DISTRIBUTOR LINKAGE

Abstract

The invention refers to a spraying device (10) for an agricultural sprayer (100), comprising a distributor linkage (12) on which multiple dispensing elements (22) for dispensing a spray liquid are arranged, an active vibration reduction device (24) which is designed to actively reduce vibrations of the distributor linkage (12), and a dispensing quantity controller (26) which is designed to adapt the spray liquid dispensing quantity (AM) of individual, grouped or all of the dispensing elements (22) to vibrations of the distributor linkage (12).

Claims

1. Spraying device for an agricultural sprayer, comprising a distributor linkage on which a plurality of dispensing elements are arranged for dispensing a spray liquid; an active vibration reduction device which is adapted to actively reduce vibrations of the distributor linkage; and a dispensing quantity controller configured to adapt a dispensing quantity of spray liquid of individual, grouped or all of the dispensing elements to vibrations of the distributor linkage.

2. The spraying device according to claim 1, wherein the active vibration reduction device is adapted to actively reduce elastic vibrations of the distributor linkage or rigid body vibrations of the distributor linkage.

3. The spraying device according to claim 1, wherein the active vibration reduction device is adapted to reduce horizontal or vertical linkage vibrations.

4. The spraying device according to claim 1, wherein the active vibration reduction device is configured: to actively dampen vibrations of the distributor linkage; to actively absorb vibrations of the distributor linkage; or to actively decouple the distributor linkage from an exciter component which excites the distributor linkage to vibrations.

5. The spraying device according to claim 1, wherein the active vibration reduction device comprises one or more counter-exciters arranged to excite the distributor linkage against the linkage vibrations.

6. The spraying device according to claim 1, wherein the dispensing quantity controller is adapted to adjust the dispensing quantity of spray liquid on a plurality of, grouped or all of the dispensing elements independently of one another to the vibrations of the distributor linkage.

7. The spraying device according to claim 1, wherein the dispensing quantity controller is adapted to convert the adaptation of the dispensing quantity to spray liquid of the individual, grouped or all of the dispensing elements by adapting the flow of spray liquid through the individual, grouped or all of the dispensing elements.

8. The spraying device according to claim 1, wherein the dispensing quantity controller is adapted to convert the adaptation of the dispensing quantity to spray liquid of the individual, grouped or all of the dispensing elements by adapting the flow cross-section of the individual, grouped or all of the dispensing elements.

9. The spraying device according to claim 1, wherein the dispensing quantity controller is adapted to convert the adaptation of the dispensing quantity to spray liquid of the individual, grouped or all of the dispensing elements by a modulation method, in particular by pulse width frequency modulation, at the individual, grouped or all of the dispensing elements.

10. The spraying device according to claim 1, further including a detection device which is adapted to detect or determine vibrations of the distributor linkage.

11. The spraying device according to claim 10, wherein the detection device is adapted to provide information to the vibration reducing means or the dispensing quantity controller about the detected vibrations of the distributor linkage.

12. The spraying device according to claim 10, wherein the detection device for detecting vibrations of the distributor linkage is adapted to detect or evaluate a condition of the spraying devices or the agricultural sprayer causing linkage vibrations.

13. The spraying device according to claim 10, wherein the detection device comprises at least two sensors which are arranged at a distance from one another on the distributor linkage and are suitable for detecting or determining linkage movements.

14. The spraying device according to claim 10, the distributor linkage comprising two lateral arms which extend in opposite directions during operation of the spraying device, wherein a plurality of sensors are arranged on each arm of the distributor linkage, which sensors are arranged at a distance from one another and are suitable for detecting or determining linkage movements.

15. The spraying device according to claim 10, wherein the detection device has a number of sensors, the number and arrangement of the sensors on the distributor linkage permit the determination of at least the horizontal deflection or speed of the dispensing elements arranged on the distributor linkage and caused by linkage vibrations.

16. The spraying device according to claim 10, wherein the detection device comprises a plurality of sensors which are suitable for detecting or determining linkage movements, a sensor being arranged in the area of each dispensing element or on each dispensing element.

17. The spraying device according to claim 13, wherein the sensors are formed as acceleration sensors and are arranged to detect the linkage acceleration or the acceleration of the dispensing elements.

18. The spraying device according to claim 10, wherein the detecting device is adapted to detect a cornering and the dispensing quantity controller is adapted to adapt the dispensing quantity to spray liquid of individual, grouped or all of the dispensing elements of the detected curves.

