JP6765294B2 - Hydraulic robot - Google Patents

Description

The present invention relates to a hydraulic robot suitable for traveling on rough terrain.

Conventionally, four traveling wheels are supported on the main body via a link mechanism that has two joints and is configured to be able to bend and stretch, and the link mechanism is equipped with an electric motor, a reduction mechanism, etc., and the driving force of the electric motor. In some cases, the link mechanism was configured to be bendable and stretchable (see, for example, Patent Document 1).

Japanese Patent Application Laid-Open No. 9-142347

The wheel support structure in the above-mentioned conventional configuration makes it possible to maintain the main body in an appropriate posture while bending and stretching the link mechanism even if the traveling road surface is uneven. Therefore, it is conceivable to apply such a wheel support structure to an agricultural work vehicle traveling on a work site having an uneven traveling road surface. However, the wheel support structure in the above-mentioned conventional configuration has been difficult to adopt for agricultural work vehicles.

To add an explanation, in agricultural work vehicles, a large amount of fine dust such as dirt generated during running and floating dust generated from crops during harvesting work may be generated in the vicinity of the work vehicle, and rainwater. Moisture may adhere due to morning dew or the like. In the above conventional configuration, the link mechanism for supporting the traveling wheels is bent and stretched by the built-in electric motor. Therefore, when fine dust or moisture enters the inside of the link mechanism, the electric motor or deceleration There is a risk of malfunction in the mechanism, etc.

Therefore, in a work environment where there is a high possibility that fine dust, moisture, etc., enter, a robot capable of maintaining an appropriate posture of the main body even in a work place having many irregularities has been desired.

The characteristic configuration of the hydraulic robot according to the present invention is the elevating support that supports the main body, a plurality of hydraulically driven traveling devices located on the left and right sides of the main body, and each of the traveling devices so as to be able to move up and down separately. A mechanism, a freely rotatable auxiliary wheel provided at the lower part of the main body separately from the traveling device, a plurality of hydraulically driven drive mechanisms capable of changing the postures of a plurality of elevating support mechanisms, and the above. A hydraulic supply source that sends hydraulic oil toward the traveling device and the drive mechanism, and a valve mechanism that controls the hydraulic oil supplied from the hydraulic supply source to the drive mechanism are provided, and the elevating support mechanism is a refraction link mechanism. In the refraction link mechanism, one end is swingably supported by the main body around the horizontal axis core, and one end swings around the horizontal axis core at the other end of the first link. The point is that it is provided with a second link that is movably supported and the traveling device is supported at the other end .

According to the present invention, the height (relative height) of each of the plurality of traveling devices with respect to the main body can be changed.

For example, if the ground corresponding to one of the installation locations of the plurality of traveling devices is low and the ground corresponding to the other installation locations is high, the relative height of the traveling device is high at the location where the ground is low. By lowering the height and raising the relative height of the traveling device in other places, the main body can be maintained in an appropriate posture while the plurality of traveling devices are in contact with the ground. As a result, even when traveling on uneven ground, it is possible to travel in a state where the main body is maintained in an appropriate posture while being stably grounded and supported by a plurality of traveling devices.

It is a hydraulic drive type drive mechanism including, for example, a hydraulic cylinder that changes the posture of the elevating support mechanism. Hydraulically driven drive mechanisms are generally waterproof and dustproof. Therefore, even if moisture or dust adheres to the surface of the drive mechanism, it can be prevented from entering the inside of the drive mechanism, so that there is little possibility that the drive mechanism will be adversely affected and malfunction will occur.

Therefore, in a work environment where fine dust, moisture, etc. are likely to enter the inside of the machine body, it is possible to obtain a work vehicle capable of maintaining the main body in an appropriate posture even in a work place with many irregularities. Is now possible.
Further, by providing the training wheels that can rotate freely, the training wheels can be easily and manually moved without depending on the hydraulically driven traveling device.
According to the present invention, the refraction link allows the main body to be appropriately moved up and down, and the posture changing operation can be smoothly performed.

