Self-propelled pesticide sprayer

Abstract

To improve maintainability by facilitating visual recognition of an accumulator.SOLUTION: A self-travelling chemical applicator includes: a travelling vehicle body (A) for causing a machine body to travel; an operation seat (a2) on which an operator is seated; an operation part (a6) for receiving an operation of the operator; a medicine application part (b1) that moves by an operation of a hydraulic cylinder; an accumulator connected to the hydraulic cylinder; a changeover valve for changing over supply and discharge of working fluid to and from the hydraulic cylinder, and actuating the hydraulic cylinder; and an on-off valve for opening / closing a passage for communicating the hydraulic cylinder with the accumulator. The accumulator is provided in front of a cabin (K) surrounding the operation seat (a2) so as to be visually recognized.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a self-propelled pesticide sprayer that sprays pesticides. [Background technology]

[0002] BACKGROUND ART Conventionally, a self-propelled pesticide sprayer is known in which a pesticide spraying device equipped with a spray boom for spraying pesticides such as pest control liquid is mounted on the front of a traveling vehicle body.

[0003] For example, Patent Document 1 discloses a self-propelled chemical sprayer in which a lifting frame is provided on a lifting link that moves up and down by extending or retracting a lifting cylinder, and a spraying boom is attached to this lifting frame.

[0004] The spray boom is cantilevered, with one end supported by the vehicle body and the other end free, so when the vehicle body vibrates due to unevenness in the field during operation, the vibrations are transmitted to the spray boom, causing it to vibrate violently. This results in uneven spraying of the agrochemical, reducing work efficiency and agrochemical spraying efficiency, so preventing the vibration of the spray boom has long been a challenge.

[0005] Therefore, Patent Document 2 discloses a technology in which an accumulator that absorbs pressure fluctuations inside the lifting cylinder is connected to the lifting cylinder, causing the accumulator to exert a spring action on the lifting cylinder, thereby reducing the vibration of the lifting frame and suppressing vibration of the spraying boom during work.Furthermore, Patent Document 3 discloses a technology in which an on-off valve is provided in the hydraulic oil supply and discharge passage between the lifting cylinder and the accumulator, and when the lifting frame moves up and down, the on-off valve is closed to temporarily block the supply and discharge of hydraulic oil between the lifting cylinder and the accumulator, thereby improving the responsiveness of the spraying boom to the lifting and lowering operation. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] Japanese Patent Application Publication No. 2019-17310 [Patent Document 2] Japanese Patent Application Laid-Open No. 2013-102 [Patent Document 3] Japanese Patent Application Publication No. 2017-23041 Summary of the Invention [Problem to be solved by the invention]

[0007] Here, according to a self-propelled pesticide sprayer that applies the prior art disclosed in Patent Document 2 and Patent Document 3, when the accumulator absorbs pressure fluctuations in the lifting cylinder and exerts a spring action, the spray boom is not fixed to the running body of the self-propelled pesticide sprayer and can swing up and down.

[0008] Patent Documents 2 and 3 do not describe the configuration regarding the installation position of the accumulator.

[0009] There was a problem that even if a malfunction such as an oil leak from the accumulator occurred, it was not easy for the operator to notice it while the machine was in operation.

[0010] To solve conventional problems by providing a self-propelled chemical sprayer that allows an operator seated in the driver's seat to easily find a malfunction in an accumulator while operating the machine. Another objective is to improve the operability of the valve that opens and closes the passage to the accumulator, thereby suppressing vibration during the raising and lowering of the chemical spraying section. [Means for solving the problem]

[0011] In order to achieve the above object, the invention of claim 1 provides a self-propelled chemical sprayer comprising a traveling vehicle body (A) for driving the machine, a driver's seat (a2) on which an operator sits, an operating unit (a6) for receiving operations from the operator, a chemical spraying unit (b1) that moves by the operation of a hydraulic cylinder, an accumulator connected to the hydraulic cylinder, a switching valve that switches the supply and discharge of hydraulic oil to the hydraulic cylinder to operate the hydraulic cylinder, and an opening and closing valve that opens and closes a passage that connects the hydraulic cylinder and the accumulator, wherein the accumulator is set so as to be visible when the operator is seated in the driver's seat (a2). The on-off valve can be opened and closed by a key switch that starts and stops the engine, and when the key switch that starts and stops the engine is turned on, the on-off valve is switched to a communication position to activate the vibration damping function of the accumulator, and when an up-down switch or a down-down switch that raises and lowers the chemical spraying unit (b1) is turned on, the on-off valve is switched to a blocking position to deactivate the vibration damping function of the accumulator, and after a predetermined time has elapsed since the up-down switch or the down-down switch was turned on and during the raising and lowering operation of the chemical spraying unit (b1), the on-off valve is switched to the communication position to resume the vibration damping function of the accumulator.The self-propelled chemical sprayer is characterized by the above features.

