JPH06305441A - Self-traveling working vehicle - Google Patents

Abstract

PURPOSE:To provide simple wheel steering mechanism suitable for a self- traveling working vehicle constituted in such a way as to travel a passage between ridges smoothly by four-wheel drive and steering based on the detection value of a side distance sensor. CONSTITUTION:A front and a rear travel drive units 14, 16 are oscillatingly disposed in a box type body 12 through an upper and a lower pivots 20, and a front axle 24 and a rear axle 26 are also oscillated integrally with the front and rear travel drive units 14, 16. Link rods 40 are connected at both end parts to the protruding shafts 38, in the diagonal position relation, of the front and rear travel drive units 14, 16. An oscillatory operating member 48 is oscillated by the operation of the steering motor 44 of a steering drive part 42 so as to oscillate the rear travel drive unit 16.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a self-propelled work vehicle applied to, for example, a work for traveling a furrow passage to spray a chemical solution on a furrow crop. The present invention relates to a self-propelled work vehicle that can smoothly travel in a passage.

[0002]

2. Description of the Related Art A self-propelled chemical spraying vehicle that travels through a furrow passage sandwiched between ridges on both sides and sprays a chemical solution on agricultural products in the ridge,
Various measures have been taken to ensure smooth travel in the furrow passage.

In Japanese Utility Model Publication No. 2-25498, in a self-propelled chemical liquid spraying vehicle that travels back and forth in a furrow passage, only the front wheel in the traveling direction serves as the driving wheel in both the forward and backward paths, and the rear wheel in the traveling direction is simple. As a driven wheel, this
The self-propelled chemical sprayer doesn't get on the ridge,
Good straightness is achieved in the furrow passage.

In Japanese Utility Model Publication No. 4-48840, front, rear, left and right guide rollers are provided so as to project laterally from the main body of the self-propelled chemical spraying vehicle, and abut on a rigid wall or rail that exists laterally. By rolling, the self-propelled chemical liquid spraying vehicle smoothly travels in the furrow passage and the like.

According to Japanese Utility Model Laid-Open No. 3-83658, in a four-wheel drive self-propelled chemical spray vehicle, front and rear wheels are attached to an axle so as to be relatively rotatable within a predetermined range in the rotational direction. When the wheels of the above contact the edge of the side groove, the peripheral speeds of the left and right wheels are differentiated so that the wheels turn, and a special steering mechanism is omitted.

In the self-propelled chemical spraying vehicle disclosed in Japanese Examined Patent Publication No. 4-33674, when one of the left and right front wheels rides up on the ridge, the front wheels on the riding side do not ride up as a result of being displaced diagonally forward toward the upper side. The self-propelled chemical spraying vehicle is positioned slightly forward of the front wheel on the side, and is turned to the non-riding side to automatically lower the front wheel on the riding side from the ridge.

According to Japanese Patent Laid-Open No. 4-141268, in a three-wheel type self-propelled chemical spraying vehicle, wheels located at the apex angle of an isosceles triangle are caster type, and the self-propelled chemical spraying vehicle is
Steering is performed by turning the caster around the vertical axis of its mounting point, and the self-propelled chemical spraying vehicle is steered based on the distance to the left and right ridges measured by the distance sensor, and self-propelled chemical spraying is performed. The car runs in the center of the furrow passage.

[0008]

[Problems to be Solved by the Invention] Actual fairness 2-25498
The self-propelled chemical spraying vehicle of Japanese Patent Publication is difficult to apply to four-wheel drive, and its propulsive property is low in a muddy furrow passage.

In the self-propelled chemical spraying vehicle of Japanese Utility Model Publication No. 4-48840, it is necessary to dispose rigid wall surfaces and rails on both sides of the furrow passage, which requires a large facility.

In the self-propelled chemical sprayer disclosed in Japanese Utility Model Laid-Open No. 3-83658, the steering performance is low (a small turn does not work), and when the vehicle travels in the furrow passage, it is properly mounted in the furrow passage while riding on the furrow. You may not be able to return it, or you may not be able to obtain sufficient travel speed to the furrow passage. Further, in this self-propelled chemical spraying vehicle, the relative rotation between the axle and the wheel within the predetermined range in the rotation direction exists for steering, and is not related to the reduction of the driving torque in the four-wheel steering.

In the self-propelled chemical spraying vehicle disclosed in Japanese Examined Patent Publication No. 4-33674, steering cannot be started unless one of the left and right front wheels rides on the ridge sufficiently, so that the nozzle is in an unsuitable time. Increases and hinders proper drug spraying.

In the three-wheel type self-propelled chemical liquid spraying vehicle disclosed in Japanese Patent Laid-Open No. 4-141268, the casters are for steering only, are not driven, and have low propulsion when the furrow passage is muddy or traveling. Unstable and easy to fall.

It is an object of the invention of claim 1 to provide a self-propelled work vehicle which is driven by all-wheel drive in substantially the center of a passage such as a furrow passage based on the detection of a lateral distance sensor. It is to provide a self-propelled work vehicle equipped with various steering mechanisms and applicable in a narrow passage. An object of the invention of claim 2 is to further simplify the steering control means. When the self-propelled work vehicle is steered so as to return to substantially the center of the aisle, the deflection in the opposite direction is reduced, the number of times of steering is reduced, and the steering performance is stabilized while the steering is stable. It is to save power for. It is another object of the invention of claim 4 to provide a self-propelled work vehicle which can be manufactured and assembled easily. It is an object of the invention of claim 5 to provide a self-propelled work vehicle which can stabilize the traveling direction and reduce the driving force at the time of turning. An object of the invention of claim 6 is to provide a self-propelled work vehicle having a high application effect.

