JP4967955B2 - Work cart - Google Patents

Description

  The present invention relates to a work cart that is equipped with wheels for left and right movement mainly on a work cart that travels on rails and that can move across a plurality of rails laid in a greenhouse, for example.

Conventionally, this type of work cart is disclosed in, for example, Japanese Patent Application Laid-Open No. 11-90286, which was filed on September 25, 1997 by the same person as the present patent applicant and published on April 6, 1999. As disclosed in the official gazette, it is a moving vehicle that operates while traveling on rails laid in a greenhouse (the same applies to “dispersion vehicles”). The moving vehicle described in the publication is provided exclusively for lateral movement when it completes one step of work while traveling on a set of rails and then moves to another rail laid next to it. A technique is disclosed in which a horizontal movement operation is performed in which a vehicle is placed on a trolley, moved horizontally on a concrete passage, and placed on another adjacent rail.
JP-A-11-90286

  A conventional work cart (corresponding to “dispersing vehicle 3” in Patent Document 1) passes through a plurality of rails 2 provided in the front-rear direction, for example, in Patent Document 1 related to the application of the present applicant presented in the previous section. The spreader 3 includes a carriage 6 that travels in the left-right direction at the end of the rail 2, and the spreader 3 is configured to be placed on the carriage 6 from one rail 2 and transferred to another rail 2. ing.

  Therefore, as will be understood from the above publication, the conventional work cart must be transferred to the cart 6 that travels in the left-right direction waiting at the end of the rail 2 when moving from one rail 2 to another rail 2. There was a problem that required work and effort because it was necessary to move to another rail and transfer it.

  In addition, in the conventional publicly known technology, it is a matter of course that the cart 6 that is pushed and pulled to move in the left-right direction is necessary. However, it is necessary to provide a concrete passage 5 through which the cart 6 passes in front of each rail, which is costly. There was a problem that would be expensive. (The names and symbols described in this section are the names and symbols described in Patent Document 1.)

  In order to solve the above-mentioned problems, the present invention is characterized in that the invention described in claim 1 is a work cart (1) that is capable of working at a high place on the work table (1a). Includes a pair of left and right front wheels (4) and a rear wheel (5) that can run on the rail (3), and is provided between the front wheels (4) and the rear wheels (5), Left and right moving wheels (6a), (6b), (6c), and (6d) that move the vehicle body (2) in the left and right direction are arranged at the left and right intermediate positions, and the left and right moving wheels (6a), (6b), and (6c) are provided. (6d) is a low position where the pair of left and right front wheels (4) and rear wheels (5) pivoted at a fixed vertical position of the vehicle body (2) can be grounded and traveled downward from above. The rail detector (7) for detecting the rail (3) is provided with a space between the detector (7a) in the raised position. The left and right moving wheels (6a), (6b), (6c) and (6d) are positioned lower than the lower ends of the front wheels (4) and the rear wheels (5), and the left and right moving wheels (6a) ( 6b) A work cart configured to be arranged on either one of the front wheels (4) on the front side from the front wheels (4) or the rear wheels (5) on the rear side, When the carriage (1) moves from the rail (3) to the other rail (3), the carriage (1) can be moved freely by the left and right moving wheels (6a) (6b) (6c) (6d). There is no need to put it on or move it down. Therefore, the present invention can greatly reduce the manufacturing cost and the labor and labor of work, and solves the conventional problems.

  According to the first aspect of the present invention, when the work carriage (1) is moved from the rail (3) to the other rail (3), it is not necessary to transfer to the carriage that moves in the left-right direction as in the prior art. (1) Manufactured together with the feature that it can move sideways using the left and right moving wheels (6a), (6b), (6c), and (6d) equipped on itself and move onto another rail (3) It has the feature that it can reduce the cost and labor and labor on the work (work to move to another rail).