19. Agricultural sprayer, comprising: a storage tank for storing spray liquid; and a spraying device connected to the storage tank for dispensing the spray liquid; wherein the spraying device comprises: a distributor linkage on which a plurality of dispensing elements are arranged for dispensing a spray liquid; an active vibration reduction device which is adapted to actively reduce vibrations of the distributor linkage; and a dispensing quantity controller configured to adapt a dispensing quantity of spray liquid of individual, grouped or all of the dispensing elements to vibrations of the distributor linkage.

Description

[0031] Further details of the invention can be found in the description of the Figure and the drawings.

[0032] FIG. 1 shows an embodiment of an agricultural sprayer according to the invention in a rear view;

[0033] FIG. 2 shows the agricultural sprayer shown in FIG. 1 in a plan view;

[0034] FIG. 3a shows a dispensing operation without vibration reduction and without dispensing quantity control;

[0035] FIG. 3b shows a dispensing operation with vibration reduction and dispensing quantity control;

[0036] FIG. 4 shows the linkage suspension of a spraying device according to the invention; and

[0037] FIG. 5 shows a dispensing element of a spraying device according to the invention while adjusting the dispensing quantity to the spray liquid.

[0038] FIG. 1 shows an agricultural sprayer 100 designed as a field sprayer. The agricultural sprayer 100 has a spraying device 10 with a distributor linkage 12. The distributor linkage 12 is connected to a suspension frame by means of a linkage suspension 14, whereby the linkage suspension 14 permits a small relative movement between the distributor linkage 12 and the suspension frame. Furthermore, the distributor linkage 12 comprises two lateral arms 16a, 16b, which extend in opposite directions during operation of the spraying device 10.

[0039] The first arms 16a comprises a total of three linkage segments 18a-18c that can be swivelled to each other. The second arm 16b comprises a total of three linkage segments 18e-18g that can be swivelled to each other. The internal linkage segment 18c of the first arm 16a and the internal linkage segment 18e of the second arm 16b are each pivotably connected to the central linkage segment 18d of the distributor linkage 12. The linkage segments 18a-18g are adapted such that they can be swivelled in such a way that the distributor linkage 12 can be brought into an unfolded transport position of maximum 3 m width and an unfolded working position of up to 50 m and more.

[0040] On the distributor linkage 12 a plurality of dispensing elements 22 designed as spray nozzles are arranged for dispensing a spray liquid, wherein the dispensing elements 22 are each assigned to a group 20a-20i of dispensing elements 22. The dispensing elements 22 of a group 20a-20i of dispensing elements 22 extend over a part width of the distributor linkage 12, whereby a group 20a-20i for example comprises between 5 and 15 dispensing elements 22.

[0041] The spraying device 10 also has an active vibration reduction device 24, which is designed to actively reduce horizontal and vertical elastic vibrations of the distributor linkage 12 and horizontal and vertical rigid body vibrations of the distributor linkage 12.

[0042] The active vibration reduction device 24 is also adapted to implement active vibration reduction by actively absorbing the vibrations of the distributor linkage 12. For this purpose the vibration reduction device 24 has a plurality of counter exciters (see FIG. 4) which are adapted to excite the distributor linkage 12 against the linkage vibrations.

[0043] In addition, the spraying device 10 comprises a dispensing quantity controller 26 which is adapted to adjust the dispensing quantity of spray liquid of the dispensing elements 22 independently of one another to the vibrations of the distributor linkage 12. The dispensing quantity of the spray liquid of the dispensing elements 22 is adapted to the vibrations of the distributor linkage 12 by adapting the dispensing quantity of the spray liquid of the dispensing elements 22 to the speed of the respective dispensing element 22 or the linkage section of the distributor linkage 12 on which the respective dispensing element 22 is arranged.

[0044] In addition, the spraying device 10 comprises a detection device 34 which is adapted to detect vibrations of the distributor linkage 12. The detection device can detect 34 horizontal and vertical elastic oscillations as well as horizontal and vertical rigid body vibrations of the distributor linkage 12. The detection device 34 comprises a plurality of sensors 36 adapted as acceleration sensors, which are designed to detect the linkage acceleration in the direction of travel, against the direction of travel and in the vertical direction. A sensor 36 is arranged on each dispensing element 22 or in the area of each dispensing element 22, whereby a sensor 36 and a dispensing element 22 are each part of an intelligent functional unit, in which the dispensing quantity on the dispensing element 22 is controlled as a function of the detected acceleration data of the sensor 36.

