device 180 continues the operating state of the hydraulic cylinder 57 until a signal from the limit switch 151 is input.

When a signal is input from the limit switch 151 to the control device 180, the control device 180 determines that the tilt position of the side boom 6 has reached a high position, and stops the tilt of the side boom 6 (step S03). That is, the operation of the hydraulic cylinder 57 is stopped. Next, the control device 180 starts deploying the side boom 6 (step S04). That is, the control device 180 operates the hydraulic cylinder 47 to change the turning position of the side boom 6, and shifts the side boom 6 from the closed state to the open state. Then, the control device 180 determines whether or not the side boom 6 has expanded to a predetermined position (step S05). In the present embodiment, when the turning position of the side boom 6 reaches the open position, a signal is output from the limit switch 141 constituting the open / close sensor 140 to the control device 180. Therefore, the control device 180 continues the operating state of the hydraulic cylinder 47 until the signal from the limit switch 141 is input.

When a signal is input from the limit switch 141 to the control device 180, the control device 180 determines that the turning position of the side boom 6 has reached the open position, and stops the turning of the side boom 6 (step S06). That is, the operation of the hydraulic cylinder 47 is stopped. At the stage where step S06 is completed, the open / close sensor 140 has detected that the turning position of the side boom 6 is the open position.

Next, the control device 180 starts lowering and extending the side boom 6 (step S07). That is, the control device 180 operates the hydraulic cylinder 57 to change the tilting position of the side boom 6, and shifts the side boom 6 from the high position to the low position. Further, the control device 180 operates the slide motor 67 to extend the side boom 6 and shift the side boom 6 from the reduced state to the extended state. The control device 180 controls the slide motor 67 so that the side boom 6 starts to extend before the tilt sensor 150 detects the low position. In one example, the descent and extension of the side boom 6 may be initiated at the same time.

Then, the control device 180 determines whether or not the side boom 6 has been lowered to a predetermined position (step S08). In the present embodiment, when the tilt position of the side boom 6 becomes a low position, a signal is output from the limit switch 151 constituting the tilt sensor 150 to the control device 180. Therefore, the control device 180 continues the operating state of the hydraulic cylinder 57 until a signal from the limit switch 151 is input. When a signal is input from the limit switch 151 to the control device 180, the control device 180 determines that the tilt position of the side boom 6 has become a low position, and stops the tilt of the side boom 6 (step S09). That is, the operation of the hydraulic cylinder 47 is stopped. Next, the extension operation of the side boom 6 is stopped (step S10). In one example, when the user stops pressing the switch 185, the input of the signal to the control device 180 is stopped, and the extension operation of the side boom 6 is stopped. In one example, as described above, the control device 180 controls the boom device 4 from the retracted state to the deployed state.

FIG. 12 is a flow chart showing an operation when the boom device 4 shifts from the deployed state to the stored state. That is, FIG. 12 shows an operation flow when the switch 185 is operated by the user so that a signal for instructing the retracted state is output when the boom device 4 is in the deployed state.

When the switch 185 is operated by the user, the side boom 6 is first started to rise and fall (step S21). That is, the control device 180 to which the signal is input from the switch 185 operates the hydraulic cylinder 57 to change the tilting position of the side boom 6, and shifts the side boom 6 from the low position to the high position. Further, the control device 180 operates the slide motor 67 to reduce the side boom 6 and shift the side boom 6 from the extended state to the reduced state. The control device 180 controls the slide motor 67 so that the side boom 6 starts shrinking before the tilt sensor 150 detects the high position. In one example, the ascent and contraction of the side boom 6 may be initiated at the same time. Then, the control device 180 determines whether or not the tip of the side boom 6 has risen to a predetermined position and whether or not the reduction operation of the side boom 6 has been completed (step S22). In the present embodiment, when the tilt position of the side boom 6 becomes a high position, a signal is output from the limit switch 151 constituting the tilt sensor 150 to the control device 180. Therefore, the control device 180 continues the operating state of the hydraulic cylinder 47 until a signal from the limit switch 151 is input. Further, when the side boom 6 is in the reduced state, a signal is output from the limit switch 161 constituting the expansion / contraction sensor 160 to the control device 180. Therefore, the control device 180 continues the operating state of the slide motor 67 until the signal from the limit switch 161 is input.