  And this invention makes the detection part (7a) of a rail detector (7) in the position lower than the said right-and-left movement wheel (6a) (6b) (6c) (6d) in a raise position, and said front wheel (4). (4) and the rear wheels (5) (5) arranged at a position higher than the lower end of the left and right wheels (6a) (6b) (6c) between the front wheels (4) on the front side or Alternatively, since the rear wheel (5) is arranged on either side of the rear wheel (5), the rail (3) can be easily detected when the work carriage (1) is moved laterally, and the detection is also performed. There is a feature with high accuracy. Furthermore, the present invention is characterized in that the detection unit (7a) does not have a risk of being damaged by colliding with the ground or the rail.

Embodiments of the present invention will be specifically described below with reference to the drawings.
First, as shown in the drawing, the work cart 1 has a pair of left and right front wheels 4 and 4 and rear wheels 5 and 5 that can run on rails 3 laid in the greenhouse house at the lower part of the vehicle body 2. It is constructed with a shaft. In the case of the embodiment, the front wheels 4 and 4 and the rear wheels 5 and 5 are configured to be able to travel on the ground. As an example, as shown in FIGS. 10 and 11, the work cart 1 is provided with an operation box 10 at the front portion of the vehicle body 2, and the work table 1 a on which the operator gets on the work vehicle 1 is mounted on the vehicle body 2. On the other hand, it can be moved up and down via a lifting link mechanism 11. The raising / lowering of the work table 1a can be stopped by raising / lowering to an arbitrary height position by forward / reverse driving by switching operation of the raising / lowering switch 13 of the raising / lowering electric motor 12.

The work table 1a is provided with upper and lower limit switches so that overshooting can be prevented.
And in the case of an Example, the said front wheels 4 and 4 and the rear wheels 5 and 5 are set as the structure which drive | works along the hot water piping 14 and 14 currently laid in the greenhouse house as the rails 3 and 3 on it. However, it is not limited to the hot water pipes 14, 14, and other water supply (liquid) pipes or dedicated rails may be laid. The vehicle body 2 is configured to travel by driving the left and right rear wheels 5 and 5 via the rear wheel axle 16 by driving the traveling electric motor 15.

  Next, the left and right moving wheels 6a, 6b, 6c, 6d are intermediate portions before and after the front wheels 4, 4 and the rear wheels 5, 5 in the lower part (lower side) of the vehicle body 2, as shown in the drawings. Moreover, as shown in the bottom view of FIG. 6, the vehicle body 2 can be laterally moved in the left-right direction by being arranged at four locations at the left and right intermediate positions. In this case, the left and right moving wheels 6a, 6b, 6c, and 6d are configured to be integrally pivoted in a state where the four wheels are framed as shown in FIGS. The upper storage position connected to the cylinder 19 (see FIGS. 1 and 7), the position of grounding at the same height as the front wheels 4 and 4 and the rear wheels 5 and 5 (see FIG. 8), and the front wheels 4 and 4 4 and the rear wheels 5 and 5 are lowered to a height position (see FIG. 9) where the vehicle can be grounded and traveled.

  Then, as shown in FIG. 8, the left and right moving wheels 6a, 6b, 6c and 6d are all grounded at the position where they are lowered to the same height as the front wheels 4 and 4 and the rear wheels 5 and 5, respectively. The work carriage 1 cannot be moved back and forth or left and right, and the function as a parking brake can be exhibited without a parking brake as a separate device.

  Then, the left and right moving wheels 6a, 6b, 6c, 6d are lowered to a position lower than the front wheels 4, 4, and the rear wheels 5, 5, as shown in FIG. 9, and the work cart 1 is pushed from the side, When pulled, the vehicle can move in the left-right direction, and can move from one rail 3 to another rail 3.

  Next, as shown in FIGS. 4 and 5, the rail detector 7 has a roller-shaped detection unit 7 a mounted on the tip of the sensor arm 20 that pivots on the base and pivots up and down. The detection rod 21 provided so as to be vertically movable and integrally connected to the base portion of the sensor arm 20 is extended upward, and the detection tool 22 is fixed to the intermediate portion to detect the rail 3. Therefore, in the rail detector 7, the roller-shaped detector 7a is usually suspended from the base of the sensor arm 20 as a fulcrum, and the detector 22 is pressed against the detector 7 together with the detector rod 21. When 7a detects the rail 3 on the lower side and comes into contact, the distal end side of the sensor arm 20 is pushed up with the base portion as a fulcrum, and the detector 22 moves away from the detector 7 and is in a non-contact state. It becomes the composition which becomes.