[0012] delete

[0013] delete

[0014] According to the invention as set forth in claim 1, it becomes easy to visually check for a failure in the accumulator.

[0015] Furthermore, maintainability is also improved.

[0016] Also, This eliminates the need to manually operate the on-off valve, improving convenience. It also eliminates the need for a switch to turn the on-off valve on and off.

[0017] Also, When the up switch or down switch that raises and lowers the chemical spraying unit (b1) is turned on, the on-off valve is switched to the shutoff position and the vibration damping function of the accumulator is deactivated, so that the chemical spraying unit (b1) quickly responds and rises and falls when raised or lowered. In addition, by resuming the vibration damping function of the accumulator during the raising and lowering operation after a predetermined time has elapsed since the raising and lowering operation, vibration during the raising and lowering operation can be reduced. [Brief explanation of the drawings]

[0018] [Figure 1] 1 is a perspective view of a self-propelled chemical sprayer according to a preferred embodiment of the present invention. [Figure 2] FIG. 2 is a left side view of the self-propelled chemical sprayer of FIG. 1. [Figure 3] FIG. 2 is a plan view of the self-propelled chemical sprayer of FIG. 1. [Figure 4] FIG. 2 is a front view of the self-propelled chemical sprayer of FIG. 1. [Figure 5] 2 is a circuit diagram showing a part of the hydraulic circuit of the self-propelled chemical sprayer of FIG. 1. [Figure 6] FIG. 2 is an enlarged front view of the main part of the self-propelled pesticide sprayer of FIG. 1. [Figure 7]6 is a flowchart showing a control procedure performed by the controller of FIG. 5. [Figure 8] 8 is a flowchart showing the procedure by the controller for the spraying boom lifting and lowering process of FIG. 7. [Figure 9] 6 is a time chart showing the operation of the accumulator of FIG. 5. [Figure 10] FIG. 10 is a front view of a self-propelled pesticide sprayer according to another embodiment of the present invention. [Figure 11] FIG. 11 is a circuit diagram showing a part of the hydraulic circuit of the self-propelled chemical sprayer of FIG. DETAILED DESCRIPTION OF THE INVENTION

[0019] Hereinafter, a preferred embodiment of the present invention will be described in detail with reference to the accompanying drawings. In the description of the embodiment, the left and right directions facing the forward direction of the aircraft are referred to as left and right, respectively, and the forward direction is referred to as front and the backward direction is referred to as rear, but this does not limit the configuration of the present invention.

[0020] (Overall composition) An example of the overall configuration of the self-propelled chemical sprayer 1 will now be described in detail.

[0021] As shown in Figure 1 (oblique view), Figure 2 (left side view), Figure 3 (plan view), and Figure 4 (front view), the self-propelled pesticide sprayer 1 comprises a self-propelled vehicle body A, a cabin K mounted on the vehicle body A, a pesticide tank M for storing pesticide, and a pesticide spraying device B having a spraying boom b1 for spraying the pesticide supplied from the pesticide tank M onto a field.

[0022] The traveling vehicle body A includes a main frame a1, a driver's seat a2, a steering handle a3, front wheels a4, and rear wheels a5. The main frame a1 is formed by extending from the front to the rear of the traveling vehicle body A. The driver's seat a2 is a seat where the operator sits when driving and operating the riding pesticide machine 1. At an appropriate position around the driver's seat a2, there is disposed a control panel a6 equipped with operation switches and key switches for controlling operations such as opening and closing the spraying boom b1 and spraying pesticides.

[0023] The steering handle a3, which is erected in front of the driver's seat a2, is turned by the operator to steer at least the left and right front wheels a4, a4, thereby changing the direction of travel of the self-propelled chemical sprayer 1. In other words, the front wheels a4, a4 ​​are steered wheels that are steered by turning at least the steering handle a3.