In the present invention, the traveling device is provided on the front, rear, left and right sides of the main body.
It is preferable that the training wheels are provided on the front, rear, left and right sides in the lower part of the main body.

In the present invention, it is preferable that each of the traveling devices can be stored at a position above the ground contact surface of each of the auxiliary wheels.
According to this configuration, all traveling devices can be retracted upward and easily manually moved.

In the present invention, the drive mechanism has a first hydraulic cylinder capable of changing the swinging posture of the first link with respect to the main body and a second hydraulic cylinder capable of changing the swinging posture of the second link with respect to the first link. It is preferable to have a hydraulic cylinder.
Since the two links that are pivotally connected are configured to change the swinging posture separately by two hydraulic cylinders, the posture changing operation can be smoothly performed.

In the present invention, it is preferable that the support shaft of the first link is provided on the upper part of the frame body of the main body.

In the present invention, it is preferable that the hydraulic supply source includes a hydraulic pump and a power device for driving the hydraulic pump.
With this configuration, the hydraulic supply source can be suitably configured.

In the present invention, it is preferable that each of the traveling devices is provided with a hydraulic motor for driving the traveling device.

According to this configuration, the plurality of traveling devices are individually driven by hydraulic motors. Hydraulic motors are generally waterproof and dustproof. Therefore, even if moisture or dust adheres to the surface of the hydraulic motor, it can be prevented from entering the inside of the hydraulic motor, so that there is little possibility that the hydraulic motor will be adversely affected and malfunction will occur.

Instead of the hydraulic motor, for example, a configuration in which a traveling device is driven by using a mechanical transmission mechanism such as a transmission chain can be considered, but in this configuration, between a drive source such as an engine provided in the main body and the traveling device. In the above, it is necessary to provide a transmission mechanism capable of transmitting while allowing the refraction operation of the refraction link mechanism along the refraction link mechanism, which complicates the structure. On the other hand, in this configuration, the structure is simpler than that of such a mechanical transmission structure.

In the present invention, the main body includes a support base extending upward from the base so as to straddle the hydraulic supply source, and a control device for controlling the operation of the valve mechanism, and the control device is the support base. It is preferable that the valve mechanism is supported on the upper part and the valve mechanism is supported on the upper and lower intermediate portions of the support base.

According to this configuration, the control device is provided at a high position above the support base. Therefore, for example, when harvesting crops using this work vehicle, it is generated from the moisture adhering to the crops and the crops. There is less risk that fine dust and the like will fall on the control device and have an adverse effect.

On the other hand, since the valve mechanism is supported by the upper and lower intermediate parts of the support base, the hydraulic piping and the valve mechanism from the hydraulic oil supply device to the valve mechanism are made while keeping the control wiring between the control device and the valve mechanism as short as possible. The hydraulic piping from to the drive mechanism can be shortened.

It is a side view of a work vehicle. It is a top view of a work vehicle. It is a front view of a work vehicle. It is a side view of the work vehicle with the traveling device lowered. It is a front view of the work vehicle with the traveling device lowered. It is a front view of the work vehicle in a state of traveling along a step.

Hereinafter, embodiments of the hydraulic robot according to the present invention will be described with reference to the drawings.

The right side in FIGS. 1 and 2 is the front side of the body of the hydraulic robot, and the left side is the rear side of the body. As shown in FIGS. 1 to 3, the work vehicle, which is an example of the hydraulic robot of the present invention, includes a substantially rectangular frame-shaped main body 1 that supports the entire vehicle, and a plurality of work vehicles located on the left and right sides of the main body 1, respectively. (Specifically, four) traveling devices 2, a plurality of refraction link mechanisms 3 (an example of an elevating support mechanism) that support each traveling device 2 on the main body 1 so as to be vertically movable, and a plurality of refraction link mechanisms 3. It is provided with a plurality of hydraulically driven drive mechanisms 4 capable of changing and operating their respective postures, and a hydraulic oil supply device 5 for supplying hydraulic oil to the drive mechanism 4.