[0014]

The present invention will be described using reference numerals in the drawings corresponding to the embodiments. The self-propelled work vehicle (10) according to claim 1 has the following components (a) to (d). (A) First and second drive axles (24, 26) which are swingable around respective swing vertical lines (20, 22) and have drive wheels (28, 30) attached to their ends. (B) The first and second drive axles (24, 26) are each swinging vertical lines
Links (40) (c) that connect the first and second drive axles (24, 26) to each other so that they swing in opposite phases around (20, 22). Lateral distance sensor to detect
(34) (d) Based on the detection by the lateral distance sensor (34), the first drive axle (2
Operate the part of the steering system from 4) to the second drive axle (26),
Steering control means to displace (42,48)

In the self-propelled work vehicle (10) according to the second aspect, the steering control means (42, 48) is oscillated by the steering motor (44) and the steering motor (44) to move the first and second steering motors (44). Second drive axle (24,2
6) A swing operation member (48) for swinging one side.

In the self-propelled work vehicle (10) according to the third aspect, the steering control means (42, 48) steer the drive wheels (28, 30) in the turning direction and return them in the straight direction after a predetermined time has passed. It has become.

A self-propelled working vehicle (10) according to claim 4 is a box-shaped vehicle body (12) that is at least partially openable and closable, and a box-shaped vehicle body (12) is provided with an open portion. Two traveling drive units that are inserted into the model vehicle body (12) and are disposed in the box-shaped vehicle body (12) corresponding to the first and second drive axles (24, 26)
(14, 16) and. Drive unit for each drive (14, 16)
Is a drive case (18) that is swingably supported around a swing vertical line (20, 22) in a box-shaped vehicle body (12), and this drive case (1
8) Traveling motor (68) housed inside and drive case (18)
Output shaft that is driven by the traveling motor (68) provided at a length and position that avoids interference with the box-shaped vehicle body (12) when the vehicle swings
(88) and are included. Each of the first and second drive axles (24, 26) penetrates the output shaft (88) and the wall of the box-shaped vehicle body (12), and the drive wheels (28, 30) and the output shaft (88). A connecting member (10
6) Including and.

In the self-propelled work vehicle (10) according to the fifth aspect, the drive wheels (28, 30) in either one of the left and right rows are connected to the first and second drive axles (24, 26). It is attached integrally in the direction of rotation. In addition, the drive wheels (28,30) that are in a row relationship on the other side
Are mounted on the first and second drive axles (24, 26) so as to be relatively rotatable within a predetermined range in the rotational direction.

The self-propelled working vehicle (10) according to claim 6 is applied to the self-propelled chemical spraying vehicle (10) for furrow passages.

[0020]

The self-propelled working vehicle (10) according to claim 1 advances in the passage by the rotational driving of the front, rear, left and right driving wheels (28, 30). When the self-propelled work vehicle (10) is biased from the center to one of the left and right wall surfaces in the passage, the lateral distance sensor (34) detects this,
The steering control means (42, 48) operates and displaces a portion of the steering system from the first drive axle (24) to the second drive axle (26) based on the detection of the lateral distance sensor (34). The first and second drive axles (24,26) swing in opposite directions about their respective swing vertical lines (20,22) due to mutual connection via a link (40) to drive wheels. All wheels (28, 30) are steered in opposite phases so as to return the self-propelled work vehicle (10) to the center of the passage. In this way, with small steering of the front and rear drive wheels (28, 30),
The self-propelled work vehicle (10) changes its traveling direction largely within a short time, avoids collisions with the left and right wall surfaces, which may cause obstacles in traveling in the passage, and travels in almost the center of the passage.

In the self-propelled work vehicle (10) of the second aspect, the swing operation member (48) swings by the operation of the steering motor (44). One of the first and second drive axles (24, 26) is a swing operation member.
Due to the entrainment by the rocking operation member (48) accompanying the rocking of (48),
It swings around the swing vertical line (20, 22). As a result, the link (40) is displaced and the first and second drive axles (2
4, 26) oscillate around the respective oscillation vertical lines (20, 22) in mutually opposite phases.

When the self-propelled work vehicle (10) according to claim 3 is steered so as to be returned to the center of the passage when approaching the wall surface on one side, after a predetermined time has elapsed from the start of steering, that is, The traveling work vehicle (10) is returned in the straight ahead direction before the lateral distance sensor (34) detects that the traveling work vehicle (10) has gone too far in the opposite direction from the center of the passage.

According to the self-propelled work vehicle (10) of claim 4, in manufacturing and assembling the self-propelled work vehicle (10), two self-propelled work vehicles (24, 26) corresponding to the first and second drive axles (24, 26) are provided. Drive unit for traveling (14,1
6) is put into the box-shaped vehicle body (12) from the opened part of the box-shaped vehicle body (12). The drive case (18) of each traveling drive unit (14, 16) is a box-shaped vehicle body that is rotatable around the swing vertical lines (20, 22) of the first and second drive axles (24, 26). Supported within (12). Output shaft (88) of drive unit (14, 16) for traveling
Has a specified protrusion amount from the drive case (18), and avoids interference with the box body (12) with respect to swing of the drive case (18) in the box body (12). . The traveling motor (68) is housed in the drive case (18), drives the output shaft (88), and the rotation of the output shaft (88) is driven by the connecting member (106).
Reached to (28,30).