[0024] The front wheels a4 and rear wheels a5 are driven to rotate by the power of the engine inside the hood a7, which is appropriately changed in speed inside a transmission case (not shown).

[0025] The cabin K forms the crew compartment by surrounding the driver's seat a2 and its surrounding equipment, steering wheel, etc. The cabin K is located between the chemical tank M and the spraying boom b1. The cabin K is composed of a cabin frame k1, a cabin roof k2, and left and right opening doors k3L and k3R.

[0026] The chemical tank M is a container for storing chemicals. As shown in FIG. 3 in a plan view, the chemical tank M is located behind the cabin K, and is formed in a U-shape so as to surround both the left and right sides and the rear of the driver's seat a2, and is removably mounted on the main frame a1. The chemicals stored in the chemical tank M are liquids such as liquids in which fertilizer, pesticides, etc. are dissolved in a solvent (e.g., water), and liquids (e.g., water) containing solids such as fertilizer, pesticides, etc.

[0027] (drug spraying device) The chemical spraying device B is configured to include a spraying boom b1 for spraying in a farm field, and a support device b2 for supporting the spraying boom b1 on the traveling vehicle body A.

[0028] The spraying boom b1 is made up of a center boom b1F located in front of the traveling body 2 and side booms b1L, b1R located on both sides.

[0029] The center boom b1F extends horizontally in the vehicle width direction of the traveling vehicle body 2. Furthermore, a plurality of nozzles bn that spray the agent in mist form are arranged at intervals on the center boom b1F.

[0030] The side booms b1L, b1R are rotatably arranged on both the left and right sides of the center boom b1F. Multiple nozzles bn that spray a mist of pesticide are arranged at intervals on the side booms b1L, b1R. By rotating the side booms b1L, b1R, the spraying boom b1 can be switched between a spraying position in which the entire boom is approximately linear and extends in the vehicle width direction (left-right direction) of the traveling body A, and a retracted position in which the side booms b1L, b1R align with both the left and right sides of the traveling body 2. In the spraying position, the spraying boom b1 configured in this manner can spray pesticide widely to the left and right of the front of the self-propelled pesticide sprayer 1.

[0031] 2 and 3, the support device b2 is a device that supports the spraying boom b1 on the traveling vehicle body A so that it can be raised and lowered, and is configured to include a lifting link b20 that rotates by extending or shortening the lifting cylinder b21, a mounting frame b21 connected to the front end of the lifting link b20, a lifting frame b23 that is attached to the mounting frame b22 and moves up and down by rotating the lifting link b20, and opening and closing cylinders b24, b24 that rotate the side booms b1L, b1R on both sides approximately horizontally to open and close. As shown in Fig. 4, the mounting frame b22 has a rectangular frame shape when viewed from the front, and is configured to pivotally support the lifting frame b23 about the rolling axis Y by means of a rolling axis Y provided at the bottom.

[0032] A center boom b1 (b1F) is attached to the front of the lifting frame b23, and side booms b1L, b1R are attached to the left and right sides of the lifting frame b23 so that they can rotate and deploy in the vehicle width direction. With this configuration, when the lifting frame b23 is raised or lowered, the spraying boom b1 also rises or lowers.

[0033] The opening / closing cylinders b24, b24 can be extended or retracted to switch between a spraying position extending in the width direction of the traveling body A and a storage position along both the left and right sides of the traveling body A. The opening / closing cylinders b24, b24 are connected to the lifting frame b23 and the side booms b1L, b1R, and are configured so that when the opening / closing cylinders b24, b24 are extended or retracted, the side booms b1L, b1R on both sides rotate. The extension or retraction of the opening / closing cylinders b24, b24 is controlled by a controller C, which will be described later.

[0034] (Spray boom vibration control device) As shown in FIG. 4, an accumulator U is attached to the lift frame b23 to absorb pressure fluctuations in the lift cylinder b24.

[0035] FIG. 5 is a circuit diagram showing a part of the hydraulic circuit of the self-propelled chemical sprayer 1. As shown in FIG.