The main body 1 includes a plate-shaped base 6 that supports the entire vehicle and the bottom of the main body 1, and a plurality of frame bodies 7 that extend upward from a plurality of appropriately dispersed points along the peripheral edge portion of the base 6. And have. The frame body 7 is formed in a state of extending upward from a portion corresponding to each of the plurality of traveling devices 2. The upper parts of the plurality of frame bodies 7 are connected to each other by the upper connecting body 8. The upper connecting body 8 is formed in a ring shape extending along the outer peripheral portion of the base 6. In this way, the upper and lower sides of the plurality of frame bodies 7 are integrally connected to each other to form a strong frame-shaped body. Therefore, the main body 1 is provided in a substantially box shape in which the bottom portion is formed by the plate-shaped base 6 and the frame-shaped body is formed by the plurality of frame bodies 7 and the upper portion is open.

The hydraulic oil supply device 5 includes a hydraulic supply source 9 that sends hydraulic oil toward the drive mechanism 4, and a valve mechanism 10 that controls the hydraulic oil supplied from the hydraulic oil supply source 9 to the drive mechanism 4. To add a description, although not described in detail, the hydraulic supply source 9 includes an engine 11 (an example of a power unit of the present invention) and a hydraulic pump 12 driven by the engine 11, and they are integrally connected to each other. ing. The hydraulic pump 12 driven by the engine 11 sends and supplies hydraulic oil to the drive mechanism 4 via the valve mechanism 10. The valve mechanism 10 includes a plurality of hydraulic control valves 13 that supply and discharge hydraulic oil to the drive mechanism 4, adjust the flow rate, and the like.

The hydraulic oil supply device 5 is provided at an intermediate position in the front-rear direction of the main body 1.
The hydraulic supply source 9 constituting the main part of the hydraulic oil supply device 5 is mounted and supported on the base 6 in a state of being located at an intermediate position in the front-rear direction of the main body 1. As shown in FIG. 3, the engine support frame 15 is supported with respect to the base 6 via the vibration isolator member 14. The hydraulic supply source 9 is mounted and supported on the engine support frame 15. Since the engine support frame 15 is vibration-proof supported, there is little possibility that the vibration of the engine 11 is transmitted to the base 6. Further, the engine support frame 15 is provided with vertical frame portions 15a at both left and right side portions on both front and rear side portions, and can protect the hydraulic supply source 9 when, for example, the airframe falls.

As shown in FIGS. 1 and 3, the main body 1 includes a support base 16 extending upward from the base 6 so as to straddle the hydraulic supply source 9 in the vicinity of the front and rear central portions. The support base 16 has a pair of front and rear gate-shaped members 17 formed in a front view so as to straddle the hydraulic supply source 9 at intervals in the front-rear direction, and a pair of front and rear gate-shaped members 17 on both left and right sides. It includes a pair of left and right connecting members 18 that connect the upper ends to each other, and a mounting table 19 that is supported on the upper side of the left and right connecting members 18. The lower ends of the pair of front and rear gate-shaped members 17 are fixed to the base 6.

The valve mechanism 10 is supported by the upper and lower intermediate portions of the support base 16. That is, as shown in FIG. 1, the support bracket 20 extends over the upper and lower intermediate portions of the vertical portion 17a of the front side portal member 17 and the vertical intermediate portion of the vertical portion 17a of the rear side portal member 17. It is provided. As shown in FIG. 3, the support brackets 20 are provided on the left and right sides of the support base 16, and valve mechanisms 10 are separately attached to the support brackets 20 on the left and right sides, respectively.

Therefore, the hydraulic supply source 9 and the valve mechanism 10 constituting the hydraulic oil supply device 5 are provided in a state of being located at an intermediate position in the front-rear direction of the main body 1.

