JPH04278005A - Mobile agricultural machine - Google Patents

Abstract

PURPOSE:To prevent a working unit from hitting against a levee, etc., on turning at a butt while reducing steering torque on turning and to enable wide and efficient works on normal running. CONSTITUTION:All the wheels 2 of the running machine body 3 are designed so as to be steerable and booms 16a and 16b equipped with nozzles 17 over the whole width are attached to the running machine body 3. When turning the running machine body 3 from normal running to the transverse direction at a butt, all the wheels 2 are steered at the same angle of about 90 deg. by a direction from a control unit 10 while the machine body is kept to run.

Description

[Detailed description of the invention]

0001

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention is suitable for use as a mobile agricultural machine, particularly as an intermediate management machine that performs intermediate operations such as topdressing and pest control, and more particularly relates to a steering control mechanism for a mobile agricultural machine that has a wide range of operations.

0002

[Prior Art] Conventionally, in intermediate management work such as pest control work for agricultural crops, a chemical spraying device was installed at the rear of the riding rice transplanter main body in place of a planting device in a long (wide) direction with respect to the running direction of the main body. ) in order to increase the efficiency of pest control work by widening the range of spraying of the chemical solution when the pest control work vehicle normally travels.

0003

[Problem to be Solved by the Invention] However, in general, the width of the headland in a field is narrower than the length (working width) of the chemical spraying device, so when the main body of the pest control vehicle turns on the headland, In addition, the chemical spraying device protrudes in the width direction of the headland.

[0004] If a high ridge or the like is provided on the boundary line of the headland, the outer end of the chemical spraying device may hit the ridge, making it difficult to turn. There was a problem.

[0005] Therefore, the present invention provides a control means for controlling the running of all wheels at the same angle by approximately 90 degrees while moving when moving from the normal running direction to the lateral direction at the headland, thereby increasing the working width. The purpose is to provide a mobile agricultural machine that can perform wide and efficient work.

[0006]

[Means for Solving the Problems] The present invention has been made in view of the above-mentioned circumstances. For example, as shown with reference to FIGS. Aircraft (3
), the mobile agricultural machine (1) is equipped with a working device, and the traveling machine body (3) is traveling in a lateral direction substantially perpendicular to the normal traveling direction on a headland (M, N). Become,
In addition, the vehicle is characterized by being provided with a control means (10) for controlling the steering of all the wheels (2) by approximately 90 degrees at the same angle while the vehicle is traveling when shifting from the normal traveling direction to the lateral direction.

[0007]

[Operation] Based on the above configuration, the mobile agricultural machine (1) equipped with the working device travels in the field while running on all wheels (2) provided on the traveling body (3) of the mobile agricultural machine (1). do.

When the traveling body (3) enters the headland (M, N) after traveling in the normal traveling direction of the field, the control means (10) causes the control means (10) to The wheels (2) are steered by approximately 90 degrees at the same angle while traveling, and travel in a lateral direction approximately orthogonal to the normal traveling direction.

[0009]

[Effects of the Invention] As explained above, according to the present invention,
The traveling aircraft (3) travels through the field in the normal traveling direction and reaches the headland (
After entering the control means (1, M, N) from the normal running direction,
0), all wheels (2) are steered at approximately 90 degrees at the same angle while traveling, and the vehicle travels in a lateral direction that is approximately perpendicular to the normal traveling direction, allowing for a wide range of efficient work. Although it is capable of performing work, all wheels (2) are steered while moving, so all wheels (2) do not become stationary, and the traveling body (3) can be easily and reliably turned. At the same time, the steering torque of the wheels (2) can be reduced.

[0010] The above-mentioned symbols in parentheses are for illustration purposes only and do not limit the present invention in any way.

[0011]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Examples of the present invention will be described below with reference to the drawings.

As shown in FIGS. 1 and 2, the intermediate management machine 1 has a running body 3 whose four corners are supported by wheels 2, and below this running body 3 there is an engine 5 and a hydraulic control system. The device 6, battery 7, etc. are arranged on a frame 9, and a control section 10 is attached to the side. A drug tank 11, a pump 12, and a switching valve 13 are mounted on the traveling body 3.

[0013] An arm 15 is attached to the traveling body 3 in the longitudinal direction, and booms 16a and 16b are attached to the front and rear ends of the arm 15 so as to face laterally. A hose having spray nozzles 17 at equal pitches is attached. The booms 16a and 16b have left and right end portions that can be bent in a horizontal plane by pivot pins p, and these end portions are connected to hydraulic cylinders C and C via links 18 and 18, respectively. Therefore, the booms 16a, 16b can be folded by operating the hydraulic cylinder C.

