JPH01199502A - Steering device in mobile farm machine - Google Patents

Abstract

PURPOSE:To provide the title device so designed that respective wheels are so constructed as to rotate round the axis line nearly vertical to their revolving shafts, and the upper part of each wheel is provided with an actuator for rotation, thus ensuring the title farm machine to turn its course without causing skid etc. CONSTITUTION:Respective wheels 2b... supporting the frame 5 of a mobile farm machine 1 are constructed in such a manner that their respective central planes are in contact with the identical plane vertically, and said wheels rotate, as the center, round the axis line x-x which passes the revolution center y-y of the respective wheels on the respective central planes and the contact point of the respective wheels with the above-mentioned planes. The upper parts of the respective wheels are fitted with actuators 66 for rotating said wheels, thus ensuring steering rotation without causing displacements such as skid of the respective wheels with the respective contact points with the ground as the centers.

Description

Detailed Description of the Invention (a) Industrial Application Field The present invention is a mobile agricultural machine suitable for use as a mobile agricultural machine, particularly as a management machine that performs intermediate management work such as fertilization, pest control, weeding, and furrowing in an unmanned state. In particular, the present invention relates to a steering device for the mobile agricultural machine.

(b) Conventional technology In general, management machines such as rice field management robots that perform intermediate management work such as applying additional fertilizer to seedlings planted in the field by a mobile agricultural machine, for example, removing weeds that have grown in the field, are: In consideration of steering maneuverability and running stability, a wheel suspension structure is adopted in which the wheels that support the fuselage frame have a predetermined camber angle, caster angle, and toe-in. When the vehicle reaches the edge of the field, it operates the steering wheel in the same way as a regular vehicle, turns around the headland in an arc, and changes its direction of travel.

(c) Problems to be solved by the invention Therefore, it is necessary to provide a headland at the edge of the field that is thicker than the length of the machine so that the management machine can turn.
When turning, seedlings planted near the travel range are trampled by the wheels, resulting in many missing plants, which is an inconvenience.

(b) Means for solving the problems Present invention 1. The purpose is to solve the above-mentioned problems, for example, as shown in Figures 1 and 2, the fuselage frame (5) on which an appropriate machine is mounted and the fuselage frame (5) ) supporting a plurality of wheels (2a), (2b)
, (3a), (3b), each of the above-mentioned 1f wheels (2a), (2b), (3al, (3b) is arranged so that their respective center planes touch perpendicularly on the same plane, and ”
2. Each wheel (2a), (2b), (
3a).

(3b) rotation center and each wheel (2a), (2b).

(3a), (3b) rotates around an axis passing through the contact point with the plane, and the upper part of each wheel (2a), (2b), (3a), (3b) Actuators for rotating them (66), (66
), and are featured.

(E) Function Based on the above-mentioned configuration, when performing intermediate management work such as fertilization and weeding, the mobile agricultural machine (1) works between the rows of seedlings, etc. planted in the field, and moves the seedlings, etc. at a constant distance along the rows. If you drive in a direction and change direction after hitting a headland,
The wheels (2a), (2) on one side of the mobile agricultural machine (1) are moved by stopping the mobile agricultural machine (1) and lowering the stick (17) (see Fig. 3) toward the field in the t: state.
b), and in this state the wheels (2a), (2
b) Activate the upper actuators (66), (66) to rotate the wheels (2a), (2b) in a predetermined direction, for example, in a direction perpendicular to the traveling direction, and raise the stick (1). Wheels (2a) and (2) on the one side
b) Ground. Next, lower the stick (1) placed on the other side to the field and move the wheel (3) on the other side.
a) Lift up the wheels (3b) and actuate the actuators (66) and (661) above the wheels (3a) and (3b) to move the wheels (3a) and (3b) to the one side wheel (2a).

Rotate in the same direction as (2b), then stick (11)
The wheels (3a) and (3b) on the other side are grounded. In this way, the mobile agricultural machine (1)
The running direction of the wheel (2a) is changed while remaining in the stopped position, and then the wheel (2a).

(2b), (3a), and (3bl) are rotated to resume running directly from the stop position in a predetermined direction orthogonal to the previous strike direction.

(Q Examples) Hereinafter, examples of the present invention will be explained with reference to the drawings.

As shown in FIGS. 3 and 4, the management device 1 has wheels 2a.
, 2b and wheels 3a, 3b, which are arranged in a rectangular shape, and a pivot shaft 6 installed in the center of the body frame 5 is rotatable in the horizontal direction. A travel frame 7 is provided. Further, links 9 and 10 are attached to one end of the frame 7 so as to be able to swing vertically, and the tips of these links 9 and 10 are attached adjacent to one end of the stick 1, respectively. Further, one end of a hydraulic actuator 13 installed on the rotating frame 7 is connected to a bracket 12 provided near the rotating base of the link 9. Also, the turning angle L・-
A fertilizing part j6 is attached to the other end of the frame 7 via a parallel link 4=]5, and a hydraulic actuator 17 attached to the other end of the rotating frame 7 is connected to the parallel link 15 via a bracket 19. has been done. On the other hand, the central part of the rotating frame 7 is
Fertilization tanks 20.20 are installed across the
The fertilizer tank 20.20 sends fertilizer to the fertilizer application section 16 via the port 21, and the fertilizer is further supplied to the field from the fertilizer nozzle 22 below the fertilizer application section 16. Further, below the body frame 5, an engine 23, a transmission 25, a solenoid, an engine 26, a hydraulic pump 27, a control section 29, and a battery 30 are arranged, respectively.

