JP2772892B2 - Automatic turning device for self-propelled chemical sprayer - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a self-propelled chemical spraying vehicle for spraying a chemical solution effectively on crops in a house cultivation of fruits, vegetables, seedlings, etc. in order to protect the crops in the house from pests. Automatic turning device.

[0002]

2. Description of the Related Art In recent years, house cultivation has been increasing in size and grouping so that high-quality fruits and seasonal vegetables can be cultivated and provided to consumers regardless of the season. However,
In the house cultivation, since the cultivation environment is closed and densely planted, the resistance of the crop itself is very weak as compared with the open cultivation. For this reason, removal of pests is very important for growing crops, and it is necessary to frequently perform pest control using chemicals. However, in order to protect workers from the adverse effects of chemical damage, there is a strong demand for the control work to be unmanned today due to the application of chemicals.

In view of the above-mentioned problems, recently, unmanned chemical spraying vehicles have been developed which spray chemicals onto cultivated crops while running unmannedly in furrows in a house. As this chemical sprayer, for example, the one shown in Japanese Utility Model Publication No. 1-1333 has been proposed, and its structure is such that a plurality of ridges are provided in a house in a longitudinal direction of the ridges. A traveling rail made of metal laid in the house in a direction perpendicular to the rail, a carriage reciprocating on the rail, and a guideway formed on the carriage in the direction of the ridge to get on and off the passage between the ridges. -It is roughly constituted by a liquid spraying vehicle that moves backward and is mounted on the carriage.

In connection with the above, Japanese Utility Model Laid-Open No. 1-73032
The publication also discloses a self-propelled trolley for spraying a chemical solution. In this self-propelled trolley, a bumper type switch member is attached to the front and rear of the trolley, and the self-propelled trolley has a predetermined shape. When the end of the ridge is reached, the switch member provided on the front side of the bogie comes into contact with a pile or the like set up in advance at the end of the ridge, and the drive source rotates in the reverse direction to drive the self-propelled bogie. Automatically retracts, and the switch member on the rear side of the bogie comes into contact with a pile or the like planted at the start point and stops automatically. The chemical sprayer is schematically configured so that the chemical can be sprayed on the crop from the spray nozzle of the chemical sprayer mounted on the self-propelled carriage while the self-propelled carriage makes one round trip between the furrows.

[0005]

The former, that is,
In the chemical sprayer described in Japanese Utility Model Publication No. 1-1333, a special traveling rail made of metal is mounted on the outside of the ridge in advance in a direction perpendicular to the longitudinal direction of the ridge when the ridge is changed. In addition to the labor and expense involved in the laying, there is a danger of getting caught in the running rail when shipping the grown crop, etc. There was a problem that the work could not be performed smoothly.

In the latter, that is, in the chemical sprayer described in Japanese Utility Model Laid-Open No. 1-73032, a pile or the like for stopping the self-propelled vehicle is erected at the start point and the end, and
By pushing the chemical sprayer against the front stake, etc. and switching the switch member, it is structured to move forward, backward and stop, so the chemical sprayer on one ridge is finished and the chemical sprayer is moved to the next ridge In this case, the pile greatly hinders the movement, and for example, a large amount of labor is required for operations such as changing a ridge and changing directions. As a result, a problem that the chemical sprayer cannot be easily handled by a woman or an elderly person. was there. In addition, even when planting piles at the beginning and end of each ridge each time chemical spraying is performed, labor and time are required, including transport of the piles, etc. was there.

Further, in the latter chemical spraying vehicle,
While it is possible to run the unmanned roads unattended and spray the chemical liquid automatically, each time the ridge is changed, an operator enters the house and manually changes the direction of the chemical sprayer and moves it to the next ridge. There must be. Therefore, since the worker enters the house filled with the sprayed chemicals and manually operates the chemical sprayer, there is a possibility that the body may be adversely affected by the chemicals, and improvement thereof has been strongly desired. .

SUMMARY OF THE INVENTION In view of the above problems, the present invention makes it possible for a chemical sprayer to be equipped with an automatic reversing device and to perform a ridge changing run unmanned, thereby enabling a complete unmanned running of the chemical sprayer in a house. It is an object of the present invention to provide a self-propelled chemical spraying vehicle equipped with an automatic direction change device capable of protecting a worker from chemical damage caused by spraying a chemical and also spraying the chemical quickly and easily.

[0009]

According to the present invention, the liquid supply hose is rewound and wound in conjunction with the forward / backward movement of the chemical sprayer.
On the lower side of the bogie equipped with a winding drum, it can be moved up and down, and
A bogie elevating device in which a rotatably mounted elevating shaft is connected so as to be able to ascend and descend by a first electric cylinder, and the elevating shaft is rotated at a fixed angle by a second electric cylinder via a lever body a carriage turning apparatus constructed in capable articulated, said platform
A control device for driving and controlling the vehicle lifting device and the bogie turning device;
To form an automatic directional turning device, and further,
The take-up drum for rewinding the base
When the device is driven, the drive is controlled by a command from the control device.
So that the liquid supply hose is rewound and wound up to a certain length.
It is characterized by having done .

