JP2015226485A - Harvesting work machine and harvesting method using the same - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a harvesting work machine capable of improving stability of a work posture while harvesting without dropping harvested crops.SOLUTION: A harvesting work machine 10 comprises: an operation base 8 which is provided on a truck 2 capable of traveling, and on which an operator P rides; a storage box 7 for storing harvested fruits; a pantagraph type lifting device 6 for lifting and lowering the operation base 8 and the storage box 7 in a vertical direction; and a clamping type fall prevention device 20 which is provided in the upper part of the lifting device 6 or at a position higher than that, and can extend to a side of the work machine. The fall prevention device 20 comprises a pair of arms 31, 32 which are openable and closable so as to clamp a trunk T of a fruit tree W from both left and right sides.

Description

  TECHNICAL FIELD The present invention relates to a harvesting work machine suitable for a purpose of harvesting fruits that bear fruit at high places in fruit trees such as coconuts cultivated in plantations and the like, and a harvesting work method using the same.

As this type of harvesting work machine, for example, techniques disclosed in Patent Documents 1 and 2 are disclosed.
Patent Document 1 discloses a telescopic boom type aerial work vehicle for harvesting fruit that bears fruit at a high place, such as a coconut. This aerial work platform has a lower base that can travel, an upper base that is provided on the lower base via a turning mechanism, a bracket that is erected on the upper base, and a nesting that can be raised and lowered with the shaft at the top of the bracket as a support shaft. A telescopic boom is provided, and a platform on which an operator rides is provided at the distal end of the telescopic boom. The platform has one arm part that can be rotated (rotation in forward and reverse directions around the support shaft, the same applies hereinafter) as a part of the platform, and between this arm part and the platform. The work posture at a high place is stabilized across the trunk of the fruit tree.

JP 61-128817 A (Fig. 1) JP 59-74918 A

  However, in the case of an aerial work machine described in the same document, the telescopic boom undulates with the axis of the bracket erected on the upper base as a support shaft. There is always a dead space between the car bodies. This dead space is generated regardless of the direction (the front-rear direction or the left-right direction of the vehicle body) where the telescopic boom is located by turning in the turning mechanism, and the longer the boom length, the wider the dead space. Therefore, when the space between the trunks of adjacent fruit trees is narrow, it is difficult to secure a place for installing the vehicle body. In addition, when the platform is moved by extension of the telescopic boom, it is difficult to insert the platform to a desired position by sewing a gap between leaf branches of the fruit tree. Therefore, the telescopic boom type aerial work platform has room for improvement as a harvesting work machine for harvesting fruit that bears fruit at a high place such as a palm fruit.

  On the other hand, Patent Document 2 proposes a harvesting machine based on an aerial work machine equipped with a pantograph type vertical lifting device. The harvesting machine described in Patent Literature 2 includes a loading platform provided on the vehicle body and a chute that slides the harvested fruit toward the loading platform on the vehicle body, and cut off the trunk of the fruit tree at a high place to harvest. The fruit is slid down onto the loading platform on the vehicle body using a chute. Note that the technique described in this document does not have a mechanism for stabilizing the working posture at a high place.

  As in the harvesting machine described in Patent Document 2, if it is an aerial work machine equipped with a pantograph type vertical lifting device, dead space in the telescopic boom type does not occur. The vehicle body can be positioned closer to the trunk. Therefore, the dead space generated between the fruit tree and the vehicle body can be reduced as much as possible. Therefore, it is suitable as a working machine for harvesting fruits that bear fruit on high places such as palm fruits.

  However, for example, when the fruit to be harvested is oil palm, the mass per bunch is about 30 to 50 kg. Therefore, in the harvester described in Patent Document 2, if the angle of the chute is steep, there is a problem that a considerable impact is applied to the loading platform due to the fall of the harvest from the high place. There is a problem that crops hurt due to falling. In view of these problems, it is desirable to load the harvest in the elevated platform without dropping the harvest.

  Further, in the technique described in Patent Document 2, there is no mechanism for stabilizing the working posture at a high place, but the inside of the plantation such as the fruit of the palm is uneven and the palm tree is planted. The ground is soft and often has fallen leaves and branches. For this reason, when the ground collapses, there is a risk of falling depending on the inclination angle of the high-altitude work machine. In particular, there is still room for improvement in stabilizing the work posture at a high place.

  On the other hand, if it is an aerial work vehicle disclosed by the said patent document 1, the working posture in a high place can be stabilized on both sides of the trunk of a fruit tree between an arm part and a platform. However, as described above, the aerial work vehicle described in the same document is a telescopic boom type. Therefore, if a sufficient distance is not taken into consideration between the fruit tree and the vehicle body in consideration of the dead space, the arm portion and the platform There is a problem that the pinching function between them cannot be fully demonstrated.

  In addition, the clamping method using the arm portion and the platform disclosed in the same document can stabilize the working posture at a high place, but cannot stabilize the posture during expansion or contraction of the telescopic boom. . For this reason, when a platform having a considerable mass is extended by the telescopic boom, the plantation is uneven as described above. There is a possibility of falling.

In particular, when the harvest is loaded on the raised platform without dropping the harvest, if a platform loaded with several dozen oil palms of around 30-50 kg is stretched or reduced, Depending on the center of gravity of the harvest, the risk of falling is high. Therefore, it becomes a more important problem to improve the stability in the posture on the way to the working posture at a high place.
Therefore, the present invention has been made paying attention to such problems, and a harvesting work machine and harvesting work that can improve the stability of a working posture while harvesting a harvested product without dropping it. It is an object to provide a method.

  In order to solve the above problems, a harvesting working machine according to an aspect of the present invention is a harvesting working machine that harvests fruits that bear fruit, and an operation on which an operator gets on a travelable carriage A table, a storage box for storing fruits to be harvested, a pantograph-type lifting device for vertically moving the operation table and the storage box, and an upper part of the lifting device or a position higher than the lifting device. And a pinch-type fall-preventing device that can be extended to the side of the machine, the fall-preventing device having a pair of arms that can be opened and closed so as to sandwich the trunk of the fruit tree from both the left and right sides.

