JP2517011Y2 - Steering mechanism of unmanned traveling control device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (a) Field of Industrial Use The present invention relates to a control device for spraying a disinfectant solution to control diseases that occur in crops in a horticultural house and pests that propagate in the house.

(B) Conventional technology Conventionally, there is known a technology in which a drug tank, a power sprayer, and a nozzle are mounted on a traveling device, and the vehicle travels unattended while automatically detecting the position of a groove between crops. .

(C) Problems to be solved by the invention However, in the above-mentioned conventional technique, the bending of the passage groove is detected by the steering sensor provided at the tip in the steering direction of the machine body, and the solenoid is arranged so as to match it. Alternatively, the steering operation is performed by rotating the steering wheel with the cylinder.

Therefore, a sensor mechanism and a steering actuation mechanism are required, which makes the structure structurally and structurally complicated, and this automatic steering mechanism causes a failure.

According to the present invention, in place of the conventional complicated steering mechanism, when the wheel contacts the side groove edge of the passage groove by the drive pin provided on the wheel and the long hole provided on the axle boss, the opposite side It is configured so that the wheels are ahead and can be steered.

(D) Means for Solving the Problems The problems to be solved by the present invention are as described above, and the means for solving the problems will be described below.

The unmanned traveling control device that sprays while the main hose 5 wound on the hose take-up reel 1 is pulled out to the passage groove U, contacts the sensor contact rod X at the end of the passage groove U, and switches to reverse travel to return. The front wheels 3,3 traveling in the passage groove U at
And driving the rear wheels 4 and 4 all the wheels, and forming the long holes 3b in all the axle bosses 3a of the four wheels of the front wheels and the rear wheels, and driving in the long holes 3b in the direction perpendicular to the axle. The pin 16a is fitted in and the steering operation along the passage groove U is automatically performed.

(E) Embodiment The problems to be solved and the means for solving the present invention are as described above. Next, the structure of the embodiment shown in the accompanying drawings will be described.

1 is a rear view of the gardening house during pest control by an unmanned traveling control mechanism, FIG. 2 is a perspective view of the same, and FIG. 3 is a perspective view showing the entire configuration of the unmanned traveling mechanism.

Recently, there is a strong demand for eating out-of-season vegetables and fruits, and most fresh vegetables and fruits are cultivated in gardening houses.

However, when forcing cultivation in a horticultural house, a hot and humid atmosphere is forcibly created and cultivated in that environment. The growth rate is also faster than the open field.

Therefore, it is necessary to carry out the control several times as many times as the case of the usual outdoor cultivation.

In addition, since dense planting is performed in the horticultural house, the amount of the chemical sprayed at a time is large, and in order to obtain sufficient effect against diseases and pests, it is larger than the usual spray amount, In addition, highly toxic drugs must be used.

In addition to such adverse conditions, the horticultural house has a closed structure, so if the operator reciprocates inside the horticultural house with the nozzle in the garden to perform the control work, the operator will be exposed to the chemicals in one spraying operation. There was a problem that they would get sick and get sick.

In order to eliminate such dangerous work, the operator is required to be outside the garden house and to be able to spray the medicine uniformly over the entire area of the garden house in an unmanned state.

The unmanned traveling control mechanism of the present invention is configured to achieve such an object.

That is, the ridges are formed in the gardening house H, and the crops Y are vegetated in rows. A passage groove U is provided between the crops Y, and the unmanned traveling control mechanism of the present invention reciprocates in the passage groove U.

The traveling mechanism is supported by four front wheels 3,3 and rear wheels 4,4, and is a four-wheel drive system that drives all four wheels.

When the unmanned traveling control device travels and reaches the end of the horticulture house H, it is necessary to retreat, and the sensor contact rod X is set up at the end of the passage groove U.

Further, an injection port support rod 12 is provided which is erected from the traveling mechanism and has an injection port 14 attached thereto.

As shown in FIG. 3, a plurality of nozzles 14 are attached to the nozzle support rod 12, and when there is a fall or a prosperous crop Y branch, a nozzle touch sensor 13 for detecting this is used. From left to right.