[0010] In the present invention, the bogie elevating and lowering device is X
The base end can cooperate with the first electric cylinder
And a pair of levers pivoted to the
The joint point is pivotally supported on the protruding end of the elevating shaft, and the other end is
It consists of a pair of links pivotally attached to the tip of the rod,
The bogie turning device inserts the lifting shaft so that it can be raised and lowered and rotated.
To the elevator seat attached to the carriage, and
The fitting cylinder that has been fitted to the
Through a lever that converts the reciprocating motion of the cylinder into a rotational motion
And connected to the second electric cylinder.
Features .

[0011]

According to the present invention, the operation (use) state of the chemical spraying vehicle is set in advance by the control device at the time of spraying the chemical, and the moving position and the turning position of the chemical spraying vehicle are detected in the house. The stop detection member consisting of is previously arranged. Then, at the time of spraying the chemical, the chemical sprayer is moved to a predetermined ridge to start spraying the chemical, and the sprayer moves forward by a certain distance, for example, once a detection member disposed at the end of the ridge is detected. Stop and after this,
Immediately start retreating and return to the start position on the outward route.
In addition, the spraying of the chemical solution at the time of the forward / backward movement of the chemical spraying vehicle,
All are set in advance by the chemical liquid control means.

Next, the chemical sprayer returns to the forward path,
When moving from the ridge after spraying to the next ridge, when the detecting member for turning position detection is detected at the time when the spreading vehicle returns to the forward path point, the bogie elevating device is controlled by the command from the elevating control means of the control device. When driven, the chemical sprayer is raised to a certain height, and subsequently, the bogie turning device is driven by the turning control means of the control device to turn the sprayer by approximately 90 ° in the set direction. After turning, the spreader is landed by the elevating device to move to the next turning position, that is, the next ridge, and then the carriage lifting device and the turning device are driven again to turn the spreader in a direction parallel to the ridge. After that, the chemical spraying vehicle is configured so that the chemical solution can be sprayed while moving between the furrows, so that the spraying of the chemical solution in the house can be started only by starting the spraying vehicle from a predetermined position in the house, and unmanned. Since the operation can be performed quickly and easily, and the ridge changing work of the spraying truck can be performed unattended, not only can the chemical spraying be performed smoothly, but also the workers need to enter the house where the chemical spraying is being performed. Since it is not available, it can be reliably protected from phytotoxicity.

Further, in the case where the chemical spraying vehicle turns around by changing the ridge in the house, a bogie elevating device provided on the back side of the bottom surface of the bogie according to commands from the elevating control means incorporated in the control device and the turning control means. By controlling the driving of the trolley and the bogie turning device at a required turning position, the direction can be automatically changed, which is convenient, and the bogie elevating and turning devices use a space on the back side of the bottom surface of the bogie. Mounting without any special mounting space.

In addition, the bogie lifting device employs a booster mechanism by pivoting and connecting a pair of levers and a link connected to the levers, so that a heavy chemical sprayer can be quickly and with a small force. It is possible to raise and lower safely, and since the spreading wheel is turned up after it is raised to a certain height, a large force is not required. Therefore, the elevating device and the turning device itself are small, lightweight, and inexpensive. There is also an advantage that can be manufactured.

[0015]

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to FIGS. First, a detailed configuration of a self-propelled medicine sprayer (hereinafter simply referred to as a sprayer) will be described with reference to FIGS. 1 to 8. In FIG. 2, reference numeral 1 denotes a spreader truck, and 2 denotes a truck thereof. An electric motor for driving the spreader truck 1 is provided on one side of the truck 2 with a battery 3 mounted on a front portion of the truck 2 as a drive power source. 4 are attached. As shown in FIG. 3, the electric motor 4 drivingly couples the rotor shaft a and the driving rotation member 5 attached to the carriage 2 by driving coupling means b such as a chain or a timing belt. And the axles 6 and 7 suspended on the front and rear sides of the truck 2,
By coupling using the same drive coupling means c as described above, the electric motor 4 is attached to the front wheels 8 and the rear wheels 9 attached to the axles 6 and 7.
And the truck 2 is moved forward and backward.

Reference numeral 10 denotes a support frame formed by forming a frame on the carriage 2 so as to have a substantially rectangular planar shape, and a front side of the support frame, as shown in FIG. Drum 1
2 is rotatably supported via a bearing member (not shown), and a handle 10a for manually operating the carriage 2 is integrally provided on the rear side. The take-up drum 12 is driven and coupled to the drive rotary member 5 by drive coupling means d such as a chain, so that the take-up drum 12 is rotated substantially in synchronism with the traveling speed of the carriage 2 and rewinds the liquid supply hose 11 ( The spreader 1 can be moved forward (when the spreader 1 moves forward) or wound up (when the spreader 1 moves backward). Further, the winding drum 12 is drive-coupled to a well-known hose alignment winding device 13 mounted on the rear side of the carriage 2 by drive coupling means e,
The liquid feeding hose 11 drawn out when the spreading wheel 1 moves forward can be aligned and wound around the winding drum 12 when the spreading wheel 1 moves backward. Reference numeral 14 denotes a chemical liquid supply pipe connected to the other of the hose coupling members (not shown) in the winding drum 11 connected to the liquid feeding hose 11 so as not to hinder the rotation of the winding drum 12, and provided on the carriage 2. It is connected to the electric valve 15.