  According to the harvesting working machine according to one aspect of the present invention, an operating table on which an operator is boarded, a storage box for storing fruits to be harvested, and a pantograph type lifting device for vertically moving the operating table and the storage box Therefore, when harvesting fruits, the operating table and storage box are raised vertically with the lifting device, stopped at the harvesting position, and then harvested fruits are harvested in the storage box located below the fruits. it can. Therefore, it is possible to harvest without dropping the harvest. In addition, since a pantograph type lifting device that moves up and down in the vertical direction is adopted, even when harvested goods are loaded in the containment box, the working posture and harvesting at the harvesting position are higher than those of the telescopic boom type aerial work platform. It is possible to improve the stability of the posture in the middle of the working posture at the position.

  Here, in the harvesting working machine according to one aspect of the present invention, although the pantograph type lifting device that moves up and down in the vertical direction is adopted, the operation table and the storage box of the harvesting working machine are in the raised harvesting position. In addition to the position where the center of gravity of the work implement is high, the posture at the harvest position becomes unstable as the fruits to be harvested (for example, the mass of oil palm is 30-50 kg) are harvested in the storage box, and the work implement itself May shake greatly.

  On the other hand, according to the working machine for harvesting according to one aspect of the present invention, after adopting a pantograph type lifting device, the working device is further provided at an upper portion of the lifting device or at a position higher than the lifting device. Since the fall prevention device that can project in the direction is provided, the pair of arms can be brought close to each other so that the trunk can be gripped. The pair of arms can be opened and closed so as to sandwich the trunk of the fruit tree from both the left and right sides. Therefore, when the operation table and the storage box are in the raised harvesting position, the pair of arms are sandwiched from both the left and right sides of the trunk so as to touch the trunk of the fruit tree A pair of arms can be positioned at the position. Thereby, a working machine can be reliably fixed with respect to a fruit tree in a harvest position. Therefore, according to the harvesting working machine according to one aspect of the present invention, the stability of the working posture at the harvesting position can be further improved.

  Here, as a first preferred embodiment of the harvesting work machine according to one aspect of the present invention, the overturn prevention device can be rotated around a support shaft whose base end is vertical at a position above the lifting device. A pair of arms, each base end portion of which is supported so as to be rotatable about an axis perpendicular to both ends of the frame. The pair of arms includes a retracted posture in which the pair of arms are closed and the frame extends in the front-rear direction of the carriage, and a deployed posture in which the frame projects to the side of the carriage and the pair of arms is opened. It is preferable that they are provided so as to be positioned at each other.

With such a configuration, for example, when traveling on a carriage, the overturn prevention device can be accommodated in a compact state along the carriage by adopting a retracted posture. In addition, when the fall prevention device is in the deployed posture, when used, the pair of arms is suitable for projecting to the side of the work machine so that the trunk of the fruit tree is sandwiched from both the left and right sides.
Further, as a second preferred embodiment of the harvesting work machine according to one aspect of the present invention, in the first preferred embodiment, the storage box is disposed on the front side of the carriage with respect to the operation table, and prevents the overturn. The apparatus is supported so that a base end portion of the frame is rotatable at a position on the front side of the carriage relative to the operation table, and each of the pair of arms is configured so that the frame projects to the side of the carriage. It is preferable that the frame is opened so as to project from the projecting frame toward the front side of the carriage.

  Such a configuration is suitable for ensuring the visibility of the fall prevention device from an operator who is on the operation console. Furthermore, as the harvest is housed in the storage box, the center of gravity gradually moves toward the front of the storage box, and since the frame is located on the base end side of the pair of arms, When the trunk of the fruit tree is positioned so as to be sandwiched from both the left and right sides, it is possible to support the inclination of the working machine that moves the center of gravity toward the front by the frame. Therefore, it is more suitable for improving the stability of the working posture.

Further, as a third preferred embodiment of the harvesting working machine according to one aspect of the present invention, in the second preferred embodiment, the position of the base end portion of the frame is in the front-rear direction of the storage box in a plan view. It is preferable that the pair of arms are provided symmetrically with respect to the frame.
With such a configuration, when the center portion of the frame in the longitudinal direction is brought into contact with the trunk of the fruit tree, when the trunk of the fruit tree is sandwiched from the left and right sides by the pair of arms, the center of the trunk is the longitudinal direction of the carriage It can arrange | position so that it may be located in the approximate center of the storage box in or behind it. Therefore, since the trunk is located at the center of the storage box or in the vicinity thereof, it is more suitable for efficiently storing the fruit in the storage box at the time of harvest.

  Moreover, as a fourth preferred embodiment of the harvesting working machine according to one embodiment of the present invention, in any one of the first to third preferred embodiments, the fall prevention device is provided on a trunk of a fruit tree. A bumper provided on the frame along the longitudinal direction of the frame so as to be able to contact, a sensing switch that outputs a signal when the bumper is pressed against the trunk of a fruit tree, and from the sensing switch It is preferable to further include a safety device having an arithmetic unit that obtains a signal and stops the traveling of the carriage when the signal is output.

With such a configuration, when the overturn prevention device is used during traveling of the carriage, the traveling of the carriage can be stopped when the bumper provided on the frame is pressed against the trunk of the fruit tree. Therefore, it is suitable for preventing damage to the fall prevention device.
In order to solve the above problems, a harvesting operation method according to an aspect of the present invention is a method of an operation for harvesting fruit that bears fruit, and the harvesting according to an aspect of the present invention described above. After stopping at the harvesting position where the operating table and the storage box are raised in the vertical direction by the elevating device and harvesting the fruit that bears fruit, the fall prevention device is used. A pair of arms sandwiching the trunk of the fruit tree from both the left and right sides to stabilize the harvesting position when the operation table and the storage box are raised, and then dropping the harvested fruit into the storage box for harvesting To do.

