JP5790988B2 - Self-propelled control machine - Google Patents

Description

  The present invention relates to a control machine that sprays a chemical while self-propelled by remote operation.

  In the cultivation of agricultural crops, fruit trees, and florets, chemical solutions such as agricultural chemicals are regularly sprayed on crops in the field or garden with a power sprayer or the like in order to avoid pests and diseases. However, such control work is often performed in extreme heat such as in the summer, and it is not only a heavy hard work, but also the worker may inhale the sprayed mist-like chemicals and cause health hazards. Improvement was screamed.

  As examples of the control machine for performing the control work, those disclosed in Japanese Patent Application Laid-Open No. 7-203826 (Patent Document 1) and Japanese Patent Application Laid-Open No. 8-70748 (Patent Document 2) are known.

JP-A-7-203826 JP-A-8-70748

  However, in any of the control machines, the operator has to operate and ride the handle or the like to travel and spray, and the working environment during the control work is never good, and it cannot be relieved.

  The present invention has been made in view of the above circumstances, and it is an object of the present invention to provide a self-propelled control machine that can improve a worker's working environment and can perform control work safely and efficiently.

In order to solve the above-mentioned problems, a self-propelled control machine according to the present invention includes a portal-shaped main body frame, a traveling unit including front and rear wheels on the left and right sides, and a drive unit that rotationally drives the front or rear wheels. A spray unit for spraying a chemical solution, a control unit for controlling the drive unit and the spray unit, a remote controller for wirelessly transmitting a control signal to the control unit, and turning for turning left and right front wheels and rear wheels in the same direction have a mechanism,
The turning mechanism is wound between a motor for turning one of rotation shafts supporting the left and right front wheels and the rear wheel in one direction, a gear attached to each rotation shaft, and a gear of each rotation shaft. And when the motor is driven to rotate one rotation shaft in one direction, the remaining rotation shaft is configured to rotate in the same direction via the gears and the chain. It is characterized by.

The self-propelled pest control machine according to the present invention has a right and left fixed boom provided with a plurality of nozzles and a left and right telescopic boom disposed on the outer side of the fixed boom, the spray unit having a plurality of nozzles, A second feature is that a plurality of nozzles are mounted on the fixed boom and the telescopic boom.

Self-propelled control apparatus according to the present invention, the telescopic boom to a support member for slidably supported by the body frame, wherein that the telescopic boom is a plurality of positioning holes relative to the support member are provided third It is characterized by.

In the self-propelled control machine according to the present invention, the remote controller controls the forward / backward and / or traversal of the traveling unit, the operation lever for performing the respective operations of turning the left and right front wheels and the rear wheels, A fourth feature is that an operation switch for performing each of the stop and stop operations is provided.

  As described above, according to the self-propelled control device according to the present invention, by remote control from a remote controller that transmits a radio signal, chemical spraying is performed while the control device is traveling in a farm or garden, and the There exists an effect that control work can be performed efficiently.

  In addition, according to the self-propelled control machine of the present invention, the control machine can be moved laterally without moving the entire control machine from the heel end to make a large U-turn, and the next control work can be performed. Even in a narrow field or garden, there is an effect that the control work can be performed efficiently.

  Furthermore, the operator does not need to enter the control work range, and the control work can be performed safely and the work environment can be improved.

Front view of a self-propelled control machine according to the present invention, Side view of the control machine, Plan view of the control machine, The figure which shows the remote controller which operates the control machine wirelessly, The figure which shows a mode that the control machine is advanced and the control work in the field is performed, The figure which shows a mode that the said control machine is traversed in a farm field, It is a figure which shows a mode that the control machine is made to retreat and the control work in the field is performed.

  The best mode for carrying out the present invention will be described below with reference to the drawings. 1 to 7 show an embodiment of the present invention. In these drawings, reference numeral 100 denotes a self-propelled control machine.