Further, the hydraulic oil tank 50 is arranged above the intermediate position of the machine body 1 in the front-rear direction of the machine body, that is, above the hydraulic oil supply source 9 and the valve mechanism 10 constituting the hydraulic oil supply device 5. In this way, by arranging the hydraulic oil tank 50 above and arranging the hydraulic oil supply device 5 in the empty space below, the hydraulic oil supply source 9 and the valve mechanism 10 constituting the hydraulic oil supply device 5 become the main body of the airframe. Since it is located at a relatively low position in 1, it becomes difficult for air to enter the oil supply source 9 and the valve mechanism 10, and the oil pressure control can be stabilized. When focusing on lowering the center of gravity of the airframe, the hydraulic oil tank 50 is arranged below the intermediate position in the front-rear direction of the airframe 1 to form the hydraulic oil supply device 5, and the hydraulic oil supply source 9 and the valve mechanism. 10 may be arranged above the hydraulic oil tank 50.

As shown in FIGS. 1, 2 and 3, a control device 21 for controlling the operation of the valve mechanism 10 is mounted and supported on the mounting table 19 provided at the upper end of the support table 16. Although the control operation of the control device 21 will not be described in detail, the drive mechanism 4 in the valve mechanism 10 is based on the control information input by a manual input device (not shown) or the control information set and stored in advance. Controls the supply state of hydraulic oil to. A battery 23 is mounted and supported on a front portion of the base 6 via a dedicated mounting base 22. The battery 23 can supply electric power to the control device 21.

A plurality of training wheels 24 are provided in the lower part of the main body 1. That is, as shown in FIGS. 1 and 3, a total of four training wheels 24 are provided on the lower surface side of the base 6 in a state of being dispersedly arranged on the left and right sides of each of the front and rear sides of the machine body. The support bracket 25 is attached so as to project downward from the lower surface of the base 6, and the training wheels 24 are supported by the support bracket 25 so as to be freely rotatable around the lateral axis. By providing such training wheels 24, for example, all the traveling devices 2 can be easily and manually moved by being stored upward as shown by the virtual line in FIG.

Next, a support structure for supporting the traveling device 2 on the main body 1 will be described.
Each of the plurality of (specifically, four) refraction link mechanisms 3 has a first link 26 whose one end is swingably supported by the main body 1 around the horizontal axis core, and one end of the first link 26 and others. A second link 27 is provided at the end portion so as to be swingably supported around the horizontal axis core and at the other end portion with the traveling device 2 supported.

A plurality (four) of drive mechanisms 4 are provided corresponding to each of the plurality of refraction link mechanisms 3, and a first hydraulic cylinder 28 capable of changing the swinging posture of the first link 26 with respect to the main body 1 and a first hydraulic cylinder 28. A second hydraulic cylinder 29 that can change the swinging posture of the second link 27 with respect to the one link 26 is provided. Then, the drive mechanism 4 changes the posture of the refraction link mechanism 3 while maintaining a state in which the first link 26 and the second link 27 in the refraction link mechanism 3 are refracted toward the intermediate side in the front-rear direction of the machine body.

To add a description, as shown in FIGS. 1 to 3 and 5, on both front and rear sides of the main body 1, the upper connecting body 8 connecting the upper parts of the frame bodies 7 to each other via brackets 30 (30a, 30b) has a width of the machine body. A support shaft 31 in a lateral posture extending laterally over the entire width of the direction is fixed.
Of the four refraction link mechanisms 3, the rotating boss portions 32 of the first links 26 of the left and right refraction link mechanisms 3 located on the front side are rotatably fitted to the support shaft 31 on the front side. It is installed. Of the four refraction link mechanisms 3, the rotating boss portions 32 of the first links 26 of the left and right refraction link mechanisms 3 located on the rear side are rotatably fitted and mounted on the support shaft 31 on the rear side. ing.

As shown in FIGS. 1 and 2, the rotating boss portion 32 of the first link 26 is integrally provided with the first bracket 33 and the second bracket 34 at different positions in the circumferential direction, respectively. The first hydraulic cylinder 28 is pivotally connected to the first bracket 33 and the machine body side bracket 35 provided at a position separated inward in the front-rear direction of the machine body from the support shaft 31 in the upper connecting body 8. The second hydraulic cylinder 29 is pivotally connected between the second bracket 34 and the link-side bracket 36 provided in the middle of the second link 27. The rotating boss portion 32 supported by the support shaft 31 on the front side is provided with the first bracket 33 and the second bracket 34 displaced in the lateral direction.