  According to the harvesting operation method according to one aspect of the present invention, using the harvesting working machine according to one aspect of the present invention, the operating table and the storage box are raised in the vertical direction by the lifting device, and the fruit that bears fruit on the fruit tree is obtained. After stopping at the harvesting position, the pair of arms of the fall prevention device sandwiched the trunk of the fruit tree from both the left and right sides to stabilize the harvesting position when the operating table and the storage box were raised, and then cut into the storage box Since fruits are dropped and harvested, when harvesting fruits that bear fruit, it is possible to improve the stability of the working posture at the harvesting position while harvesting the harvested products without dropping them.

  Here, as a fifth preferred embodiment of the harvesting work machine according to one aspect of the present invention, in any one aspect of the harvesting work machine according to one aspect of the present invention, the overturn prevention device includes the pair of fall prevention machines. A hydraulic cylinder that opens and closes the arm, and a hydraulic circuit that can stop the hydraulic cylinder at an arbitrary expansion / contraction position and hold the arbitrary expansion / contraction position, and the pair of arms has an arbitrary opening degree within the opening / closing range. The pair of arms can be held at both the left and right sides of the trunk at a position where the arms do not touch the trunk of the fruit tree. It is preferable to be provided so as to be able to be positioned at a facing position where the two are opposed to each other and a sandwiching position where each arm sandwiches the trunk of the fruit tree from both the left and right sides.

  Further, in the harvesting operation method according to one aspect of the present invention, the operation table and the storage box are raised or lowered by the lifting device using the fifth preferred embodiment of the harvesting work machine according to one aspect of the present invention. When the pair of arms are positioned at the opposing positions, the operation table and the storage box are vertically raised by the lifting device and stopped at a harvesting position to harvest fruits that bear fruit, It is preferable to position the pair of arms at the holding position (hereinafter, also referred to as “first preferred embodiment of the harvesting operation method according to one embodiment of the present invention”).

  As described above, for example, plantations are irregular terrain, and the ground on which fruit trees (for example, palm trees) are planted is soft and often has fallen leaves and branches falling. Therefore, when raising the operating table and the storage box of the work machine on such rough terrain, the work machine itself is not tilted, so that the work machine is also in the working position at the harvesting position and in the middle of the harvesting position. It is more desirable to stabilize the posture.

  That is, according to the fifth preferred embodiment of the harvesting work machine according to one aspect of the present invention, the pair of arms of the overturn prevention device is a stem at a position where each arm does not touch the trunk of the fruit tree as a position at the time of stopping. Since the arms are provided on the left and right sides so as to be positioned at opposing positions, the pair of arms can be positioned at the opposing positions when the operation table and the storage box are raised or lowered. As a result, even if the work machine loses its balance when the operating table is raised or lowered, one of the pair of arms at the opposite position is caught by the trunk, so the trunk of the fruit tree supports the work machine. The work implement does not tilt beyond the posture when the arm is caught. Therefore, the posture of the work machine can be stabilized even in the middle of reaching the harvesting position.

  In addition, at the harvesting position where the operation table and the storage box are raised, the pair of arms can be positioned at a sandwiching position in which the trunk of the fruit tree is sandwiched between the left and right sides by each arm, so that the work is performed on the fruit tree at the harvesting position. The machine can be securely fixed. Therefore, according to the fifth preferred embodiment of the harvesting working machine according to one aspect of the present invention, it is suitable for improving the working posture at the harvesting position and the stability in the middle of the harvesting position.

  Moreover, according to the 1st suitable aspect of the harvesting work method which concerns on 1 aspect of this invention, using the 5th preferable aspect of the working machine for harvesting which concerns on 1 aspect of this invention, an operating stand and a storage box are carried out by the raising / lowering apparatus. When raising or lowering, the pair of arms are positioned at the opposing positions, which is preferable in improving the stability in the posture on the way to the harvesting position. Then, after the operating table and the storage box are raised in the vertical direction by the lifting device and stopped at the harvesting position, the pair of arms are positioned at the clamping position, so that the working posture at the harvesting position can be stabilized. Therefore, it is suitable for improving the stability in the working posture at the harvesting position and the posture on the way to the harvesting position.

In the harvesting operation method according to one aspect of the present invention, any one of the first to fourth preferred aspects of the harvesting work machine according to one aspect of the present invention is used, and the operation is performed by the lifting device. After raising the stand and the storage box in the vertical direction and stopping at the harvesting position, it is preferable that the frame is brought into contact with the trunk of the fruit tree and the trunk of the fruit tree is sandwiched from the left and right sides by the pair of arms.
With such a configuration, the trunk of the fruit tree can be supported at three points in the circumferential direction (two points of the pair of arms and one point of the frame). Therefore, it is more suitable for stabilizing the working posture at the harvesting position.

  In particular, if the third preferred embodiment of the harvesting working machine according to one aspect of the present invention is used, the fruit tree is formed by a pair of arms after the central part in the longitudinal direction of the frame is brought into contact with the trunk of the fruit tree. When the trunk is sandwiched from both the left and right sides, the center of the trunk can be arranged so that it is positioned at the approximate center of the storage box in the front-rear direction of the carriage or behind it. Therefore, it is more suitable for efficiently storing the fruit in the storage box at the time of harvest.

  As described above, according to the present invention, it is possible to improve the stability of the working posture while harvesting a harvested product without dropping it.

1 is a side view of an embodiment of a harvesting working machine according to an aspect of the present invention. FIG. 2 is a plan view of the harvesting working machine shown in FIG. 1 (note that an operator is not shown). It is a top view which expands and shows the part of the fall prevention apparatus of the working machine for harvesting shown in FIG. 2, and illustration of the operation console and the storage box is abbreviate | omitted in the same figure. It is a figure explaining the hydraulic circuit of the working machine for harvesting shown in FIG. It is a figure ((a)-(f)) explaining operation | movement of the fall prevention apparatus of the working machine for harvesting shown in FIG. It is a figure which expands and shows the part of a pair of arm of the fall prevention apparatus in FIG.5 (e), and illustration of the operation console and the storage box is abbreviate | omitted in the same figure. FIG. 6E is a front view of the harvesting work machine in FIG. 5E (a reduced state before the lifting device is activated). FIG. 6E is a front view of the harvesting work machine in FIG. 5E (elongated state during operation of the lifting device).