On the other hand, as shown in FIG. 2, the rotation of the engine 23 is decelerated by the tranos mission 25, and the bevel case 3 is disposed on the fuselage frame 5 made of a transmission pipe.
, 31, as shown in FIG. 1 (representatively showing the structure of the wheel 2b portion in FIG. Bevel gear 33 and bevel A and gear 3 that mesh with it
For example, when the management device 1 is placed on a horizontal surface, the control device 1 faces the horizontal direction perpendicular to the horizontal surface.
transmitted to. (7) The rotation of the king bin shaft 36 is further directed in the horizontal direction via a bevel gear 37 fixed to the lower end of the shaft 36 and a bevel gear 39 meshing therewith. 40, and then from the shaft 1-40, through the sprocket 41, the chain 42, and the sprocket 43, it is transmitted to the horizontally oriented counter noyano) 45, and then from the shaft 45 to the sprocket 46, the chain 47, and so on.
The axis of the king pin shaft 36 x - x I! l: Spokes 51 .transmitted to and connected to the axle 50 with orthogonal axes y-y. ,5], ,the spoke 51,5],
a rim 52 fixed to the outside of the rim 52; a number of lug pieces 53 connected to the rim 52 and protruding in the radial direction;
and J, the above-mentioned king pin Yaft 3 is placed on the center plane.
The wheels 2b, which are disposed so that the axis x-x of 6 passes through them, are rotationally driven by the axle 50.

Bushes 56,57 are provided at the second and lower parts of the bevel case 55, which is fixed to the end of the fuselage frame 5, houses the bevel gear 33,35, and bears the king pinon shaft, respectively. 56
．． The steering arm 6 which has an upper boss 59 and a lower boss 60 which are in sliding contact with the above-mentioned kingpin shirt)
・The arm 6 is provided to rotate around the axis x-x of the arm 6, and the chain drive shaft 40 described above is attached to the lower end of the arm 6.
, a counter shaft 45 and a chain case 62 that accommodates double chain chains 42, 47, etc. that bear the 1f shaft 5o, and a beveled chain case 62 is fixed between the lower boss 60 and the chain case 62. A bevel case 63 that accommodates the sword gear 37, 39 is fixed, and the steering hydraulic actuator 66 disposed on the mounting bracket 65 fixed above the end of the fuselage frame 5 is operated. Upper boss 59 via drive shaft 66a,
via the steering arm 61, etc., and then the chain) 1
- The wheel 2b is connected to the kingpin shirt 1 through the base 62.
The other axles 2b, 3a, 3 centering on the axis x-X of 36
The steering wheel is rotated independently of b.

In FIG. 1, the reference numeral 67 indicates a hydraulic pipe connected to the hydraulic actuator, and the reference numeral 69 detects the rotation angle of the steering arm 61 via gears 70a and 70b. This is a steering angle detection sensor. And each wheel 2a,
2b, 3a.

Each steering arm 61, 6 which rotates 3b].

As shown in FIG. 2, the wheels 2a and 2b are arranged in the same direction, and the wheels 3a and 3b are provided with a steering arm 1, which rotates the wheels 2a and 2b.
It is arranged 180 degrees out of phase with respect to 61,
In the case of the arrangement shown in FIG.
Each steering arm 61 61 rotates in a rotation pattern that does not come into contact with the adjacent fuselage frame 5, 5 degrees, respectively, over a rotation range of at least 270 degrees, 90 degrees clockwise in the direction 18. It is designed to be able to move. Further, the chain case 62 has wheels 2a, 2 as shown in FIG.
The spokes 51, 5 of the wheels 2a, 3a, 3b] are bent inward and inserted into the recesses, and the lower portions of the spokes 51, 5 of the wheels 2a, which are close to the stems of the grown rice plants, are bent as much as possible.
, 2b, 3a, and 3b are configured to have a narrow structure close to the center plane, thereby preventing the rice plants from being pushed down and damaged by contact with the chain case 62 during work by the management machine. There is.

Since this embodiment has the above-described configuration, for example, when fertilizing seedlings planted in a field, the management machine 1 is moved to the work starting position on one headland by signing the running latch. The fertilizer is supplied to the fertilizer tank 20.20 at the specified position, and then, based on the command from the control unit 29, it is moved along the rows of the seedlings from the work start position with the same amount of seedlings toward the other headland. The vehicle travels straight on wheels 2a, 2b, 3a, and 3b whose forward direction is in the direction A shown by the solid line in FIG. At this time, as shown in FIG. 3, the management machine 1 raises the stick 11 and lowers the fertilizing part 16 so that it is floating on the field surface, and the PTO clutch is turned on to apply fertilizer from the fertilizing nozzle 22. Supply to Tanabe.

