JPH0541904A - Agricultural working vehicle - Google Patents

Abstract

(57) [Summary] [Purpose] In an agricultural work vehicle in which front wheels are steered by a drive mechanism so as to automatically run along the ridges, the drive mechanism can be downsized, and an artificial turning operation of the machine body is performed. Make it easy to remove. [Structure] The center of gravity G of the entire vehicle is located between the steering front wheel 1 and the rear wheel 2 closer to the rear axle than the front axle, and the weight of the front wheel is relatively light and the front wheel is relatively light. The position of the center of gravity G is set so that the steering operation load of No. 1 is relatively light and that the lifting operation for placing the front wheels on the opposite side is easily performed.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention is provided with a drive mechanism for steering and manipulating front wheels for traveling, and a sensor for detecting a lateral position of a traveling vehicle with respect to a ridge, and based on information from the sensor. The present invention relates to an agricultural work vehicle provided with steering control means for automatically operating the drive mechanism in a state in which the traveling machine body travels along a ridge.

[0002]

2. Description of the Related Art Conventionally, in the above agricultural work vehicle, the front wheel side is hung on the front wheel side because of the interlocking mechanism between the front wheel for traveling and the drive mechanism, which is required to be provided in order to enable automatic steering of the traveling body. The aircraft weight was relatively large.

[0003]

Conventionally, for example, when the machine body is moved from a ridge where the work is completed at the ridge end to the next ridge to be worked, the front wheels are freely steered and oscillated in conjunction with a drive mechanism. It is difficult to do so, and it is possible to turn with a small turning radius by grounding only the rear wheels, so the weight on the front wheels is heavy when turning while artificially supporting the aircraft so that the front wheels face upside-down. Since the supporting force required to lift the front wheels is large and it is necessary to perform the direction changing operation at the same time as this supporting operation, the direction changing operation is difficult. An object of the present invention is to make it possible to facilitate a manual direction changing operation.

[0004]

In order to achieve the object, in the agricultural work vehicle according to the present invention, the center of gravity of the entire vehicle is set between the front wheel for traveling and the rear wheel for traveling more to the rear axle than to the front axle. It is characterized in that it is placed near the core. The action and effect are as follows.

[0005]

[Function] The distance from the rear axle center to the vehicle center of gravity is relatively greater when the vehicle center of gravity is located closer to the rear axle center than between the front and rear wheels. It becomes smaller, and it becomes easier to lift and support the front end side of the machine body around the rear axle so that the front wheels float above the ground. Further, the ground load on the front wheels is reduced, and the load acting on the drive mechanism during the front wheel steering operation is reduced.

[0006]

EFFECTS OF THE INVENTION Although the machine body steering control is automatically performed, and the work can be advantageously performed in terms of accuracy and safety, the machine body can be easily and swiftly operated at the ridge end and efficiently. In addition to being able to work, the steering operation of the front wheels can be achieved with a relatively light and small drive mechanism and transmission mechanism, so that it can be obtained as cheaply and lightly as possible.

[0007]

EXAMPLES Next, examples will be shown. As shown in FIG. 1, a spray boom 4 is provided at the front of the traveling machine body having one idle front wheel 1, a pair of left and right driven rear wheels 2 and 2, a steering wheel 3 and the like.
And a hose reel 5 are attached to the rear portion of the traveling machine body to form a pest control machine. This pest control machine is mainly used for spraying a chemical solution to cultivated crops in a house. As shown in FIG. 5, a hose 7 connected to a stationary type chemical solution supply device 6 installed at an appropriate place outside the house is fed out. In order to automatically reciprocate between the ridges, the spray boom 4 ejects the chemical solution supplied from the chemical solution supply device 6 through the hose 7 from the plurality of spray nozzles 4a ... It is configured, and more specifically, is configured as follows. As shown in FIGS. 1, 2 and 4, the electric traveling motor M is attached to the rear frame portion 8 a of the machine body frame 8.
₁ , the traveling motor M ₁ transmits rotational power to the rear axle 13 via the transmission chain 9, the intermediate transmission shaft 10, the traveling clutch 11 and the transmission chain 12 to drive the left and right rear wheels 2, 2 forward. Alternatively, the vehicle is configured to be driven in reverse, so that the machine can travel on either side of forward or backward, and the forward / backward can be switched by switching the forward / reverse rotation of the traveling motor M _1. I am doing it.