Hereinafter, an embodiment of the present invention will be described with reference to the drawings as appropriate. In addition, this embodiment is an example of the working machine for harvesting which harvests the fruit of the coconut cultivated by a plantation etc. as a fruit which bears fruit at the height of a fruit tree.
As shown in FIGS. 1 and 2, the harvesting work machine 10 includes a carriage 2 having a crawler device 1 at a lower portion capable of traveling on rough terrain, and a rear portion of the carriage 2 (right side in the figure). A drive mechanism unit 3 is provided. Inside the drive mechanism section 3 is a pressure oil control unit for controlling the engine 3a, the hydraulic pump 4 connected to the output shaft of the engine 3a, and the hydraulic actuators 6s, 21, 22, 23 of the harvesting work machine 10. 40, 60, etc. are provided (see FIG. 4). The crawler device 1 has crawler belts 1R and 1L provided on the left and right sides of the carriage 2 (see FIG. 2). The left and right crawler belts 1R, 1L are driven by the pressure oil generated from the hydraulic pump 4 by driving the engine 3a, and the pressure oil generated from the hydraulic pump 4 is supplied to the hydraulic actuators 6s, 21, 22 and 23 are also supplied (see FIG. 4).

  On the chassis frame 5 of the carriage 2 is provided a pantograph type lifting device 6 that is lifted and lowered by a hydraulic cylinder 6s (see FIG. 4). In the upper part of the upper frame 6t of the elevating device 6, a storage box 7 for storing fruits to be harvested and an operation table 8 on which an operator (driver) P boards are provided in order from the front side of the carriage 2. . Thereby, the operation table 8 and the storage box 7 can be moved up and down at the same time by the vertical movement by the lifting device 6. A pair of lid bodies 7a and 7b that can be opened and closed left and right by hydraulic cylinders 7c and 7d provided on the left and right side surfaces are provided on the upper portion of the storage box 7. The mounting positions of the hydraulic cylinders 7 c and 7 d are provided at the center position in the front-rear direction of the storage box 7.

  The periphery of the operation console 8 is surrounded by a fence body 8c. Further, a ladder 8a projecting downward is provided on the left side of the floor surface 8c of the operation table 8, and the operator P can board the operation table 8 from the ladder 8a. Further, the height of the floor surface 8b of the operation console 8 is a height at which the surroundings can be visually confirmed through the lids 7a and 7b on the upper portion of the storage box 7 when the operator (driver) P gets on the vehicle in a standing posture. Is set. Note that the assumed height of the worker P is, for example, 150 cm or more.

  On the front side of the operation table 8, a control device 9 having an operation unit such as a travel operation lever (not shown) on the upper side is provided. A main body side pressure oil control unit 60 and a calculation device 50 are built in the control device 9, and an operation signal from the control device 9 is sent to the calculation device 50 (see FIG. 4). In addition, the lever attached to the switching valve of each control unit 62-65 in FIG. 4 respond | corresponds to the said operation part. The arithmetic unit 50 can control the entire harvesting work machine 10 by outputting a necessary driving signal corresponding to the operation signal to each switching valve of the pressure oil control units 40 and 60 based on a predetermined program. It is configured.

  Here, as shown in FIGS. 1 to 2, the harvesting work machine 10 is a sandwich-type overturn prevention device 20 provided so as to be able to project to a position above the lifting device 6 and to the side of the work machine 10. It has. In the example of this embodiment, the fall prevention device 20 is mounted on the right side of the carriage 2 (on the right side of the upper frame 6t of the lifting device 6). This fall prevention device 20 has a pair of arms 31 and 32 that can be opened and closed so as to sandwich a trunk T of a palm tree W that is a fruit tree from both left and right sides (see FIGS. 7 and 8). And when harvesting the fruit which bears fruit in the high place of a fruit tree, an operator uses this fall prevention apparatus 20 at the time of raising / lowering of the operating table 8 and the storage box 7 by the raising / lowering device 6, and a pair of arms. By appropriately opening and closing the trunk T of the palm tree W from both the left and right sides at 31 and 32, the stability of the working posture of the harvesting work machine 10 at a high place is improved.

  Specifically, as shown in an enlarged view in FIG. 3, the overturn prevention device 20 includes a bracket 35 fixed to the upper frame 6 t of the elevating device 6 and an axis around which the base end support shaft portion 33 k is perpendicular to the bracket 35. And a pair of arms 31 and 32 respectively provided at both ends of the frame 33. The central portion 23t of the frame 33 and the support portion 23k of the bracket 35 supported so as to be rotatable about the axis are connected by a rotation cylinder 23. As a result, the frame 33 rotates along the horizontal plane in accordance with the expansion and contraction of the rotation cylinder 23. When the carriage 2 is traveling, the overturn prevention device 20 is in the retracted state shown in FIG.

  Note that the position of the base end support shaft portion 33k of the frame 33 provided on the bracket 35 is rearward of the central position of the storage box 7 in the front-rear direction and in the front-rear direction of the front surface of the operation console 8 in plan view. Located in front of. In particular, in the present embodiment, with respect to the central position in the front-rear direction of the storage box 7, the average radial length of the trunk T of the palm tree W is behind the central position in the front-rear direction of the storage box 7. By providing the proximal end support shaft portion 33k at the position, as a result, when the trunk T is gripped by the fall prevention device 20, the center of the trunk T is located at the center of the storage box 7, so that the fruit F is harvested at the time of harvest. It can be efficiently accommodated in the storage box 7.