In FIG. 1, reference numeral 16 denotes a spray pipe which is vertically supported by a support member 17 fixed to the front side of the carriage 2,
The electric valve 15 is connected via a hose member 18 and a flow rate sensor (not shown). Numeral 19 denotes a spray nozzle which is attached to the spray pipe 16 in a plurality of stages along the height direction, with the spray ports being inserted in mutually different directions.

Next, referring to FIG. 1 and FIG. 5, the construction of a conversion device for automatically changing the traveling direction of the spreading vehicle 1 will be described. The automatic direction changing device 20 is housed in the carriage 2, and is roughly composed of a carriage lifting device 21 and a carriage turning device 22. Next, the detailed structure of the bogie lift device 21 will be described with reference to FIGS. Reference numeral 23 denotes a mounting frame body having a U-shaped cross section vertically suspended in the carriage 2, and a first electric cylinder 24 serving as a drive source of the carriage lifting / lowering device 21.
However, as shown in FIG. 6, the rear side is movably mounted at one end (right direction in FIG. 7) of the mounting frame 23 in a window h opened in the walls f and g. As shown in FIG. 6, a mounting pin 25a pivotally attached to the pin 25 and moving in a window i opened in the walls f and g at the other end of the mounting frame 23 as shown in FIG. The head 26 of the cylinder 26
By pivotally mounting a, the electric cylinder 24 is mounted on the mounting frame 23 so as to be laterally movable within the range of the window holes h and i. 27, 27a are window holes h, i of the mounting frame 23.
The connecting pins 27, 27a are movably connected to the mounting pins 25, 25a. The connecting pins 27, 27a are connected to the mounting pins 25, 25a by a connecting plate 28 so as to be mutually drivable. 29, 29a are the walls f of the mounting frame 23,
In FIG. 6, a pair of levers 29, 29a are provided at the distal ends of the pair of levers 29, 29a. One end of each of the links 30 and 30a is pivotally attached to the tip of each of the levers 29 and 29a so as to be rotatably supported by a pivot pin j in a scissor-like (X-shaped) manner. I have.

Reference numeral 31 denotes an elevating seat fixed between the walls f and g of the mounting frame 23 at an intermediate position on the base end side of the levers 29 and 29a. Further, a fitting cylindrical body 34 into which the first and second elevating shaft rods 32 and 33 are inserted so as to be able to move up and down is rotatably fitted and held via a bearing 35. The fitting cylinder 34 and the elevating shafts 32 and 33 are respectively fitted and held so as to be co-rotatable with a key 36, and further, the first elevating shaft 33 fitted to the second elevating shaft 33. As shown in FIG. 6, the tip of the lifting shaft 32 (downward in FIG. 6) is fixed to the lifting base 37 that lands on the ground surface P with a bolt or the like, and a bearing attached to the upper surface side of the lifting base 37. The holding member 38 is rotatably inserted and supported via a bearing 39. On the other hand, levers 29, 29
a, the other ends of the links 30, 30a pivotally connected at one end to
As shown in FIG. 6, the shaft is integrally supported by a pivot 40 so as to be drivably supported on the periphery of the bearing holding member 38. In FIG. 6, reference numeral 41 denotes a bearing member fitted to the outside of the substantially central portion of the fitting cylinder 34, and a plate-like support member 42.
The fitting cylinder 34 is supported and held together with the bearing 35 so as to rotate smoothly.

Next, the structure of the bogie turning device 22 is shown in FIG.
This will be described below. Reference numeral 43 denotes a second electric cylinder that drives the turning device 22, and the rear side (the right side in FIG. 6) is rotatably supported by the other end of the mounting frame 23 by a support shaft 44 so as to be rotatable. The front side is the head 4 of the cylinder 45.
As shown in FIG. 7 in FIG. 7, the base end of a substantially L-shaped lever body 46 is pivotally connected, and the distal end of the lever body 46 is passed through a cutout hole 47 of the lift seat 31 to fit the cylindrical body. The second electric cylinder 45 is attached to a lower side of the attachment frame 23 by being integrally fixed to the attachment frame 34 using a retaining ring or the like.

The first and second electric cylinders 2
As shown in FIG. 8, the components 4 and 43 are manufactured with the same structure, and the structure will be described using the first electric cylinder 24 as an example. That is, in FIG. 8, reference numeral 48 denotes an electric motor, and 49 denotes an electric motor shaft 50 and a cylinder 26.
2 shows a reduction gear group inserted between a screw shaft 51 inside the lock shaft 5 and a locking groove 5 formed inside the cylinder 26 on the screw shaft 51.
2 is screwed with a screw cylinder 53 engaged non-rotatably.
The electric cylinders 24 and 43 are configured by fixing the base end of the cylinder 26 having the cylinder head 26a at the distal end to the screw cylinder 53. When the electric motor 48 is driven, the screw shaft 51 rotates and the screw shaft 51 rotates. Screw cylinder 53 screwed to shaft 51
Are moved left and right, and the cylinder 26 fixed to the screw cylinder 53,
By moving the 45 forward and backward, the bogie elevating device 21 and the bogie turning device 22 are driven.