[0036] As shown in Figure 5, the vibration control mechanism of the spraying boom b1 is composed of an accumulator U, an on-off valve u1 provided in the hydraulic oil supply / discharge passage connecting the lifting cylinder b21 and the accumulator U, and a controller C capable of controlling the opening and closing of the on-off valve u1.

[0037] The first and second pumps P1 and P2, which are hydraulic pumps, are composed of fixed-displacement gear pumps driven by engine power. A discharge oil passage 100, through which hydraulic oil discharged from the first and second pumps P1 and P2 flows, is connected to a first constant flow division valve u2, which divides a constant flow rate. The first constant flow division valve u2 is connected to a second constant flow division valve u3 by a first oil passage 101. The second constant flow division valve u3 is connected to a discharge oil passage 100a, through which discharge oil (pilot oil) discharged from the third pump P3 flows. The second constant flow division valve u3 is connected to a vertical switching valve u4 by a second oil passage 102.

[0038] The up-down movement switching valve u4 is an electromagnetic switching valve that can be switched between an extension position u41 as an operating position for extending the lift cylinder b21, a contraction position u42 as an operating position for contracting the lift cylinder b21, and a stop position u43 that stops the lift cylinder b24.

[0039] The up-down switching valve u4 is connected to the second oil passage 102, as well as to a third oil passage 103 which communicates with the left and right lift cylinders b21, b21 and the on-off valve u1, and to a discharge oil passage 104 which returns hydraulic oil to the hydraulic oil tank T. A relief valve u5 is provided between the second oil passage 102 and the discharge oil passage 104, and opens when the hydraulic pressure in the second oil passage 102 exceeds a set value to release the hydraulic pressure to the discharge oil passage 104.

[0040] When the vertical movement switching valve u4 is switched to the extended position u41, the second oil passage 102 and the third oil passage 103 are connected, and as a result, the hydraulic oil discharged from the first and second pumps P1 and P2 flows into the piston side chambers b211, b211 of the lifting cylinders b21, b21 through the discharge oil passage 100, the first oil passage 101, the second oil passage 102, and the third oil passage 103. As a result, the lifting cylinders b21, b21 are extended, and accordingly the lifting link b20 is rotated upward, the lifting frame b23 moves upward, and the spraying boom b1 rises together with the lifting frame relative to the traveling body 2.

[0041] When the up-down switching valve u4 is switched to the contracted position u42, the discharge oil passage 104 and the third oil passage 103 are connected. As a result, the hydraulic oil in the piston side chambers b211, b211 of the lifting cylinders b21, b21 is returned to the hydraulic oil tank T through the third oil passage 103 and the discharge oil passage 104. As a result, the lifting cylinder b21 contracts, the lifting link b20 is rotated downward, the lifting frame b23 moves downward, and the spraying boom b1 descends together with the lifting frame b23 relative to the traveling vehicle body A.

[0042] When the up-down switching valve u4 is switched to the stop position u43, the third oil passage 103 is closed. This blocks the hydraulic oil from flowing in and out of the piston side chambers b211, b211 through the third oil passage 103, and the height of the spraying boom b1 relative to the traveling vehicle body A is maintained.

[0043] The on-off valve u1 is an electromagnetic switching valve that can be switched between a communication position u11 that connects the piston side chamber b211 of the lift cylinder b21 and the accumulator U, and a blocking position u12 that blocks the communication.

[0044] When the on-off valve u1 is switched to the communication position u11 (open control of the on-off valve u1), the third oil passage 103 and the accumulator U are connected, thereby connecting the piston side chamber b211 of the lifting cylinder b21 with the accumulator U. As a result, hydraulic oil flows between them, and the accumulator U absorbs pressure fluctuations within the lifting cylinder b21 and exerts a spring action, suppressing vibration of the spraying boom b1 and exerting a vibration-damping function.

[0045] When the on-off valve u1 is switched to the shut-off position u12 (controlling the on-off valve u1 to close), communication between the third oil passage 103 and the accumulator U is cut off, thereby cutting off communication between the piston side chamber b211 of the lifting cylinder b21 and the accumulator U. This stops the vibration damping function of the accumulator U and improves responsiveness when raising and lowering the spraying boom b1. In more detail, responsiveness refers to the speed at which the lifting and lowering operation of the spraying boom b1 begins after the boom raising switch or boom lowering switch is operated.