  That is, the frame 33 and the pair of arms 31 and 32 do not protrude from the position outside the right crawler belt 1R of the carriage 2 that is the maximum position of the vehicle width when the fall prevention device 20 is retracted. In a state in which the frame 32 is closed and the frame 33 is in the retracted position along the side surface of the upper frame 6t of the elevating device 6, it is rotated and stored clockwise in plan view toward the rear of the carriage 2. The When in the retracted position with the pair of arms 31 and 32 closed most, the overturn prevention device 20 is in the most compact state.

  When the fall prevention device 20 is used, that is, when a fruit that bears fruit at a high place in the fruit tree is harvested, the rotating cylinder 23 is extended as shown in an enlarged view in FIG. Thus, the projecting posture in which the frame 33 projects in the counterclockwise direction around the support shaft 33k to a position substantially orthogonal to the front-rear direction of the carriage 2 is set. Further, the pair of arms 31 and 32 are opened to hold the trunk T of the palm tree W. The arms 31 and 32 are rotated around the support shafts 31a and 32a from the most closed position shown in FIG. 3 to a range of about 90 ° as shown in FIG. .

  Specifically, as shown in FIG. 6, the pair of arms 31 and 32 serving as the clamping portions are disposed symmetrically with respect to the frame 33. The first arm 31 is attached to the distal end side of the frame 33, and the second arm 32 is attached to the proximal end side of the frame 33. Each arm 31, 32 is narrower in width toward the tip from the middle part on the tip side so as to easily grasp the trunk T, and the tip part has a pointed shape, and from the middle part on the tip side to the inside. Is distorted. The pair of arms 31 and 32 is provided with one hydraulic cylinder 21 and 22 for each arm, respectively, so that the arms 31 and 32 can be opened and closed independently.

  The first arm 31 is supported on the distal end side of the frame 33 by a support shaft 31a in the middle of the first arm 31 near the proximal support shaft portion 31b, which is rotatable about a vertical axis. The one-arm drive cylinder 21 is connected to a support shaft portion 21k at the center of the frame 33 and a base end support shaft portion 31b. Thereby, according to the expansion and contraction of the first arm drive cylinder 21, it is possible to rotate from the closed position along the frame 33 to the open position that extends to an angle larger than a right angle with respect to the frame 33 (FIG. 4). (See also the schematic diagram of the pair of arms shown in FIG. 2).

  The second arm 32 is supported by a support shaft 32a in the middle of the second arm 32 near the base support shaft portion 32b, which is rotatable around a vertical axis on the base end side of the frame 33, and The second arm drive cylinder 22 is connected to the support shaft portion 22k at the center of the frame 33 and the base end support shaft portion 32b. Thereby, according to the expansion and contraction of the second arm drive cylinder 22, it is possible to rotate from the closed position along the frame 33 to the open position that extends to an angle larger than a right angle with respect to the frame 33 (FIG. 4). (See also the schematic diagram of the pair of arms shown in FIG. 2).

Further, when the fall prevention device 20 strongly touches the trunk T at the center of the frame 33 and facing the trunk T side of the palm tree W, the fall prevention device 20 of the fall prevention device 20 is provided. A safety device for preventing breakage is provided, and the driving of the crawler device 1 of the carriage 2 is stopped by the operation of the safety device.
In the example of the present embodiment, the safety device includes a bumper 34 provided along the longitudinal direction of the frame 33 and a sensing switch 24 that operates when the bumper 34 is pressed. As the sensing switch 24, a switch such as a limit switch or a proximity switch can be used. Since the sensing switch 24 operates when the bumper 34 is pressed, the trunk T does not directly hit the sensing switch 24, and the bumper 34 is provided along the longitudinal direction of the frame 33. It operates in a wide range in the longitudinal direction of the frame 33.

  The stop system of the carriage 2 by the operation of the safety device is controlled by the arithmetic device 50, and when the sensing switch 24 is operated, a stop signal is input to the arithmetic device 50. The arithmetic device 50 is provided in a right traveling control unit 65 (see FIG. 4) that controls the crawler device 1 (the hydraulic motor 72 for the crawler belt 1R, see FIG. 4) of the carriage 2 by a stop signal from the sensing switch 24. The unload valve is operated to return all the pressure oil discharged from the hydraulic pump 4 connected to the engine 3 a to the tank 70. Further, a sensing switch for sensing a reverse operation of a traveling operation lever (not shown) of the control device 9 of the operation console 8 (for example, a limit switch or a switching control valve provided to operate in response to the tilt of the operation lever) When the operation of the travel operation lever is detected by a differential transformer or the like that monitors the amount of spool movement, the computing device 50 operates the unload valve based on the signal of the detection switch of the travel operation lever. Thus, the carriage 2 moves backward.

Next, a method of working when harvesting fruit that bears fruit at a high place in the fruit tree by the harvesting working machine 10, the operation of the fall prevention device 20, and the function and effect thereof will be described.
As shown in FIG. 2, when the harvesting work machine 10 travels, the overturn prevention device 20 closes the pair of arms 31 and 32 so as not to protrude from the position outside the crawler belt 1 </ b> R on the right side of the carriage 2. In the state, the retracted posture is taken along the side surface of the upper frame 6t of the lifting device 6.
When harvesting fruit, the operator P first operates the traveling operation lever of the control device 9 of the operation table 8 to stop the cart 2 at an appropriate preparation position near the trunk T of the palm tree W. Let The preparation position is not a main work position where the operation console 8 is finally extended, but a position in front of the main work position is preferable. This is to ensure a space for opening the pair of arms 31 and 32 of the overturn prevention device 20.

  Next, the operator P rotates the frame 33 counterclockwise to project the right side of the carriage 2 as shown in FIG. 5A in order to hold the trunk T by the fall prevention device 20. Here, the frame 33 is rotated to the position orthogonal to the carriage 2 when the rotation cylinder 23 is extended to the maximum, but the rotation cylinder 23 is not fully extended at the preparation position, but before the maximum extension. The frame 33 is stopped at the temporary position. The reason is that, after that, the rotating cylinder 23 is extended again at the harvesting position where the operating table 8 is raised by the elevating device 6 to hold the trunk T. In addition, the arrow of the figure has shown the image which rotates the frame 33 counterclockwise.

