Agricultural distribution machine, preferably an agricultural sprayer or fertilizer spreader

Abstract

Agricultural distribution machine, preferably agricultural sprayer or fertilizer spreader The invention relates to an agricultural distribution machine, preferably a pneumatic agricultural sprayer or fertilizer spreader. The distribution machine (1) comprises a distribution boom (3) for spreading materials such as fertilizers, pesticides or seeds, having a central part (3a) and two side arms (3b, 3c), each of which is rotatably connected to the central part (3a) via a vertical pivot axis (V). Each arm (3b, 3c) is assigned a pressure-medium-actuated actuating device (8) with two substantially opposite action zones (14, 15), by means of which an actuating force can be generated for moving the arm about the vertical pivot axis (V) relative to the central part (3a).A valve device is assigned to each action zone (14, 15) for controlling and / or regulating a pressure or volume flow applied to the respective action zone (14, 15), which valve device is designed to automatically regulate fluctuations in the pressure or volume flow applied to the respective action zone (14, 15) caused by horizontal vibrations (S) of the distribution rail (3) and for this purpose has a pressure medium control valve (20, 21) and / or is designed as a pressure medium control valve (20, 21). This effectively dampens horizontal vibrations of the distribution rail. Figure for abstract: Fig. 3.

Description

Title of the invention: Agricultural distribution machine, preferably agricultural sprayer or fertilizer spreader

[0001] The invention relates to an agricultural distribution machine, preferably an agricultural sprayer or a pneumatic fertilizer spreader. Generic agricultural distribution machines comprise a carrier vehicle and a distribution boom for spreading materials such as fertilizers, pesticides or seeds and means for damping horizontal vibrations of the distribution boom.

[0002] In order to spread the materials over a large area on the ground of the field to be worked, the distribution booms of such distribution machines comprise lateral arms with a large working width, sometimes greater than twenty meters. Spreading means, for example spray nozzles in agricultural sprayers, are arranged on the arms. During transport movements, these wide spray booms are folded and folded around vertical axes. Here, each arm may comprise a plurality of boom sections which can be folded into each other in the transport position, and which can be deployed in the working position, and which are connected by joints.

[0003] In the case of distribution booms with a large working width, it may happen that the distribution boom or the arm can move or tilt around the vertical axes in the direction of movement or in the opposite direction, so that a homogeneous spreading of material is no longer reliably guaranteed.

[0004] These movements can be caused in various ways, for example by steering movements of the sprayer, by irregularities in the structure of the soil to be worked, or by changes in speed of the sprayer, i.e. by acceleration or deceleration. Oscillating movements in some cases cause very high forces on the vertical axes.

[0005] Thus, for efficient spreading of material and to avoid high mechanical loads on the distribution boom, it is generally advantageous to dampen the horizontal vibrations of the distribution boom as quickly as possible.

[0006] An approach for damping unwanted horizontal yaw and pitch movements of a spray boom is known from patent application WO 2018 / 162 545 A1, wherein the respective horizontal movements of the boom segments are detected by means of a pressure sensor in a pressurized fluid circuit of hydraulically actuated actuating cylinders, and a hydraulic cylinder is controlled accordingly by means of proportional directional control valves to damp the detected movements based on a pressure differential. ferential.

[0007] It is an objective of the invention to provide an improved approach for damping horizontal movements or vibrations of a distribution boom of an agricultural distribution machine, whereby the disadvantages of conventional techniques can be avoided. The objective of the invention is in particular to provide a technology that is both particularly fast and economical for damping horizontal movements or vibrations of a distribution boom.

[0008] These objectives are achieved by means of a mobile agricultural distribution machine, preferably an agricultural sprayer or pneumatic fertilizer spreader, comprising a distribution boom for spreading materials such as fertilizers, pesticides or seeds, having a central part and two lateral arms, each of which is rotatably connected to the central part by means of a vertical pivot axis;in which each arm is assigned a pressure medium-actuated actuating device with two substantially opposite action zones, by means of which an actuating force can be generated to move the arm about the vertical pivot axis relative to the central part, in which a valve device is assigned to each action zone for controlling and / or regulating a pressure or volume flow applied to the respective action zone, which valve device is designed to automatically regulate generated fluctuations in the pressure or volume flow applied to the respective action zone by horizontal vibrations of the distribution rail and for this purpose has a pressure medium control valve and / or is designed as a pressure medium control valve. Advantageous developments are proposed in the description. ;

[0009] According to a general aspect, the present invention relates to a mobile agricultural distribution machine, hereinafter also referred to briefly as a distribution machine. The mobile agricultural distribution machine may be an agricultural sprayer or a pneumatic fertilizer spreader. The distribution machine comprises a distribution boom for spreading materials such as fertilizers, pesticides or seeds. The distribution boom has a central part and two side arms (hereinafter also referred to as folding arms), which are each rotatably connected to the central part via a vertical pivot axis. The distribution boom has a large working width, i.e. a working width much greater than a width of the carrier vehicle, for example, a multiple of the width of the carrier vehicle.The working width of the distribution boom, i.e. the width in working position or fully extended, may be at least 18 metres.