[0045] Furthermore, the detection device 34 is adapted via the sensors 36 to detect a cornering, wherein the dispensing quantity controller 26 is adapted to adapt the dispensing quantity of spray liquid of the dispensing elements 22 to the detected curve. During cornering, the dispensing quantity of the spray liquid of the dispensing elements 22 is adapted to the cornering and to the detected linkage vibrations.

[0046] FIG. 2 shows that the agricultural sprayer 100 is pulled over a crop N on soil B by a tractor 200. The agricultural sprayer 100 comprises a storage tank 102 for storing the spray liquid to be dispensed. The storage tank 102 is connected to the spraying device 10 for dispensing the spray liquid.

[0047] One wheel 104a, 104b is arranged on each side of the storage tank 102. The storage tank 102 is supported by a supporting frame of the agricultural sprayer 100, whereby the supporting frame of the agricultural sprayer 100 is connected in a front area with a drawbar 106, via which the coupling with the tractor 200 is moved. In the rear area the supporting frame of the agricultural sprayer 100 is connected to the linkage suspension 14 for the distributor linkage 12. The distributor linkage 12 extends transversely to the direction of travel FR of the agricultural sprayer 100.

[0048] FIG. 3a shows a spraying device 10 during the execution of a dispensing operation. The spraying device 10 is in a state in which neither an active reduction of the vibrations of the distributor linkage 12 nor an adjustment of the dispensing quantity to spray liquid of the dispensing elements arranged on the distributor linkage takes place.

[0049] For example, the spraying device 10 does not include an active vibration reduction device, a dispensing quantity controller, or the active vibration reduction device and the dispensing quantity controller are disabled.

[0050] Due to the lack of active vibration reduction and the lack of adaptation of the dispensing quantity of spray liquid of the dispensing elements to the vibrations of the distributor linkage 12, considerable irregularities occur during the dispensing of the spray liquid on the soil B. The peripheral areas in which the dispensing quantity M1 of spray liquid significantly exceeds the intended dispensing quantity M0 are surrounded by a further area in which the dispensing quantity M2 of spray liquid still significantly exceeds the intended dispensing quantity M0 of spray liquid, but to a lesser extent than the dispensing quantity M1 of spray liquid. The areas in which the dispensing quantity M2 of spray liquid significantly exceeds the intended dispensing quantity M0 are surrounded by a further area in which the dispensing quantity M3 of spray liquid continues to exceed the intended dispensing quantity M0 in a yield-reducing manner but to a lesser extent than the dispensing quantity M2 of spray liquid.

[0051] Correspondingly, there are areas M5 in which the intended dispensing quantity M0 is undershot, whereby local deviations within the peripheral area M5 are possible. Thus the dispensing quantities, especially in the outer peripheral area, can deviate further from the desired dispensing quantity than in the vicinity of the centre. The reason for the deviations is a too long stay of the linkage in the areas M1-M3, which leads to a too large dispensing quantity in these areas and a too low stay in the area M5, which leads to a too low dispensing quantity in this area compared to the desired dispensing quantity M0.

[0052] The irregularities in the spray agent distribution lead to considerable yield losses and must therefore be avoided at all costs.

[0053] FIG. 3b shows a spraying device 10 during the execution of a dispensing operation. This results in both an active reduction of the vibrations of the distributor linkage 12 and an adaptation of the dispensing quantity to the spray liquid of the dispensing elements arranged on the distributor linkage.

[0054] For the active reduction of the vibrations of the distributor linkage 12 and for the adaptation of the dispensing quantity of spray liquid of the dispensing elements arranged on the distributor linkage, the spraying device 10 uses a detection device which is adapted to provide information on the detected vibrations of the distributor linkage 12 to a vibration reduction device and to a dispensing quantity controller. For example, the spraying device 10 can be designed according to the spraying device 10 shown in FIGS. 1 and 2.

[0055] By providing information on the detected vibrations of the distributor linkage 12 for the vibration reduction device and the dispensing quantity controller, an actual value of the vibration state can be determined. On the basis of the vibration state, the vibrations of the distributor linkage 12 can then be effectively and actively reduced and a precise adjustment of the dispensing quantity to the spray liquid of the dispensing elements can be carried out.