  In the case of the embodiment shown in FIGS. 1 and 2, the rail detector 7 configured as described above has the left and right moving wheels 6a, 6b, 6c, 6d, located at a position higher than the lower ends of the front wheels 4, 4, and further between the front wheels 4 on one side of the left and right moving wheels 6a, 6b, 6c, 6d. The arrangement is arranged.

  The rail detector 7 is configured such that the detection unit 7a is always disposed at or near the height of the rail 3, and the lower side of the roller-shaped detection unit 7a comes into contact with the rail 3, and the rail 3 is pushed up by the rail 3 while being pushed up. It can be detected. In this way, the rail detector 7 is configured to be able to notify the operator with a buzzer in the case of the embodiment when the rail 3 is detected.

  As described above, according to the embodiment, when the work carriage 1 is moved from the rail 3 to another rail 3, it is not necessary to change the work carriage 1 to a carriage dedicated to lateral movement that proceeds in the left-right direction. The left and right moving wheels 6a, 6b, 6c, and 6d provided on itself can be used to move to the other rail 3 by moving sideways. According to the embodiment, as compared with the prior art, there are advantages that the manufacturing cost can be reduced and the labor and labor on the operation (operation to move to another rail) can be greatly reduced.

  In this embodiment, the detection unit 7a of the rail detector 7 is arranged at the height position of the rail 3, so that the rail 3 can be easily detected when the work carriage 1 is laterally moved. Together with the feature of high detection accuracy, there is no possibility that the detection unit 7a collides with the ground or the rail 3 and is damaged.

  In the embodiment, the left and right moving wheels 6a, 6b, 6c, and 6d are configured such that an operator pushes and pulls the work carriage 1 to move laterally, but this can be connected to an electric motor for automatic traveling. The configuration can be freely set, and the control configuration can be made relatively simple by configuring it in association with the rail detector 7 and automatically stopping the lateral movement when the rail 3 is detected.

  Next, an embodiment relating to a control robot that sprays control chemicals (including chemicals and pesticides for controlling pests and pests) while traveling on laid rails 3 and 3 in a greenhouse house or outdoors will be described.

  In general, when cultivating crops, even in the same greenhouse, there are often differences between areas with a high incidence of pests and relatively low areas, and a large amount of areas with a high incidence of pests. If it is the structure which can spread | disperse the chemical | medical agent, control work can be performed effectively.

  Therefore, in the embodiment, marks M1 (large spray start position) and M2 (position to return to the normal spray amount) are provided on the rails 3 and 3 on which the control robot travels, and when the control robot detects this, the section Only the traveling speed is automatically decelerated and the vehicle travels at a lower speed than other sections. Therefore, when the spraying operation of the chemical solution is performed by setting the spraying amount per unit time to be the same, the controlling robot increases the spraying amount per unit area between the marks M1 and M2. I can do it.

  Next, as shown in FIG. 13, the embodiment is configured by attaching a memory 26 such as a ruler (for example, a mark is attached every 10 cm on the string) to the attracting string 25 used for hydroponics. . In this way, the attracting string 25 has a feature that when the memory 26 is attached, it can be used in place of a ruler, and the growth degree of the crop can be known at a glance.

Next, examples of the near-infrared spectrum measuring apparatus (NIR measuring apparatus) will be described.
First, as shown in FIG. 14, the NIR measurement apparatus has a light source 30 that generates light including near infrared rays that is easily absorbed by a substance, and optical interference that irradiates light from the light source 30 and receives diffusely reflected light. Type probe 31, a spectroscopic analyzer 32 that spectroscopically analyzes diffuse reflected light received by the optical interference type probe 31 and measures a near-infrared spectrum, and an output terminal (a personal computer) that outputs a result analyzed by the spectroscopic analyzer 32 33).

  In the embodiment, the changeover switch 34 is connected to the near-infrared spectrum measuring device (NIR measuring device), and the wavelength of light emitted from the light source 30 is, for example, as shown in FIG. The wavelength can be set and switched according to each product type.