The hose reel 5 is arranged such that the whole hose reel 5 overlaps with the rear wheel 2 in a side view of the machine body so that the center of gravity of the hose reel itself and the containing hose are located at the lowest possible level.
In addition, the rear axle 13 is arranged between the left and right rear wheels 2, 2 concentrically with the rear axle so that the hose storage volume can be increased while preventing the overall length and width of the airframe from increasing. It is attached so that it can rotate relative to it. A pair of rollers 14, 14 for driving the hose reel 5 are mounted on the intermediate transmission shaft 10 via a rotary support shaft 15 and a mounting frame 16, and a spring 17 acting on the mounting frame 16 causes the mounting frame 16 to move to the intermediate transmission shaft. The pair of reel drive rollers 14 and 14 are urged to oscillate about the axis of the hose reel 10 to the peripheral portions of the left and right side walls of the hose reel 5 so that they can be frictionally transmitted to each other. Since the rotational force of the transmission shaft 10 is transmitted to the rotary shaft 15 by the transmission mechanism E, the hose reel 5 can be driven by the traveling motor M ₁ . By providing the one-way clutch 18 for transmitting only one of the forward rotation power and the reverse rotation power of the rotation support shaft 15 to the reel drive roller 14 between the reel drive roller 14 and the rotation support shaft 15, the traveling motor M only during reverse travel. ₁ is configured to drive the hose reel 5. That is, by fixing the hose 7 to an appropriate place such as the ground on the run start side of the ridge, tension is generated in the hose 7 due to the forward movement of the machine body and becomes a turning operation force of the hose reel 5, so that during forward movement The hose 7 in which the hose reel 5 freely rotates in the payout rotation direction and is wound and housed is paid out from the guide wheel 19 to the rear of the machine body and placed on the ground in the ridge. When the vehicle is moving backward, the traveling motor M ₁ drives the hose reel 5 in the winding rotation direction opposite to that when moving forward, so that the hose reel 5 pulls up the hose 7 fed out when moving forward and winds it up for accommodation. Of.

Winding drive of the hose reel 5 by the traveling motor M ₁ is performed in a state where the peripheral speed of the hose reel 5 where the hose winding diameter is the smallest and the peripheral speed of the rear wheel 2 are the same or substantially the same. The transmission ratio is set so that it will be performed. Regardless of this transmission ratio setting, even if the hose winding diameter of the hose reel 5 becomes larger than the minimum diameter, the hose winding length per unit time and the machine traveling distance are the same or almost the same. 5 for frictionally driving the rear wheel 2 and 5
The transmission mechanism E is provided with a friction transmission having a and 20b. That is, in forming the friction transmission, as shown in FIG.
As shown in FIG. 5, a transmission gear 22 that engages with a passive gear 21 attached to the rotary support shaft 15 is rotatably attached to the intermediate transmission shaft 10, and a pair of friction transmission discs respectively located on both sides of the transmission gear 22. 20a and 20b are attached to the intermediate transmission shaft 10 so as to be integrally rotatable, and one of the transmission discs 2
0a and the transmission gear 22 are urged by the spring 23 against the other transmission disc 20b so that the rotational force of the transmission discs 20a and 20b imparted by the intermediate transmission shaft 10 is frictionally transmitted to the transmission gear 22. That is, when an error occurs between the hose winding length and the traveling distance, a slip occurs between the transmission discs 20a and 20b and the transmission gear 22 due to the tension generated in the hose 7 due to the occurrence of the error, and the hose reel 5 moves. The rotation speed is such that the hose take-up length and the traveling distance of the body are almost the same.