[0010] Each arm may in turn comprise several folding ramp sections into each other in the transport position and extendable into the working position, connected by joints, so that each of the two arms can be folded down several times by folding the respective boom sections through 180° at the articulation points for the transport position, or extended into the extended position for the working position. In the extended state, the distribution boom extends transversely to the direction of travel of the distribution machine.

[0011] The distribution ramp can furthermore be arranged on the carrier vehicle directly or indirectly, in a manner known per se, in a movable manner about a pivot axis extending in the direction of movement, in order to be able to adapt to a modified ground profile.

[0012] Each arm is associated with a pressure fluid-actuated actuating device with two substantially opposite action zones. By means of the actuating device, an actuating force can be generated in order to move the arm around the vertical pivot axis relative to the central part. The pressure fluid-actuated actuating device comprises at least one pressure fluid-actuated actuator.

[0013] Normally, actuating devices operated by a pressurized fluid are used to pivot the arms of the spray boom back and forth between the transport position and the working position. In addition, due to their dynamic properties and sensitive maneuverability, the adjusting means can be used as damping elements to dampen unwanted horizontal vibrations of the distribution boom, which is described below.

[0014] In this case, for controlling and / or adjusting a pressure or a volume flow rate applied to the respective action zone of the actuating device actuated by the pressure fluid, an electrically actuated valve device is assigned to each action zone.

[0015] The valve device is designed according to the invention to automatically adjust fluctuations in the pressure or volume flow rate applied to the respective area of ​​action and generated by horizontal vibrations of the distribution rail, in order to counteract the horizontal vibrations. For this purpose, the valve device has a pressure medium control valve and / or the valve device is designed as a pressure medium control valve, preferably as a pressure control valve.

[0016] A particular advantage is therefore that unwanted horizontal vibrations are regulated by the pressure fluid control valves themselves. In contrast to proportional directional control valves, pressure fluid control valves can independently regulate the pressure fluctuations that occur. If the electrical control signal of the fluid control valve under pressure is kept constant during operation of the dispensing machine, and fluctuations in the pressure or volume flow applied to the respective area of ​​action occur, induced by movements or vibrations of the arm in the direction of travel and / or in the opposite direction, the pressure medium control valve is detected and adjusted directly.

[0017] An additional pressure sensor system in the pressure medium circuit of the actuating device can be dispensed with, which offers cost advantages. An increase in the adjustment speed is also achieved. This is because direct compensation by the pressure medium control valves is faster than the detection of pressure fluctuations known in the current state of the art with an additional pressure sensor, with subsequent transmission to a control unit and processing thereof, in order to then send a corresponding adjustment signal to the valves in response thereto by the control device to counteract the pressure fluctuation.

[0018] Accordingly, a particularly preferred embodiment provides that no pressure fluid sensor, in particular no pressure sensor and / or no differential pressure sensor, is arranged in the pressure fluid circuit outside the pressure fluid control valves and / or used to control the pressure fluid control valves. In this respect, the costs of such a pressure sensor system can be avoided.

[0019] The term "action zone" of the actuating device or actuator means an area of ​​the actuating device or actuator in which the compressive force of the pressure fluid is converted or can be converted into a movement of an actuating member of the actuating device or actuator. "Two substantially opposite action zones" is to be understood to mean that a pressure force of the pressure fluid in one action zone generates an actuating force on the assigned arm in one direction around the vertical pivot axis and that a pressure force of the pressure fluid in the other action zone generates an actuating force on the associated arm in the opposite direction relative to the vertical pivot axis. In other words, one pressure fluid control valve is used for each direction for the horizontal pivoting of the respective boom.

[0020] The actuating device may comprise a double-acting pressure fluid cylinder for forming the two substantially oppositely acting action zones. A double-acting hydraulic cylinder design is particularly advantageous. A pressure fluid line section may be connected to each action zone, through which pressure fluid may be supplied to and removed from the action zones, and the pressure fluid control valve for controlling a pressure or volume flow rate applied to the respective action area is arranged in each pressure fluid line path.

[0021] According to a particularly advantageous embodiment, the pressure fluid control valves are designed as pressure control valves, for example as electromagnetically controlled proportional pressure control valves. As an alternative to pressure control at the action zones, volume flow control can also be implemented. According to this variant, the pressure fluid control valves can be designed as volume flow control valves, for example as electromagnetically controlled volume flow control valves.