Further, the entire outer periphery of the unmanned traveling control mechanism is covered with a machine body cover 11, and a transparent dome 10 is provided on the upper portion to cover a portion where the hose take-up reel 1 is projected.

In addition, a passage groove U in which the sensor contact rod X is provided upright
A back light 9 is arranged on the rear surface for notifying the operator outside the gardening house H that the vehicle has started the backward traveling when the vehicle reaches the end of the vehicle and accurately starts the backward traveling.

Main hose 5 extended backward from unmanned traveling control mechanism
A hose take-up limit stopper 18 and a hose connection fitting 44 are attached to an end of the hose connection fitting 44. The hose connection fitting 44 can be attached to the hose connection fitting 40 fixed to the hose fixing pile 39 with one touch. Further, a manual medicine stop valve 43 is arranged between the auxiliary hose 42 between the power sprayer P and the hose connecting fitting 40.

The power sprayer P is driven by the engine E, pumps the liquid from the medicine tank 41, and supplies the liquid from the auxiliary hose 42 to the main hose 5.

FIG. 4 is a side sectional view of the unmanned traveling control device of the present invention.

At a position between the front wheels 3,3 and the rear wheels 4,4, the hose take-up reel 1 is fitted low to a position below the outer periphery of the front wheel and the rear wheel.

To this end, the drive motor M is disposed in front, and the counter shaft 48 for transmitting power from the drive motor M to the hose winding reel 1 is also located at a low position between the front wheels 3,3 and the rear wheels 4,4. Has been placed.

By arranging the counter shaft 48 at a low position and fitting the hose take-up reel 1 between the front wheels 3, 3 and the rear wheels 4, 4, the height of the unmanned traveling control mechanism can be reduced. It was.

The battery B is arranged at the front of the hose winding reel 1, and the control box 21 and the hose alignment device 6 are arranged at the rear of the hose winding reel 1. The hose alignment device 6
Is equipped with a gaiter screw rod in the left-right direction, and the main hose 5 is aligned at the left and right positions of the hose take-up reel 1 by the left and right movement of the top in the screw groove on the outer periphery of the gaiter screw rod. Then, the position is moved so as to be wound up.

Between the rear wheels 4, 4 and the hose aligning device 6, there is a single passage groove U.
Is completed, a moving wheel 8 for turning the direction to move to the next passage groove U is provided.

 The drive system from the drive motor M will be described.

From a pulley 29 attached to the shaft of the drive motor M,
Power is transmitted to the front wheel axle 16 of the front wheels 3 and 3 by a belt 28, and power is transmitted from the pulley 29 to a slip clutch mechanism 47 on a counter shaft 48 by a belt 27.

Further, power is transmitted from the counter shaft 48 to the rear wheel axle 17 via the belt 26 via the rear wheel 4,4. Power is transmitted from the rear wheel axle 17 to the hose alignment device 6 by a chain.

The winding speed is adjusted by a slip clutch mechanism 47 attached to the counter shaft 48.

That is, as the main hose 5 is wound on the hose take-up reel 1, the diameter of the hose take-up reel 1 increases, and the winding speed gradually becomes higher than the running speed. Therefore, it is necessary to temporarily stop winding.

Therefore, when the winding speed becomes higher than the running speed and the main hose 5 cannot be wound, the driving force for rotating the hose winding reel 1 from the driving motor M is slipped to escape. Counter shaft 48 so that
A slip clutch mechanism 47 is interposed on the above, so that the driving force can be slipped at this portion.

A reel drive shaft 23 for driving the hose take-up reel 1
A pulley 46 with a one-way clutch is configured. When the body advances by the pulley 46 with the one-way clutch, the rotational force of the drive motor M is not transmitted to the hose winding reel 1 and the body moves backward. Only, the driving force is transmitted from the reel drive shaft 23 to the hose winding reel 1.

This eliminates the need to separately prepare a forward / reverse rotation motor to drive the hose take-up reel 1.

The end of the main hose 5 is communicated with the inside of the reel drive shaft 23, and the last hose 24 is supplied from the reel drive shaft 23 to the hose internal pressure sensor switch 31, the branch valve 30, and the spray switching electromagnetic valve 22. Supply.

