JPH01312909A - Working car for conveying - Google Patents

Abstract

PURPOSE:To enable turning of direction even in a narrow furrow by mounting respective wheels so as to enable independent steering, carrying out steering so as to direct the axles of the respective wheels to the central position of a car and performing spin turning. CONSTITUTION:A turning motor is driven by a controller and a rotating arm is rotated to rotate steering knuckles (5a) and (5b) with an O axial line as the center. Axles (7a) and (7b) are then directed to the car center (P). Steering knuckles 43 of the front wheels 41 are similarly rotated and directed to the car center (P). A driving motor is then driven to turn the direction of a conveying working car 180 deg. with the center (P) as the center. Thereby, spin turning is performed.

Description

Detailed Description of the Invention (Industrial Application Field) The present invention relates to a transport vehicle that travels between furrows, and more specifically, for sowing, I\i planting, irrigation, pest control, etc. in horticultural facilities F1 culture. This relates to a transport work vehicle for transporting various materials and harvested materials necessary for work.

(Prior art) Electric vehicles have traditionally been used as transport work vehicles to travel between furrows, and are equipped with a DC motor that drives the wheels via a reduction gear using battery power, and a transmission that changes the traveling speed by a combination of large and small bumps. The formula is known.

(Problems to be Solved by the Invention) However, the electric transport work vehicle has problems such as being unable to make a U-turn in a narrow ridge and being extremely inconvenient.

(g! Ming no 1) Therefore, this invention was made in view of the above problems, and its purpose is to be able to make a U-turn even in narrow ridges, and to enable automatic driving. Our goal is to provide a transport work vehicle that can.

(Means for Solving the Problems) In order to achieve the above object, the present invention includes mounting each wheel on a main body so that each wheel can be steered independently, and directing the axle of each wheel toward the center position 1n of the vehicle. The vehicle is equipped with a steering device that steers each wheel so as to make a spin turn.

The vehicle also includes a sensor that detects signs installed at predetermined intervals along the travel route, and a controller that causes the vehicle to travel along the signs detected by the sensor.

(Operation) The steering device steers each wheel so that the axle of each wheel faces toward the center position of the vehicle.

Further, the sensor detects the sign, and the controller causes the vehicle to travel along the sign based on the detection.

(Example) Hereinafter, one embodiment of the present invention will be described based on the drawings.

Fig. 1 is a side view of a transport work vehicle 20 according to the present invention, and Fig. 2 is a rear view thereof. It is supported by 3. 4 is a bottom frame integrally attached to the lower part of the support frame 2.3; 5a and 5b are the support frames 2;
The steering knuckles are rotatably attached to the lower part of the steering knuckles 5a and 5b, and these steering knuckles 5a and 5b are rotatable about the O axis in a plane perpendicular to the support frame 2. Further, axles 7a and 7b of wheels 6a and 6b are rotatably provided on the steering knuckles 5a and 5b, and a sprocket 8a and a sprocket 8a are provided on the axles 7a and 7b.
, 8b is attached.

10 is a drive motor for driving the wheels 6a, 11 is a reducer for reducing the rotational speed of the drive motor 10, and an output shaft 12 thereof has a sprocket 13 built therein.

A chain 14 is wound around this sprocket 13 and the sprocket 8a, and the drive motor 10 drives the wheels 6a.

16 is a drive motor that drives the wheels 6b; 17 is a reducer that reduces the rotational speed of the drive motor 16; a sprocket 19 is attached to the output shaft 18 thereof; A chain 22 is wound around the sprocket 19 and the sprocket 8b, and the drive motor 16 drives the wheel 6b. By the way, although not shown, the drive motors 10 and 16 are connected to the steering knuckle 5.
It is attached to wheels a and 5b and rotates together with the wheels.

Reference numeral 30 denotes a turning motor for rotating the steering knuckles 5a and 5b.A rotating arm 31 that rotates in the direction of the arrow is attached to this turning motor 30, as shown in FIG. One end of a connecting arm 32 is pivotally attached to the tip, and the other end of the connecting arm 32 is pivotally attached to a position F away from the 0IllI line of the steering knuckle 5a. One end of the interlocking arm 33 is pivotally connected to the position F, and the other end of the interlocking arm 33 is pivotally connected to the position E away from the O axis of the steering knuckle 5b. When the is rotated in the direction of the arrow, the steering knuckles 5a and 5b move from the position shown by the chain line to the position shown by the solid line around the O axis so that the axles 7a and 7b face the center position P of the vehicle, as shown in FIG. It is designed to be rotated.

41 is a front wheel, and the axle 42 of this front wheel 41 is rotatably attached to a steering knuckle 43, as shown in FIG.
is rotatably attached to the tip 4a of the bottom frame 4. The steering knuckle 43 has a structure similar to that described above (not shown), and is rotated about the O axis by driving a turning motor 44 so that the center axis 42 faces the center position P of the vehicle. There is. This front wheel 41
The front wheel (not shown) on the opposite side has a similar configuration.

45 is a battery for driving each motor, and 46 is an auxiliary battery. By the way, steering knuckle 5a
, 5b, 43, swing motor 30° 44, and rotating arm 31
A steering device is constituted by the connecting arm 32 and the interlocking arm 33.

Reference numeral 50 denotes a sensor mounting member, which includes, for example, a red light beam directed toward the reflector plates 51 (1) installed on both sides of the furrows A and A- of the gardening facility, as shown in Fig. 7-8. A pair of light emitting diodes D that project external light, etc., a pair of light receiving sensors S (sensors) that receive infrared light reflected by the reflecting plate 51, and the like are attached. 52 is a controller that controls each motor etc. based on the light reception signal etc. of the light reception sensor;
3 is a cargo hanger provided around the loading platform 1.