Next, a description will be given of the spraying vehicle 1 and the control device 56 for controlling the drive of the automatic turning device 20 of the spraying vehicle 1. This control device 56 is attached to the rear of the upper surface of a cover body 55 mounted on the spraying vehicle 1, and its schematic configuration is, as shown in FIG.
(Hereinafter simply referred to as a microcomputer) and the microcomputer 57
A switch circuit 58 for operating the spreader truck 1 connected to the input terminal of the microcomputer 1, a sensor circuit 59, a control switch circuit 60 for the electric cylinders 24 and 43, and an output terminal of the microcomputer 57. Command signal generating circuit 61 (a circuit for outputting a drive command signal to the electric motor 4, the electric valve 15, the electric cylinders 24, 43 for driving the spraying vehicle 1, and a command signal for displaying the operation state of the switch circuit 58) And a power supply circuit (not shown) including a battery 3 for supplying driving power to the driving motor 4, the electric cylinders 24 and 43, and the like. The microcomputer 57 and the circuits 58 to 61 Is supplied with a constant voltage power supply Vcc, which is stepped down to a predetermined voltage and stabilized from a power supply circuit via a constant voltage power supply device.

In each of the circuits 58 to 61,
The switch circuit 58 includes a power switch S ₁ and a spreader 1
Traveling speed, for example, "high-speed, medium-speed, low speed," the speed setting switch S ₂ for switching the three-step, and turning the switch S ₃ to set the turning direction of the spraying vehicle 1, the chemical solution spraying modes Mode setting switch S for setting
_4, the operation switch S ₅ for spraying vehicle 1, further spraying vehicle 1
Forward manually operated, retraction, and a respective switch S ₆ to S ₈ for causing stoppage, each of these switches are connected to a constant voltage power source Vcc of the power supply circuit while the other is of the microcomputer 57 It is individually connected to the input terminals I _{1 to} I ₈ .

The sensor circuit 59 includes a spray start position detecting sensor 59F mounted on the upper front side of the spreading wheel 1, a forward stop position detecting sensor 59R mounted on the front lower side of the spreading wheel 1, and a spreading wheel. A sensor 59S for detecting the reverse stop (turning of the spreading wheel 1) mounted on the side surface of the center of the truck 2 and a sensor 59E for detecting the ending position of spraying of the spreading wheel 1 mounted on the upper rear side of the spreading wheel 1. In this example, a magnetic sensor is used for each of the sensors. And the sprayer 1
As shown in FIG. 13, each of the sensors 59F, 59R, 59S, 59
Detecting members A to A composed of magnets etc. that can be individually detected in class E
D is provided in advance, and each of the sensors 59F, 59
R, 59S and 59E are constant voltage power supply Vcc of the power supply circuit.
When the predetermined detection members A to D are individually detected and connected,
The detection signal is sent to the human-powered ends I _{9 to} I ₁₂ of the microcomputer 57.

Further, the control switch circuit 60 is configured such that the cylinder heads 26a and 45a of the electric cylinders 24 and 43
When it reaches a point where it has advanced a certain length from the cylinders 26 and 45 and a point where it has retreated, the electric cylinders 24 and 43
For example, limit switch LS ₁
Consists ～LS _4, the constant voltage power supply Vcc of its one end the power supply circuit, the other end is connected individually to the input terminal I ₁₃ ~I ₁₆ of the microcomputer 57. The command signal generating circuit 61 connected to the output end of the microcomputer 57 is connected to the driving motor 4,
For example, a relay circuit for opening and closing the respective energizing circuits of the electric valve 15, the electric cylinders 24 and 43, and a light emitting unit L such as a light emitting diode for displaying a required switch on state, for turning on and off. The display circuit and
Each is connected to output terminals O _{1 to} O ₅ .

The microcomputer 57 is pre-programmed with the following control sequence for controlling the operation of the spreader 1, for example. (1) The spreader 1 This is the command for forward, turn, elevate, retreat, and end from the start point of the spreading vehicle 1, and the command for automatic / manual operation of the spreading vehicle 1, (2) the traveling speed command of the spreading vehicle 1. For example, a command for switching the traveling speed to three-step switching, (3) setting of the chemical spraying mode The spraying vehicle 1 moves forward or backward in the furrow, or
A command for spraying the chemical only during the reciprocating operation between the ridges, and a command for non-spraying of the chemical at other times. (4) The liquid supply hose 11 when the bogie turning device 22 is driven.
When the spreading wheel 1 is turned in a direction parallel to the ridges, the winding drum 12 is driven in a direction to rewind the liquid supply hose 11 while the spreading wheel 1 is turning. In the case where the command (drive command of the driving motor 4) and the spreading wheel 1 are turned in a direction perpendicular to the ridges, the winding drum 12 is rotated while the spreading wheel 1 is turned.
(Driving command of the driving motor 4) (5) Setting the operation order of the sensor circuit 59 By driving the spraying vehicle 1, the sensor 59 for detecting the spraying start position.
A command for operating the sensors in the order of F → forward / stop position detection sensor 59R → reverse stop position detection sensor 59S → dispersion end position detection sensor 59E (6) Setting of lighting display command of light emitting means L Controller 56 Switch circuit 58 disposed in the operation unit 62
When a predetermined switch is turned on, a command for lighting and displaying that the switch is turned on is set in detail in a program.