The nozzle support rod 12 is projected by the body frame,
The jet port support rod 12 is provided with a jet port 14 oriented in the left and right directions.

A nozzle touch sensor 13 is fixed to the nozzle support rod 12 and protrudes left and right.

An operation handle 19 protrudes from the upper rear end of the body cover 11, and a reverse manual switch 20R is fixed to one of the operation handles 19, and a forward manual switch 20F is arranged on the other.

Approximately 40 cm passage ditch U provided in the gardening house H or in the open field
The vehicle travels while following by a follow-up mechanism provided on shaft portions of the front wheels 3, 3 and the rear wheels 4, 4, and follows the curved passage groove U.

The forward movement sensor 2 provided on the whole and the backward movement sensor 7 provided at the rear portion automatically switch between forward and backward movement at the ridge end.

The driving is performed by driving the DC motor that rotates in the forward and reverse directions by the power supply of the battery B, so that no noise is generated even in the horticulture house H, and there is no fear of generating exhaust gas. Further, since the periphery of the body is covered with the body cover 11 and the transparent dome 10, the crop Y is hardly damaged.

Further, the winding diameter of the hose winding reel 1 increases as the winding of the main hose 5 progresses, and does not match the traveling speed. By releasing the driving force of the take-up reel 1, winding can be performed at a take-up speed that matches the running speed.

5 is a bottom view showing the steering mechanism of the present invention, FIG. 6 is a perspective view of the axle boss 3a and the front wheel axle 16, and FIG. 7 is a sectional view of the same.

The steering mechanism of the unmanned traveling control device according to the present invention does not include a diff gear device, a solenoid and a cylinder for forcibly steering operation, but when one of the wheels approaches the side groove side portion of the passage groove U, The steering is configured to be performed by the resistance at the time of contact with the side groove edge.

That is, from the end of the front wheel axle 16 in the orthogonal direction, the drive pin 16
The long hole 3b into which the drive pin 16a is inserted is formed into an axle boss.
It is projected on 3a.

The configuration of the elongated hole 3b and the drive pin 16a is such that the front wheels 3,3 and the rear wheels 4,4 are
It is composed of all four wheels.

In a normal straight traveling state, the left and right wheels rotate at the same peripheral speed with the drive pins 16a at the left and right ends of the front wheel axle 16 contacting the front ends of the long holes 3b of the left and right front wheels 3,3 respectively. I am doing it.

From this state, when the vehicle body approaches the right side and the right front wheel 3 comes into contact with the side groove edge of the passage groove U, the right side of the vehicle body receives resistance and the speed becomes dull, and as a reaction, the peripheral speed of the right wheel, The peripheral speed of the front wheel axle 16 is also reduced.

However, since there is no resistance on the left wheel, the drive pin 16a moves away from the front end of the long hole 3b to the rear end side while trying to continue traveling while maintaining the speed up to that point, while the left side wheel The wheels move forward faster than the wheels on the right, and the aircraft turns to the right.

By turning the aircraft to the right, the front wheels 3 and 3 turn to the right and further contact the right side of the passage U, but the rear wheels 4 and 4 of the aircraft move to the left side. That is, the left rear wheel 4 is swung in the direction in which it comes into contact with the passage groove U.

As a result, on the rear wheels 4, 4 side of the aircraft, the left rear wheel 4 is braked, and the driving force acts so that the right rear wheel 4 becomes faster, so the front wheels 3, 3 are operated to the right side. Facing
The action of correction works.

That is, in the front wheels 3,3, a force in the direction of being steered to the left acts from the rear wheels 4,4 of all-wheel drive, and the right front wheel 3 is disengaged from the right edge of the passage groove U, The automatic steering effect that returns to is exhibited.

As a result, the steering effect of returning to the center also works on the rear wheels 4, 4 side, and the automatic control gradually speeds up the vehicle in the direction of being located in the center of the passage U.

In the automatic steering system of the present invention, the front wheels 3, 3 and the rear wheels 4, 4 are all-wheel driven, and the axle boss 3a is provided with a long hole 3b and the drive pin 16a is fitted therein. This has made it possible.