[0046] The controller C is a control device capable of controlling the vertical switching valve u4 and the on-off valve u1, and is configured to include a CPU, ROM, RAM, etc., and stores a predetermined control program. The vertical switching valve u4 and the on-off valve u1 are electrically connected to the controller C, and are controlled by the controller C to switch their positions. The controller C may also be configured to control the positions of the vertical switching valve u4 and the on-off valve u1 using a timer, relay, etc., without using a CPU, ROM, RAM, etc.

[0047] The controller C is electrically connected to the operation panel a6 and can acquire signals representing the operation of various operation switches provided on the operation panel a6. In other words, it can acquire information about the operation of the operation panel a6 by the operator. The operation panel a6 is provided with at least a boom-up switch (not shown) that is operated to raise the spraying boom b1 relative to the traveling vehicle body A, a boom-down switch that is operated to raise the spraying boom b1 relative to the traveling vehicle body A, and a key switch that is operated to power on the self-propelled chemical sprayer 1. The key switch is an operation switch that can be switched on and off, and the on state of the key switch is a condition for operating the engine of the self-propelled chemical sprayer 1. Therefore, the operator can operate the engine of the self-propelled chemical sprayer 1 by operating the key switch on and then performing a predetermined operation. The controller C executes the control described below based on signals from the operation panel a6 and switches the positions of the up-down switching valve u4 and the on-off valve u1. Also connected to the controller C are a timer c1 as a timekeeping means and a relay c2 that detects the operation of the key switch and switches the contacts in the circuit.

[0048] FIG. 6 is an enlarged front view of the main parts of the self-propelled chemical sprayer 1. As shown in FIG.

[0049] As shown in Figure 6, the accumulator U is disposed in front of the cabin K, approximately in the left-right center of the lifting frame b23, and is located approximately on the center line in the vehicle width direction of the traveling body 2. As a result, the accumulator U disposed approximately in the center of the traveling body A serves as a center marker, making it easier for the operator to operate the self-propelled chemical sprayer 1 in a straight line. In addition, it becomes easier to visually check for any malfunctions in the accumulator U, improving maintainability.

[0050] The on-off valve u1 is housed in a housing X1 disposed below the accumulator U shown in FIG. 6, and the vertical switching valve u4 is housed in a housing X2 disposed adjacent to the side of the housing X1. The accumulator U may be configured to be detachable from the housing X1. As shown in FIG. 6, the housings X1 and X2 are attached and fixed adjacent to each other on the lift frame b23, and the on-off valve u1 and the vertical switching valve u4 are disposed adjacent to each other. The housings X1 and X2 may be configured as a single housing, and the on-off valve u1 and the vertical switching valve u4 may be housed in this single housing. This configuration in which the on-off valve u1 and the vertical switching valve u4 are directly mounted integrally improves assembly efficiency, reduces assembly man-hours, and enables the installation space to be compact.

[0051] The accumulator U, the housing X1, and the housing X2 are configured to be installed at the front of the traveling vehicle body 2. Specifically, they are configured to be installed at the very front of the body. This makes maintenance easy. In addition, the spraying boom b1 to which the nozzle bn is attached can be raised and lowered to any position by raising and lowering the lifting frame b23. The accumulator U, the housing X1, and the housing X2 are attached to the lifting frame b23.

[0052] As a result, the accumulator U, the housing X1, and the housing X2 can be raised and lowered to any position while maintaining their respective positional relationships, which does not affect the piping and makes maintenance easier.

[0053] (Opening and closing control of on-off valves) FIG. 7 is a flowchart showing the control procedure by the controller C.

[0054] The controller C controls the on-off valve u1 and the up-down switching valve u4 according to the procedure shown in the flowchart of Fig. 7. As an initial condition, the key switch is turned off and the on-off valve u1 is switched to the shut-off position u12.

[0055] When the controller C receives a signal indicating that the key switch has been turned on (step S101), it controls the on-off valve u1 to be switched to the communicating position u11 (step S102). This allows the accumulator U to perform its vibration damping function, thereby suppressing vibration of the spraying boom b1. In this way, by opening the on-off valve u1 in conjunction with the operator's turning on of the key switch, the on-off valve u1 is reliably opened when only the power is on and the engine is stopped or running, or when work is being performed. This eliminates the need for the operator to manually open the on-off valve u1, as was previously the case, thereby improving convenience. Furthermore, there is no risk of the operator forgetting to manually open the on-off valve u1 while working. Furthermore, a switch for turning the on-off valve u1 on and off is no longer required.