In the self-propelled work vehicle (10) according to claim 5, the drive wheels (28, 30) in a row on one side are both connected to the first and second drive axles (24, 26). Although it is freely rotatable in a predetermined range in the rotation direction, it is pushed forward in the rotation direction by the first and second drive axles (24, 26) while the self-propelled work vehicle (10) is traveling. While being held at, the drive wheels (28, 30) in a row relationship on the other side are rotationally driven. The steering control means (42, 48), when returning the self-propelled work vehicle (10) from the biased position of the passage to the center, the first and second drive axles (24, 48).
Swing (26) around the swing vertical line (20, 22) in antiphase.
As a result, the front and rear drive wheels (28,3
One of them is rotated in the forward direction by the drive axles (24, 26), and the other is rotated in the reverse direction, so that both do not drag simultaneously with the ground during steering. The small swinging per axis due to the reverse phase steering is combined with the large predetermined rotation range to reduce the forced drag on the road surface. As a result, the steering force of the drive wheels (28, 30) is reduced. Further, since the drive wheels (28, 30) on one side can rotate integrally with the drive axles (24, 26), the traveling direction of the vehicle body is stabilized.

A self-propelled chemical spraying vehicle for furrow passages according to claim 6 (1
0) is steered by the steering control means (42, 48) so that it travels in the ridge passage and does not collide with the side surface of the ridge.

[0026]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below with reference to the accompanying drawings. 1 and 2 are a plan view and a side view of a self-propelled work vehicle 10, respectively. The self-propelled work vehicle 10 is equipped with a chemical spray nozzle and the like, and is used for the operation of reciprocating in a furrow passage and spraying a chemical solution to a crop in the furrow. The width of the furrow passage is generally several tens of cm. Front and rear driving units 14 and 16 for traveling are arranged and housed in the front and rear of a rectangular parallelepiped box-shaped vehicle body 12 which is long in the front-rear direction. In each of the traveling front side and traveling rear side drive units 14 and 16, on the upper surface and the lower surface of the box-shaped drive case 18,
The upper and lower pivots 20 and 22 are fixed with their center lines aligned with each other, and project upward and downward in the vertical direction by a predetermined amount. The front axle 24 and the rear axle 26 are respectively disposed at the front end and the rear end of the lower portion of the box-shaped vehicle body 12, and swing integrally with the traveling front side and traveling rear drive units 14, 16. A front wheel 28 and a rear wheel 30 are attached to both ends, respectively. The front and rear lower portions of the box-shaped vehicle body 12, that is, the height corresponding to the side surface of the ridge, has a front-rear distance sensor 32 oriented in the front-rear direction at the center, and lateral sides on the left and right sides of the front-rear distance sensor 32. A distance sensor 34 is mounted facing sideways. The front-rear distance sensor 32 measures the distance between the self-propelled work vehicle 10 and the object in the front-rear direction of the self-propelled work vehicle 10, and each lateral distance sensor 34 measures the distance in the left-right direction of the self-propelled work vehicle 10. The distance between the mobile work vehicle 10 and the object is measured. The bumper switch 36 is attached to the lower part of the front surface and the rear surface of the box-shaped vehicle body 12, is normally located at a position projecting in the front-rear direction of the self-propelled work vehicle 10, and comes into contact with a pile or the like standing on the ground, Box-shaped car body
It is pushed against the biasing force toward 12 and can be switched on and off.

The projecting shaft 38 is a vertical plane including the center line of the front axle 24 or the rear axle 26 and the center lines of the upper and lower pivot shafts 20 and 22 in the front and rear drive units 14 and 16 for traveling. It is provided so as to project upward on the upper surface of each box-type drive case 18 so that the center line exists above, and is biased from the upper pivot 20 to the left and right by equal amounts. The pair of link rods 40 extend by bending around the central portion of the box-shaped vehicle body 12 in opposite directions to each other, and are rotatably connected to the protruding shaft 38 at both end portions. The steering drive unit 42 is located between the front drive unit 14 for traveling and the rear drive unit 16 for traveling, and the left and right and center limit switches 62 and 63 centering on the steering motor 44.
Including and The steering motor 44 is attached to a support plate 99 that is horizontally installed inside the box-shaped vehicle body 12, and is driven vertically upward.
Has 46. The rocking operation member 48 includes a disc portion 52 fitted to the drive shaft 46, and a rear drive unit for traveling from the disc portion 52.
It has a fork portion 54 protruding toward 16. Key 50
Is fitted into the drive shaft 46 and the disc portion 52 to integrally connect them in the rotational direction. The protruding shaft 58 is provided on the upper surface of the box-shaped drive case 18 of the traveling rear drive unit 16 so as to project upward, and is fitted into the guide groove 56 formed along the center line of the fork portion 54, It is guided in the extending direction of the guide groove 56. The three protrusions 60 are provided on the fork 54 with respect to the drive shaft 46.
Are provided at equal angular intervals on the periphery of the key 50 on the opposite side,
The central convex portion 60 is located on the side opposite to the fork portion 54. Left and right limit switches 62 and 63 attached to a stay (not shown) extending from the support plate 99.
Is disposed at a position corresponding to each convex portion 60 in the swing position of the swing operation member 48 where the fork portion 54 projects right behind, and slides on the protrusion 60 as the swing operation member 48 swings. It is turned on and off by contact. The swing position of the swing operation member 48 can be detected and determined by the on / off states of the three convex portions 60.