A support member 24 for the guide wheel 19 is attached to a transverse feed shaft 25 attached to the rear frame portion 8a, and the transverse feed shaft 25 is rotationally driven by a rotational force transmitted from the rear axle 13 by a transmission chain 26. When the lateral feed shaft 25 is rotated, the feeding action of the spiral groove 25a of the lateral feed shaft 25 and the contact of the roller 24a attached to the support member 24 with the support member 24 to the lateral feed shaft 25. The support member 24 is configured to reciprocate in the left-right direction of the machine body due to the action of the guide rail 27 that guides while preventing the co-rotation so that the guide wheel 19 is moved along with the forward and backward movement of the machine body. Is configured to reciprocate in the left-right direction of the aircraft. That is, when the hose reel 5 winds up and stores the hose 7, the guide wheel 19 transfers the hose 7 in the direction of the rotation axis of the hose reel 5 so that the hose winding volume of the hose reel 5 becomes uniform in the direction of the axis. I will guide you. A counter 28 for detecting the forward traveling distance of the machine body is attached to the support member 24 so as to detect it based on the hose feed length by the hose reel 5, and as shown in FIG. The control means 30 is linked via the start switch 31, the return setting switch 32, the distance storage means 33, and the drive means 34, and the airframe is automatically reciprocated. is there. That is, in the counter 28, the detection target portion (not shown) provided at a specific position of the guide wheel 19 is the guide wheel 1
Counter 28 for rotation of 9 hose
Each time it reaches the detection position opposite to, it is configured to detect that the hose reel 5 has extended the unit hose length and to emit a pulse signal each time. The distance detecting means 29 measures the number of pulse transmissions of the counter 28, calculates the total length of the hose feeding out based on the number of transmissions of the measurement and the unit hose length, and detects the forward traveling distance based on the calculated total feeding length. It is configured as follows. When the turn setting switch 32 is turned on after the start switch 31 is turned on to start forward running, the distance storage means 33 automatically detects the detected forward running distance detected by the distance detecting means 29 at the time of operating this switch. It is configured to be input and stored as a mileage for turn. When the turn is set in this way, when the forward traveling distance detected by the distance detecting means 29 reaches the turn traveling distance stored in the distance storing means 33 as the aircraft travels forward, the control means 33 outputs the forward traveling signal up to that time. Instead of this, by outputting a reverse drive signal to the drive means 34, the traveling motor M ₁ is automatically switched from forward drive to reverse drive.

As shown in FIG. 1, a support member 3 for the front wheel 1 is provided.
5 is attached to the front frame portion 8b of the machine body frame 8 so as to rotate around the machine body vertical direction axis center Y which is displaced from the front wheel axis center X toward the machine body front side, and the transmission chain 36 and the clutch are attached to the support member 35. The electric steering servomotor M _{2 that} is interlocked via the device 37 pivotally operates the support member 35 to swing and steer the front wheel 1 around the axis Y, or with respect to the body of the front wheel 1. The mounting is switched between a forward mounting state in which the front wheel axis X is located on the rear side of the machine body with respect to the shaft center Y and a reverse mounting state in which the front wheel axis X is located on the front side of the machine body from the shaft center Y. It is configured as follows. The clutch device 37 is provided with transmission interchange that allows the support member 35 to freely rotate 2 to 5 ° when the steering motor M ₂ is stopped. That is, the front wheel 1 is a caster-type wheel that freely swings around the axis Y within a range of 2 to 5 °, and a steering wheel that is steered by the steering motor M ₂ . It is configured such that the steering operation of the aircraft can be performed by operating the steering motor M ₂ , and the front wheels 1 as steering wheels are caster type in any of forward and backward traveling. is there.