[0022] In another embodiment, at least one sensor disposed on the distribution rail is provided for detecting movement and / or vibration of the distribution rail in the direction of movement and in the opposite direction.

[0023] Furthermore, the dispensing machine may have a control device designed to determine a specified setpoint value of a pressure acting on the action zones or an actuating force of the pressurized fluid acting on the action zones as a function of a movement and / or an oscillation of the dispensing ramp detected by the at least one sensor, and to adjust the electrically controlled pressurized fluid control valves to the specified setpoint value.

[0024] The controller can use this sensor data to pivot the spray boom arms back and forth between the transport position and the working position. In addition, the sensor data can also be used to detect unwanted horizontal vibrations of the spray boom and subsequently dampen them, in addition to the adjustment of these horizontal vibrations already carried out independently by the pressure fluid control valves.

[0025] A particular advantage of this embodiment is that a two-loop control structure is provided to compensate for movements and / or vibrations of the distribution rail in the direction of movement and in the opposite direction to it. The two-loop control structure comprises an external control loop, wherein the specified setpoint value and the current supply to the valve devices are determined by means of the control device and the at least one sensor, and are adapted in a suitable manner to counteract horizontal movements and / or horizontal vibrations detected directly on the distribution rail. The two-loop control structure also comprises an internal control loop, wherein changes in pressure or volume in an effective range are additionally automatically regulated by means of the assigned pressure medium control valve in accordance with the specified setpoint value.

[0026] The at least one sensor arranged on the distribution rail may comprise a sensor arranged on the central part of the distribution ramp for detecting a rotational position of the central part about a vertical axis relative to a frame of the distribution machine. This sensor can be designed, for example, as a rotational speed sensor or a gyroscope, by means of which the rotational position of the central part relative to the frame or the carrier vehicle of the distribution machine can be determined. With the gyroscope, the rotational position of the central part about a horizontal axis can be determined at the same time. To determine the rotational position values, the rotational speed values ​​determined by the sensor are integrated over time.

[0027] The at least one sensor arranged on the distribution manifold may, alternatively or additionally, comprise a sensor arranged between the central part and one of the arms for detecting a rotational position of the arm about the vertical pivot axis, which is preferably implemented as an angle potentiometer. This means that the horizontal vibrations of the arm and the transition from the folded position to the fully extended position (working position) can be precisely monitored and controlled.

[0028] It has already been mentioned above that each arm may have several boom sections which can be folded away relative to each other in the transport position and can be extended in the working position, and which are connected by joints. In a further variant of this embodiment, the at least one sensor arranged on the distribution boom may comprise a sensor arranged between two adjacent boom sections for detecting a rotational position of the boom sections relative to each other, preferably designed as an angle potentiometer. This also makes it possible to record the horizontal relative movements of the individual boom sections and to take them into account accordingly in the horizontal damping.

[0029] In another embodiment, the control device can be designed to adjust the pressure fluid control valves each time, in an electrically controlled manner, to the specified setpoint value on the basis of a predetermined characteristic curve of the pressure fluid control valves. The characteristic curve of the pressure fluid control valve establishes a relationship between the specified setpoint value and the electrical control signal, e.g. the power supply, of the pressure fluid control valves. This has the advantage that the pressure on the distribution rail can be precisely adapted to the specified setpoint value via the characteristic curve of the pressure fluid control valves.

[0030] The pressure medium control valves then operate in such a way that the specified setpoint value is set in the respective effective range, for example, reaching the desired pressure or flow rate. The characteristic curve can be stored in the control device or in a data memory of the agricultural machine. A characteristic curve can be stored that applies to both pressure medium control valves if, for example, they are designed identically. Alternatively, a separate characteristic curve can be stored for each pressure medium control valve. If, for example, the setpoint value specified from the rotational position indicates what pressure or volume flow of the pressure medium is required at the operating zones, the electrical control signal of the pressure medium control valves, for example their power supply, can be determined and used for active control and / or regulation of the rotational position of the distributor boom.If, for example, a defined differential pressure or a defined differential force is to be present at the areas of action, the pressure medium control valves, which operate in particular in opposite directions, are each electrically activated on the basis of the characteristic curve(s) stored in the control device, and thus a defined differential pressure or a defined differential force is generated.

[0031] It has already been stated above that no pressure sensor and / or no differential pressure sensor is preferably arranged in the pressure fluid circuit outside the pressure fluid control valves, in particular in the pressure fluid line sections of the pressure fluid-operated actuating device and / or is used to control the pressure fluid control valves.