When a signal is input from the limit switch 151 and the limit switch 161 to the control device 180, the control device 180 determines that the tilt position of the side boom 6 is in a high position and the side boom 6 is reduced, and the side boom 6 is determined. Stops tilting and contracting (step S23). That is, the hydraulic cylinder 57 and the slide motor 67 are stopped. Next, the control device 180 starts adjusting the elevating device 30 (step S24). That is, the control device 180 operates the hydraulic cylinder 37 to change the elevating device 30 and change the height position of the center boom 5. For example, when the signal from the second limit switch 133 that detects the upper limit is input and the signal from the first limit switch 131 that detects the lower limit is not input, the control device 180 raises the elevating device 30. The hydraulic cylinder 37 is operated. On the other hand, when the signal from the second limit switch 133 that detects the upper limit is not input and the signal from the first limit switch 131 that detects the lower limit is input, the control device 180 raises and lowers the device 30. The hydraulic cylinder 37 is operated so as to lower it. Then, the control device 180 determines whether or not the elevating position of the center boom 5 is within a predetermined height range (step S25). In the present embodiment, when the position of the center boom 5 is within a predetermined height range, signals are output from the left and right limit switches 131 and 133 to the control device 180. Therefore, the control device 180 continues the operating state of the hydraulic cylinder 37 until the signals from the limit switches 131 and 133 are input.

When a signal is input to the control device 180 from the limit switches 131 and 133, the control device 180 determines that the elevating position of the center boom 5 is within a predetermined height range, and stops the operation of the elevating device 30 (step S26). ). That is, the operation of the hydraulic cylinder 37 is stopped. At the stage where step S26 is completed, the elevating sensor 130 detects that the height position of the center boom 5 is within a predetermined height range, and the tilt sensor 150 tilts the side boom 6 to a high position. Is in the detected state.

Next, the control device 180 starts storing the side boom 6 (step S27). That is, the control device 180 operates the hydraulic cylinder 47 to change the turning position of the side boom 6, and shifts the side boom 6 from the open state to the closed state. Then, the control device 180 determines whether or not the side boom 6 is stored to a predetermined position (step S28). In the present embodiment, when the turning position of the side boom 6 is in the closed position, a signal is output from the limit switch 141 constituting the open / close sensor 140 to the control device 180. Therefore, the control device 180 continues the operating state of the hydraulic cylinder 47 until the signal from the limit switch 141 is input.

When a signal is input from the limit switch 151 to the control device 180, the control device 180 determines that the turning position of the side boom 6 is in the closed position, and stops the turning of the side boom 6 (step S29). That is, the operation of the hydraulic cylinder 47 is stopped. Next, the control device 180 starts lowering the side boom 6 (step S30). That is, the control device 180 operates the hydraulic cylinder 57 to change the tilting position of the side boom 6, and shifts the side boom 6 to a position lower than the high position. In this state, the side boom 6 is in the closed state and is located above the boom receiver 2. In the retracted state of one example, the side boom 6 is supported by the boom receiver 2. Therefore, the user confirms whether or not the side boom 6 has been lowered to a predetermined position, that is, the position of the boom receiver 2 (step S31). When the side boom 6 is supported by the boom receiver 2, the side boom 6 is stopped from descending (tilting) (step S32). In one example, when the user stops pressing the switch 185, the input of the signal to the control device 180 is stopped, and the lowering of the side boom 6 is stopped. In one example, as described above, the control device 180 controls the boom device 4 from the deployed state to the retracted state.

As described above, in the boom sprayer 1, the center boom 5 and the side boom 6 are switched from the retracted state to the expanded state when the spraying operation of the chemical solution is started. Further, after the work is completed, the center boom 5 and the side boom 6 are switched from the deployed state to the retracted state. When an instruction to switch between the retracted state and the deployed state is input from the switch 185 to the control device 180, the control device 180 controls the elevating device 30, the hydraulic cylinder 47, and the hydraulic cylinder 57, and controls the retracted state and the deployed state. Automatically control switching between states. Therefore, the user only needs to input the instruction for switching between the stored state and the expanded state by the switch 185, so that the workability can be improved.

Further, the control device 180 controls the elevating device 30, the hydraulic cylinder 47, and the hydraulic cylinder 57 based on the detection results of the elevating sensor 130, the tilt sensor 150, and the open / close sensor 140. Therefore, the states of the center boom 5 and the side boom 6 can be accurately grasped, and the operation state assumed in advance can be realized.