Next, the operation of the present invention will be described. First, prior to spraying the chemical solution in the house, as shown in FIG. 13, the detection members A to D for setting the movement position of the spraying vehicle 1 are arranged in the house. That is, in FIG. 13, the detection member A is arranged at the start position of spraying the chemical solution by the spraying wheel 1, the detection member B is arranged at the end (forward stop position) between the ridges F _{1 to} F ₄ , and the detection member C the starting end between each ridge F ₁ to F ₄ (turning position)
And the detection member D is disposed at the spraying end position. The detection members A and D are connected to the sensor 59
From the relationship with the mounting locations of F and 59E, a pile (not shown) is used to set the sensor 59F and 59E at a height that can be opposed to the sensor 59F, and the remaining detection members B and C are embedded at predetermined positions. . Subsequently, the liquid supply hose 11 wound around the winding drum 12 is connected to a power spray device (not shown) outside the house.

Thereafter, the operation of the spraying vehicle 1 and the setting of the spraying mode are performed. In this example, as shown in FIG. 13, a description will be given of a state in which the spreading vehicle 1 has been moved to the position of the detection member D indicating the spraying end position in the house. When setting the mode,
Performs by operating the switches of the switch circuit 58 which is disposed on the operation unit 62 of the controller 56 shown in FIG. 10, when initially powered on switch S _1, followed, spraying vehicle 1
Set the running speed of. In this case, press the speed setting switch S ₂ 1 times "fast", and press 2 times as "medium speed", since the pre-speed program by the microcomputer 57 has been set, cultivation of spraying a chemical liquid Set according to the crop. After the setting of the traveling speed, setting of the spraying mode of the chemical solution is performed. Also in this case, for example, a mode is set in advance such that only when the spreading vehicle 1 moves forward, only when retreating, or when reciprocating, the program is set in advance. to set the spraying mode is preprogrammed in the microcomputer 57 by depressing a predetermined number of times mode setting switch S _4.
Furthermore, when the spreading wheel 1 is run on the ridges F _{1 to} F ₄ , when the ridges F _{1 to} F ₄ are located on the right side with respect to the traveling direction of the spreading wheel 1 as shown in FIG. , press the turn switch S ₃ to set the turning direction of the spraying vehicle 1. Also in this case, for example, the microcomputer 57 sets the turning switch S ₃ to 1
By setting the program so that the pusher turns "right" and the pusher twice "left", the spreader 1 can be moved in any direction regardless of which direction the ridge on which the spreader 1 travels is located. Can be turned around. As the running speed of the spray vehicle 1, spraying mode, after setting by introducing a predetermined switch the turning direction beforehand, turning on the operation switch S ₅ of the operation unit 62 (see S ₅ in FIG. 11) .

[0029] With the introduction of the operation switch S _5, since the electric motor 4 to start by the drive command from the output terminal O ₁ of the microcomputer 57, spraying vehicle 1 as shown in FIG. 13, a predetermined starting point in the house From the take-up drum 12 at a traveling speed set in advance to start the straight running while sequentially feeding out the liquid feeding hose 11 (see step 1 in FIG. 11). In this case, the spreading wheel 1 is provided with a detecting member C disposed at the starting end between the ridges F _{1 to} F _4.
It passes over it at spraying start position detecting sensor 59F, which is provided on the front surface of the spraying vehicle 1, to the detection of the detection member A of the chemical spray starting position, located at the starting end between each ridge F ₁ to F ₄ Since the turning position detecting member C is set so as not to be detected by the reverse (turning) position detecting sensor 59S, the spreading wheel 1 continues to go straight. Then, when detecting the detection member A at the sensor 59F, since the drive motor 4 is output stop command from the output terminal O ₁ of the microcomputer 57 to the motor 4 is stopped by the detection signal, spraying vehicle 1 once Stop at that point (1 in advance and 5 in FIG. 11).
9F).

When the spraying vehicle 1 detects the detecting member A and stops, a driving command is output from the output terminal O ₃ of the microcomputer 57 to the electric cylinder 24 to drive the carriage lifting device 21. That is, the electric cylinder 24 is moved from the state where the screw shaft 51 is rotated by the electric motor 48 and the cylinder 26 is advanced as shown in FIG.
It is retracted into the electric cylinder 24. As a result, the rear portion of the electric cylinder 24 and the connecting plates 28, 28 on which the cylinder head 26 is pivotally moved in the window holes h, i in directions opposite to each other, as shown in FIGS. For this reason, the levers 29, 29a pivotally supported by the connecting plates 28, 28, respectively.
Are located at the base ends of the first and second pivot pins j.
The links 30, 30a which move in the direction of the center (axis) of the second elevating shafts 32, 33, and which are pivotally connected to the distal ends of the levers 29, 29a, are also turned to the pivot pin j side. . As a result, a large force is applied to the pivot point X between the lever rods 29, 29a and the links 30, 30a by the action of the lever, and this is transmitted to the intersection of the links 30, 30a, that is, to the pivot 40. Accordingly, the first and second elevating shafts 32 and 33 project from the fitting cylinder 34 to lower the elevating base 37 to the ground surface P. When the elevating base 37 lands on the ground surface P, the spraying is performed in this state. The vehicle 1 is pushed upward as shown in FIG. And the cylinder 26 is a fixed length electric cylinder 2
When retracted within 4, are opened the limit switch LS _1, the electric cylinder 24 is output stop command from the microcomputer 57 stops driving of the electric cylinder 24 to stop the rise of the spraying vehicle 1 (in FIG. 11 21.U and LS ₁ ).