[0032] Correspondingly, in another embodiment, the control device is designed to determine the specified setpoint value without a sensor-detected pressure value or a volume flow rate value of the pressure medium. Furthermore, the control device can be designed to determine a control current for controlling the pressure medium control valves exclusively on the basis of the characteristic curve and the rotational position of the sensor device or a variable calculated therefrom. This configuration offers the advantage of making particularly inexpensive and rapid control and / or regulation possible for the damping of horizontal vibrations.It is again emphasized that, even in the phases in which the control device keeps the electrical control signal of the pressure fluid control valve constant, the horizontal vibrations are damped in that the fluctuations in pressure or flow rate generated by these vibrations in the action zones are recognized by the pressure fluid control valves and regulated independently.

[0033] In another embodiment, the control device may be configured to variably adjusting a damping characteristic for damping vibrations in the direction of travel of the pressure-actuated actuating device and in the opposite direction, in particular for variably adjusting it depending on a determined travel movement or generally determined movement parameters of the agricultural distribution machine. As a result, the vibration behavior of the boom can be dynamically adapted and the setting can be adapted to the travel situation.According to this embodiment, the control device can thus be designed to determine a control current for activating the pressure fluid control valves exclusively on the basis of the characteristic curve, on the basis of the rotational position of the sensor device or on a variable calculated from on the basis of the determined displacement movement or generally determined displacement parameters of the agricultural distribution machine.

[0034] The variable adjustment of the damping characteristics can preferably take place by changing a spring deflection and / or an elasticity of the actuating device actuated by a pressure medium, in particular if the actuating device is designed as a pressure medium actuated adjusting cylinder. In this case, the adjusting cylinder can be controlled via the valve device during movement on the agricultural field so that the working area of ​​the piston is between the two end positions and distant from them. To change the spring stroke, the working area can be enlarged or reduced and a spring stroke or elasticity can be increased or decreased accordingly in order to change the damping characteristics.

[0035] For example, the control device can be designed for variable adjustment of the damping characteristic, by defining a different damping characteristic depending on whether the agricultural distribution machine is accelerating or decelerating or whether the agricultural distribution machine is moving at a constant speed. Here, by means of a suitable sensor, for example a radar sensor, it can be determined whether a movement is at a constant or variable speed. For example, when driving at a constant speed, the spring travel and elasticity can be reduced to thereby ensure a relatively stiff suspension.

[0036] For example, the control device may be designed for variable adjustment of the damping characteristic by defining a different damping characteristic depending on whether the agricultural distribution machine is accelerating or decelerating or whether the agricultural distribution machine is moving at a constant speed. For example, the spring travel and elasticity may be reduced when moving in a straight line.

[0037] When cornering or moving quickly, the flexion and elasticity of the spring can be increased in order to avoid excessive forces acting on the distribution rail. An example of implementing such an adaptation of the damping characteristic is described in patent EP 2 829 177 Bl.

[0038] In another embodiment, the control device may be designed to use the values ​​determined by the at least one sensor solely to control the folding and deployment of the distribution boom. In this variant, the horizontal movements and / or vibrations of the distribution boom in the deployed state are regulated or damped exclusively by the pressure fluid control valves.

[0039] In another embodiment, the control device can be designed to use the values ​​determined by the at least one sensor in the deployed state of the distribution rail only to modify the control of the pressure fluid control valves if the movement and / or vibrations of the distribution rail detected using the at least one sensor exceed the specified threshold value. In other words, in this optional variant, smaller vibrations are controlled exclusively by the pressure fluid control valves, so that the "external control loop" only intervenes in the event of larger vibrations and / or deviations of the distribution rail from a set position detected by sensors. Thus, the control efficiency can be further improved.

[0040] It has already been mentioned above that the agricultural distribution machine may be an agricultural sprayer. According to this embodiment, the distribution boom is a spray boom provided with arms projecting on either side of the carrier vehicle as well as application means, such as spray nozzles connected and / or connectable to a reservoir of at least one liquid and / or solid substance arranged on the carrier vehicle.

[0041] The agricultural machine may be a pneumatic fertilizer spreader for distributing granular fertilizers, with a storage container for the fertilizer to be distributed, a dosing member connected thereto and a distributor which is connected to the dosing member via a pneumatic delivery line and several spreading devices arranged at a distance from each other which are arranged along the distribution boom.

[0042] The agricultural distribution machine may be designed as a self-propelled agricultural distribution machine or one that can be coupled or pulled by means of a traction vehicle or coupled and / or capable of being coupled to a traction vehicle. The self-propelled distribution machine may also be an autonomously driven agricultural machine, for example a fully autonomously driven or partially autonomously driven agricultural machine.

[0043] The preferred embodiments and features of the invention described above above can be combined with each other at will. Other details and advantages of the invention are described below with reference to the accompanying drawings. The figures represent:

[0044] [Fig.l] a perspective view of an agricultural distribution machine with distribution boom in the deployed state;

[0045] [Fig.2] a side view of the distribution machine with distribution ramp in the folded state;

[0046] [Fig.3] a schematic representation of the principle of a hydraulic diagram for damping horizontal vibrations of the distribution rail according to one embodiment; and

[0047] [Fig.4] a characteristic curve for controlling the pressure regulating valves according to an exemplary embodiment.