When the first hydraulic cylinder 28 is expanded and contracted while the operation of the second hydraulic cylinder 29 is stopped, the first link 26, the second link 27, and the traveling device 2 are integrally connected to the horizontal axis X1 of the support shaft 31. Swing around. When the second hydraulic cylinder 29 is expanded and contracted while the operation of the first hydraulic cylinder 28 is stopped, the second link 27 and the traveling device 2 are integrally formed while the posture of the first link 26 is maintained constant. It swings around the horizontal axis X2 at the connection point between the one link 26 and the second link 27 (see the virtual line in FIG. 4).

As shown in FIG. 3, a first angle sensor 37 for detecting the rotation angle of the first link 26 with respect to the support shaft 31 is provided on the lateral side of the rotation boss portion 32 with respect to the support shaft 31 of the first link 26. There is. A second angle sensor 38 for detecting the relative angle between the first link 26 and the second link 27 is provided in the rotation support portion in which the first link 26 and the second link 27 are pivotally connected.

1 and 3 show a state in which the first hydraulic cylinder 28 and the second hydraulic cylinder 29 are each degenerated most in each of the plurality of refraction link mechanisms 3, that is, all the traveling devices 2 are closest to the main body 1. It indicates the state (that is, the state where the vehicle height is the lowest).

In the solid line portion of FIG. 4 and FIG. 5, in each of the plurality of refraction link mechanisms 3, the first hydraulic cylinder 28 is operated so that the first link 26 is in the vertical orientation, and the second link 27 is in the vertical orientation. It shows a state in which the second hydraulic cylinder 29 is operated so as to be in a posture, that is, a state in which the main body 1 is farthest from all the traveling devices 2 (that is, a state in which the vehicle height is the highest).

In FIG. 6, in the two bending link mechanisms 3 located on the right side, the first hydraulic cylinder 28 is operated so that the first link 26 is in the vertical orientation, and the second link 27 is in the vertical orientation. The second hydraulic cylinder 29 is operated so as to be such that, and in the two refractory link mechanisms 3 located on the left side, the first hydraulic cylinder 28 and the second hydraulic cylinder 29 are each shown in the most retracted state. ing.

As shown in FIGS. 1 and 3, the second hydraulic cylinder 29 has a second bracket 34 projecting outward from the rotating boss portion 32 in the front-rear direction of the machine body, and a second link 27 outside the front-rear direction of the machine body in the vertical posture. It is provided over the location located on the side. By providing the second hydraulic cylinder 29 in this way, when the refracting link mechanism 3 is bent, the intermediate refracting portion 3A of the refracting link mechanism 3 is maintained in a state of being refracted toward the intermediate side in the front-rear direction of the machine body.

The first hydraulic cylinder 28 and the second hydraulic cylinder 29 corresponding to the two refraction link mechanisms 3 located on the right side of the machine body are connected to the valve mechanism 10 located on the right side of the machine body by a hydraulic pipe (not shown). The first hydraulic cylinder 28 and the second hydraulic cylinder 29 corresponding to the two refraction link mechanisms 3 located on the left side of the machine body are connected to the valve mechanism 10 located on the left side of the machine body by a hydraulic pipe (not shown).

Hydraulic oil is supplied from the hydraulic supply source 9 to the first hydraulic cylinder 28 and the second hydraulic cylinder 29 of each of the plurality of refraction link mechanisms 3 via the valve mechanism 10. The hydraulic oil is supplied and discharged by the hydraulic control valve 13 provided in the valve mechanism 10, and the first hydraulic cylinder 28 and the second hydraulic cylinder 29 can be expanded and contracted. The hydraulic control valve 13 is controlled by the control device 21. The control device 21 can change the refraction link mechanism 3 to a desired posture by controlling the detection values of the first angle sensor 37 and the second angle sensor 38 to be target values.

A hydraulic motor 39 for driving the traveling device 2 is provided separately in each traveling device 2.
That is, each of the four traveling devices 2 includes a wheel 40 rotatably supported around the horizontal shaft core, and a hydraulic motor 39 built in the shaft support 41 of the wheel 40. Each traveling device 2 can rotationally drive the wheels 40 separately by operating the hydraulic motor 39.