A battery case 38 for accommodating a battery B as a power source for the motors M ₁ and M ₂ is attached to the support frame portion 8c of the machine body frame 8 via a rotary attachment shaft 39, and the attachment shaft 39 The rear wheel 2 and the hose reel 5 are configured so that the battery case 38 can swing about the axis Z in the longitudinal direction of the machine body with respect to the traveling machine body due to the rotation with respect to the support frame portion 8c.
A pair of left and right frame portions 40a, 40b in the front-rear direction of the body of the guard frame 40, which is formed in the rectangular ring shape shown in FIG. 2 so as to surround and protect the lower part of the body, is connected to the ridge of the body. It is also used as a pair of left and right contact centers that detect the lateral position of the machine.
That is, a roller is attached to the front end sides of the frame parts 40a and 40b through the battery case 38 to form a front acting part 40f that comes into contact with the ridge side surface during forward movement, and at the rear end side of the frame parts 40a and 40b. A rear working portion 40 provided with a roller for contacting the side surface of the ridge when moving backward
r is formed, and when the aircraft is displaced to the left or right with respect to the ridges beyond the set range, either one of the front acting portions 40f or one of the rear acting portions 40r comes into contact with the ridge side surface. Due to the contact reaction force, the frame 40 swings around the axis Z together with the battery case 38, and the frame portions 40a and 40b are located when not in contact with the ridge A. N
When the machine body is moved to a position further inside the machine body and the machine body is restored to the set position between the ridges, the contact between the front working portion 40f and the rear working portion 40r with respect to the ridge side surface is eliminated and the frame 40 is replaced by the battery
The frame parts 40a and 40b are restored to the normal position N by the urging action of their own weight, and by knowing the swing angle and the swing direction of the frame parts 40a and 40b, The position with respect to the furrow can be determined. Then, the rear end side of the mounting shaft 39 in conjunction with potentiometer P _1, by the potentiometer P _1, are configured to take out the detection result of the frame parts 40a and 40b as an electrical signal. As shown in FIG. 6, the potentiometer P ₁ is linked to the steering control means 42 via the steering angle setting means 41, and the steering control means 42 is linked to the driving means 34 and the control means 30. Then, as shown in FIG. 1, the front wheel 1
The steering control means 42 is linked to the front wheel potentiometer P ₂ which is interlocked with the upper end side of the support member 35 so as to detect the steering angle and the attached state of the vehicle based on the rotation angle of the support member 35, so that the machine body moves back and forth. It is possible to automatically control the steering so that the vehicle runs along the ridges at any time during the advance. That is, the steering control unit 42 and the traveling direction information from the control unit 30, by automatically outputting a predetermined motor operation signal to the driving means 34 based on the feedback information from the wheel potentiometers P _2, When moving forward, the steering motor M ₂ switches the front wheel 1 to the forward mounted state.
When the vehicle is moving backward, the steering motor M ₂ is configured to automatically operate the steering motor M _{2 so} that the front wheel 1 is switched to the reverse mounted state. Then, the steering angle setting means 41 is configured to automatically set the control target steering angle based on the information from the potentiometer P _{1 when the} vehicle moves forward and backward, and the steering control means 42 sets the steering angle setting means. 41 by automatically outputting a predetermined motor operating signal to the drive means 34 based on the information from 41 and the potentiometer P ₂ .
The steering motor M ₂ steers the front wheel 1 in a steering state in which the target steering angle set by the steering angle setting means 41 and the steering angle detected by the front wheel potentiometer P ₂ are the same or substantially the same. As described above, the steering motor M ₂ is automatically operated.

In any of the forward and backward movements, the front wheel 1 which becomes the steering wheel becomes a caster type wheel, and the front acting portion 40f is positioned in front of the rear wheel 2,
Since the rear working portion 40r is located rearward of the rear wheel 2, consideration is given so that the rear wheel 2 is less likely to roll over due to riding on the ridge side surface. That is, when the airframe is facing left or right with respect to the ridges and approaching the ridge side surface, when the vehicle moves forward, the front acting portion 40f contacts the rear wheel 2 before the rear acting portion 40r contacts the ridge surface. Because of this contact reaction force and caster function, the front wheel 1 is slightly
It is configured so that it swings in a steering state in the direction opposite to the side of the ridges, and the body returns to the center of the ridges before the rear wheel 2 rides on the side of the ridges.

The battery case 38 is formed so that the battery B is housed at a low level portion between the front wheel 1 and the rear wheel 2. In other words, even if the battery B is installed, the center of gravity of the entire machine body is kept at a relatively low level so that the position of the center of gravity is prevented from increasing due to the weight of the battery, and consideration is given to ensure stable running so as not to fall sideways. is there.
As shown in FIG. 1, the boom 4 is attached to the attachment shaft 39 so as to rotate integrally with the attachment shaft 39 so as to prevent a change in the degree of spraying of the chemical liquid on the cultivated crops, regardless of the lateral inclination of the traveling machine body. .. That is, the battery B serves as a weight acting on the boom 4, and is configured to swing around the axis Z with respect to the traveling body to maintain the boom 4 in a vertical posture even when the traveling body leans to the left or right. There is. The center of gravity G of the entire working machine is arranged and set closer to the rear axle than the front axle X between the front wheels 1 and the rear wheels 2. In other words, when operating the aircraft by turning the aircraft by tilting the front wheel 1 around the rear axle so that the front wheels 1 float above the ground by operating the steering wheel 3, it is relatively easy to lift the front end of the aircraft. I am doing it.