[0048] Identical or functionally equivalent elements are in certain cases designated by the same reference symbols in the figures and not described separately.

[0049] [Fig.l] shows a perspective view of a mobile agricultural distribution machine 1 according to one embodiment of the invention: the agricultural distribution machine is designed, for example, as a towed agricultural sprayer. The distribution machine 1 comprises a carrier vehicle 2 and a distribution boom 3, which extends transversely to the direction of travel F in the deployed state, for spreading fertilizers or pesticides.

[0050] The distribution boom 3 is arranged on the carrier vehicle 2 in a movable manner about a pivot axis A extending in the direction of movement, illustrated by the dotted line. The distribution boom 3, called a spray boom in the case of an agricultural sprayer, comprises a central part 3a and two arms 3b, 3c projecting on either side of the carrier vehicle 2. Spreading means 4 in the form of spray nozzles are distributed along the spray boom in a spaced manner, and fluidically connected by pipes to a spray product tank arranged in the carrier vehicle 2. Furthermore, distance sensors in the form of ultrasonic sensors can be arranged on each arm 3b, 3c, which measure the distance between the boom and the ground or crops.

[0051] The distribution ramp 3 is attached to the carrier vehicle 2, for example by means of a frame-like support 11. Here, the distribution ramp is suspended from a suspension of the support 11 and is pivotally attached to the support 11. The support 11 is mounted in a height-adjustable manner on the carrier vehicle 2 or adjustable relative to a ground surface by means of a parallelogram ramp. For height adjustment, a linear drive 7 in the form of a hydraulic or pneumatic cylinder is assigned to the parallelogram ramp 10 of such that the height distance between the distribution boom 3 and a ground surface or a crop can be changed. The support 11 cannot pivot about the pivot axis A, whereas the distribution boom 3 is arranged on the suspension on the support 11 so that it can pivot about the rotation axis A.

[0052] The distribution boom 3 is shown in the extended state in [Fig. 1], and in this state, it extends transversely to the direction of movement F of the distribution machine 1. The two arms 3b, 3c are each rotatably connected to the central part 3a via a vertical pivot axis V. Each arm 3b, 3c has several connecting boom sections which can be folded relative to each other in the transport position and extended in the working position, and connected by joints. For transport routes, these wide spray booms 3 are folded and folded down, which is shown in [Fig. 2].

[0053] Due to the large working width of the distribution boom 3, it happens during operation that the distribution boom or the arm can move or tilt in the direction of movement F or in the opposite direction, so that a homogeneous spreading of material is no longer reliably guaranteed. This is illustrated schematically in [Fig. 1] using the arrows marked with the reference symbol S. These movements can be caused in various ways, for example by steering movements of the sprayer, by irregularities in the structure of the soil to be worked, or by changes in speed of the sprayer, i.e. by acceleration or deceleration. The oscillating movements in some cases cause very high forces on the vertical axes.

[0054] Thus, for efficient spreading of material and to avoid high mechanical loads on the distribution boom, it is generally advantageous to dampen the horizontal vibrations of the distribution boom as quickly as possible.

[0055] On the upper part, [Fig. 3] shows a top view of the distribution ramp 3. The two arms 3b, 3c are each connected in rotation to the central part 3a by means of a vertical pivot axis V, the arm being coupled in rotation to the central part 3a by means of a pressure actuating device 8, having a double-acting hydraulic cylinder 12.

[0056] The hydraulic cylinders 12 identified on the upper part by the circles are shown again enlarged on the lower part of [Fig.3], as part of a principle diagram of a hydraulic diagram for damping horizontal vibrations of the distribution rail according to one embodiment.

[0057] As can be seen in the lower part of [Fig. 3], each arm 3b, 3c is assigned an actuating device 8 actuated by pressure fluid with two substantially opposite action zones 14, 15, by means of which an actuating force can be generated to move the arm around the vertical pivot axis V by relative to the central part 3a. The actuating device 8 comprises an actuating cylinder in the form of the double-acting hydraulic cylinder 12 to form the two action zones 14, 15. The connection of the hydraulic cylinders is made at one end to a support element of the central part 3 and at the other end to the respective arm 3b or 3c. The action zone 14 (or 15) of the actuating cylinder 12 (or 13) corresponds to the surface of the actuating cylinder in which the pressure force generated by the pressurized fluid is converted into a movement of the piston 13 of the actuating cylinder 12, 13. By means of the actuating device 8, the respective arm 3b, 3c and thus the distribution boom 3 can be transferred from a transport position to a working position and vice versa. In addition, horizontal vibrations can be damped in the deployed state.