Next, as shown in FIG. 5 (b), the worker P turns the pair of arms 31 and 32 in the unfolding direction until they are fully opened in the unfolding position. In addition, the arrow of the figure has shown the image which rotates a pair of arms 31 and 32 to an expansion | deployment direction.
Next, as shown in FIG. 5C, the worker P determines the main work position by moving the carriage 2 forward while determining the distance at which the stem T can be gripped by the pair of arms 31 and 32. At this time, as shown in FIG. 5D, even if the frame 33 gets too close to the trunk T, the bumper 34 provided on the trunk T side of the frame 33 touches the trunk T, so that the safety device is Immediately after operation, the carriage 2 stops. When the safety device is activated, the worker P slightly moves the carriage 2 backward. The arrows (c) and (d) in the figure show an image of moving the carriage 2 to the main work position, and the lightning-like figure in the figure (d) shows an image of the bumper 34 touching the trunk T. Show.

  Next, as shown in FIG. 5 (e), the worker P rotates the pair of arms 31 and 32 toward the closing side. At this time, the worker P visually observes the arms 31 and 32 so that the arms 31 and 32 are opposed to each other on the left and right sides of the trunk T at positions where the arms 31 and 32 do not touch the trunk T. To stop at an appropriate position. When the operation table 8 and the storage box 7 are moved up and down, the pair of arms 31 and 32 of the overturn prevention device 20 are held at opposite positions that are closed to the extent that the trunk T is not gripped. Since the arms 31 and 32 operate independently on the left and right sides, the arms 31 and 32 are suitable for operation by adjusting the degree of opening and closing of the arms 31 and 32 so that the operator P does not grasp the trunk. In addition, the arrow of the figure has shown the image which rotates each arm 31 and 32 to the close side to an opposing position.

  FIG. 7 shows a front view of the harvesting working machine 10 in a contracted state before the lifting device is actuated when the pair of arms 31 and 32 are set to the opposing positions. As shown in the figure, according to this harvesting work machine 10, the overturn prevention device 20 is provided so as to be able to project to the position above the pantograph lift 6 and to the side of the work machine 10. Even in the contracted state before the lifting device is activated, the pair of arms 31 and 32 can be positioned so as to sandwich the trunk T of the fruit tree W from both the left and right sides.

  Next, the worker P operates the elevating device 6 in a state where the pair of arms 31 and 32 are in the facing positions, and raises the operation table 8 and the storage box 7 in the vertical direction as shown in FIG. . Since the elevating device 6 is of a pantograph type that elevates and lowers the operation table 8 and the storage box 7 in the vertical direction, the operation table 8 and the storage box 7 move up and down vertically. If the harvest is a coconut fruit, the coconut tree grows almost vertically. Therefore, by adjusting the holding state of the opening of the pair of arms 31 and 32 to an appropriate facing position, the operation table 8 and the storage are stored. While preventing the fall of the harvesting work machine 10 when the box 7 is raised and lowered, the pair of arms 31 and 32 of the fall prevention device 20 is also prevented from interfering with the trunk.

Next, when the operation table 8 and the storage box 7 reach a harvestable target position (hereinafter also referred to as “harvest position”) at which the height is suitable for harvesting fruits, the operator P operates at the harvest position. After the base 8 and the storage box 7 are stopped, the rotation cylinder 23 of the overturn prevention device 20 is further extended so that the central portion in the longitudinal direction of the bumper 34 is brought into contact with the trunk T. At this time, unlike the case where the carriage 2 is moved forward and the bumper 34 is brought into contact with the trunk T, the frame 33 (bumper 34) is brought into contact with the pressing force of the rotating cylinder 23, so that the fall prevention device 20 Will not break.
Next, as shown in FIG. 5 (f), the worker P holds the stem by further closing the pair of arms 31 and 32 to a position where they touch the stem. Thus, according to the present embodiment, the three points of the pair of left and right arms 31 and 32 and the bumper 34 that grip the trunk T touch the trunk from three directions almost evenly with respect to the trunk T. Therefore, it is possible to stabilize the working posture at the high harvesting position.

In particular, in the present embodiment, the position of the base end support shaft portion 33k of the frame 33 is behind the center position in the front-rear direction of the storage box 7 in plan view, and the pair of arms 31, 32 are Since the central portion in the longitudinal direction of the bumper 34 is brought into contact with the trunk T, the stem T of the fruit tree W is sandwiched from the left and right sides by the pair of arms 31 and 32. At this time, the center of the trunk T is arranged so as to be located at the approximate center of the storage box 7 in the front-rear direction of the carriage 2 or behind it. Therefore, since the trunk T is located at the center in the longitudinal direction of the storage box 7 or in the vicinity thereof, the fruit F can be efficiently stored in the storage box 7 at the time of harvest. Reference numeral T _CW shown in FIG. 5 (f) shows a virtual line passing through the center of the trunk T which is parallel to the longitudinal direction of the carriage 2, numeral T _CL, the stem T that is parallel to the lateral direction of the carriage 2 The virtual line which passes along the center of is shown.

  When harvesting the fruit F, the worker P stabilizes the working posture at the harvesting position as described above, and then opens the lids 7a and 7b of the storage box 7 to the left and right to release the upper part of the storage box 7. Then, the fruit F is cut and accommodated in the storage box 7 (in FIG. 8, an image of the lids 7a and 7b opened to the left and right is shown by a two-dot chain line). After harvesting, the harvesting working machine 10 is returned to the traveling position shown in FIG. The procedure for returning the harvesting working machine 10 to the traveling position shown in FIG. 1 can be performed by a procedure opposite to the procedure for setting the harvesting position described with reference to FIG.