The two batteries 64 are housed in the lateral bulging portions of the box-shaped vehicle body 12 on the left and right sides of the steering drive unit 42, and supply electric power to the steering motor 44 and a traveling motor 68 described later. The operation portion 66 is provided at the front end portion of the upper surface of the box-shaped vehicle body 12 so as to project upward.

3 and 4 show a rear drive unit for traveling.
FIG. 3 is a view showing an internal structure of 16 and an assembly structure of a rear drive unit 16 for traveling in the box-shaped vehicle body 12 as viewed from the side and the front, respectively. Although not shown, the internal structure and the assembly structure of the traveling front drive unit 14 are the same as those of the traveling rear drive unit 16 except for the connection with the swing operation member 48. The forward / reverse traveling traveling motor 68 is fixed to the inner surface of the upper wall of the box-shaped drive case 18 through a plurality of bolts 72, and the rotation of the motor output shaft 76 of the traveling motor 68 is reduced by a speed reducer.
It is sent to the output shaft 88 via 74. The speed reducer 74 includes a sprocket 78 that is integrally fitted to a motor output shaft 76 of a traveling motor 68 in the rotational direction, a motor output shaft 76, and an output shaft 88.
An intermediate shaft 83 that extends in the left-right horizontal direction in parallel with, and a sprocket 82 that is integrally fitted to the intermediate shaft 83 in the rotational direction and that receives rotational power from the sprocket 78 via the chain 80 and that has a larger diameter than the sprocket 78. , The end opposite to the sprocket 82 is integrally fitted to the intermediate shaft 83 in the rotational direction at the end opposite to the sprocket 82, and the sprocket 84 having a smaller diameter than the sprocket 82 is integrally fitted to the output shaft 88 in the rotational direction through the chain 86. And a sprocket 90 having a larger diameter than the sprocket 84. Intermediate shaft 83 and output shaft 88
Is rotatably supported by the box-type drive case 18 via ball bearings 102 at both ends in the left-right direction. The box-shaped vehicle body 12 includes a main body 92 that opens at the upper side and a main body 92.
It has a lid portion 94 that closes the main body portion 92 so that the upper opening of the portion 92 can be opened and closed. The thrust bearing 96 receives the lower pivot 22 in the vertical direction and rotatably supports it on the lower wall of the main body 92. The support plate 98 extends in the left-right horizontal direction on the upper side of the box-shaped drive case 18, and is fixed at both ends to the inner surface side of the main body 92 via bolts 103. The thrust bearing 100 is provided on the lower surface side of the support plate 98, and rotatably supports the upper pivot 20 on the support plate 98. The arcuate cutout 104 is formed in the support plate 98 and extends for a predetermined length in an arcuate shape centered on the center line of the upper pivot 20. The protruding shaft 38 has an arcuate notch 10
It penetrates 4 and reaches above the support plate 98. The amount of protrusion of the output shaft 88 from both side walls of the box-type drive case 18 is determined by the box-type drive case 18 in the box-type vehicle body 12 such that the upper and lower pivots 20, 22 are provided.
It is selected to avoid interference with the inner surface of the main body 92 when it is rotated around the center line of.

FIG. 5 shows the output shaft of the front drive unit 14 for traveling.
FIG. 8 is a sectional view showing a connection structure between 88 and a rear wheel 30. Box-shaped car body
The connection structure between the 12 output shafts 88 and the front wheels 28 is the same as that in FIG. 5, although not shown. The connecting shaft 106 extends with its center line aligned with the output shaft 88, and is fitted to the end of the output shaft 88 at the base end. The locking pin 108 is fixed by penetrating the output shaft 88 in the diametrical direction, and has the groove 1 of the connecting shaft 106 at both ends.
It is inserted into 12 to integrally connect the output shaft 88 and the connecting shaft 106 in the rotational direction. The inner boss 114 and the outer boss 116 are coaxially arranged inside and outside, respectively.
It is fitted to the tip of 06 and is integrated in the direction of rotation with the key 118. The rear wheel 30 is coupled to the outer peripheral edge of the outer boss 116 via a plurality of bolts 124 at the inner peripheral edge of the wheel 122. The ball bearing 126 is interposed between the tip portion of the connecting shaft 106 and the inner peripheral portion of the outer boss 116 to support the outer boss 116 on the connecting shaft 106 in a relatively rotatable manner. A pressing plate 128 is provided on the outside of the ball bearing 126 in the axial direction.
The tightening bolt 132 is inserted through the washer 130 and the pressing plate 128 in this order, and then inserted into the connecting shaft 106.
The tip end is screwed onto the output shaft 88 to prevent the inner boss 114 and the ball bearing 126 from coming off from the connecting shaft 106. The rubber plate 134 covers a penetrating portion of the connecting shaft 106 in the box-type vehicle body 12 and prevents foreign matter and the like from entering the box-type vehicle body 12 from the outside. The output shaft 88 and the connecting shaft 106 constitute the rear axle 26.