  A self-propelled control machine (hereinafter referred to as “control machine”) 100 is a machine for spraying a chemical solution to a crop K (agricultural crops, horticultural crops, fruit trees, flower buds, etc.) planted in a basket A of a field H. FIG. As shown in FIG. 3, the main body frame 110, the traveling unit 120, the driving unit 130, the spraying unit 140, and the control unit 150 are mainly configured to be wirelessly operated by the remote controller 160 shown in FIG. 4. It has become.

  The main body frame 110 has a gate shape having a vertical frame 111 at four corners and a horizontal frame 112 laid between the upper ends of the vertical frame 111 so as to straddle the fence A, and between the front and rear vertical frames 111, 111. An intermediate frame 113 is fixed to the left and right, and an intermediate frame 114 is fixed between the front and rear horizontal frames 112, 112.

  The traveling unit 120 is provided below the main body frame 110 and travels between the ridges A of the field H. The traveling unit 120 is rotatably supported by the front left and right vertical frames 111 and 111 via the upper and lower brackets 111A. The moving shafts 121, 121, the left and right front wheels 124, 124 that are rotatably supported by the rotating shafts 121 via the suspension mechanism 122, and the rear left and right vertical frames 111, 111 pass vertically. Rotating shafts 125 and 125 that are rotatably supported, and right and left rear wheels 128 and 128 on which a rotating shaft 127 is rotatably supported via a support mechanism 126 immediately below each rotating shaft 125. .

  Each support mechanism 126 includes a support plate 126A fixed to the lower end of the rotating shaft 125, a vertical support member 126B fixed to the lower surface of the support plate 126A, and an oblique reinforcing material 126C, and the vertical support member 126B. A rotating shaft 127 is rotatably supported between a pair of bearings 126D that are fixed to each other. Further, the front wheel 124 and the rear wheel 128 are both a plurality of wheels in the illustrated example, but may be a single wheel.

  The drive unit 130 rotates the left and right rear wheels 128 and rotates the left and right front wheels 124 and the left and right rear wheels 128 about the rotation shaft 121 and the rotation shaft 125, respectively. The first motor 131 mounted on each support plate 126A and the second motor 132 mounted on the left and right intermediate frames 113 are provided.

  The first motor 131 is powered by a battery (power source) 133 suspended from each intermediate frame 113 via a support member 113A. The first motor 131 has a chain 134A from the output shaft 131A, an intermediate gear 134B pivotally supported by the support member 126A, a chain The rotational driving force is transmitted to each rear wheel 128 via a gear 134D connected to the rotating shaft 127.

  Similarly, the second motor 132 is powered by the battery 133 and turns the left and right front wheels 124 and the left and right rear wheels 128 around the turning shaft 121 and the turning shaft 125 through a turning mechanism 135 by a predetermined angle. ing.

  The turning mechanism 135 is changed from the output shaft 132A of the second motor 132 to the chain 135A, intermediate gears 135C and 135D of the rotating shaft 135B supported between the upper and lower intermediate frames 113 and 113, the chain 135E, and the rotating shaft 125. The rotation shaft 125 is turned by a predetermined angle via the connected gear 135F.

  The turning mechanism 135 is connected to gears 135G and 135G connected to the upper ends of the left and right rotating shafts 125 and 125 on the rear wheel side and to the upper ends of the left and right rotating shafts 121 and 121 on the front wheel side. A chain 135H is wound between the gears 135G and 135G, and the turning driving force of the second motor 132 is simultaneously transmitted to the rotating shaft 121 on the front wheel side via the chain 135H and the respective gears 135G. The left and right rear wheels 128 and the left and right front wheels 124 can be turned in the same direction by a predetermined angle (for example, 90 degrees).

  Reference numeral 136 denotes a cover that covers the first motor 131.