Further, the control device 180 is in a state where the center boom 5 is within a predetermined height range and the side boom 6 is in a high position when an instruction for switching from the deployed state to the retracted state is input by the switch 185. Then, the side boom 6 is controlled to be in the closed state. In this configuration, when the side boom 6 is turned, the position of the side boom 6 is raised by the elevating device 30 and the hydraulic cylinder 57. Therefore, contact between the traveling machine body 3 and the side boom 6 can be suppressed. If the height position of the tip side of the side boom 6 is not lower than the height position of the center boom 5, and the center boom 5 is higher than the boom receiver 2, the side boom 6 is moved. Even if it is controlled to a low position, the side boom 6 is not supported by the boom receiver 2. In the above embodiment, since the center boom 5 is within a predetermined height range and this height range is equal to or lower than the height position of the boom receiver 2, the side boom 6 can be supported by the boom receiver 2.

In the control device 180, when an instruction to switch from the deployed state to the retracted state is input by the switch 185, the center boom 5 is at least a predetermined height (for example, a height within the detection range of the first limit switch 131). The side boom 6 may be controlled to be closed while the side boom 6 is in a high position. Even in this configuration, when the side boom 6 is turned, the position of the side boom 6 is raised by the elevating device 30 and the hydraulic cylinder 57. Therefore, contact between the traveling machine body 3 and the side boom 6 can be suppressed.

Similarly, in the control device 180, when an instruction to switch from the retracted state to the deployed state is input by the switch 185, the center boom 5 is at a predetermined height or higher, or the side boom 6 is at a high position. In this state, the side boom 6 may be controlled to be in the open state. Even in this configuration, when the side boom 6 is turned, the position of the side boom 6 is raised by the elevating device 30 and the hydraulic cylinder 57. Therefore, contact between the traveling machine body 3 and the side boom 6 can be suppressed. In the above embodiment, since the side boom 6 is supported by the boom receiver 2 in the retracted state, the side boom 6 can be separated from the boom receiver 2 by increasing the height of the side boom 6.

Further, the elevating sensor 130 includes a first limit switch 131 and a second limit switch 133. In this configuration, when the height position of the center boom 5 is outside the predetermined height range, it is easy to detect whether the height position of the center boom 5 is shifted up or down.

Further, when switching from the retracted state to the deployed state, the control device 180 tilts the tilting position of the side boom 6 to a low position in a state where the open / close sensor 140 detects that the side boom 6 is in the open position. Control. In this configuration, when the side boom 6 is lowered from the high position to the low position, the side boom 6 is at a position away from the traveling machine body 3. Therefore, contact between the traveling machine body 3 and the side boom 6 can be suppressed.

Further, when switching from the deployed state to the retracted state, the control device 180 controls the side boom 6 to start contracting before the tilt sensor 150 detects the high position. Further, when switching from the retracted state to the deployed state, the control device 180 controls the side boom 6 to start extending before the tilt sensor 150 detects the low position. In this configuration, since the tilting operation and the expanding / contracting operation are executed at least temporarily at the same time, the switching time between the stored state and the expanded state can be shortened. Further, the load applied to the hydraulic cylinder 57 and its surroundings can be suppressed as compared with the case where the side boom 6 tilts in the extended state.

Although one embodiment has been described in detail with reference to the drawings, the specific configuration is not limited to this embodiment.

For example, in step S02, the tilt of the side boom 6 is detected by outputting a signal from the limit switch 151 to the control device 180, but the present invention is not limited to this. The tilting position of the side boom 6 may be detected by another detecting means. As an example, the current tilting position may be detected by performing the tilting operation at a constant speed and measuring the time from the start of tilting. In this case, the tilting operation is stopped when a predetermined time has elapsed from the start of tilting.

Further, a toggle switch has been exemplified as a switch 185 (input device), but the present invention is not limited to this. The input device may be at least another switch such as a push button switch, as long as the user can select at least an instruction to change the stored state to the expanded state and an instruction to change the expanded state to the stored state. Further, the input device may be a device such as a touch operation panel.

1 ... Boom sprayer, 3 ... Traveling machine, 5 ... Center boom, 6 ... Side boom, 30 ... Lifting device, 47 ... Hydraulic cylinder (switchgear), 57 ... Hydraulic cylinder (tilt device), 180 ... Control device, 185 ... Switch (input device).