In FIG. 5, the rear wheel 30 is attached to the rear axle 26 so as to be relatively rotatable within a predetermined range in the rotation direction, as will be described later with reference to FIGS. 6 and 7. However, the other rear wheel 30 (not shown) is integrally attached to the rear axle 26 in the rotational direction. In the rear wheel 30 integrally attached to the rear axle 26 in the rotation direction, the inner boss 114 and the outer boss 116 are integrated. Similarly, in the front axle 24 as well, one front wheel 28 is relatively rotatable in the rotation direction within a predetermined range.
The other front wheel 28 is integrally attached to the front axle 24 in the rotating direction. in this way,
The front wheel 28 and the rear wheel 30, which are integrally attached to the front axle 24 and the rear axle 26 in the rotational direction, have a column relationship on either the left or right side in the plan view of FIG. 1 (for example, the left front wheel 28 and the left rear wheel).
30), and the front wheel 28 and the rear wheel 30, which are attached to the front axle 24 and the rear axle 26 so as to be rotatable relative to each other within a predetermined range in the rotational direction, have a column relationship on the other side (for example, the right side) in the plan view of FIG. On the front wheel 28 and the right rear wheel 30).

FIGS. 6 and 7 are views taken along the lines VI-VI and VII-VII in FIG. 5, respectively. The inner boss 114 and the outer boss 116 respectively include fan portions 136 and 138 that overlap in the axial direction and are at a predetermined angle in the radial direction. A rotation direction gap 139 is formed between the fan portions 136 and 138 in the rotation direction,
The rear wheel 30 is rotatable relative to the rear axle 26 by the total of the angular amounts of the rotational gap 139 in the rotational direction.

FIG. 8 is a view of the operating portion 66 seen from above.
The power switch 140 controls the supply of electric power from the battery 64 (FIG. 1) to the controller in the operation unit 66. The operation mode switch 142 switches the operation mode of the self-propelled work vehicle 10 to manual or automatic. During manual operation, the forward drive and reverse drive of the self-propelled work vehicle 10 are switched by the manual drive switch 144, the drive motors 68 of the drive front side drive unit and the drive rear side drive unit 14, 16 are rotated in the forward and reverse directions, and Steering switch 14
The self-propelled work vehicle 10 is steered to the left and right by 6. In manual operation, the left and right limit switches 62 define the maximum steering angle. The three travel buttons 148 are pressed by the worker in order to move the self-propelled work vehicle 10 backward, stop, and move forward prior to the start of traveling of the self-propelled work vehicle 10 during automatic driving. In addition, a pile projecting an appropriate length from the ground is planted on the tip side of the furrow passage, and a bumper switch on the front side of the box-shaped vehicle body 12 is planted.
By switching the bumper switch 36 between on and off by colliding the bumper switch 36 with the stake, the switching of the self-propelled work vehicle 10 from forward to reverse can be automated. When it is difficult to plant a pile, it is possible to detect an obstacle by the front-rear distance sensor 32 and stop or reverse the steering.

The operation of the self-propelled work vehicle 10 during automatic operation will be described. The operator positions the self-propelled work vehicle 10 on the base end side of the furrow passage, and then turns on the power switch 140,
The operation mode switch 142 is set to the automatic position. Run button 1
By pressing the forward button 48, the traveling motor 68 in the traveling front and traveling rear drive units 14 and 16 is in the normal rotation state, and the rotation of the traveling motor 68 is appropriately reduced by the speed reducer 74. After being transmitted to the front axle 24 and the rear axle 26, the self-propelled work vehicle 10 travels forward through the furrow passage toward the other end by four-wheel drive of the front wheels 28 and the rear wheels 30. At that time, the front wheel 28
And among the rear wheels 30, which are attached to the front axle 24 and the rear axle 26 so as to be relatively rotatable within a predetermined range in the rotational direction,
The fan portion 136 of the inner boss 114 is rotated forward by the outer boss 116.
The fan portion 138 is in contact with the fan portion 138 and is pushing the fan portion 138 in the rotation direction.

A pair of lateral distance sensors 34 arranged on the front side of the box-shaped vehicle body 12 in the traveling direction measure the distance from the self-propelled work vehicle 10 to the side surfaces of the left and right ridges. When the self-propelled work vehicle 10 shifts to the left and right in the furrow passage and the lateral distance sensor 34 catches the side surface of the furrow within a predetermined distance, the steering motor 44 of the steering drive unit 42 is moved.
Rotates the drive shaft 46 in one rotation direction in order to return the self-propelled work vehicle 10 to the center of the furrow passage. At the swing position of the swing operation member 48 in which the fork portion 54 faces right behind, the left and right limit switches 62 are off, and when the swing operation member 48 swings in one rotation direction by a predetermined amount, the left and right One of the limit switches 62 contacts the convex portion 60 and is turned on. When the swing operation member 48 swings to this rotation position, the steering motor 44 stops the rotation of the drive shaft 46. As a result, the swing operation member 48 swings about the center line of the drive shaft 46 by a predetermined angle and holds the swing position, and the protruding shaft 58 swings while being guided by the guide groove 56. It is carried in the left-right direction by the fork portion 54 of the moving operation member 48. Accordingly, the traveling rear drive unit 16 swings around the center lines of the upper and lower pivots 20 and 22, and the traveling rear drive unit 16 swings through the link rod 40. Transmitted to the projecting shaft 38 of the front drive unit 14 for driving, the front drive unit 14 for traveling rotates about the center lines of the upper and lower pivots 20, 22 thereof in the same direction in the opposite direction to the rear drive unit 16 for traveling. Swing by the amount. As a result, the front axle 24 and the rear axle 26 oscillate around the center lines of the upper and lower pivots 20 and 22 at the same oscillating angle in opposite phase, so that the self-propelled work vehicle 10 is centered in the furrow passage. Direct to. Since the lateral distance sensor 32 is located at the frontmost portion of the vehicle body, it is possible to know the approach of the ridge at an early stage.