  As described above, according to the harvesting work machine 10 of the present embodiment, the operation table 8 on which the worker gets on, the storage box 7 for storing the fruit F to be harvested, and the operation table 8 and the storage box 7 in the vertical direction. Since it is equipped with the pantograph type lifting device 6 that moves up and down, when harvesting the fruit F, the operating table 8 and the storage box 7 are raised vertically by the lifting device 6 and stopped at the harvesting position, and then harvested. The fruit F can be harvested in the storage box 7 located at the harvesting position. Therefore, the fruit F can be harvested without being damaged without being dropped on the ground. Moreover, since the pantograph type lifting device 6 that moves up and down in the vertical direction is adopted, even when the fruit F is loaded in the storage box 7, the harvesting position at a high place is higher than that of the telescopic boom type high work vehicle. It is possible to improve the stability in the posture in the middle and the posture on the way to the harvesting position.

  According to this harvesting work machine 10, after adopting the pantograph type lifting device 6, the fall prevention device 20 that can be extended to the side of the work machine 10 is further provided at the upper position of the lifting device 6. Since it is provided, the pair of arms 31 and 32 can be brought close to a distance at which the trunk T can be gripped. Since the pair of arms 31 and 32 can be opened and closed so as to sandwich the trunk T of the fruit tree W from both the left and right sides, when the operation table 8 and the storage box 7 are in the raised harvest position, the pair of arms 31 and 32 The opening / closing position can be positioned at a sandwiching position where the stem T is sandwiched from both the left and right sides so as to touch the trunk T of the fruit tree W. Thereby, the working machine 10 can be reliably fixed to the fruit tree W at the harvesting position. Therefore, it is possible to improve the stability of the working posture at the high harvesting position.

  Furthermore, in this embodiment, in the operation | work when harvesting the fruit F which bears fruit in the high place of the fruit tree W, a pair of arms 31 and 32 are made into the holding | maintenance attitude | position of two steps. That is, when the operating table 8 and the storage box 7 are raised or lowered by the lifting device 6, the open / close positions of the pair of arms 31 and 32 are positioned at the above-mentioned opposing positions, and the operating table 8 and the storage box 7 are moved by the lifting device 6. After stopping at the harvesting position of the fruit F that is vertically raised and fruiting at the height of the fruit tree W, the opening and closing positions of the pair of arms 31 and 32 are positioned at the holding position. This is suitable for improving the stability in the working posture and the posture in the middle of the harvesting position.

That is, the reason why the pair of arms 31 and 32 are set to the two-stage gripping posture is to consider safety against overturning when the operation table 8 and the storage box 7 are raised and lowered. Even when the harvesting work machine 10 loses its balance during ascent and descent, one of the pair of arms 31 and 32 is hooked on the trunk T, so that the palm tree W supports the harvesting work machine 10 and the cart 2 Does not tilt any further. Therefore, an accident due to a fall can be prevented in advance. When the fruit F is harvested, the stem T can be reliably gripped by the pair of arms 31 and 32 of the overturn prevention device 20 after the operation table 8 and the storage box 7 are raised to the harvesting position.
As described above, according to the harvesting working machine 10, it is possible to improve the stability of the working posture at a high place while harvesting the harvested product without dropping it. The harvesting working machine according to the present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the spirit of the present invention.

  For example, in the above embodiment, as an example in which the pair of arms 31 and 32 are positioned at the clamping position at the harvesting position, the three points of the pair of left and right arms 31 and 32 and the frame 33 (bumper 34) that hold the trunk T are provided. In the above example, the trunk T is touched almost equally from three directions. However, the present invention is not limited to this, and the trunk T of the fruit tree W is sandwiched from both the left and right sides by at least a pair of arm arms 31 and 32. By gripping the trunk T, the stem T can be positioned at the clamping position. However, in order to prevent the fall of the harvesting work machine 10 in all directions of the stem T more reliably, the frame 33 is brought into contact with the trunk of the fruit tree and the stem T of the fruit tree W is moved left and right by the pair of arms 31 and 32. It is preferable to sandwich from both sides.

  Further, for example, in the above embodiment, when the operation table 8 and the storage box 7 are raised or lowered by the lifting device 6, the pair of arms 31 and 32 are positioned so that the arms 31 and 32 do not touch the trunk T of the fruit tree W. In the example described above, the arms 31 and 32 are positioned at opposite positions on the left and right sides of the trunk T. However, the present invention is not limited to this, and the pair of arms 31 and 32 is positioned at the clamping position at least at the harvesting position. If the fall prevention device 20 is used, the stability of the working posture can be improved. However, in order to further improve the stability in the working posture at the high harvesting position and the posture in the middle of reaching the harvesting position, as in the above-described embodiment, in the posture in the middle of reaching the harvesting position, a pair of It is preferable to position the arms 31 and 32 at the opposite positions.

  Further, for example, in the above embodiment, the fall prevention device 20 has been described as being equipped with a safety device that stops the traveling of the carriage 2, but the present invention is not limited to this, and the safety device as in the above embodiment is provided. It is good also as an overturn prevention device. However, when using the fall prevention device when the carriage 2 is traveling, it is preferable to equip a safety device as in the example of the above embodiment in order to prevent damage to the fall prevention device.

  For example, in the above-described embodiment, the pair of arms 31 and 32 has been described as a configuration example that can be independently operated by the individual hydraulic cylinders 21 and 22. The hydraulic cylinder may be operated in conjunction with each other. However, in order to make it possible to finely adjust the positions of the arms 31 and 32 with respect to the trunk T of the fruit tree W, the pair of arms 31 and 32 can be individually operated by the individual hydraulic cylinders 21 and 22, respectively. preferable.

  Further, for example, in the above-described embodiment, the fall prevention device 20 is provided on the upper frame of the elevating device 6 as an example that is provided at an upper portion of the elevating device 6 or higher than the elevating device 6 and can project to the side of the work machine 10. The base end portion has a long frame 33 supported so as to be rotatable around a vertical axis, and the pair of arms 31 and 32 have respective base end side portions perpendicular to both end portions of the frame 33. Although an example in which it is supported so as to be rotatable around a specific axis is shown, the present invention is not limited to this. However, when traveling on the carriage 2, the fall prevention device 20 is placed in the retracted posture, so that it is housed in a compact state along the carriage 2. In order to project the pair of arms 31 and 32 to the side of the work machine 10 so as to sandwich the trunk T of the fruit tree W from both the left and right sides, it is preferable to adopt the configuration shown in the above embodiment.

