Pendulum boom suspension

One or more techniques and/or systems are disclosed for a suspended center frame attached to boom wings, and coupled to a fixed center frame. A suspended center frame can be suspended from a fixed center frame with a bearing at a pivot point to allow for pivoting in multiple axes. The suspended frame can comprise one or more dampers that are operably, pivotably coupled with the fixed frame to dampen movement of the suspended frame in the roll axis; and one or more connecting links that are operably, pivotably coupled with the fixed frame to control movement of the suspended frame in the yaw and/or pitch axis. The pivot point can be located above the center of gravity of a suspended portion of the system, and proximate a top portion of the fixed frame; and the links and dampers can be disposed at a bottom portion of the suspended frame.

BACKGROUND

Agricultural field sprayers are used to apply agricultural products onto a field. Field sprayers can be a self-propelled vehicle or towed/hitched to a towing vehicle, such as a tractor. A sprayer can have a wide applicator boom that is typically folded for transport, and on which nozzles for application of the product are distributed along the length of the boom. Applied products are typically liquids that serve to fertilize seed and plants or to combat weeds, diseases, or pests. The applied product is typically intended to be applied in predetermined amounts per unit of area over a field. In order to apply a desired amount effectively the applicator boom is moved over the ground at a predetermined, specified height. For example, if the applicator boom is too high, the product may be distributed over an area greater than desired, and if it is too low the product may be released in an area smaller than desired. The height and lateral tilt of the applicator boom can be varied and the tilt of the applicator boom may be remotely or manually controlled to guide the boom substantially parallel to the ground at a desired height. When the ground is uneven or when the field sprayer travels around a curve, the height may be compromised due to tilt of the boom, or oscillations of the boom.

SUMMARY

One or more techniques and systems are described herein for a suspended center frame attached to boom wings and suspended from a fixed center frame. For example, a suspended center frame can be suspended from a fixed center frame with a bearing coupling to allow for movement (e.g., pivoting) in multiple axes (e.g. pitch, roll, yaw). Further, links can connect either side of a lower portion of the suspended frame to the fixed frame, which can control the type and amount of movement about the shaft, and dampers may control the rate of pivoting. The pivot point can be located above a center of gravity of a suspended portion of the system, and the links and dampers can be used to dampen the yaw, pitch and roll of the suspended frame relative to the fixed frame.

In one implementation of a system for coupling a suspended boom frame to a fixed frame, a fixed frame can be operably, fixedly engaged to a sprayer vehicle. The fixed frame can comprise one or more controllable springs, and can comprise a fixed coupling that provides a pivot point. In this implementation, a suspended frame can operably couple with a pair of boom wings to form a suspended portion. The suspended frame can comprise a suspended coupling disposed above a center of gravity of the suspended portion. The suspended coupling can provide for pivoting of the suspended frame about the fixed coupling in roll, yaw, and pitch axes. The suspended frame can comprise one or more dampers operably, pivotably coupled with the fixed frame to dampen movement of the suspended frame in the roll axis. In this implementation, the one or more controllable springs can engage with the suspended frame to control a position of the suspended frame with respect to the fixed frame.

In another implementation, a suspended boom frame can comprise a pair of boom arms that, in conjunction with the suspended boom frame, form a suspended portion. Further, a suspended coupling can operably, pivotably couple with a fixed coupling on a fixed frame of a boom sprayer, where the suspended coupling is disposed centrally above a center of gravity of the suspended portion. Additionally, a pair of connecting links can respectively be operably disposed at opposing bottom corners of the suspended boom frame. The respective connecting links can extend forward to operably couple with the fixed frame at opposing sides to control yaw pivot and/or pitch pivot of the suspended frame. A pair of dampers can respectively, operably extend inward toward a central bottom of the fixed frame, and operably couple with the fixed frame to dampen roll pivot of the suspended frame.

In another implementation, a frame system for a boom sprayer can comprise a fixed central frame that is operably connected to a boom sprayer vehicle. A suspended frame, can be operably connected to a pair of boom sprayer wings on either side to form a suspended portion. The suspended frame can comprise a pivot point disposed above a center of gravity of the suspended portion. A suspended coupler can be fixedly engaged with the suspended frame at the pivot point. The suspended coupler can comprise a bearing operably, pivotably engaged with the fixed central frame to allow the suspended frame to pivot in yaw, roll, and pitch axes with respect to the fixed central frame. A pair of connecting links can respectively couple with the suspended frame at opposing bottom corners and extend forward and be coupled with the fixed frame to control yaw pivot and/or pitch pivot of the suspended frame. A pair of dampers can respectively couple between the suspended frame and a central bottom portion of the fixed frame to control roll pivot of the suspended frame.