[0056] Next, when the controller C receives a signal indicating that the boom raising switch or the boom lowering switch has been turned on (step S103), it executes a process of raising and lowering the spraying boom b1, which will be described later (step S104).

[0057] Furthermore, after controlling the on-off valve u1 to be switched to the open position u11 in step S102, when the controller C receives a signal indicating that the key switch has been turned off (step S105), it controls the on-off valve u1 to be switched to the shut-off position u12 (step S106). This, in conjunction with the key switch being turned off, stops the vibration damping function provided by the accumulator U. By automatically turning off the vibration damping function provided by the accumulator U in this manner when not in operation, the configuration in which the spraying boom b1 is fixed to the traveling vehicle body A prevents the spraying boom b1 from swinging up and down and coming into contact with external obstacles when not in operation, such as when transporting the self-propelled chemical sprayer 1. Furthermore, when the accumulator U is removed for maintenance, the on-off valve u1 is switched to the shut-off position u12, preventing dust and other particles from entering the hydraulic circuit.

[0058] Figure 8 is a flowchart showing the procedure by the controller C of the spraying boom lifting and lowering process (step S104) of Figure 7. In step S103, when the controller C receives a signal indicating that the boom-up switch or the boom-down switch has been turned on, if the controller C receives a signal indicating that the boom-up switch has been turned on, it switches the vertical movement switching valve u4 to the extended position u41 and raises the spraying boom b1. If the controller C receives a signal indicating that the boom-down switch has been turned on, it switches the vertical movement switching valve u4 to the retracted position u42 and lowers the spraying boom b1 (step S201).

[0059] At the same time, the on-off valve u1 is immediately switched to the shut-off position u12 (step S202), thereby improving the responsiveness of the subsequent lifting and lowering of the spraying boom b1.

[0060] Here, the controller C starts the timer c1 at the same time as the spraying boom b1 starts to move up and down, and counts a set time t (step S203). This set time t is a predetermined short time, for example, about 1 second.

[0061] Next, when the set time t has elapsed, the controller C switches the on-off valve u1 to the communication position u11 (step S204). That is, the controller C immediately switches the on-off valve u1 to the shut-off position u12 only for a short period of time immediately after the start of the lifting and lowering operation of the spraying boom b1, and switches the on-off valve u1 to the communication position u11 during the lifting and lowering operation of the spraying boom b1 after the start of the lifting and lowering operation. This ensures quick responsiveness when the spraying boom b1 is lifted and lowered, and furthermore, during the subsequent lifting and lowering operation of the spraying boom b1 after the start of the lifting and lowering operation, the vibration damping function of the accumulator U can be exerted to reduce vibration of the spraying boom b1. As a result, the operation of the spraying boom b1 is stabilized, and safety can be improved. That is, according to a conventional configuration in which the on-off valve u1 is controlled to open after the lifting and lowering operation of the spraying boom b1 is completed, when the on-off valve u1 is opened, the pressure difference between the hydraulic oil of the lifting cylinder b21 and the accumulator U causes hydraulic oil to rapidly flow from the lifting cylinder b21 to the accumulator U side, which results in the lifting cylinder b21 extending or shortening, causing the spraying boom b1 to drop below the stopped position and resulting in unstable operation. However, by controlling the on-off valve u1 to open while the spraying boom b1 is lifting and lowering, the pressure difference between the hydraulic oil of the lifting cylinder b21 and the accumulator U is eliminated, thereby realizing stable operation of the spraying boom b1. Here, the set time t is preferably set within 0.5 to 3 seconds, and more preferably within 0.5 to 1 second.

[0062] Next, when the controller C receives a signal indicating that the boom raising switch or the boom lowering switch has been turned off (step S205), it controls the up-and-down switching valve u4 to switch to the stop position u43 (step S206). This stops the raising and lowering of the spraying boom b1, and the spraying boom b1 raising and lowering process (step S104) in Figure 7 is completed.