[0031] When the spraying vehicle 1 raises a certain height by as the carriage lifting apparatus, i.e., when the limit switch LS ₁ is actuated, the drive from the output terminal O ₄ of the microcomputer 57 to the second electric cylinder 43 When the command is output, the electric cylinder 43 is started, and the cylinder 45 is moved to the electric cylinder 43.
To advance from. By the advance of the cylinder 45, the lever body 46 connecting the cylinder head 45a and the fitting cylinder 34 is moved up and down as shown by a chain line in FIG.
Is rotated about 90 ° around the center. As a result, the bogie turning device 22 is activated, and the rotation of the lever body 46 causes the spreader wheel 1 to move in advance from the position of the solid line in FIG. Rotate about 90 ° to the set “right”. That is, as shown in Figure 13, to turn the spray vehicle 1 in furrow F _1, F ₂ between the direction can travel by parallel (direction parallel to the between ridges F _1, F _2). When the spraying vehicle 1 is moving certain angle times the limit switch LS ₂ is opened, thereby, stop command from the output terminal O ₄ of the microcomputer 57 to the second electric cylinder 43 is output, the spraying vehicle 1 Stop the rotation (4 in FIG. 11).
3 · R and LS ₂ ). While the spreading wheel 1 is being turned by the cart turning device 22, a drive command is output from the microcomputer 57 to the drive motor 4, and the winding drum 12 is driven to wind the liquid supply hose 11 by a predetermined length. return.

As described above, when the rotation of the spreading wheel 1 is stopped, a drive command is output from the output terminal O _{3 of the} microcomputer 57 to the first electric cylinder 24 again, and the electric motor 48 is turned in the opposite direction to the upward movement. By rotating the cylinder head 26a, the levers 29, 29a are moved in a direction away from the pivot pin j. As a result, the first and second lifting shafts 3
2, 33 are sequentially stored in the fitting cylinder 34, and lower the spreader wheel 1 from the rising position to the ground surface P side. Then, the lever rods 29, 29a make the window holes h, i of a predetermined length
3, the spreader truck 1 lands,
And, elevating base 37 stops the driving of the first electric cylinder 24 is the limit switch LS ₃ when raised a predetermined height is opened. (See 21 · d and LS _{3 in} FIG. 11). As described above, when the switch between the ridges F ₁ and F _{2 of} the spreader 1 is completed, the spreader 1 controls the drive motor 4 by the command signals from the output terminals O ₁ and O ₂ of the microcomputer 57. It is driven and the electric valve 15 is opened (see steps 1 and 15 in FIG. 11).

As described above, the spraying vehicle 1 starts spraying a chemical solution on the cultivated crops in the ridges while traveling between the ridges F ₁ and F _{2 at the} set traveling speed and the scatter mode. At this time, the spraying vehicle 1 sprays the chemical while feeding out the liquid supply hose 11 from the winding drum 12. And, the sprayer 1 is provided with ridges F ₁ ,
Upon reaching the end between F _2, the forward stop position detection sensor 59R attached to the front lower side of the spraying vehicle 1, the ridges F _1, F ₂
When the detecting member B disposed at the end between the ridges F ₁ and F ₂ is detected, a stop command is output from the output terminal O ₁ of the microcomputer 57 to the electric motor 4 by the detection signal, and the spreader wheel 1 is temporarily stopped at the end between the ridges F ₁ and F _2. I do. Then, said distributing vehicle 1 is stopped, the output drive command to reverse rotation of the electric motor 4 from the microcomputer O ₁ again, spraying vehicle 1 starts to retreat to the starting end position between the ridges F _1, F ₂ from the end position . When the spreader truck 1 is retracted, the take-up drum 12 also rotates in the reverse direction, and the liquid feed hose 11 is rewound.
Is wound around the winding drum 12 by the hose aligning and winding device 13 to prevent the liquid sending hose 11 from entanglement with the spreading wheel 1 and the like when the spreading wheel 1 moves backward (59R and 1 · in FIG. 11). See below).

The spreader wheel 1 retreats to the start end between the ridges F ₁ and F ₂ , and the detection member C arranged at the start end is attached to the lower side of the side surface of the spreader wheel 1 to detect the retreat (turning) position sensor 59S. Is detected, the spraying vehicle 1 stops at the start end between the ridges F ₁ and F ₂ according to a command from the microcomputer 57. When the spraying vehicle 1 is stopped, the same way, the drive command is outputted from the output terminal O ₃ of the microcomputer 57 to the electric cylinder 24, carriage lifting device 21
, The lifting base 37 is lowered to the ground surface P side by the boosting mechanism of the levers 29, 29a and the links 30, 30a, and the spreader wheel 1 is pushed upward as shown in FIG. 5 (FIG. 11). 59S and 21.U). Scattering car 1
Is pushed up to a certain height, the limit switch LS
₁ operates and the first electric cylinder 24 stops. Subsequently, a command to drive the second electric cylinder 43 is output from the output terminal O ₄ of the microcomputer 57 and the bogie turning device 22 is output.
To rotate the spreading wheel 1 pushed up by a certain height from the ground surface P about 90 ° in the “left direction” about the fitting cylinder 34 (the spreading wheel 1 is ridged F ₁ , F ₂ ). That is, the second electric cylinder 43
7 is retracted into the electric cylinder 43 as shown by the solid line in FIG. 7, whereby the lever body 46 is rotated to the position shown by the solid line. As a result, the spreader vehicle 1 is rotated about 90 ° in the “left direction” from the position indicated by the two-dot chain line in FIG. 4 to the position indicated by the solid line with the fitting cylinder 34 as a fulcrum (LS ₁ , 43. L). Then, the when the electric cylinder 43 returns to the original position shown in FIG. 7 (solid line position), the limit switch LS ₂ is closed, and the limit switch LS ₄ is opened, thereby the output terminal O of ,, the microcomputer 57 _A stop command is output from ₄ to the second electric cylinder 43 to stop the rotation of the spreading wheel 1 (4 in FIG. 11).
3 · L, LS ₂ , LS ₄ ). In addition, the bogie turning device 2
2, while the sprayer 1 is rotating, the driving motor 4
A drive command is output from the microcomputer 57 to the winding drum 1
2 is driven to take up the liquid supply hose 11 by a predetermined length.