  The spraying unit 140 sprays (spreads) the chemicals on the crops planted in the basket A of the field H while the traveling unit 120 runs freely between the baskets A of the field H, and the horizontal frame 112 on the front wheel side. The left and right fixed booms 141 and 141 supported by hanging downward from the brackets 111A at both ends of the front and the upper ends of the horizontal frame 112 on the front wheel side are supported to be slidable left and right through support members 142A and 142A. Left and right telescopic booms 142 and 142 are provided.

  Each fixed boom 141 and each telescopic boom 142 are provided with a plurality of nozzles 143 for spraying a chemical solution at regular intervals in the vertical direction, and a chemical solution pumped through a chemical hose 144 indicated by a two-dot chain line is provided at each of the upper and lower nozzles. It is possible to spray the crops in the field H from 143. In the illustrated example, each nozzle 143 faces in the left-right direction with respect to the traveling direction, but may be adjusted to face either one.

  Each telescopic boom 142 can expand the spray width (spreading width) of the chemical solution, that is, the width of one control work by extending the long slide portion 142B on the horizontal frame 112 to the left and right. A plurality of positioning holes 142C are provided near the inner end of the slide portion 142B of each telescopic boom 142, and any one of the positioning holes 142C is positioned in the positioning hole 142D of the support member 142A and fixed with a bolt or the like. The distance between the inner fixed boom 141 and the outer telescopic boom 142 can be adjusted according to the width of A.

  The control unit 150 drives and stops the first motor 131 and the second motor 132 by radio signals from the remote controller 160, and opens / closes the open / close plug of the chemical hose 144 (built in the open / close box 145). Reference numeral 151 denotes a main switch that drives the first motor 131 and the second motor 132.

  As shown in FIG. 4, the remote controller 160 includes an antenna unit 162 in the box body 161, and operation units 163 </ b> L and 163 </ b> R are provided on the left and right surfaces of the box body 161. Operation levers 164L and 164R for operating 120 forward, backward, traverse, and turn are provided.

  That is, when the main switch 151 of the control unit 150 is turned on, the remote controller 160 is held in both hands, and the operation levers 164L and 164R are tilted forward, the left and right first signals are transmitted by the operation signal wirelessly transmitted from the antenna unit 162 to the control unit 150. The one motor 131, 131 is driven, the left and right front wheels 124 and the left and right rear wheels 128 are driven in the forward rotation direction, and the traveling unit 120 moves forward. When the operation levers 164L and 164R are tilted rearward, the left and right first motors 131 and 131 are driven in reverse by the same operation signal, and the left and right front wheels 124 and the left and right rear wheels 128 are driven in the reverse direction. 120 is set to retreat.

  On the other hand, when the left operation lever 164L is tilted to the left, the second motors 132 and 132 are driven by the operation signal wirelessly transmitted from the antenna unit 162 to the control unit 150, and the four wheels are simultaneously rotated counterclockwise (counterclockwise). When the vehicle is turned to the right and tilted to the right, the second motors 132 and 132 are driven in the reverse direction by the same operation signal so that the four wheels simultaneously turn clockwise (clockwise).

  When the right operation lever 164R is tilted to the left, the driving of the first motors 131 and 131 is increased to increase the speed of the traveling unit 120. When the right operating lever 164R is tilted to the right, the driving of the first motors 131 and 131 is decelerated. Thus, the speed of the traveling unit 120 is reduced. At this time, if it is desired to increase or decrease the speed when moving forward or backward, the right operating lever 164R can be tilted to either the left or right while the left and right operating levers 164L and 164R are held in the forward tilted position or the backward tilted position. Good.

  Further, the remote controller 160 is provided with an operation switch 165 for spraying a chemical solution. When the operation switch 165 is tilted, an open / close plug in the open / close plug box 145 is opened and pumped by an operation signal from the antenna unit 162. When the operated chemical solution is sprayed from the nozzle 143 and the operation switch 165 is returned, the opening / closing plug is closed and spraying from the nozzle 143 is stopped.

  Next, a method for controlling the crop K on the straw A in the field H using the control machine 100 configured as described above will be described below.