Each of the two hydraulic motors 39 provided in the two traveling devices 2 located on the right side of the machine body is connected to the valve mechanism 10 on the right side by a hydraulic pipe (not shown), and the two running devices located on the left side of the machine body. Each of the two hydraulic motors 39 provided in the device 2 is connected to the valve mechanism 10 on the left side by a hydraulic pipe (not shown). Then, hydraulic oil is supplied from the hydraulic pressure supply source 9 to each hydraulic motor 39 via the left and right valve mechanisms 10.

The rotation speed of the hydraulic motor 39, that is, the wheels 40 can be changed by adjusting the flow rate of the hydraulic oil by the hydraulic control valve 13 provided in the valve mechanism 10 corresponding to the hydraulic motor 39. The hydraulic control valve 13 is controlled by the control device 21 based on the control information input by manual operation, the control information set and stored in advance, and the like.

As shown in FIG. 1, this work vehicle is equipped with various sensors. Specifically, the first cylinder tube side pressure sensor S1 and the first cylinder rod side pressure sensor S2 provided on each of the first hydraulic cylinders 28, and the second cylinder tube side provided on each of the second hydraulic cylinders 29. A pressure sensor S3 and a pressure sensor S4 on the second cylinder rod side are provided. The first cap side pressure sensor S1 detects the hydraulic pressure in the cap side chamber of the first hydraulic cylinder 28. The first head side (anti-cap side) pressure sensor S2 detects the hydraulic pressure in the head side chamber of the first hydraulic cylinder 28. The second cap side pressure sensor S3 detects the oil pressure in the cap side chamber of the second hydraulic cylinder 29. The second head side (anti-cap side) pressure sensor S4 detects the hydraulic pressure in the head side chamber of the second hydraulic cylinder 29.

The mounting positions of the pressure sensors S1, S2, S3, and S4 are not limited to the above. Each pressure sensor S1, S2, S3, S4 may be provided in the pipe between the valve mechanism 10 and the corresponding cap side chamber or head side chamber, as long as it can detect (estimate) the hydraulic pressure of the corresponding cap side chamber or head side chamber. You may.

Based on the detection results of these sensors, the force required to support the main body 1 is calculated, and based on the results, the hydraulic oil is supplied to the first hydraulic cylinder 28 and the second hydraulic cylinder 29, respectively. Be controlled. Specifically, based on the detected value of the first cap side pressure sensor S1 and the detected value of the first head side pressure sensor S2, the first hydraulic pressure is obtained from the differential pressure between the cap side chamber and the head side chamber of the first hydraulic cylinder 28. The cylinder thrust of the cylinder 28 is calculated. Further, the cylinder thrust of the second hydraulic cylinder 29 is calculated based on the detected value of the second cap side pressure sensor S3 and the detected value of the second head side pressure sensor S4, similarly to the first hydraulic cylinder 28.

Further, this work vehicle is provided with an acceleration sensor S5. Based on the detection result of the acceleration sensor S5, the inclination of the main body 1 in the front-back and left-right directions is detected, and the posture of the main body 1 is controlled based on the result. That is, the supply of hydraulic oil to the first hydraulic cylinder 28 and the second hydraulic cylinder 29 is controlled so that the posture of the main body 1 becomes the target posture. The detection of cylinder thrust is not limited to the above (method calculated by pressure sensors provided on the cap side and the head side). As long as the cylinder thrust can be detected, the cylinder thrust may be detected by providing a sensor for detecting the force at the lot tip of the cylinder.

Further, this work vehicle includes a rotation sensor S6 that detects the rotation speed of the hydraulic motor 39 that drives the traveling device 2. The rotation speed of each wheel 40 is calculated based on the detection results of these rotation sensors S6. Based on the calculated rotation speed of the wheel 40, the supply of hydraulic oil to the hydraulic motor 39 is controlled so that the rotation speed of the wheel 40 becomes a target value.