  Further, for example, in the above-described embodiment, the storage box 7 is disposed on the front side of the carriage 2 with respect to the operation table 8, and the tipping prevention device 20 has the base end portion of the frame 33 on the front side of the carriage 2 with respect to the operation table 8. Each of the pair of arms 31 and 32 is supported so as to be rotatable around the support shaft at the position, and when the frame 33 projects to the right side of the carriage 2, the projecting frame 33 projects toward the front side of the carriage 2. Although the example of the arrangement of each part that opens so as to project is described, the present invention is not limited to this. However, the stability of the work posture is further improved by ensuring the visibility of the fall prevention device from the operator who is on the operation table and supporting the tilt of the work machine 10 that moves the center of gravity toward the front by the frame 33. Then, it is preferable to arrange each part in this way.

DESCRIPTION OF SYMBOLS 1 Crawler device 1R, 1L (left and right) crawler belt 2 Carriage 3 Drive mechanism part 4 Hydraulic pump 5 Chassis frame 6 Lifting device 7 Storage box 8 Control table 9 Control device 10 Harvesting work machine 20 Fall prevention device 21 First arm drive cylinder 22 Second Arm Drive Cylinder 23 Rotating Cylinder 24 Sense Switch 31 First Arm 32 Second Arm 33 Frame 34 Bumper 35 Bracket 40 Nipping Portion Pressure Oil Control Unit 41 First Arm Switch Valve 42 Second Arm Switch Valve 43 Frame Rotation switching valve 50 Arithmetic device 60 Main body side pressure oil control unit 61 Accelerator cylinder unit 62 Holding unit control unit 63 Lift drive control unit 64 Left travel control unit 65 Right travel control unit 69 Unload valve 70 Tank 71 Left travel motor 72 Right travel motor P Worker F Fruit T Stem W Palm tree (fruit tree)
GL ground

Claims (9)

It is a harvesting machine that harvests fruit that bears fruit,
An operation table on which an operator gets on a travelable carriage, a storage box for storing fruits to be harvested, a pantograph type lifting device for vertically moving the operation table and the storage box, and the lifting device A sandwich-type overturn prevention device provided at the top or higher position and capable of projecting to the side of the working machine;
The above-mentioned fall prevention device has a pair of arms that can be opened and closed so as to sandwich a trunk of a fruit tree from both left and right sides. The toppling prevention device has a long frame supported at the upper position of the lifting device so that the base end portion is rotatable about a vertical axis;
Each of the pair of arms is supported so that each base end portion can rotate about an axis perpendicular to both ends of the frame.
The frame and the pair of arms are closed when the pair of arms are closed and the frame is retracted along the front-rear direction of the carriage, and the frame protrudes to the side of the carriage and the pair of arms is opened. The harvesting working machine according to claim 1, wherein the harvesting working machine is provided so as to be able to be positioned in a deployed position. The storage box is disposed on the front side of the carriage with respect to the operation table,
The overturn prevention device is supported such that the base end portion of the frame is rotatable around a support shaft at a position on the front side of the carriage with respect to the operation table,
The pair of arms are each opened so as to project from the projecting frame toward the front side of the cart when the frame projects to the side of the cart. Harvesting work machine.   The position of the base end portion of the frame is behind the center position in the front-rear direction of the storage box in plan view, and the pair of arms are provided symmetrically with respect to the frame. The harvesting working machine according to claim 3.   The fall prevention device outputs a signal when a bumper provided on the frame along the longitudinal direction of the frame so as to be in contact with the trunk of the fruit tree and when the bumper is pressed against the trunk of the fruit tree. 5. A safety device, further comprising: a sensing switch for detecting a signal from the sensing switch and an arithmetic unit for stopping the traveling of the cart when the signal is output from the sensing switch. The harvesting working machine according to any one of the above. The overturn prevention device includes a hydraulic cylinder that opens and closes the pair of arms, and a hydraulic circuit that stops the hydraulic cylinder at an arbitrary expansion / contraction position and can hold the arbitrary expansion / contraction position. It is possible to hold the stop at any opening and the position at the stop in the open / close range,
Further, the pair of arms is located at the position where the arms are stopped at the position where each arm does not touch the trunk of the fruit tree. The harvesting work machine according to any one of claims 1 to 5, wherein the harvesting work machine is provided so as to be capable of being positioned at a sandwiching position sandwiched between the two. It is a method of work when harvesting fruit that bears fruit,
Using the harvesting working machine according to any one of claims 1 to 5,
After the operation table and the storage box are raised vertically by the lifting device and stopped at the harvesting position where the fruit that bears fruit is harvested, the trunk of the fruit tree is viewed from both the left and right sides by the pair of arms of the fall prevention device. A harvesting operation method comprising: pinching and stabilizing the harvesting position when the operation table and the storage box are raised, and then dropping the harvested fruit into the storage box for harvesting. A method of work when harvesting fruit that bears fruit,
Using the harvesting working machine according to claim 6,
When the operating device and the storage box are raised or lowered by the lifting device, the pair of arms are positioned at the opposing positions,
The pair of arms are positioned at the holding position after the operation device and the storage box are vertically lifted by the lifting device and stopped at a harvesting position for harvesting fruit that bears fruit. Harvest work method to do. A method of work when harvesting fruit that bears fruit,
Using the harvesting working machine according to any one of claims 2 to 5,
After raising the operating table and the storage box in the vertical direction by the lifting device and stopping at the harvesting position for harvesting the fruit that bears fruit, the frame is brought into contact with the trunk of the fruit tree and the pair of arms A harvesting method characterized by sandwiching the trunk of a fruit tree from both the left and right sides.

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