[0058] In order to generate a pressure acting on the piston rod of the actuating cylinders 12, 13, the action zones 14, 15 are connected to a pressure fluid circuit 16. For this purpose, a pressure fluid line section 17, 18 is connected to each action zone 14, 15, through which a pressure fluid, here hydraulic fluid, can be supplied to and withdrawn from the action zones 14, 15. A pressure regulating valve 20, 21 is arranged in each pressure fluid line section 17, 18 for controlling a pressure applied to the respective action zone 14, 15. Both pressure regulating valves 20, 21 are designed as electromagnetically controlled proportional pressure regulating valves. Other components of the fluid circuit, such as the pump and the fluid reservoir, are designed in a manner known per se and are not shown.

[0059] A compressive force of the pressure medium in the action zone 14 generates an actuating force on the associated arm in one direction around the vertical pivot axis V and a compressive force of the pressure medium in the other action zone 15 generates an actuating force on this arm in the opposite direction around the pivot axis V. The pressure and, consequently, the actuating force in the effective zone 14 are regulated by the pressure regulating valve 20. The pressure and, consequently, the actuating force in the action zone 15 are regulated by the pressure regulating valve 21. By regulating the average pressure applied to the action zones 14, 15 or to the actuating cylinders 12, 13, the horizontal rotational position of the boom 3b, 3c relative to the central part 3a can be influenced.

[0060] To control and / or regulate a pressure applied to the respective action zone 14, 15, a valve device in the form of a pressure regulating valve 20 or 21 is assigned to each action zone 14 or 15. The pressure regulating valves 20, 21 offer the advantage that fluctuations in pressure or volume flow generated by horizontal vibrations S of the distribution rail 3 in the respective action zone 14, 15 are automatically regulated by the pressure regulating valves 20, 21.

[0061] As can be seen in [Fig. 3], no pressure sensors and no differential pressure sensors are arranged in the pressure fluid circuit 16 outside the pressure fluid control valves 20, 21. No pressure sensors are used to control the pressure fluid control valves 20, 21, which will be described in more detail below.

[0062] Furthermore, a gyroscope 5 is provided on the central part 3a, the measured values ​​of which are used to determine a rotational position, in particular also a horizontal rotational position, of the central part 3a relative to the chassis or the carrier vehicle 2. Furthermore, an angular potentiometer 6 is arranged between the central part 3a and the arms 3b, 3c in order to determine the horizontal rotational position of the arms 3b, 3c relative to the central part 3a.

[0063] The dispensing machine 1 further comprises a control device 9 (control unit) for controlling and / or regulating a rotational position of the ramp 3b, 3c relative to the central part 3a. The control device 9 represents a data processing unit and is in communication connection with the pressure regulating valves 20, 21 in order to control them electrically. On the input side, the control device 9 receives the measured values ​​from the sensors 5 and 6 arranged on the dispensing ramp 3.

[0064] In the control device 9, a characteristic curve K is stored for each of the pressure control valves 20, 21 defining a relationship between the specified set value and the electrical control signal of the pressure fluid control valves 20, 21, which is schematically illustrated in [Fig. 4]. The control device 9 is adapted to adjust the pressure fluid control valves 20, 21 in an electrically controlled manner to the specified set value on the basis of the characteristic curve K.

[0065] The hydraulic cylinders 12 have two action surfaces 14, 15 of different sizes on both sides of the piston 13, since the action surface 14 of the hydraulic cylinder 12 facing the piston rod is smaller than the action surface 15 facing away from the piston rod 13. This is taken into account when the pressure regulating valves 20, 21 are activated by the control device 9 within the framework of a pressure shift.

[0066] If the control device 9 keeps the electrical control signal for the pressure regulating valves 20, 21 constant, the pressure regulating valves 20, 21 automatically regulate fluctuations in the pressure applied to the respective action zone 14, 15, which fluctuations are generated by horizontal vibrations S of the distribution rail 3. In this respect, the pressure regulating valves pressure 20, 21 can directly and independently dampen the horizontal vibrations of the distribution rail, without the control device 9 having to actively intervene for this purpose, which allows a particularly rapid damping reaction to the horizontal vibrations which occur.

[0067] The control device 9 only specifies a setpoint value in the form of a control current for the activation of the pressure fluid control valves, which is determined without a pressure fluid pressure value detected by sensors. For example, the control current for the activation of the pressure fluid control valves 20, 21 can be determined exclusively on the basis of the characteristic curve and the movement and / or vibration S of the distribution rail 3 in the direction of movement F and in the opposite direction or a variable calculated therefrom, which movement and / or vibration is detected by the sensors 5, 6 located on the distribution rail.