When the rotation of the application vehicle 1 is stopped, the microcomputer 5
7, a drive command is output from the output end O ₃ to the first electric cylinder 24 to drive the bogie elevating device 21 to elevate the elevating base 37 to land the spreader 1 on the ground surface P (FIG. 11). 21 · d and LS ₃ ). When spraying vehicle 1 lands, commanded to retract the spraying vehicle 1 from the output terminal O ₁ of the microcomputer 57 is output, thereby, the motor 4 is between the next ridge F _2, F ₃ and the reverse rotation as the The liquid feeding hose 11 is retracted to the position while being wound by the winding drum 12, and when the retreat (rotation) position detection sensor 59S detects the detection member C disposed at the start end between the ridges F ₂ and F ₃ , the spraying vehicle Numeral 1 is perpendicular to the ridges F ₂ and F _3, and is stopped by a command from the microcomputer 57. When the spraying vehicle 1 is stopped by the detection of the detection member C, carriage lifting apparatus 21 and the bogie turning device 22 again by the command is activated from the microcomputer 57, between ridges F _2, F ₃ while lifting the spraying vehicle 1 Is rotated in a direction parallel to the direction of the arrow. Immediately after the rotation, the chemical solution is sprayed by going straight between the ridges F ₂ and F ₃ (59S, 2 after 1 in FIG. 11).
1 · U, LS ₁ , 43R, LS ₂ , 21 · d, LS ₃ ,
(See 1 ・ hex, 15)

As described above, in the present invention, the spreading wheel 1 finishes spraying between the predetermined ridges F _{1 to} F ₄ and the ridge F _1.
When retracted to start between to F _4, it detects the detected member C by retraction (turning) position detection sensor 59S. Then, according to the command from the microcomputer 57, the trolley lifting device 21 and the trolley turning device 22 operate to automatically change the direction of the spraying vehicle 1 in the direction orthogonal to the ridges, and the spreader vehicle 1 retreats while performing the direction change. When the detecting member C indicating the furrow is detected, the reversal is performed again in the opposite direction, that is, in the direction parallel to the furrow to be sprayed, and the next furrow is sprayed. And
When the spraying of chemicals between the last ridges F ₃ and F ₄ is completed, the spraying car 1 detects the detecting member D with the spraying end position detecting sensor 59E as shown in FIG. Is to end.

[0037] Incidentally, the spraying vehicle 1 Toka case of moving to the next house, such as when to move to the storage location is to put forward switch S ₆ and reverse switch S ₇ of the operating section 62 of the controller 56 manually During this time, the program is set to drive the electric motor 4 in accordance with a command from the microcomputer 57, so that the spreader 1 can be easily moved by manual operation.

[0038]

According to the present invention, as described above, a truck lifting device for lifting and lowering the spray truck itself is provided on the truck portion of the spray truck which sprays the chemical solution while traveling between the ridges in the house. When the spreader is lifted from the ground surface by a predetermined height by the bogie lifting device, a bogie turning device for turning the spreader at a fixed angle at the rising point is provided, and the sprayer is capable of spraying a chemical solution. When moving to the point of the starting position of the furrow, when a detection sensor such as a magnetic sensor attached to the spreader detects a detection member previously arranged at the point, the bogie lifting device and the bogie turning device are controlled by the control device. shape with a spraying wheel is raised a certain height by a command from
It is configured so that it can be automatically turned to be parallel to the ridges where the chemical solution is sprayed and run freely between the ridges without entanglement of the liquid feed hose in a state, so that the chemical solution in the house can be sprayed. In this case, there is no need for the worker to enter the house and manually or manually move the spreader to the next ridge to change the spreader, every time the spreader is renewed. Therefore, the spraying of the chemical can be performed automatically, quickly and easily without the need for human power, and the worker enters the house filled with the chemical by spraying and changes the ridge of the spraying truck. Since it is not necessary to perform the process, the worker can be reliably protected from the adverse effects of the chemical solution.