  First, the left and right telescopic booms 142 and 142 are extended in accordance with the width W of the basket A of the field H. The extension width of each telescopic boom 142 is adjusted by aligning one of the positioning holes 142C of each slide portion 142B with the positioning hole 142D.

  Next, the left and right front wheels 124 and rear wheels 128 of the control machine 100 are positioned in the work paths B and B between the ridges A at one heel end of the field H by remote operation of the remote controller 160. The left and right operation levers 164L and 164R of the remote controller 160 are tilted forward to drive the first motors 131 and 131 in the normal direction, and at the same time, the operation switch 165 is tilted to open the open / close plugs in the open / close plug box 145. .

  As a result, as shown in FIG. 5, the control device 100 moves forward from one heel end to the other heel end, and at the same time, the nozzles 143 of the inner fixed booms 141 and 141 are applied to the crop on the heel A. On the other hand, the chemicals are sprayed simultaneously from the nozzles 143 of the inner fixed boom 141 and the outer telescopic boom 142 to the crops on the adjacent basket A. Thereby, the control work is simultaneously performed on the three rows of ridges A.

  Next, when the control machine 100 reaches the other heel end, as shown in FIG. 6 (A), the control machine 100 is moved horizontally to the heel ends of the adjacent three rows of heel A. First, the operation levers 164L and 164R and the operation switch 165 of the remote controller 160 are returned to stop the traveling of the control machine 100, and the open / close plug of the chemical liquid hose 144 is closed.

  Next, the operation lever 164L of the remote controller 160 is tilted to the left for a certain time, and the second motors 132 and 132 are driven to simultaneously turn the left and right front wheels 124 and the left and right rear wheels 128 counterclockwise (counterclockwise) 90. Swivel degrees. Then, the operation lever 164L is returned to its original position, and the operation levers 164L and 164R are tilted forward, so that the first motors 131 and 131 are driven again to move the control device 100 to the left as shown in FIG. Move sideways in the direction.

  Next, when the control device 100 reaches the end of three adjacent rows of kites A, the operation levers 164L and 164R of the remote controller 160 are returned to stop the control device 100 from traveling. Then, the operation lever 164L is again tilted to the left for a certain period of time, and the second motors 132 and 132 are driven to rotate the left and right front wheels 124 and the left and right rear wheels 128 all at once (as shown in FIG. 6B). Turn 90 degrees counterclockwise.

  Next, the left and right operation levers 164L and 164R of the remote controller 160 are tilted backward to drive the first motors 131 and 131 in reverse, and at the same time, the operation switch 165 is tilted to open the open / close plugs in the open / close plug box 145. Plug.

  As a result, the control machine 100 retreats from the other heel end toward the one heel end, and at the same time, from the nozzles 143 of the inner fixed booms 141 and 141 to the crop on the hoe A and the inner fixed boom. 141 and the nozzles 143 of the outer telescopic boom 142 are sprayed simultaneously on the crops on the adjacent basket A.

  As described above, by remote control from the remote controller 160, the chemical solution is sprayed on a plurality of rows of straw crops while the control device 100 is self-propelled on the forward path and the return path, and the control work is continuously performed on the entire field H. .

  According to the control machine 100 of the present embodiment, the following effects can be obtained.

(1) The control operation can be performed safely and efficiently by remote operation from the remote controller 160. That is, the chemical solution can be simultaneously sprayed on a plurality of rows of fences by the outer boom and the inner boom that extend left and right while self-propelled between the baskets A of the field H. In addition, after reaching the heel end, the control device 100 can be moved transversely without moving the entire control device 100 to make a large U-turn, and the control work can be immediately started on the next plurality of rows of culverts. it can. That is, the control work can be efficiently performed even in a narrow field H by repeating forward, transverse, backward, and transverse.

(2) Since it is not necessary to swivel the entire control machine 100 and make a U-turn, it is sufficient if there is only a small space for traversing the control machine 100, and the planting area can be expanded by extending the length of the split basket. it can.