[0056] Due to the active reduction of the vibrations of the distributor linkage 12 as well as the adaptation of the dispensing quantity to the spray liquid of the dispensing elements, the amount of spray liquid M4 applied in the peripheral areas only slightly exceeds the intended dispensing quantity M0, so that no significant loss of yield occurs due to local over- or underdosing of the spray liquid. In the remaining areas of soil B, the dispensing quantity M0 of spray liquid corresponds to the intended dispensing quantity.

[0057] FIG. 4 shows a linkage suspension 14 of a spraying device 10 designed as a pendulum suspension. The distributor linkage 12 is connected to a suspension frame 28 via an intermediate frame 38 by means of the linkage suspension 14. The linkage suspension 14, which is designed as a pendulum suspension, provides vertical guidance of the distributor linkage 12.

[0058] The active vibration reduction device 24 has two counter exciters 32a, 32b, which are adapted to excite the distributor linkage 12 against the linkage vibrations. The counter exciters 32a, 32b are each designed as hydraulic cylinders, namely as plunger cylinders, whereby the counter exciter 32a is aligned in the direction of travel FR and the counter exciter 32b in the opposite direction to the direction of travel FR. The counter exciters 32a and 32b are controlled, for example, via proportional pressure control valves.

[0059] The detection device of the shown spraying device 10 can also have a path sensor which is arranged on the linkage suspension 14 and is used to limit the stroke of the counter exciters 32a, 32b during active vibration damping.

[0060] FIG. 5 shows a dispensing element 22 designed as a spray nozzle, which was moved in the direction of travel FR. For example, individual or all of the dispensing elements 22 of the spraying device 10 shown in FIGS. 1 and 2 can be designed according to this dispensing element 22.

[0061] A sensor 36 designed as an acceleration sensor is arranged on the dispensing element 22. A dispensing quantity controller is arranged to implement the adaptation of the dispensing quantity AM to the spray liquid of the dispensing element 22 by adapting the flow to spray liquid through the dispensing element 22. In concrete terms, the adjustment of the dispensing quantity AM to the spray liquid of the dispensing element 22 is implemented by pulse width modulation on the dispensing element 22. Pulse width modulation permits high-frequency closing and opening of the dispensing element 22. The switching state S of the dispensing element 22 over time t is also shown. The pulse width modulation causes the dispensing element 22 to switch several times between the open state 1 and the closed state 0. Depending on how long the dispensing element 22 is open and closed, a corresponding dispensing quantity AM is achieved.

[0062] The pulse width modulation shown is a pulse width frequency modulation. In addition to the pulse width, the pulse frequency is also changed. The cycle duration of a switching cycle of the dispensing element 22 consists of a first period during which the dispensing element 22 is open and the switching state 1 is set, and a second period which follows directly after the first period and during which the dispensing element 22 is closed and the switching state 0 is set. It is shown that the first period during which the dispensing element 22 is open and the second period during which the dispensing element 22 is closed vary so that a precise adjustment of the dispensing quantity can be made.

[0063] Alternatively or additionally, the dispensing quantity controller may be adapted to adjust the dispensing quantity AM to the spray liquid of the dispensing element 22 by adjusting the flow cross-section of the dispensing element 22, whereby the flow cross-section can be adjusted, for example, by means of an adjustable orifice.

[0064] The dispensing quantity AM of the spray liquid of the dispensing element 22 can thus be adapted to the speed of the dispensing element 22, whereby the speed of the dispensing element 22 is detected by the sensor 36. By adjusting the AM dispensing quantity to the spray liquid, local over-dosage and under-dosage of the spray liquid caused by linkage vibrations can be effectively compensated.

LIST OF REFERENCE NUMERALS

[0065] 10 spraying device

[0066] 12 distributor linkage

[0067] 14 linkage suspension

[0068] 16a, 16b arms

[0069] 18a-18g linkage segments

[0070] 20a-20i groups of dispensing elements

[0071] 22 dispensing elements

[0072] 24 vibration reduction device

[0073] 26 dispensing quantity controller

[0074] 28 suspension frame

[0075] 32a, 32b counter-exciter

[0076] 34 detection device

[0077] 36 sensors

[0078] 38 intermediate frame

[0079] 100 agricultural sprayer

[0080] 102 storage tank

[0081] 104a, 104b wheels

[0082] 106 drawbar

[0083] 200 tractor

[0084] B soil

[0085] N crop

[0086] AM dispensing quantity

[0087] M0-M4 total spray liquid dispensing quantity

[0088] t time

[0089] S switching state

[0090] FR direction of travel