DETAILED DESCRIPTION

A suspended center frame boom can be devised that is suspended from a fixed center frame. In one aspect, a suspended center frame of a boom-type agricultural sprayer can be suspended from a fixed center frame with a shaft and a spherical bearing to allow for movement (e.g., pivoting) in multiple axes, instead of just a fixed rotation of a typical pendulum. Further, links can connect either side of a lower portion of the suspended frame to the fixed frame, which can control the type and amount of movement about the shaft. In this aspect, the pivot point (e.g., shaft and bearing) can be located at a top portion (e.g., above a center of gravity of the suspended frame portion) of the suspended frame, for example, instead of at a center of gravity of the frame, which is often found in current, similar systems. In this aspect, the links can be used to dampen the roll of the suspended frame (e.g., and yaw and pitch), for example, instead of using fixed contact locations used in current systems.

FIGS.1and2are component diagrams illustrating different views of one example implementation of a suspended frame system100for a boom sprayer, in accordance with systems disclosed herein. As illustrated inFIGS.1and2, in the exemplary system100, a fixed center frame150can be operably fixed to a sprayer apparatus, such as a self-propelled sprayer or one that is towed. The fixed center frame150is comprised of fixed framework152for support, brackets154,156,156′,158for connections between the fixed center frame150and a suspended frame102, and one or more bumper brackets160,160′ for supporting frame roll bumpers162. One or more fixed link brackets156,156′ can be disposed on either side of the fixed framework152to operably couple with connecting links108,108′. A fixed damper bracket158can be disposed centrally at a bottom portion of the fixed framework152to operably couple with one or more frame dampers110,110′. A top, fixed-frame coupling bracket154can be disposed centrally at a top portion of the fixed framework152to operably couple with the suspended frame102.

The suspended frame102can be comprised of a suspended framework104that is suspended from a fixed coupling106at a top, central portion of the suspended frame102. In this implementation, a shaft164can extend from the top, fixed-frame coupling bracket154(e.g., orthogonally from the fixed frame150). Further, the shaft coupling106can be operably engaged with the shaft164to provide pivotal movement of the suspended frame102with respect to the fixed frame150. Respective one or more dampers110,110′ can be operably coupled with the suspended frame102at a suspended damper bracket112,112′. Respective one or more connecting links108,108′ can be operably coupled with the suspended frame102at a suspended link bracket114,114′.

FIGS.3A and3Bare component diagrams illustrating alternate implementations of one or more portions of a fixed frame150,350of the exemplary system100. With continued reference toFIGS.1and2, in these implementations, the fixed framework152,352comprises an upper cross-member202, and lower cross-member206. However, various alternates are envisioned for the fixed framework152, such as more or fewer cross members, and/or alternate arrangements. For example, in some implementations, as illustrated in3A, the fixed frame150can comprise a framework152with one or more mid cross-members204to provide additional support. Further, in these implementations, the fixed framework152,352can also comprise a pair of vertical frame members208,208′. Again, this implementation is merely one embodiment of a fixed central frame; it is anticipated that alternate embodiments may be devised using sound engineering principles to serve the same or similar purpose. For example, as illustrated inFIG.3A, in some implementations, one or more additional vertical members210,212may be utilized to provide additional support to the framework152.

The example fixed frame150,350comprises the top, fixed-frame coupling bracket154that is fixedly engaged with the fixed framework at a central portion of the upper cross-member202. The fixed-frame coupling bracket154is disposed proximate the top of the fixed frame150,350, and is configured to operably engage with a fixed coupling106, coupled with a shaft164, such as using one or more fasteners. Alternately, in some example, the fixed coupling106and shaft164can be fixed to the top, fixed-frame coupling bracket154, such by welds or the like, and the top, fixed-frame coupling bracket154may be fastened to the top cross-member202. The respective one or more fixed link brackets156,156′ can be fixed to the fixed framework at corresponding vertical frame members208,208′, such as by welding, or may be fixedly engaged by one or more fasteners. The respective one or more fixed link brackets156,156′ can be configured to couple with an end of the corresponding link108,108′, such as by receiving a pin216,216′ through one or more coupling bores214,214′, and the corresponding link108,108′ (e.g., through a bore in the end of the link). Alternately, the coupling links108,108′ can be coupled using a ball joint. In some implementations, the link108,108′ is allowed to pivot with respect to the fixed link bracket156,156′, for example, by pivoting about the pin216,216′ in a vertical (e.g., yaw) axis, and/or pivoting about the pin216,216′ in a horizontal (e.g., pitch) axis.