Then, when the management machine 1 reaches the other headland, the running latch and PTO clutch are turned off, the fertilization work is stopped, and the management machine 1 stops running, and in this state, the hydraulic actuator 17 is operated. The fertilizing part 16 is raised, and then the stick] 1 is lowered toward the field by activating the hydraulic actuator, and the wheels 2a, 2b that have been working as front wheels are lifted. Then, by operating the steering hydraulic actuators 66, 66 in this state, the wheels 2a, 2b are moved to the second position, for example.
In the figure, the rotation angle is measured by sensors 69 and 6 about the axis x-x passing through the kingpin shaft 36 in the counterclockwise direction.
9, and the steering is stopped when the running direction of the wheels 2a and 2b is in the direction perpendicular to the above-mentioned direction A, which is indicated by the two-dot chain line in FIG. It rises and touches the wheels 2a and 2b to the ground. Next,
The travel frame 7 is rotated 180 degrees to direct the stick 11 to one headland side, and in this state, the stick 11 is lowered to the field and the wheels 3a, 3b are lifted up, and then the steering hydraulic actuator 66. The wheel 3a is activated by the operation of 66.

3b is steered in the same direction as the wheels 2a, 2b, and then the stick 11 is raised to ground the wheels 3a, 3b. After that, when the travel frame 7 is turned 90 degrees and the latch for running is turned on with the stick 11 facing the direction of movement of the management machine 1, the power from the engine 23 is transmitted through the transmission 25 and then to the kingpin shirt l-36. , to the axle 50 via the chains 42, 47, etc., and the management machine 1 now moves the wheels 2a,
The vehicle resumes running straight along the other headland using 3a as the front wheel. Then, after traveling a suitable distance, it stops, and with the same steering operation as described above, this time it turns to 7 as shown in Fig. 2 Zζ.
The running direction of the wheels 2a, 2b, 3a, 3b is further rotated 90 degrees counterclockwise from the mouth direction in a convex direction, and the wheels 3
Using a and 3b as the front wheels, the vehicle now travels straight from the other headland to the aforementioned one headland while fertilizing along the rows of seedlings. By repeating the above-mentioned steering operations and traveling in a zigzag pattern around the field, fertilization work is performed over the entire surface of the field.

In addition, when running the management machine 1 from one headland to the other headland, or vice versa, or even at each headland, the management machine 1 should be controlled so that the management machine 1 heals into the rows of seedlings as it travels. A sensor for detecting seedlings and rice plants is provided on the stick 11 side of the traveling frame 7, which is the traveling direction of the machine 1, and each wheel 2a, 2b is controlled by a control part 29 based on the detection output of the sensor.

By automatically correcting the direction of the wheels 3a and 3b, the direction of the management machine 1 can be suitably controlled regardless of which wheel is set as the front wheel as described above. In addition, although an embodiment has been described in which the wheels are lifted using the stick 11 and then the direction is changed, such an embodiment is not necessarily adopted in the case of a type of mobile agricultural machine in which the wheels can rotate with little resistance against the ground. There's no need.

(G) As described in detail, according to the present invention, each wheel (2a), (2b) supporting the body frame (5) of the mobile agricultural machine (1)
), (3a), and (3b), their respective center planes are perpendicularly in contact with the same plane, and the rotation center (y-y) of each wheel in each of the above-mentioned center planes and the above-mentioned plane of each wheel are Since the structure is configured to rotate around the axis (X-x) passing through the contact point, and an actuator for rotating the wheels is provided above each wheel, each wheel can be rotated from its respective grounding point. The steering can be rotated without causing displacement such as side slip with respect to the grounding point as the center, and therefore, when changing the running direction of the mobile agricultural machine (1), the mobile agricultural machine (1)
The course can be easily changed while keeping the aircraft frame (5) in its stopped position.
For example, in a field, for example, it is possible to work efficiently by matching the body length of the mobile agricultural machine (1) to the width of the headland, and when the mobile agricultural machine (1) changes direction, the wheels can be used to plant crops. There will be very little damage to the plants, and it will be possible to make effective use of a wider area for planting in fields.

[Brief explanation of the drawing]

Fig. 1 is a front sectional view showing a steering device according to the present invention together with a wheel drive mechanism, Fig. 2 is a plan view showing a steering pattern by the steering device of the present invention, and Fig. 3 ζ is a mobile agricultural machine to which the present invention is applied. is a side view, and FIG. 4 is a plan view thereof. 1 Mobile agricultural machines (management machines), 2a, 2b, 3a, 3
b Wheel, 5 Airframe frame, 66 Actuator, xx-axis (of King Pino shaft 36), y-y- (center of rotation of each wheel).

Claims (1)

[Scope of Claims] 1. A mobile agricultural machine equipped with a body frame on which an appropriate working machine is mounted and a plurality of wheels supporting the body frame, wherein each of the wheels is arranged so that the central plane thereof is perpendicular to the same plane. and is configured to rotate around an axis that passes through the center of rotation of each wheel in the center plane and the contact point of each wheel with the plane, and rotates them above the respective wheels. A steering device for a mobile agricultural machine, characterized in that an actuator is provided for the purpose of steering.