Similarly, when the wheel contacts the edge of the left side groove, the wheel is steered to the left.

Further, when moving backward, the rear wheels 4, 4 become steerable wheels, but since all the wheels are driven in this unmanned traveling control device, the long hole and the drive pin are also provided in this portion. , Automatic steering.

FIG. 8 is a side view of the unmanned running control device, FIG. 9 is a rear view of the same, FIG. 10 is a drawing showing a configuration of the unmanned running control device having a high overall height, and FIG. 11 is a front view of the same.

As shown in Fig. 10 and Fig. 11, when the hose take-up reel 1 is arranged above the upper ends of the front wheels 3,3 and the rear wheels 4,4, the height of the machine is equal to that of the wheels and the hose take-up. Since the height of the reel 1 is added, and the overall height is increased, the possibility of tipping over the airframe is increased. Moreover, the center of gravity of the center of the hose take-up reel 1 and the ground surface is as high as H1, so that the hose take-up reel can further fall.

On the other hand, in the present invention, the hose take-up reel 1
Since it was inserted between the front wheels 3 and 3 and the rear wheels 4 and configured low,
The center of gravity H2 was also lowered, and the fear of a fall accident disappeared.

The reason why it can be configured in this way is that the hose take-up reel 1 can be inserted into the space between the front wheels 3, 3 and the rear wheels 4, 4.

(E) Effect of the Invention Since the present invention is configured as described above, it has the following effects.

Firstly, as in the prior art, a drive pin 16a is attached to the conventional front wheel axle 16 without providing a steering sensor, a solenoid for forcibly operating the steering wheel, a hydraulic cylinder, etc., and the front wheel 3, By providing a long hole 3b in the axle boss 3a of 3 and driving all the front wheels 3,3 and the rear wheels 4,4, automatic steering can be performed, so a low cost and no failure occurs. It could be a steering device.

Secondly, by driving the front wheels 3 and 3 and the rear wheels 4 and 4 as well, even when the vehicle body retreats, by providing the elongated hole 3b and the drive pin 16a in the rear wheel portion, the rear wheel 4 can be similarly driven. It is possible to steer with 4 and 4.

[Brief description of drawings]

Fig. 1 is a rear view of a gardening house during control by an unmanned traveling control mechanism, Fig. 2 is a perspective view of the same, Fig. 3 is a perspective view showing the entire structure of the unmanned traveling mechanism, and Fig. 4 is an unmanned traveling system of the present invention. FIG. 5 is a side sectional view of the control device, FIG. 5 is a bottom view showing the steering mechanism of the present invention, FIG. 6 is a perspective view of the axle boss 3a and the front wheel axle 16, and FIG. 7 is the same sectional view. FIG. 11 is a side view of the unmanned traveling control device, FIG. 9 is a rear view of the same, and FIG.
The figure is also a front view. 1 …… Hose take-up reel 2 …… Advance sensor 3,3 …… Front wheel 3a …… Axle boss 3b …… Long hole 4,4 …… Rear wheel 5 …… Main hose 7 …… Reverse sensor 16 …… Front wheel axle 16a ... Drive pin

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Fumio Iwasaki, 767 Umena, Mishima City, Shizuoka Prefecture, New Delta Industry Co., Ltd. (72) Mamoru Iwamoto, 767, Umena City, Mishima City, Shizuoka Prefecture

Claims (1)

(57) [Scope of utility model registration request] 1. A main hose 5 wound around a hose take-up reel 1 is sprayed while being drawn out into a passage groove U, and is brought into contact with a sensor contact rod X at the end of the passage groove U to switch to a backward travel. In the back unmanned traveling control device, the front wheels 3, 3 and the rear wheels 4, 4 traveling in the passage U are driven by all wheels.
Long holes 3b are bored in all axle bosses 3a of the four rear wheels, and drive pins 16a projecting perpendicularly to the axle are inserted into the long holes 3b, and steering operation along the passage groove U is performed. Steering mechanism for unmanned traveling control device, which is characterized by automatic operation.