As described above, the traveling device 2 is supported via the refraction link mechanism 3, and the posture of the refraction link mechanism 3 is changed by the hydraulic cylinders 28 and 29 as the hydraulic drive type drive mechanism 4. , It is not easily affected by moisture and fine dust, and is suitable for agricultural work.

Further, as described above, the plurality of drive mechanisms 4 are distributed and arranged on the left and right sides of the main body 1 in a state corresponding to the plurality of refraction link mechanisms 3. Since the hydraulic oil supply device 5 is provided at an intermediate position in the front-rear direction of the main body 1, the hydraulic oil is provided for each of the drive mechanism 4 located on the front side of the machine and the drive mechanism 4 located on the rear side of the machine. The distance from the supply device 4 becomes even. That is, the length of the hydraulic pipe for supplying the hydraulic oil to each drive mechanism 4 can be made uniform. As a result, it is possible to reduce variations in characteristics such as pressure, flow rate, and temperature of the hydraulic oil supplied to each drive mechanism 4.

Since the drive mechanism 4 uses a large amount of hydraulic oil and the hydraulic oil supply device 5 supplies the hydraulic oil to the plurality of drive mechanisms 4, the hydraulic oil supply device 5 becomes a large and heavy device. Since such a large hydraulic oil supply device 5 is provided at an intermediate position in the front-rear direction of the main body 1, the front-rear weight balance of the entire vehicle is good, and the posture of the machine body can be easily stabilized.

Further, as described above, the hydraulic supply source 9 is mounted and supported on the base 6 that supports the entire vehicle in the vehicle body. The hydraulic oil delivered from the hydraulic supply source 9 is supplied toward the drive mechanism 4 in a state controlled by the valve mechanism 10. The hydraulic oil supply source 4 of the hydraulic oil supply device 5 becomes a large device for delivering a large amount of hydraulic oil, and such a hydraulic oil supply source 4 is mounted and supported on a base. The base 6 is a strong one that supports the entire vehicle, and can stably support the hydraulic supply source 4, which is a large-scale device.

There are the following work modes as usage examples. For example, a work device is mounted on the main body 1 and supported, and the traveling device 2 is grounded in the passages on both the left and right sides of the crop row so that the main body 1 runs while straddling the upper part of the crop row to perform the work. By changing the position of the main body 1 according to the growing condition of the crop, it becomes easier to plant crops, spray fertilizers, chemicals, etc., and harvest after growing (see FIG. 6). It is also possible to travel in a state of being in contact with the left and right sides of a place where a large step exists (see FIG. 5). Further, since each of the four refraction link mechanisms 3 can be bent separately, it is possible to overcome the step by autonomous driving by moving the traveling device 2 while riding on the step one by one.

[Another Embodiment]
(1) In the above embodiment, the drive mechanism 4 is configured to include the first hydraulic cylinder 28 and the second hydraulic cylinder 29, but instead of this configuration, a hydraulic motor is provided at the swing fulcrum portion of the refraction link mechanism 3. The posture of the refraction link mechanism 3 may be changed by the hydraulic motor.

(2) In the above embodiment, the traveling device 2 is driven by the hydraulic motor 39. Instead of this configuration, for example, the power of the engine 11 is driven by the wheels via a mechanical transmission mechanism such as a chain transmission mechanism. The configuration may be supplied to 40.

(3) In the above embodiment, the traveling device 2 is configured to include one wheel 40, but instead of this configuration, a crawler traveling device in which a crawler belt is wound around a plurality of wheels is provided as the traveling device. It may be configured.

(4) In the above embodiment, the control device 21 is supported on the upper part of the support base 16 and the valve mechanism 10 is supported on the upper and lower intermediate portions of the support base 16, but instead of this configuration, the control device 21 The valve mechanism 10 may be supported by the base 6, respectively.

(5) In the above embodiment, the refraction link mechanism 3 is supported on the upper part of the frame body 7 extending upward from the base 6, but instead of this configuration, the refraction link mechanism 3 is used as the base 6. It may be directly supported, or it may be supported on a frame body extending downward from the base 6.