The drive shaft 46 is rotated in the reverse direction until a swing position where the central limit switch 63 is turned on after a predetermined time has passed since the swing operation member 48 swings by a predetermined amount, and the front wheel 28 and the rear wheel are rotated. 30 goes straight back. Considering the vehicle speed and the swing angular velocity, the front wheels 28 and the rear wheels 30 are set so that the time when the front wheels 28 and the rear wheels 30 return in the straight-ahead direction is the time when the self-propelled work vehicle 10 returns to almost the center of the furrow passage. The time for returning 30 to the straight direction is preset. As a result, the number of times of steering when traveling in the passage is reduced, and the force for steering is reduced. Also, the primary stop,
When the vehicle next starts to run, the steering direction of the wheels is always set to the straight (neutral) state. As a result, for example, the work vehicle is placed in an oblique direction in the ridge passage and is put into the steering state immediately after starting, so that it does not ride on the ridge.

The front wheels 28 and the rear wheels 30 which are in a row on one side when viewed from above the self-propelled work vehicle 10 are rotatable relative to the front axle 24 and the rear axle 26 in the rotation direction within a predetermined rotation range. Has become. As the front axle 24 and the rear axle 26 are oscillated in opposite phases, one of the relatively rotatable front wheels 28 and the rear wheels 30 is rotated in the forward direction by the axle and the other is rotated in the reverse direction within the predetermined range. They both operate and do not drag simultaneously with the ground when steering. The small swing due to the reverse phase steering, combined with the large predetermined rotation range, can reduce the occurrence of drag. The forward movement is further performed by the front wheel 28 or the rear wheel 30.
Suppress drag on the ground. As a result, the steering torque at the front wheels 28 or the rear wheels 30 is reduced. Further, the front wheels 28 and the rear wheels 30 that are in a row relationship on the other side are fixed to the front axle 24 and the rear axle 26 and are integrally rotatable, which contributes to stabilizing the traveling direction of the self-propelled work vehicle 10. To do. ,
The load on the traveling motor 68 of either the traveling front side or traveling rear side drive unit 14, 16 is reduced.

Box-shaped vehicle body at the time of manufacturing the self-propelled work vehicle 10
The assembling work of the traveling front drive unit 14 and the traveling rear drive unit 16 into the vehicle 12 will be described. The front drive unit for traveling 14 and the rear drive unit 16 for traveling are manufactured at different locations in advance and brought to a place where they are incorporated into the box-shaped vehicle body 12. The lid 94 can be opened in the box-shaped vehicle body 12,
The main body 92 is in a state where the upper part is opened. Box drive case
The traveling front-side drive unit 14 and the traveling rear-side drive unit 16 that form 18 are inserted into the main body 92 from above the main body 92, and the traveling front-side and traveling rear-side drive units 14,
At the top of 16, a support plate 98 is fastened to rotatably support each box drive case 18 about the centerlines of the upper and lower pivots 20,22. After that, the link rod 40 and the swing operation member 48
Etc. are assembled. Further, the front and rear wheels 28, 30 are attached to the output shaft 88 of each box-type drive case 18 via the connecting shaft 106.

After the self-propelled work vehicle 10 travels back and forth in the furrow passage, it is necessary to move the self-propelled work vehicle 10 to the next adjacent furrow passage or make a large turn in a limited space. Sometimes. That is, as indicated by a phantom line in FIG. 2, the lift device 150 is disposed below the steering motor 44 of the steering drive unit 42 and switches the amount of protrusion of the lift shaft 152 in the vertically downward direction. In addition to being flexible, it is also flexible around the lift shaft 152. The ground plate 154 having a predetermined area is rotatably fixed to the lower end of the lift shaft 152, and the front wheel 28 and the rear wheel 3 are in the retracted position of the lift shaft 152.
It is located above the lower end of 0, and at the projecting position of the lift shaft 152, projects downward from the lower ends of the front wheels 28 and the rear wheels 30 and is in the ground contact state to support the weight of the self-propelled work vehicle 10. When the self-propelled work vehicle 10 makes a large turn in a limited turning space, the lift shaft 152 is sufficiently projected downward, the ground plate 154 is grounded, and the front wheels 28 and the rear wheels 30 are floated. , The worker can move the self-propelled work vehicle 10 in a desired direction by a desired amount,
Rotate. As a result, the self-propelled work vehicle 10 is
After rotating around the center line of 152 to change the direction, and after changing to the desired direction, the lift shaft 152 is retracted again and the front wheels 28 and the rear wheels 30 are grounded.

The embodiment is a self-propelled work vehicle 10 equipped with a chemical sprayer and traveling in a furrow passage.
Can be applied to various works performed by traveling in a passage sandwiched by wall surfaces from both sides.