(3) Since the control work is performed by remote operation by the remote controller 160, the operator does not need to enter the control work range, the control work can be performed safely, and the work environment is improved. The environment of the conventional control work is extremely poor, and there is a risk of inhaling the sprayed chemical solution, which is difficult to say safe.

(4) When the entire control device 100 is swung from the saddle end to make a U-turn, the telescopic boom 142 extended to the left and right is obstructed during the swiveling, but it moves to the next working position in a traverse motion. There is no need to reduce the size, leading to improved work efficiency.

  In addition, in the control machine 100 of this embodiment, although it was set as the structure provided with the right and left fixed boom 141 and the right and left telescopic boom 142, the structure provided only with either one may be sufficient. Moreover, although it was set as the structure provided with the 1st motor 131 and the 2nd motor 132 on either side, the structure provided only with each one may be sufficient.

  Moreover, although chemical | medical solutions, such as an agrochemical, were used for the control work, you may make it spray water in order to remove a pest or to remove the sand and ash which adhered to the crop.

  Thus, according to the present invention, it is possible to realize a self-propelled control machine capable of performing a control work safely and efficiently.

  The self-propelled pest control machine according to the present invention can be used as a sprinkler in addition to a pest control work in a field or ground.

DESCRIPTION OF SYMBOLS 100 Control machine 110 Main body frame 111 Vertical frame 111A Bracket 112 Horizontal frame 113, 114 Intermediate frame 113A, 126A, 142A Support member 120 Traveling part 121, 125, 135B Rotating shaft 122 Suspension mechanism 123, 127 Rotating shaft 124 Front wheel 126 Support mechanism 126A Support plate 126B Vertical support member 126C Diagonal reinforcement 126D Bearing 128 Rear wheel 130 Drive unit 131 First motor 131A, 132A Output shaft 132 Second motor 133 Battery 134A, 134C, 135A, 135E, 135H Chain 134B, 135C, 135D Intermediate Gears 134D, 135F, 135G Gear 135 Turning mechanism 136 Cover 140 Spraying part 141 Fixed boom 142 Telescopic boom 142B Slurry 142C, 142D Positioning hole 143 Nozzle 144 Chemical hose 145 Opening and closing box 150 Control unit 151 Main switch 160 Remote controller 161 Box body 162 Antenna unit 163L, 163R Operation unit 164L, 164R Operation lever 165 Operation switch H Field A Ｂ B Work Passage K Crop W Width

Claims (4)

Controls the gate-shaped main body frame, a traveling unit having front and rear wheels on the left and right, a driving unit that rotationally drives the front wheel or the rear wheel, a spraying unit that sprays a chemical solution, and the driving unit and the spraying unit It possesses a control unit, and a remote controller for wirelessly transmitting the control signal to the control unit, the left and right front wheels and rear wheels turning mechanism for turning the same direction,
The turning mechanism is wound between a motor for turning one of rotation shafts supporting the left and right front wheels and the rear wheel in one direction, a gear attached to each rotation shaft, and a gear of each rotation shaft. And when the motor is driven to rotate one rotation shaft in one direction, the remaining rotation shaft is configured to rotate in the same direction via the gears and the chain. Self-propelled control machine characterized by The spray unit has left and right fixed booms having a plurality of nozzles, and a plurality of nozzles and left and right telescopic booms arranged outside the fixed boom, and the fixed booms and the telescopic booms have a plurality of nozzles. The self-propelled control machine according to claim 1, wherein The self-propelled control according to claim 2 , further comprising a support member that slidably supports the telescopic boom on a main body frame, wherein the telescopic boom is provided with a plurality of positioning holes for the support member. Machine. The remote controller includes an operation lever for performing forward / backward movement and / or traversing of the traveling unit, and turning of the left and right front wheels and rear wheels, and an operation switch for performing each operation of spraying and stopping the chemical in the spray unit. The self-propelled pest control machine according to any one of claims 1 to 3 , further comprising:

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