A pair of clutch levers 43 and 4 shown in FIG.
One of the three levers 3 is for switching the running clutch 11 to switch the left and right rear wheels 2, 2 to the idle state, and the other clutch lever 43 is for switching the clutch device 37 to the front wheel. 1 is for switching to a caster type that freely swings around the axis Y over 360 °. The forward / reverse switch 44 shown in FIG. 6 is used to drive the traveling motor M ₁ by manual operation to drive the rear wheels 2 forward or backward. The first safety switch 45 is for detecting the contact of the front bumper 46 with respect to an obstacle and automatically switching the forward movement of the machine body to the backward movement in response to the detection of the contact. The second safety switch 47 is for detecting contact with an obstacle at the rear of the machine body and automatically stopping the reverse movement of the machine body upon detection of this contact. The display lamp 48 displays the operation of the automatic control by the control means 30 by lighting or blinking. The changeover switch 49 switches the steering angle setting means 41 so as to connect to the spare input terminal 50 so as to operate based on the input signal, and the input terminal 50 connects between the fuselage and the side ridges on both sides thereof. This is for connecting an ultrasonic detection device that detects a distance by ultrasonic waves and detects the position of the machine body with respect to the ridges based on the detection result. The spraying changeover switch 51 switches the electromagnetic spray valve 52 to a pair of spraying operation systems of the driving means 34 by a manual operation, and performs reciprocal spraying for spraying the chemical liquid in both forward and backward movements, and sprays the chemical liquid only in reverse traveling. The choice is to make a return scatter. The hydraulic pressure switch 53 detects the hydraulic pressure supplied to the boom 4 between the hose reel 5 and the boom 4, and when the supplied hydraulic pressure becomes equal to or lower than a set pressure, the automatic control automatically stops traveling. The battery voltage determination means 54 disables the traveling by automatic control when the voltage of the battery B drops to the set voltage.

[Other Embodiments] Frame portions 40a, 40b
In addition to using as a sensor,
It may be applied, and these sensors 40a, 40
b. Steering motor M₂Cylinder etc.
May be used, these are drive mechanism M ₂Generically. Control
In addition to work, also for work vehicles that perform various agricultural work such as sprinkling work
The present invention can be applied.

It should be noted that reference numerals are given in the claims for convenience of comparison with the drawings, but the present invention is not limited to the configurations of the accompanying drawings by the entry.

[Brief description of drawings]

[Fig. 1] Side view with partial cutaway of the entire extermination machine

FIG. 2 is a partially cutaway plan view of the entire extermination machine.

[Figure 3] Rear view of the sensor

[Figure 4] Transmission system diagram

[Figure 5] Illustration of how to use a pest control machine

FIG. 6 is a block diagram of a control system

[Explanation of symbols]

1 front wheel for traveling 2 rear wheel for traveling 40a, 40b sensor 42 steering control means A ridge M ₂ drive mechanism G center of gravity

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁵ Identification code Office reference number FI technical display location G05D 1/02 W 7828-3H

Claims (1)

[Claims] 1. A drive mechanism (M ₂ ) for steering a front wheel (1) for traveling, and sensors (40a), (40b) for detecting a lateral position of a traveling vehicle with respect to a ridge (A). A steering control means (42) for automatically operating the drive mechanism (M ₂ ) is provided in a state where the traveling machine body travels along the ridge based on information from the sensors (40a), (40b). In the agricultural work vehicle, the center of gravity (G) of the entire vehicle is closer to the rear axle than the front axle (X) between the traveling front wheel (1) and the traveling rear wheel (2). Agricultural work vehicles that are placed in some places.