[0068] The "internal control loop" implemented by means of the pressure regulating valves 20, 21 can automatically or directly adjust any pressure fluctuations that occur. This is represented by the line connection identified with the reference 22 on the pressure regulating valve 20, 21. Additional pressure sensors are therefore not necessary. The forces are thus balanced independently. This enables rapid damping of horizontal vibrations, so that these are often not even detected by means of the sensors 5 and 6, which are arranged on the distribution rail 3.

[0069] If, for example, horizontal movements S of the arm 3b, 3c cause brief "pressure peaks" at the action zones 14, 15, these are immediately corrected by means of the pressure regulating valves 20, 21 without the intervention of the control device 9. Only when the control device 9 uses the measured values ​​transmitted by the sensors 5 and 6 for the current horizontal position of the arm 3 to determine a greater deviation of the arm 3 from a current horizontal setpoint position does the control device 9 possibly determine a new specified setpoint value for the horizontal position of the distribution rail 3, which is used on the basis of the characteristic curve K in the form of a modified control current to control the pressure regulating valves 20, 21.In this way, the horizontal vibrations detected by the sensors can be damped directly on the distribution rail 3. This damping effect controlled by the control device 9 is superimposed on the damping effect which is generated by the continuous regulation of the pressure regulating valves which is constantly active during moving operation.

[0070] Optionally, the pressure fluid circuit may also comprise a load pressure ratio system, which may be designed in a manner known per se for adapt the pressure and / or volume flow of the hydraulic pump (not shown) to the current load situation appropriately. The dotted components 23-26 in [Fig. 3] are part of the optional load pressure reporting system 23. Too high pressure can be fed back via the two-way valve 25 and the shut-off valve 26 to the load pressure signaling system by opening the shut-off valve 26 in order to appropriately adjust a delivery volume or pressure of the hydraulic pump.

[0071] Optionally, the control device may further be designed to variably adjust a damping characteristic for damping vibrations in the direction of movement of the pressure-actuated actuating device and in the opposite direction, as described above. The variable adjustment of the damping characteristics is effected by changing the spring deflection of the hydraulic cylinders 12. The spring deflection is adjusted differently for straight travel or curved travel, and for travel at constant speed or during acceleration or deceleration of the dispensing machine 1.

[0072] The invention is not limited to the preferred embodiments described above. On the contrary, a large number of variants and modifications can be used which also use the inventive concept and therefore fall within the scope of protection.

[0073] List of reference numbers 1. Agricultural distribution machine, e.g. agricultural sprayer will go 2 Carrier vehicle 3 Distribution ramp Its central part 3b / 3c Arms 4 Means of spreading 5 Rotational speed sensor, e.g. gyroscope 5 Rotational position sensor, e.g. angular potentiometer 7 Lifting cylinder S Fluid actuating device under pressure 9 Horn device command 18 Height-adjustable parallelogram ramp 12 Carrier 12 Double-acting hydraulic cylinder 13 Piston 14 First action zone 15 Second action zone 1S Fluid circuit scus pressure 17 Section of fluid line under pressure 18 Pressurized fluid line section 28 Pressure regulating valve 21 Pressure regulating valve 22 Adjustment driving 23 Charge Pressure Reporting System 24 Charging pressure line 25 Two-way valve 26 Shut-off valve A Horizontal pivot axis F Direction of movement K Characteristic curve V Vertical pivot axis S Horizontal movement

Claims

Claims

1. Mobile agricultural distribution machine (1), preferably an agricultural sprayer or pneumatic fertilizer spreader, comprising a distribution boom (3) for spreading materials such as fertilizers, pesticides or seeds, having a central part (3a) and two lateral arms (3b, 3c), each of which is rotatably connected to the central part (3a) via a vertical pivot axis (V);in which each arm (3b, 3c) is assigned a pressure medium-actuated actuating device (8) with two substantially opposite action zones (14, 15), by means of which an actuating force can be generated for moving the arm about the vertical pivot axis (V) relative to the central part (3a), in which a valve device is assigned to each action zone (14, 15) for controlling and / or regulating a pressure or volume flow applied to the respective action zone (14, 15), which valve device is designed to automatically regulate generated fluctuations in the pressure or volume flow applied to the respective action zone (14, 15) by horizontal vibrations (S) of the distribution rail (3) and for this purpose has a pressure medium control valve (20, 21) and / or is designed as a pressure medium control valve (20, 21).;

2. Agricultural distribution machine (1) according to claim 1, wherein no pressure fluid sensor, in particular no pressure sensor and / or no differential pressure sensor, is arranged in the pressure fluid circuit outside the pressure fluid control valves (20, 21) and / or is used to control the pressure fluid control valves (20, 21).