The fixed damper bracket158can be fixedly engaged with the fixed framework152at the lower cross-member206, such as by welding or the like, or by fastening. The fixed damper bracket158can be configured to operably couple with the respective one or more dampers110,110′ in a pivotal arrangement, such as in a roll axis, which allows the dampers110,110′ to operably pivot about the coupling with the fixed damper bracket158. In some implementations, the coupling between the fixed damper bracket158and damper110,110′ can be implemented by a pin, rod, or fastener218that is disposed through one or more ball joints220engaged with (e.g., or through a bore in) the fixed damper bracket158, and through a bore (e.g., or onto another ball joint) in the end of the damper110,110′.

As illustrated inFIG.3A, one or more bumper brackets160,160′ can be fixedly engaged (e.g., welded, fastened) to the fixed frame152, such as at the upper cross member202. A frame roll bumper162,162′ can be disposed on respective brackets160,160′, such as underneath. The frame roll bumpers162,162′ can be configured to provide a stop (e.g., which may be cushioned) for the suspended frame102, such as during a roll event (e.g., when the suspended frame pivots on the shaft164). Alternately, as illustrated inFIG.3B, one or more cylinder brackets360,360′ can be fixedly engaged (e.g., welded, fastened) to the fixed frame352, such as at the upper cross member202. In this implementation, a hydraulic stop cylinder362,362′ can be engaged with the respective cylinder brackets360,360′. The hydraulic stop cylinder362,362′ can be configured to provide a stop (e.g., which may be pressurized) for the suspended frame102, such as during a roll event (e.g., when the suspended frame pivots on the shaft164). In some implementations, a hydraulic fluid supply system364can be coupled with the respective hydraulic stop cylinders362,362′ to control the cylinders. For example, a cylinder can be extended and retracted to adjust the position of the stop for the suspended frame102, by adjusting the length of the hydraulic stop cylinder362,362′.

Further, a pair of spring brackets222,222′ (e.g., alternate arrangements inFIGS.3A and3B) can be engaged with the fixed frame, and respectively configured to operably hold a frame spring224,224′. In some implementations, the frame spring224,224′ may comprise a rubber or polymer unit that provides a stop. As another example, the frame spring224,224′ can comprise a controllable spring, such as an air spring, hydraulic cylinder, or some other spring that allows an amount of biasing force to be adjusted. That is, for example, the frame spring224,224′ can be operably adjusted to increase or decrease an amount of force applied by the spring to a portion of the suspended frame102. In operation, for example, compressed air can be added to a first air spring (e.g.,224′), and air can be released from a second air spring (e.g.,224), resulting in suspended frame102to be shifted (e.g., pivoted) to one side (e.g., the right side). As another example, a hydraulic spring (e.g., or other type of linear actuator) may be used in place of the air springs to perform a similar operation. In this way, for example, the frame spring224,224′ can be used to recenter the suspended frame102with respect to the fixed frame150, such as during traversal over varied terrain. Further the springs can help decelerate roll movement of the suspended frame, to mitigate violent and sudden shifts from side to side.

As illustrated inFIG.3, one or more frame pitch bumpers226,226′ can be fixed to the fixed frame152, such as at respective vertical frame members208,208′. In some implementations, the frame pitch bumpers226,226′ are configured to provide a stop (e.g., having a plate or cushion disposed thereon) for the suspended frame102when the suspended frame102pivots in a pitch axis (e.g., and/or in a yaw axis), which can result in the suspended frame102contacting the fixed frame150. In this way, for example, the frame pitch bumpers226,226′ may mitigate the suspended frame102contacting the fixed frame150, as the suspended frame102can be stopped by the frame pitch bumpers226,226′.

FIGS.4,5A, and5Bare component diagrams that illustrate alternate implementations of one or more portions of the suspended frame102.FIG.4is one implementation of the suspended frame102,FIG.5Ais one implementation of the suspended framework104, andFIG.5Bis another alternate implementation of the suspended frameword104. With continued reference toFIGS.1-3, the suspended framework104can comprise a plurality of frame members502a-f, which form the structural elements of the suspended framework104. It should be appreciated that, whileFIG.5illustrates one implementation of the arrangement of the frame members502a-f, it is anticipated that alternate arrangements may be devised by those skilled in the art. The suspended framework102is configured to operably couple with a pair of boom arms (not shown), such as at the respective boom arm coupling brackets504,504′,506,506′. That is, for example, a pair of upper boom arm coupling brackets504,504′ may couple (e.g., pivotably) with upper portions of respective boom arms, and a pair of lower boom arm coupling brackets506,506′ may couple with lower portions of respective boom arms.