[0041]

According to the invention of claim 1, the self-propelled work vehicle comprises:
In the all-wheel drive system, which is designed to travel through the center of the passage sandwiched by the wall surfaces on both sides by steering based on the measurement value of the lateral distance sensor, the all-wheel steering mechanism of the opposite phase The first and second drive axles are interconnected by a link so as to swing in opposite phases around their respective swing vertical lines. Therefore, since the steering angle per wheel is small, the steering operation time can be shortened without hindering the forward force. Furthermore, the distance between the wheels and the box-shaped vehicle body can be made small, and it becomes possible to manufacture a self-propelled work vehicle suitable for a narrow ridge passage.

According to the second aspect of the invention, the steering control means swings the swinging operation member by the operation of the steering motor to swing one of the first and second drive cases. The steering control means can be further simplified and the airframe can be downsized.

According to the third aspect of the present invention, the steering control means directs the self-propelled work vehicle in a straight direction after a predetermined time has elapsed since the self-propelled work vehicle was steered in the opposite direction. The self-propelled work vehicle can be returned to the proper orientation before it goes too far in the center of the aisle to the opposite side and is detected by the lateral distance sensor, which reduces the number of times of steering and saves power for steering. While increasing the forward movement, the driving performance of the self-propelled work vehicle in the aisle is improved.

According to the fourth aspect of the present invention, the two traveling drive units are inserted into the box-shaped vehicle body, and the respective drive cases are swung around the swing vertical lines of the first and second drive axles. Since it is freely supported in the box-shaped vehicle body, the output shaft of the drive unit for traveling is connected to the drive wheels through the connecting member, and the drive wheels are driven by the traveling motor in the drive case. The drive unit for traveling can be manufactured at a place different from the place where the drive unit is mounted on the box-shaped vehicle body, and the manufacturing of the self-propelled work vehicle can be rationalized.

According to the fifth aspect of the present invention, one of the front and rear drive wheels which are rotatably attached to the first and second drive axles in the rotational direction by a predetermined range and which are in a one-sided row relationship has one of the front and rear drive wheels. Due to the movement, the other rotates in the forward direction and the other in the backward direction within the predetermined range, and both do not drag simultaneously with the ground during steering. Moreover, the small swing due to the reverse phase steering can reduce the occurrence of dragging in combination with the large predetermined rotation range, and the forward driving state further suppresses the dragging of the drive wheels with respect to the road surface, thereby reducing the steering power of the self-propelled work vehicle. In addition, the front wheels and the rear wheels, which are in a row on one side, are fixed to the front axle and the rear axle so as to be integrally rotatable, which contributes to stabilization of the traveling direction of the self-propelled work vehicle. However, when all the wheels are steered, they are on the outside in the turning direction and rotate forward in the rotation direction relative to the first drive axle or the second drive axle, so that the drive wheels are prevented from being dragged against the road surface. hand,

According to the sixth aspect of the invention, the self-propelled chemical spraying vehicle appropriately travels in the ridge passage, so that the chemical spraying work can be improved.

[Brief description of drawings]

FIG. 1 is a plan view of a self-propelled work vehicle.

FIG. 2 is a side view of a self-propelled work vehicle.

FIG. 3 is a diagram showing an internal structure of a rear drive unit for traveling as viewed from the side.

FIG. 4 is a front view showing an assembly structure of a rear drive unit for traveling in a box-shaped vehicle body.

FIG. 5 is a cross-sectional view showing a connection structure between an output shaft and a rear wheel of a front drive unit for traveling.

6 is a sectional view taken along the line VI-VI of FIG.

7 is a sectional view taken along the line VII-VII of FIG.

FIG. 8 is a view of the operation unit viewed from above.

[Explanation of symbols]

10 Self-propelled work vehicle (self-propelled chemical spray vehicle for furrow passage) 12 Box type vehicle body 14 Front drive unit for traveling (drive unit for traveling) 16 Rear drive unit for traveling (drive unit for traveling) 18 Box drive Case 20 Upper pivot (swing vertical) 22 Lower pivot (swing vertical) 24 Front axle (first drive axle) 26 Rear axle (second drive axle) 28 Front wheel (drive wheel) 30 Rear wheel ( Drive wheel) 34 Side distance sensor 40 Link rod (link) 42 Steering drive unit (steering control means) 44 Steering motor 48 Swing operation member (steering control means) 68 Traveling motor 88 Output shaft 106 Connection shaft (connection member) )

[Procedure amendment]

[Submission date] June 8, 1993

[Procedure Amendment 1]

[Document name to be amended] Statement

[Correction target item name] 0033

[Correction method] Change

[Correction content]

FIG. 8 is a view of the operating portion 66 seen from above.
The power switch 140 controls the supply of electric power from the battery 64 (FIG. 1) to the controller in the operation unit 66. The operation mode switch 142 switches the operation mode of the self-propelled work vehicle 10 to manual or automatic. During manual operation, the forward drive and reverse drive of the self-propelled work vehicle 10 are switched by the manual drive switch 144, the drive motors 68 of the drive front side drive unit and the drive rear side drive unit 14, 16 are rotated in the forward and reverse directions, and Steering switch 14
The self-propelled work vehicle 10 is steered to the left and right by 6. In manual operation, the left and right limit switches 62 define the maximum steering angle. The three travel buttons 148 are pressed by the worker in order to move the self-propelled work vehicle 10 backward, stop, and move forward prior to the start of traveling of the self-propelled work vehicle 10 during automatic driving. In addition, a pile projecting an appropriate length from the ground is planted on the tip side of the furrow passage, and a bumper switch on the front side of the box-shaped vehicle body 12 is planted.
By switching the on / off state of the bumper switch 36 by colliding 36 with a pile, the switching of the self-propelled work vehicle 10 from forward to reverse can be automated. When it is difficult to plant piles, the front-rear distance sensor 32 can detect an obstacle and stop or reverse the traveling .