Claims (9)

A center boom (5), which is provided at the front of the traveling machine (3) and extends in the left-right direction of the traveling machine (3).
A side boom (6) whose base end is connected to at least one end of the center boom (5),
An elevating device (30) that moves the height position of the center boom (5) with respect to the traveling machine body,
A switchgear (47) that swivels the side boom (6) between the center boom (5), an open position arranged in a straight line in the left-right direction, and a closed position folded sideways of the traveling machine body (3). ,
The side boom (6) is located between a high position where the tip of the side boom (6) is higher than the height of the center boom (5) and a low position where the tip of the side boom (6) is lower than the state of the high position. A tilting device (57) that tilts 6),
The height position of the center boom (5) is equal to or higher than a predetermined height, the turning position of the side boom (6) is the closed position, and the tilting position of the side boom (6) is the tilting position. A retracted state in which the position is higher than the low position, and a deployed state in which at least the turning position of the side boom (6) is the open position and the tilting position of the side boom (6) is the low position. A control device (180) that controls the elevating device (30), the opening / closing device (47), and the tilting device (57) so as to switch to.
A boom sprayer (1) comprising an input device (185) for inputting an instruction for switching between the stored state and the expanded state to the control device (180). The first detecting means (130) for detecting the height position of the center boom (5) moved by the elevating device (30), and
A second detecting means (150) for detecting the tilting position of the side boom (6) tilted by the tilting device, and
A third detection means (140) for detecting the turning position of the side boom (6) swiveled by the switchgear (47) is further provided.
The control device (180) opens and closes the elevating device (30) based on the detection results of the first detection means (130), the second detection means (150), and the third detection means (140). The boom sprayer (1) according to claim 1, which controls the device (47) and the tilting device (57). When an instruction to switch from the deployed state to the stored state is input by the input device (185), the control device (180) raises the center boom (5) by the first detecting means (130). A state in which it is detected that the vertical position is equal to or higher than a predetermined height, or a state in which the tilting position of the side boom (6) is detected to be the high position by the second detecting means (150). The boom sprayer according to claim 2, wherein the lifting device (30), the opening / closing device (47), and the tilting device (57) are controlled so that the side boom (6) is folded into the closed position. (1). When an instruction to switch from the deployed state to the stored state is input by the input device (185), the control device (180) raises the center boom (5) by the first detecting means (130). It was detected that the vertical position was within a predetermined height range, and that the tilting position of the side boom (6) was the high position by the second detecting means (150). The boom sprayer (1) according to claim 2, which controls the elevating device (30), the opening / closing device (47), and the tilting device so that the side boom (6) is folded into the closed position in the state. ). The first detection means (130) includes a first limit switch (131) for detecting that the height position of the center boom (5) is lower than the upper limit of the predetermined height range, and the center boom (131). The boom sprayer (1) according to claim 4, further comprising a second limit switch (133) for detecting that the height position of 5) is higher than the lower limit of the predetermined height range. When the input device (185) inputs an instruction to switch from the retracted state to the expanded state, the control device (180) raises the center boom (5) by the first detecting means (130). A state in which it is detected that the vertical position is equal to or higher than a predetermined height, or a state in which the tilting position of the side boom (6) is detected to be the high position by the second detecting means (150). 2. The second aspect of the present invention, wherein the lifting device (30), the opening / closing device (47), and the tilting device (57) are controlled so that the turning position of the side boom (6) turns to the open position. Boom sprayer (1). When the input device (185) inputs an instruction to switch from the stored state to the expanded state, the control device (180) uses the third detecting means (140) to describe the side boom (6). The elevating device (30), the opening / closing device (47), and the opening / closing device (47) so as to tilt the tilting position of the side boom (6) to the low position in a state where it is detected that the turning position is the open position. The boom sprayer (1) according to claim 6, which controls the tilting device (57). The side boom (6) has a proximal boom (61) connected to the center boom (5) and a tip boom (65) that slides along the proximal boom (61) by a sliding device (67). It is a telescopic boom including and
When the input device (185) inputs an instruction to switch from the expanded state to the stored state, the control device (180) receives the instruction to switch from the expanded state to the stored state before the second detection means (150) detects the high position. The boom sprayer (1) according to any one of claims 2 to 7, which controls the slide device (67) so that the side boom (6) starts shrinking. The side boom (6) has a proximal boom (61) connected to the center boom (5) and a tip boom (65) that slides along the proximal boom (61) by a sliding device (67). It is a telescopic boom including and
When the input device (185) inputs an instruction to switch from the stored state to the expanded state, the control device (180) receives the instruction to switch from the stored state to the expanded state before the detection of the low position by the second detecting means (150). The boom sprayer (1) according to any one of claims 2 to 7, which controls the slide device (67) so that the side boom (6) starts to extend.