Further, the suspended frame can comprise one or more suspended damper coupling brackets402,402′ that are respectively configured to operably couple with a damper110,110′ in a pivotal engagement (e.g., in a roll pivot arrangement). As an example, a pin may couple the respective suspended damper coupling brackets402,402′ with the corresponding damper110,110′. In this way, for example, the dampers can operably dampen oscillation (e.g., side to side roll) of the suspended frame102with respect to the fixed frame150, through the coupling of respective dampers110,110′ between the suspended damper coupling brackets402,402′ on the suspended frame102and the fixed damper bracket158engaged with the fixed framework152.

Additionally, the suspended frame can comprise one or more suspended link coupling brackets114,114′ that are configured to operably couple with a connecting link108,108′, such as in a pivotal engagement (e.g., a yaw pivot, from side-to-side). As an example, a connecting link108,108′ can be coupled with the corresponding suspended link coupling bracket114,114′ using a pin or fastener that holds the coupling link108,108′, or a ball joint, in pivotal engagement with the suspended link coupling bracket114,114′. In this way, for example, the other end of the connecting link108,108′ can be engaged with the one or more fixed link brackets156,156′ on the fixed frame150, to operably connect the fixed frame150with the suspended frame102at or near the bottom of the suspended frame. In this way, for example, the coupled links108,108′ can help operably mitigate undesired movement of the suspended frame102, such as during a roll event.

In some implementations, as illustrated, the suspended link coupling brackets114,114′ can comprise an extension arm508′,508that is fixed to the suspended frame102, and extends (e.g., substantially orthogonally) rearward from the frame102. In this implementation, the connecting link108,108′ can be engaged with the coupling bracket114,114′ at a rear end of the extension arm508′,508. It should be appreciated that the length of the extension arm508′,508may be dependent on the length of the connecting link108,108′. That is, for example, a longer connecting link108,108′ may result in a longer extension arm508′,508. As an example, the length of the extension arm508′,508can be configured to operably dispose the other end of the connecting link108,108′ in alignment with the fixed link brackets156,156′ on the fixed frame150.

It should be appreciated that the connecting links108,108′ may comprise a solid link, damper, a hydraulic or air cylinder, 4-bar linkage, or the like, configured to mitigate yaw and/or pitch movement of the suspended frame102with respect to the fixed frame150. During operation, for example, in some implementations the connecting links108,108′ may lengthen and shorten based on the yaw or pitch movement, and may pivot left and right, up and down, depending on the roll movement of the suspended frame102. In this way, the connecting links108,108′ can mitigate yaw and/or pitch movement, and also may help mitigate roll movement. In some implementations, the connecting links108,108′ may be controllable with respect to adjustment of their length. For example, a first connecting link108may be lengthened and a second connection link108′ may be shortened to adjust the position of the suspended frame102with respect to the fixed frame150. Alternately, both connecting links108,108′ may be either shortened or lengthened to adjust the frame's position.

In this way, for example, a rate of roll or movement of the suspended frame102can be controlled with respect to the fixed frame150. As an example, controlling a rate of movement of the suspended frame102may be useful when the boom sprayer moves over uneven terrain, turns a corner, moves up or down a rise, or moves along the side of a hill. That is, for example, controlling the rate and type of movement of the suspended frame102may help keep the boom arms substantially level with the ground during operation.

As illustrated inFIGS.4,5A, and5Bone or more stop plates404,404′ (e.g., alternate arrangements inFIGS.5A and5B) can be fixed to a top of the suspended framework104. The stop plates404,404′ can be configured to align with the respective frame roll bumpers162,162′ or hydraulic stop cylinders362,362′ coupled with the fixed frame150. That is, for example, the stop plates can provide a stop (e.g., at approximately 8 to 10 degrees of roll) for the suspended frame when the suspended frame rolls from side to side. Further, one or more spring stop plates406,406′ and/or spring stop bumpers408,408′ can be fixedly engaged with the suspended framework104. The spring stop plates406,406′ and spring stop bumpers408,408′ can be configured to provide a stop for the fixed frame springs224,224′ when the suspended frame102rolls from side to side.