3. Agricultural distribution machine (1) according to claim 1 or 2, further comprising a) at least one sensor (5, 6) arranged on the distribution bar (3) for detecting a movement and / or vibrations (S) of the distribution bar in the direction of movement (F) and in the opposite direction; and b) a control device (9) designed to determine a specified setpoint value of a pressure acting on the action zones (14, 15) or an actuating force of the pressurized fluid acting on the action zones (14, 15) as a function of a movement and / or os- rotation of the distribution rail (3) detected by the at least one sensor (5, 6), and for adjusting the electrically controlled pressure fluid control valves (20, 21) to the specified set value.

4. An agricultural distribution machine (1) according to claim 3, wherein the at least one sensor (5) arranged on the distribution ramp (3) may comprise a sensor (5) arranged on the central part (3a) for detecting a rotational position of the central part about a vertical axis relative to a chassis of the distribution machine, which sensor (5) is preferably designed as a gyroscope.

5. Agricultural distribution machine (1) according to claim 3 or 4, wherein the at least one sensor arranged on the distribution ramp (3) comprises a sensor (6) arranged between the central part and one of the arms for detecting a rotational position of the arm around the vertical pivot axis, which sensor (6) is preferably implemented in the form of an angle potentiometer.

6. Agricultural distribution machine (1) according to one of claims 3 to 5, wherein the control device (9) is designed to electrically adjust the pressure fluid control valves (20, 21) each time on the basis of a predetermined characteristic curve (K) of the pressure fluid control valve (20, 21) to the specified setpoint value, wherein the characteristic curve (K) of the pressure fluid control valves (20, 21) defines a relationship between the specified setpoint value and the electrical control signal of the pressure fluid pressure valve (20, 21).

7. Agricultural distribution machine (1) according to claim 6, wherein the control device (9) is designed to a. determine the specified setpoint value without a pressure value detected by the sensor or a volume flow rate value of the pressurized fluid; and / or b. determine a control current for activating the pressurized fluid control valves (20, 21) exclusively on the basis of the characteristic curve and the movement and / or vibration (S) of the distribution bar (3) in the direction of movement (F) and in the opposite direction or a variable calculated therefrom, which movement and / or vibration is detected by the sensors (5, 6) located on the distribution ramp.

8. Agricultural dispensing machine (1) according to one of claims 3 to 7, wherein the control device (9) is designed to variably adjust a damping characteristic for damping vibrations in the direction of movement of the pressure actuating device (8) and in the opposite direction depending on a determined movement of the agricultural dispensing machine (1).

9. Agricultural distribution machine (1) according to claim 8, wherein the variable adjustment of the damping characteristics is carried out by a modification of a deflection of the spring and / or an elasticity of the actuating device (8) actuated by a pressurized fluid.

10. An agricultural distribution machine (1) according to claim 8 or 9, wherein the control device (9) is designed to a. set a different damping characteristic depending on whether the agricultural distribution machine (1) is accelerating or decelerating or whether the agricultural distribution machine (1) is moving at a constant speed; and / or b. set a different damping characteristic when the agricultural distribution machine (1) is traveling in a curve or when traveling in a straight line.

11. Agricultural distribution machine (1) according to one of claims 3 to 10, wherein each arm (3b, 3c) has several boom sections which can be folded away relative to each other in the transport position and can be extended in the working position, and which are connected by joints, wherein the at least one sensor arranged on the distribution boom is a sensor arranged between two adjacent boom sections arranged to detect a rotational position of the boom sections relative to each other, which is preferably designed as an angular potentiometer.

12. Agricultural distribution machine (1) according to one of the preceding claims, wherein the pressure fluid control valves (20, 21) a. are designed as pressure control valves (20, 21), preferably in the form of electromagnetically controlled proportional pressure regulating valves (20, 21); or b. are designed as volumetric flow regulating valves, preferably electromagnetically controlled volumetric flow regulating valves.

13. Agricultural distribution machine (1) according to one of the preceding claims, wherein the actuating device (8) for forming the two substantially opposite action zones (14, 15) comprises a double-acting pressurized fluid cylinder, preferably a double-acting hydraulic cylinder (12).

14. An agricultural distribution machine (1) according to one of claims 3 to 13, wherein the control device (9) is designed to a. use the values ​​determined by the at least one sensor (5, 6) only to control the folding and unfolding of the distribution boom (3); or b. use the values ​​determined by the at least one sensor (5, 6) in the folded state of the distribution boom (3) only to modify the control of the pressure fluid control valves (20, 21) if the movement and / or vibration of the distribution boom (3) detected by the at least one sensor exceeds a specified threshold value.

15. Agricultural distribution machine (1) according to one of the preceding claims, wherein a pressure fluid line section (17, 18) is connected to each action zone (14, 15), through which section a pressure fluid can be conveyed to the action zones (14, 15), and the pressure fluid control valve (20, 21) is arranged in each pressure fluid line section (17, 18) for controlling a pressure or a volume flow applied to the respective action zone (14, 15).

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