Next, we will explain the operation of the transport work vehicle constructed as described above.As shown in FIGS. When the transport vehicle 20 is traveling, infrared light is emitted from one light emitting diode D, and the light receiving sensor S receives the infrared light reflected by the reflector plate 51, and the traveling position and direction of the transport work vehicle 20 are determined by the controller 5.
2, and if the direction of the vehicle is deviated, the trajectory is corrected so that it will travel straight, and the vehicle will travel straight to point R. During this traveling, for example, harvested crops are manually loaded onto the loading platform l. And the transport work vehicle 20
When the vehicle reaches point R, the controller 52 stops the vehicle, the turning motor 30 is driven, and after a spin turn is enabled, the direction of rotation of the drive motor 10.16 is controlled to turn the vehicle 90 degrees. By the way, whether or not it is the R point is determined based on, for example, the number of reflection plates 51 detected by the light receiving sensor S.

After turning in that direction, it runs straight again, and the transport work vehicle 20
When the vehicle reaches the collection position HT, its traveling is stopped and the crops loaded on the platform 1 are unloaded.

As a result, the controller 52 causes the rotation motor 30.
44 is driven, the rotating arm 31 shown in FIG. 4 is rotated in the direction of the arrow, and as shown in FIG. 5, the steering knuckles 5a, 5
b is rotated around the 0 axis, and the axles 7a and 7b are directed toward the vehicle center P.Similarly, the steering knuckle 43 of the front wheel 41 is also rotated, and the axle 42 is directed toward the vehicle center P.
That is, the wheels 8a, 6b, and 41 are steered from the state shown in FIG. 9 to the state shown in FIG. 10. In the state shown in FIG. 10, the drive motors 10 and 16 are driven, and the transport work vehicle 20 is rotated 180 degrees around the center P. That is, a spin turn is performed.

In this case, to spin turn the vehicle clockwise, the axles 6a and 6b may be rotated in the direction of the arrow.

By the way, as shown in FIG. 11, when the steering knuckle 43 is rotated around the - point on the axle 42, the center position m of the wheel 41 moves to the H position, and the 0 point away from the 0' point is moved. When the steering knuckle 43 is rotated around the center, the center position of the wheel 41 i1fm1. t to the G position, and a difference in f occurs between the HG positions in a direction orthogonal to the vehicle center axis 9. That is, when turning, a tread difference of 2f occurs between the front wheels and the vehicle width 41.

The same applies to the widths 6a and 6b of the rear wheels.
Therefore, the steering knuckles 5a, 5b, and 43 are rotated about the zero axis, resulting in stable turning.

After the transport work vehicle 20 is rotated by 180 degrees to the cargo collection position I T -c, it is automatically driven by the controller 52 to point Q', and while traveling in the furrow A', for example, the cargo to be collected, etc. is manually placed on the cargo platform 1. loaded. Then, a spin turn is performed at point Q', and the eastward position T is again performed in the same manner as above.
The transport work vehicle 20 travels automatically until then.

In this way, since the transport work vehicle 20 can spin and turn, it is possible to turn the direction even in a narrow ridge, and there is no need to secure a site for turning the direction, which is very convenient.

Moreover, since it is automatically driven by the controller 52,
It is possible to rationalize and improve the efficiency of agricultural work. In addition, since the light receiving sensor detects the reflecting plate, there is no need to apply a guidance tape or the like along the furrow A, and therefore, it is easy to change the running route.

In the above embodiment, a transmission is not used, but if a transmission is attached to the reduction gears 11 and 17, the transport vehicle can be driven at any speed depending on the content of agricultural work.

Alternatively, a receiver may be attached to the transport vehicle 20, and the transmitter may be operated by an operator to control the traveling direction of the transport vehicle 20.

(Effects of the Invention) As explained above, the present invention is such that each wheel is attached to the main body so that each wheel can be steered independently, and each wheel is rotated so that the wheel axle is directed toward the center position of the vehicle. Since it is equipped with a steering device that turns the steering wheel to make a spin turn, it is possible to turn the wheel even in a narrow ridge, and there is no need to secure a site for the turn, which is very convenient.

In addition, since the vehicle is automatically driven by the controller 52, it is possible to rationalize and improve the efficiency of agricultural work.Furthermore, since the vehicle travels along the signs detected by the sensor, it is easy to change the travel route.

[Brief explanation of the drawing]

FIG. 1 is a side view of a transport vehicle according to the present invention, FIG. 2 is a rear view of the vehicle, FIGS. 3 and 4 are explanatory diagrams showing wheel rotation, and FIG. 5 is a front wheel installation. 6 and 7 are explanatory views of the gardening facility, FIGS. 8 and 9 are schematic diagrams showing the positional relationship, and FIG. 10 is an explanatory view of the tread difference. 51...Reflector plate 52...Controller S...Light receiving sensor Applicant: Shikoku Research Institute Co., Ltd. Jundo Oka Yamashita Makoto Sato Hiki Hakuma
1) Haku Hikari Figure 2 Figure 3 Figure 5 Figure 9 Figure 10 ÷

Claims (2)

[Claims] (1) A steering device that is attached to the main body so that each wheel can be steered independently, and that steers each wheel so that the axle of each wheel faces the center position of the vehicle to perform a spin turn. A transport work vehicle characterized by: (2) Claim 1 characterized by comprising: a sensor that detects signs installed at predetermined intervals along a travel route; and a controller that causes the vehicle to travel along the signs detected by the sensor. Transport work vehicle as described in section.