As illustrated inFIG.6, with continued reference toFIGS.1-5, a shaft coupling106is operably, fixedly engaged with a shaft164coupling bracket510disposed at a top of the suspended framework104of the suspended frame102. In this implementation, a shaft164can be operably, fixedly engaged with the top, fixed-frame coupling bracket154, such as with one or more fasteners, or it may be otherwise fixed by welding, etc. In this implementation, the shaft coupling106can comprise a bearing602that provides for reduced friction between the shaft164and a shaft coupling106. In one implementation, the bearing602can comprise a spherical bearing604(e.g., or similar) that is operably, fixedly engaged with the shaft164, such as by friction fit, keyway fit, and/or using one or more clips. That is, the spherical bearing604can operably remain stationary and affixed to the shaft164. Further, the bearing602can comprise a raceway606that is movably coupled with the spherical bearing604, such that the raceway606can operably rotate and pivot around the spherical bearing604. For example, the raceway606can comprise a concave internal wall that is complementary to the rounded surface of the spherical bearing604to allow for reduced friction movement in a variety of directions (e.g., roll, yaw, pitch axes).

In one implementation, the bearing602, with the raceway606and spherical bearing604, can be fixedly engaged with the shaft coupling106, such as by friction fit, or using clips, fasteners, etc. The shaft coupling106can be operably engaged with the shaft164, such that the spherical bearing604is operably fixed on the shaft164, and the raceway606is operably fixed in the shaft coupling106. The shaft coupling106can be fastened to the coupling bracket510that is operably fixed to the suspended framework104. For example, the shaft coupling106with the bearing602operably allows the suspended frame102to pivot in multiple directions (e.g., yaw, roll, pitch) around the shaft164, by way of the spherical bearing604.

As an exemplary implementation, as illustrated inFIGS.7-10, in operation a pair of boom wings1004,1006can be engaged with the suspended frame102. The fixed frame150can be engaged with a sprayer1002(e.g., self-propelled or towed), and the suspended frame102can be pivotably engaged with the fixed frame150, and the suspended framework104can be coupled to the fixed framework150by the connecting links108,108′ and dampers110,110′. During operation, for example, as the sprayer1002traverses a field, the sprayer1002engaged with the fixed frame150may roll from side to side, pitch up and down, and turn from side to side. In this example, the inertia of the suspended frame102and coupled boom wings1004,1006can result in the suspended frame102pivoting in a pitch, roll and/or yaw axis with respect to the fixed frame150.

In this example, in an effort to keep the boom wings1004,1006relatively parallel to the ground when traveling over uneven ground, along the side of a hill, or in a turn, air springs224,224′ may be used to adjust the position of the suspended frame102with respect to the fixed frame150. That is, the air spring224is fixed to the spring bracket222on the fixed framework152. The spring224can be activated by adding air pressure, which reduces an amount of pivot travel of the suspended frame102, as the spring224impact the spring stop bumper408on the spring stop plates406. Further, as illustrated inFIG.8showing the suspended framework104in a neutral position with respect to the fixed framework150(e.g., centered). InFIG.9, the suspended framework104is shown pivoted to the left in a clockwise direction with respect to the stationary framework152.

In this implementation, the left damper110′ is extended and the right damper110is retracted. The dampers110reduce the rate of pivot in the roll axis (e.g., mitigate oscillation). In some implementations, the dampers110,110′ can be adjusted to adjust the dampening coefficient, for example, to control the rate of pivot to a desired rate. Further, the left108′ and right108connection links are skewed, and help reduce the rate of pivot in the yaw direction. Of note, the left bumper160′ is in contact with the left bumper stop404′, mitigating roll of the suspended frame past the left bumper stop404′ (e.g., about eight degrees of roll).

During operation, the center of gravity of the system100, while coupled with boom wings1004,1006can be disposed behind the fixed frame150, such as at the pivot point of the shaft164and shaft coupling106. In this way, for example, in a neutral position (e.g., on flat ground), the suspended frame102may be disposed in substantially central alignment with the fixed frame150. That is, for example, in the neutral position the suspended frame is not subject to roll, yaw or pitch pivoting. As another example, when the boom wings1004,1006are folded forward, the center of gravity may be disposed forward of the pivot point, resulting in the suspended frame pivoted in a yaw axis (e.g., the bottom may be tilted forward). In this example, the frame pitch bumpers226,226′ may provide a stop (e.g., which may be cushioned) for the suspended frame102, stopping it from hitting the fixed frame150.