[Procedure Amendment 2]

[Document name to be amended] Statement

[Name of item to be corrected] 0037

[Correction method] Change

[Correction content]

The front wheels 28 and the rear wheels 30 which are in a row relationship on one side when viewed from above the self-propelled work vehicle 10 are rotatable relative to the front axle 24 and the rear axle 26 in the rotation direction within a predetermined rotation range. Has become. As the front axle 24 and the rear axle 26 are oscillated in opposite phases, one of the relatively rotatable front wheels 28 and the rear wheels 30 is rotated in the forward direction by the axle and the other is rotated in the reverse direction within the predetermined range. They both operate and do not drag simultaneously with the ground when steering. The small swing due to the reverse phase steering, combined with the large predetermined rotation range, can reduce the occurrence of drag. The forward movement is further performed by the front wheel 28 or the rear wheel 30.
Suppress drag on the ground. As a result, the steering torque at the front wheels 28 or the rear wheels 30 is reduced. Further, the front wheels 28 and the rear wheels 30 that are in a row relationship on the other side are fixed to the front axle 24 and the rear axle 26 and are integrally rotatable, which contributes to stabilizing the traveling direction of the self-propelled work vehicle 10. To do.

[Procedure 3]

[Document name to be amended] Statement

[Name of item to be corrected] 0045

[Correction method] Change

[Correction content]

According to the fifth aspect of the present invention, one of the front and rear drive wheels which are rotatably attached to the first and second drive axles in the rotational direction by a predetermined range and which are in a one-sided row relationship has one of the front and rear drive wheels. Due to the movement, the other rotates in the forward direction and the other in the backward direction within the predetermined range, and both do not drag simultaneously with the ground during steering. Moreover, the small swing due to the reverse phase steering can reduce the occurrence of dragging in combination with the large predetermined rotation range, and the forward driving state further suppresses the dragging of the drive wheels with respect to the road surface, thereby reducing the steering power of the self-propelled work vehicle. it is possible, the front and rear wheels in the column relationship on one side are integrally rotatably fixed to the front and rear axles, contributes to stabilization in the traveling direction of the self-propelled working vehicle.

[Procedure amendment 4]

[Document name to be corrected] Drawing

[Name of item to be corrected] Figure 5

[Correction method] Change

[Correction content]

[Figure 5]

Claims (6)

[Claims] 1. A first and a second drive axle (24, 24) which are swingable about respective swing vertical lines (20, 22) and have drive wheels (28, 30) attached to their ends. 26) and the first and second drive axles (24, 26) so that the first and second drive axles (24, 26) swing around the respective swing vertical lines (20, 22) in mutually opposite phases. A link (40) that connects the drive axles (24, 26) to each other and a lateral distance sensor (34) that detects the distance to the left and right wall surfaces.
And from the first drive axle (24) to the second drive axle (26) based on the detection of the lateral distance sensor (34) so as to travel while suppressing the collision with the left and right wall surfaces. A self-propelled work vehicle having steering control means (42, 48) for operating and displacing a steering system part of the vehicle. 2. The steering control means (42, 48) swings by the steering motor (44) and the steering motor (44), and the first and second drive axles (24, 26). The self-propelled work vehicle according to claim 1, further comprising a swing operation member (48) for swinging one of the two. 3. The steering control means (42, 48) steering the drive wheels (28, 30) in a turning direction and returning the steering wheels in a straight direction after a predetermined time. Self-propelled work vehicle. 4. A box-shaped vehicle body (12) which is at least partially openable and closable, and a box-shaped vehicle body (12) which is inserted into the box-shaped vehicle body (12) from an open portion of the box-shaped vehicle body (12). The two drive units (14, 16) for traveling arranged in the box-shaped vehicle body (12) corresponding to the first and second drive axles (24, 26), respectively, The drive unit (14, 16) for use in the box-shaped vehicle body (12) includes a drive case (18) swingably supported around the swing vertical line (20, 22), and the drive case (18). The traveling motor (68) housed in (18) and the traveling motor provided at a length and position that avoid interference with the box-shaped vehicle body (12) when the drive case (18) swings. An output shaft (88) driven by (68), the first and second drive axles (24,
26) each of the output shaft (88) and the drive wheel (28, 30) and the output shaft (88) penetrating the wall of the box-shaped vehicle body (12).
The self-propelled work vehicle according to any one of claims 1 to 3, further comprising a connecting member (106) for connecting the two. 5. The drive wheels (28, 30) in a row relationship on either the left or right side are both the first and second drive axles (24, 26).
The drive wheels (28, 30), which are integrally mounted in the rotational direction on the other side and are in a row relationship on the other side, are both the first and second drive axles.
The self-propelled work vehicle according to claim 4, wherein the self-propelled work vehicle is attached to the (24, 26) so as to be relatively rotatable within a predetermined range in a rotation direction. 6. The self-propelled work vehicle according to any one of claims 1 to 5, wherein the self-propelled work vehicle (10) is a self-propelled chemical spraying vehicle (10) for furrow passages. .