(6) In the above embodiment, the intermediate refracting portion 3A of the refraction link mechanism 3 is configured to maintain a state of refracting toward the intermediate side in the front-rear direction of the machine body, but instead of this configuration, the intermediate refracting part 3A is front and rear of the machine body. It may be configured to refract toward the outer side of the direction.

(7) In the above embodiment, the hydraulic oil supply device 5 is provided at an intermediate position in the front-rear direction of the main body 1, but the configuration is not limited to this. The hydraulic oil supply device 5 may be provided between the link mechanism 3 on the front side in the front-rear direction of the machine body and the link mechanism 3 on the rear side in the front-rear direction of the machine body at a position other than the intermediate position in the front-rear direction of the machine body.

(8) In the above embodiment, the link mechanism 3 is supported on the upper portion of the main body 1, that is, the upper portion of the frame body 8. In this case, the connection point of the link mechanism 3 with respect to the main body 1 is set at a high position in the main body 1. Since the main body 1 is supported at a high position via the link mechanism 3, the position of the center of gravity can be set as low as possible with respect to the support position of the main body 1 to improve the stability of the posture. However, the support portion of the link mechanism is not limited to the above configuration, and may be, for example, an intermediate portion or a lower portion of the vehicle body 1. When the link mechanism 3 is supported on the lower portion of the main body 1, the vehicle height can be increased, and it becomes possible to overcome or straddle a higher obstacle.

The present invention can be applied to agricultural work vehicles.

1 Main body 2 Traveling device 3 Refractive link mechanism 4 Drive mechanism 5 Working oil supply device 6 Base 9 Hydraulic supply source 10 Valve mechanism 16 Support stand 24 Auxiliary wheel 26 1st link 27 2nd link 28 1st hydraulic cylinder 29 2nd hydraulic Cylinder 39 Hydraulic motor X1 Horizontal shaft core X2 Horizontal shaft core

Claims (8)

With the main body
A plurality of hydraulically driven traveling devices located on the left and right sides of the main body,
An elevating support mechanism that supports each of the traveling devices on the main body so as to be able to elevate and lower each
Free-rotating training wheels provided at the bottom of the main body separately from the traveling device,
Multiple hydraulically driven drive mechanisms that can change the posture of multiple elevating support mechanisms separately,
A hydraulic supply source that sends hydraulic oil toward the traveling device and the drive mechanism,
A valve mechanism for controlling hydraulic oil supplied from the hydraulic supply source to the drive mechanism is provided.
The elevating support mechanism is a refraction link mechanism, and the refraction link mechanism has a first link in which one end is swingably supported by the main body around a horizontal axis, and one end is the other end of the first link. A hydraulic robot provided with a second link, which is swingably supported around a horizontal axis core at a portion and the traveling device is supported at the other end . The traveling device is provided on all four sides of the main body, front, back, left and right.
The hydraulic robot according to claim 1, wherein the training wheels are provided on four sides of the lower part of the main body, front, back, left and right. The hydraulic robot according to claim 1 or 2, wherein each of the traveling devices can be stored at a position above the ground contact surface of the training wheels. The drive mechanism includes a first hydraulic cylinder capable of changing the swinging posture of the first link with respect to the main body, and a second hydraulic cylinder capable of changing the swinging posture of the second link with respect to the first link. The hydraulic robot according to any one of claims 1 to 3 . The hydraulic robot according to any one of claims 1 to 4 , wherein the support shaft of the first link is provided on the upper portion of the frame body of the main body. The hydraulic robot according to any one of claims 1 to 5, wherein the hydraulic supply source includes a hydraulic pump and a power unit for driving the hydraulic pump. The hydraulic robot according to any one of claims 1 to 6 , wherein a hydraulic motor for driving the traveling device is separately provided in each traveling device. The main body includes a support base extending upward from the base so as to straddle the hydraulic supply source, and a control device for controlling the operation of the valve mechanism.
The hydraulic robot according to any one of claims 1 to 7, wherein the control device is supported on an upper portion of the support base, and the valve mechanism is supported on an upper and lower intermediate portion of the support base.

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