[0063] Although not shown in Figures 7 and 8, when the boom-up switch or boom-down switch is operated continuously for a predetermined time (approximately 0.5 to 1 second), the spraying boom b1 does not rise or fall, and the on-off valve u1 is manually closed. In this case, other switches or levers may be provided instead of the boom-up switch or boom-down switch. This allows the operator to easily stop the operation of the accumulator U at their discretion in situations where there is no need to operate the accumulator U (for example, when the road surface is not very uneven). When the accumulator U is to be operated again, the boom-up switch or boom-down switch is operated continuously for a predetermined time (approximately 0.5 to 1 second). This eliminates the need for a switch to turn the on-off valve u1 on and off.

[0064] Also, a vibration sensor may be provided on the machine body, and when the vibration of the machine body is within a predetermined value and continues for a predetermined time or more, the on-off valve u1 is automatically closed to stop the operation of the accumulator U. However, if the vibration value continues to be above the predetermined value at least several times, the on-off valve u1 is automatically opened to operate the accumulator.

[0065] Furthermore, the boom-up switch and boom-down switch are provided in positions that allow them to be operated from the driver's seat a2 inside the cabin K, but they are also provided outside the cabin K. As shown in FIG. 2, the side boom b1L passes beside the opening and closing door k3L, so it is possible to get on and off by passing under the side boom b1L, but it is easier to get on and off by raising and lowering the side boom b1L when getting on and off. Therefore, the side boom b1L can be raised and lowered by operating a boom-up switch or boom-down switch provided outside the cabin K.

[0066] The side booms b1L, b1R are configured to be able to be raised and lowered independently of the lifting frame b23, and are configured to be able to be raised and lowered by electric hydraulic cylinders ES that are independent of the hydraulic circuit in Figure 5. In this case, even if the engine is stopped and the hydraulics are not operating, the side booms b1L, b1R can be raised and lowered by operating the boom-up switch and boom-down switch outside the cabin K, using battery power to drive the electric hydraulic cylinders ES. This makes it easy for people to get in and out of the cabin K.

[0067] FIG. 9 is a time chart showing the operation of the accumulator U in FIG.

[0068] In Figure 9, when the accumulator U is on, the on-off valve u1 is in the communication position u11, and when the accumulator U is off, it is in the shut-off position u12. As shown in Figure 9, when the key switch is on, the accumulator U is normally turned on, but the accumulator U is configured to be turned off for a set time t immediately after the boom-up switch or the boom-down switch is turned on. As mentioned above, the set time t is set in advance to a short period of time (for example, about 1 second), but can be adjusted within a predetermined range (for example, about 0.5 to 3 seconds) by operating the operation panel a6 to realize responsiveness in raising and lowering the spraying boom b1 that suits the weight of the spraying boom b1 and the needs of the operator.

[0069] The present invention is not limited to the above-described embodiments, and various modifications are possible within the scope of the invention described in the claims, and it goes without saying that these modifications are also included within the scope of the present invention.

[0070] For example, in the above embodiment, as shown in Fig. 4, the lifting frame b23 is configured to be pivotally supported about the rolling axis Y by the rolling axis Y provided at the bottom of the mounting frame b22, but as shown in Fig. 10, a single-acting roll cylinder b25 may be disposed at one left or right end of the lifting frame b23, and a damper b26 may be disposed at the other left or right end, and the rolling of the lifting frame b23 may be controlled by extending or contracting the single-acting roll cylinder b25. In this case, by performing the return operation of the single-acting roll cylinder b25 using the damper b26 disposed at the other left or right end, swaying vibration of the lifting frame in the rolling direction can be suppressed more effectively than when an elastic body such as a compression spring is used, enabling stable roll control.

[0071] Figure 11 is a circuit diagram showing a portion of the hydraulic circuit of a self-propelled chemical sprayer 1 according to another embodiment. In addition to the hydraulic circuit configuration shown in Figure 5, the hydraulic circuit of the self-propelled chemical sprayer 1 according to another embodiment includes a fourth oil passage 105 connected to the first constant flow dividing valve u2, and a single-acting roll cylinder switching valve u5, which is an electromagnetic switching valve that can switch the single-acting roll cylinder b25 between an extension position u51 as an operating position for extending the cylinder, a retraction position u52 as an operating position for retracting the cylinder, and a stop position u53 for stopping the cylinder. The lifting frame b23 is pivotally supported so as to be rotatable about the rolling axis Y, and vibration of the lifting frame b23 in the rolling direction is controlled by an accumulator U2.