Also, the present invention provides a method for controlling
Spreader raised at a certain height from the surface
The angle of the spreader is parallel to the direction of the furrow (about 90 °).
The bogie turning device to be turned is the vertical shaft of the bogie elevating device.
With the second electric cylinder
Is a structure that rotates the spreader
Before turning the spreader, lift the spreader with a trolley
Combined with the lifting, the spreader is easy with a small force
Can be turned around. Therefore, the bogie turning device
The unit can be downsized with a simple
Can be. As a result, the automatic turning device of the present invention
Effectively use the dead space at the bottom of the narrow truck
For easy operation without disturbing the operation of the spreader
It becomes possible. In addition, when the spreading wheel is turned,
The ram is automatically turned by the command from the control unit.
And the liquid supply hose automatically
Structured so that it can be unwound or wound up to a certain length
So that the sprayer turns the direction
Is entangled or pulled into the feed hose during turning.
And the sprayer itself falls down
In addition, the direction changing work of the spreader can be performed smoothly.
In addition, the feed hose generated during the turning of the sprayer is
I can definitely eliminate the situation of pulling and loosening
When the operation of the spreader is resumed after the direction change,
That hinders the operation of the spreader truck
Because there is no
Fast, good, and safe without inducing failure
It can be done conveniently.

Further, a truck lifting device provided on the truck of the spray truck
The pair of levers is connected to a pair of levers connected to the levers.
With the link so that it becomes a booster mechanism.
The vertical shaft connected to the link is driven by the electric cylinder
Move the spreader up and down with the lever
As a result, the bogie lifting device connects the lever and the link.
Since it only has to be manufactured using the principle of the booster mechanism,
Configurable and easily installed in narrow places on the bottom of the trolley
Can be. Moreover, the principle of the booster mechanism is applied.
Therefore, even if a low torque electric cylinder is used,
Can be quickly and safely moved up and down the spreader with a sprinkler.

In addition, according to the present invention, a detecting member, which is detected by a detecting sensor provided on the spreader, is provided at the turning position of the spreader,
As it is only necessary to place it at a predetermined position on the ground surface in the house, as in the conventional case, the spreader is stopped by driving a pile etc. at each turning position, and moving as in the case of moving the spreader manually Since the piles and the like do not become in the way at all, unmanned running and turning of the spraying truck can be performed easily and reliably, thereby enabling complete unmanned spraying of chemicals in the house, The spraying operation of the chemical solution can be performed quickly, easily, and safely.

[Brief description of the drawings]

FIG. 1 is a side view showing a schematic structure of a self-propelled medicine sprayer equipped with an automatic direction changing device of the present invention, with a part thereof being cut away.

FIG. 2 is a side view showing a schematic structure of a self-propelled medicine sprayer.

FIG. 3 is a bottom view of the self-propelled medicine sprayer.

FIG. 4 is an explanatory diagram showing a state where the self-propelled medicine sprayer is turned by driving the automatic direction change device of the present invention.

FIG. 5 is an explanatory diagram showing an operation state of the automatic direction change device of the present invention.

FIG. 6 is an enlarged cross-sectional view showing a main part of the automatic direction changing device in a longitudinal section.

FIG. 7 is an enlarged plan view showing a main part of the same.

FIG. 8 is a longitudinal sectional view of a main part of the electric cylinder.

FIG. 9 is an electric circuit diagram schematically showing a control device.

FIG. 10 is an enlarged plan view showing an operation unit of the control device.

FIG. 11 is a timing chart for explaining an operation state of the control device.

FIG. 12 is a perspective view showing a self-propelled liquid medicine dispenser equipped with the automatic direction change device of the present invention.

FIG. 13 is an explanatory diagram for schematically explaining a use state of the self-propelled medicine sprayer.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Self-propelled chemical sprayer 2 Cart 4 Driving motor 20 Automatic turning device 21 Cart elevating device 22 Cart turning device 24 First electric cylinder 29 Lever rod 29a Lever rod 30 Link 30a Link 32 Elevating shaft 33 Elevating shaft 34 Fitting cylinder 37 Elevating base 43 Second electric cylinder 56 Control device

Continuation of the front page (56) References JP-A-3-276870 (JP, A) JP-A-3-174267 (JP, A) JP-A-61-244673 (JP, A)

Claims (2)

(57) [Claims] 1. A vertically movable and rotatably mounted lower part of a bogie having a winding drum for rewinding and winding a liquid supply hose in coordination with advance and retreat of a chemical sprayer. A bogie elevating device in which the elevating shaft is connected so as to be able to move up and down by a first electric cylinder; and the elevating shaft is connected by a second electric cylinder via a lever so as to be rotatable at a fixed angle. The constructed bogie turning device, the bogie elevating device and the bogie turning device
Automatic directional turning device with a control device that drives and controls
And further performs rewinding and winding of the liquid sending hose.
When the bogie turning device is driven, the winding drum is moved to the control device.
Drive control is performed according to the position command, and the liquid feed hose is
An automatic direction changing device for a self-propelled chemical sprayer, wherein the device is configured to rewind and rewind . 2. The cart lifting device is arranged in an X-shape.
A pair of base ends pivotally co-movable with the first electric cylinder
The lever is connected to the lever, and the connecting point at the tip is raised and lowered.
And the other end is pivotally connected to the tip of the lever.
The bogie turning device.
Is mounted on the bogie by inserting the lifting shaft so that it can be moved up and down and rotated.
A fitting that is rotatably and non-movably fitted to the lifting seat
The combined cylinder and the fitting cylinder are reciprocated by the second electric cylinder.
The second through a lever body which converts the movement into a rotational movement.
Claims characterized in that it is connected to an electric cylinder.
Item 6. An automatic direction changing device for a self-propelled drug solution spraying vehicle according to Item 1.