Further, cylindrical bodies are provided at four corners of the traveling body 3 to project downward, and an upper cylindrical body is rotatably supported on the outside of this cylindrical body. A chain case 19 is fixed to the lower side of the upper cylinder, and this chain case 19
A wheel 2 is supported on a horizontal shaft pivotally supported by a horizontal shaft such that its ground contact portion is below the cylinder, and when the wheel 2 rotates in the upper cylinder, the wheel 2 rotates around the center line of the cylinder. As a result, it can be rotated freely. Then, as shown in FIG. 1, a sprocket is attached to the upper cylinder, and this sprocket connects to the steering actuator 21
The wheels 2 are connected to the wheels 2 for steering.

The wheels 2 are driven to travel by an engine 5 through a rotary drive shaft and a bevel gear in the traveling body 3 and the cylindrical body, and through a chain in the chain case.

Furthermore, when shifting from the normal running direction to the lateral direction, the wheels 2 shift from normal running to slow running according to a command from the control unit 10, and at the same time, the steering actuator 21 is activated in the slow running state.
The vehicle is designed to steer all wheels 2 at the same angle, approximately 90 degrees.

Next, the operation of this embodiment will be explained with reference to FIGS. 3 and 4.

FIG. 3 shows an example of a field. a, b line, c,
Headlands M and N separated by line d are provided on both sides of the field.

The intermediate management machine 1 drives the wheels 2 and enters along the A line from the road. The engine 5 has already been started, and the pump 12 is supplying medicine from the medicine tank 11 to the switching valve 13.

At the same time as the rear boom 16b passes over line a, the switching valve 13 starts supplying chemicals to the boom 16b, and sprays the chemicals onto the field from the spraying nozzle 17 of the boom 16b.

[0021] Then, at the same time as the front boom 16a passes over the boundary line c of the headland N, the switching valve 13 supplies the chemical to the boom 16a, and the nozzle 17 sprays the chemical onto the headland N. When the boom 16a approaches the outer boundary line d of the headland N, the chemical spraying is stopped, and at the same time, the actuator 21 is actuated to turn the wheel 2 by 90 degrees. At this time, according to instructions from the control unit 10, the wheels 2 are slowed down, and all the wheels 2 are steered at the same angle by approximately 90 degrees by the actuator 21 while driving, as shown in FIG.
As shown in , the trajectories T1 and T2 of the wheel 2 have approximately the same radius R. Then, at the headland N, the booms 16a, 1
When traveling along line B by the length of 6b, the wheels 2 are slowed down and the actuators 21 turn the wheels 2 by 90 degrees, and the switching valve 1 is moved to the front boom 16a.
3, and starts spraying the medicine from the outer boundary line d of the headland N, and travels along line C. Then, at the same time as it passes over line b, the chemical is supplied to the boom 16b and sprayed onto the headland M. Furthermore, the boom 16b is located at the boundary line a of the headland M.
When approaching the boom 16a, 16b, the spraying of chemicals from both the booms 16a, 16b is stopped, and at the same time the wheels 2 are slowed down, and after all the wheels 2 are turned 90 degrees by the actuator 21, the boom 16a, 16b moves along the headland M along the line D. Run normally for the length of . The series of pest control work is completed by repeating these movements and operations. Then, either go out of the field or run along the H line on the headland N, and when the center of the traveling body 3 approaches the position where it intersects the A line, the wheel 2
Slow down, turn 90 degrees, and return to the position before the approach.

In the above, FIG. 4 illustrates the case where the width w of the headland M is approximately equal to the width L of the booms 16a, 16b, but if the width w of the headland M is wider than the width L of the booms 16a, 16b, However, if the wide part of the headland M is operated in the same manner as in a general farm field, this intermediate management machine 1 can be operated in the same manner as the above-mentioned operation. If the radius R is made as small as possible, the area where the medicine remains unsprayed (the corner of the headland) can be ignored.

[0023]Although this embodiment exemplifies an intermediate management machine for pest control, it may also be used as a fertilizer spreader for liquid or granular fertilizer, a seeding machine,
It can also be applied to other mobile agricultural machines such as rice transplanters.

[Brief explanation of the drawing]

FIG. 1 is a plan view showing a pest control machine according to an embodiment of the present invention.

FIG. 2 is a side view thereof.

FIG. 3 is a plan view showing working conditions in the field.

FIG. 4 is a plan view showing the steering state of the wheels.

[Explanation of symbols]

1 Mobile agricultural machinery (intermediate management machine) 2
Wheels 3 Traveling body 10 Control means (control unit) M, N
headland

Claims (1)

[Claims] [Claim 1] A mobile agricultural machine in which a working device is mounted on a traveling body whose wheels can be steered, wherein the traveling body travels in a lateral direction substantially orthogonal to a normal traveling direction on a headland. A mobile agricultural machine, characterized in that it is provided with a control means for controlling the steering of all the wheels at the same angle by approximately 90 degrees while the machine is moving when moving from the normal running direction to the lateral direction.