[0072] As shown in FIG. 11 , the single-acting roll cylinder switching valve u5 is connected to the fifth oil passage 106, which is connected to a second on-off valve u7 that can be switched between a communication position u71, which connects the piston-side chamber b251 of the single-acting roll cylinder b25 to the roll accumulator U2, and a blocking position u72, which blocks the communication. When the controller C receives a signal indicating that the key switch is turned on, it controls the on-off valve u7 to switch to the communication position u71. This allows the accumulator U2 to perform vibration suppression, thereby suppressing vibration of the lifting frame b23 in the rolling direction. Furthermore, when the accumulator U2 is removed for maintenance, the on-off valve u7 is switched to the blocking position u72, preventing dust and other particles from entering the hydraulic circuit.

[0073] The single-acting roll cylinder switching valve u5 is connected to a second discharge oil passage 107 that returns hydraulic oil to the hydraulic oil tank T, and a relief valve u6 is provided between the fourth oil passage 105 and the second discharge oil passage 107. Although not shown, the single-acting roll cylinder switching valve u5 and the second on-off valve u7 are connected to a controller C, and their positions can be controlled by the controller C. The single-acting roll cylinder switching valve u5 and the second on-off valve u7 are housed in a housing X3 shown in FIG. 10.

[0074] Here, in a plan view of the aircraft, the accumulators U and U2 may be arranged on either the left or right side of the center line of the aircraft traveling direction, and the hydraulic valve may be arranged on the other side. In this way, by distributing the heavy accumulators and hydraulic valves to the left and right sides of the center line of the aircraft traveling direction, the left-right balance of the aircraft is improved.

[0075] In addition, an indicator light indicating that the on-off valves to the accumulators U, U2 are open and the accumulators U, U2 are operable may be provided near the key switch or around the handle of the operating unit. This allows the operator to easily check the operating status of the accumulators U, U2 while the vehicle is stopped or in motion (working or traveling). This configuration is particularly effective when there is no on / off switch for the accumulators U, U2 (a configuration in which the accumulators U, U2 are automatically operated in conjunction with the on / off of the key switch). [Explanation of symbols]

[0076] A. Running vehicle a1 mainframe a2 Driver's seat a3 steering wheel 4 front wheels a5 rear wheel a6 operation panel a7 bonnet B. Chemical spraying device bn nozzle b1 spray boom b2 Support device b 20 Lifting link b21 Lifting cylinder b22 mounting frame b23 Lifting frame b24 Opening and closing cylinder b25 Single-acting roll cylinder K Cabin k1 cabin frame k2 cabin roof k3L, k3R opening and closing door T Hydraulic oil tank U Accumulator U2 Roll Accumulator P1 First pump P2 Second pump u1 On-off valve u2 First constant flow dividing valve u3 Second constant flow valve u4 Up and down switching valve u5 Single-acting roll cylinder switching valve u6 relief valve u7 Second shut-off valve Y rolling axis

Claims

[Claim 1] A traveling vehicle body (A) that drives the machine, a driver's seat (a2) on which the operator sits, an operating unit (a6) that accepts the operator's operation, a chemical spraying unit (b1) that moves by the operation of a hydraulic cylinder, and an accumulator connected to the hydraulic cylinder, a switching valve that switches the supply and discharge of hydraulic oil to the hydraulic cylinder to operate the hydraulic cylinder; A self-propelled chemical sprayer including an on-off valve that opens and closes a passage that connects the hydraulic cylinder and the accumulator, The accumulator is provided so as to be visible when the driver is seated in the driver's seat (a2), The on-off valve can be opened and closed by a key switch that starts and stops the engine, A self-propelled pesticide sprayer characterized in that when a key switch that starts and stops the engine is turned on, the opening / closing valve is switched to a communication position to activate the vibration control function provided by the accumulator, and when an up switch or down switch that raises and lowers the pesticide spraying section (b1) is turned on, the opening / closing valve is switched to a blocking position to deactivate the vibration control function provided by the accumulator, and after a predetermined time has elapsed since the up switch or down switch was turned on and during the raising and lowering operation of the pesticide spraying section (b1), the opening / closing valve is switched to the communication position to resume the vibration control function provided by the accumulator.

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