  In this way, in the embodiment, the wavelength of light emitted from the light source 30 is set for each vegetable and variety, and the wavelength that is effective for the vegetable (fruit) can be set by changing the changeover switch 34. It became possible to obtain and measure.

  As shown in FIGS. 16 and 17, the optical interference type probe 31 has a configuration in which a probe cover 36 is attached with an extendable spring 35 interposed therebetween. With this configuration, the optical interference type probe 31 can be easily measured and improved because the probe cover 36 can automatically contact and cover the sample by the tension of the spring simply by pressing against the tomato sample. There is.

As shown in FIG. 18, the probe cover 36 is configured such that a thin acrylic material 37 is wound in a spiral shape so that the inner diameter can be expanded and contracted.
With this configuration, as shown in FIG. 19, the probe cover 36 according to the embodiment can be expanded and contracted in accordance with the size of the sample. Therefore, the measurement can be easily performed without being affected by the size of the sample. There is a feature that accuracy improves.

  Next, as shown in FIG. 20, the automatic cleaning device 40 for the optical interference probe 31 is equipped with a rotating cleaning brush 42 at the bottom of a cleaning hole 41 into which the probe 31 is inserted from above, and an electric motor 43. It is configured to drive. In the case of the embodiment, the cleaning brush 42 uses a soft sponge material, and the electric motor 43 that inserts the probe 31 into the cleaning hole 41 from the upper side is automatically started to be driven and cleaned. .

  Next, as shown in FIGS. 21A and 21B, the near-infrared spectrum measuring apparatus (NIR measuring apparatus) of the example calculates the predicted sugar content (when fully matured) and the actual (current) sugar content in the growth process. It is possible to measure. This type of conventional apparatus is configured to be able to predict sugar content at maturity as disclosed in JP 2006-238849 A, but cannot measure the current sugar content at the same time. It is.

  As shown in FIGS. 21A and 21B, the embodiment is a wonderful invention that can calculate and calculate both the predicted sugar content and the actual sugar content at the time of maturity in the production process based on a calculation formula.

Side view of work cart Bottom view of work cart Rear view of work cart Side view of rail detector Top view of rail detector Bottom view of work cart Side view of work cart Side view of the main part Side view of working cart Rear view of working cart of example Side view of working cart of the embodiment Top view of marked rail The top view of the attraction string concerning an example Slope view showing the outline of the near-infrared spectrum measuring device Example of wavelength band of light Front view of the probe and its cover Side sectional view of the probe and its cover Probe cover slope view Working side cross-sectional view of the probe cover Side sectional view of the automatic probe cleaning device (A) shows the graph and calculation formula regarding sugar content prediction.

            (B) shows the graph and calculation formula regarding the sugar content at the time of measurement.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Work trolley 1a Work pedestal 2 Car body 3 Rail 4, 4 Front wheel 5, 5 Rear wheel 6a, 6b, 6c, 6d Left-right movement wheel 7 Rail detector 7a Detection part.

Claims (1)

  In a work cart (1) that allows a user to work at a high place on the work table (1a), a pair of left and right front wheels (4) and a rear wheel that can travel on a rail (3) are provided at the bottom of the vehicle body (2). (5) is provided as a shaft, and a left and right moving wheel (6a) for moving the vehicle body (2) in the left-right direction between the front wheel (4) and the rear wheel (5) and at a middle position on the left and right. ) (6b), (6c) and (6d) are disposed and the left and right moving wheels (6a), (6b), (6c) and (6d) A rail detector that detects the rail (3) by providing the front wheel (4) and the rear wheel (5) so as to be able to move up and down between lower positions where grounding and traveling can be performed downward from the upper position. (7) has the detection part (7a) at a position lower than the left and right moving wheels (6a) (6b) (6c) (6d) in the ascending position. Arranged at a position higher than the lower ends of the front wheels (4) and the rear wheels (5), and between the left and right moving wheels (6a) (6b) (6c) (6d) and the front wheels (4), or A work cart arranged on either side between the rear wheel and the rear wheel (5).

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