JPH0485142A - Under carriage stabilizing device in high place working machine - Google Patents

Abstract

PURPOSE:To improve stability by providing a high place working machine extendable into a high place work position on an under carriage, and constructing an under carriage stabilizing device in this high place working machine in such a way as to move lower wheels upward in association with the upward movement of the high place working machine, thus lowering the under carriage, in an undercarriage stabilizing device for a fruit harvesting machine and the like. CONSTITUTION:Wheels 10 are interlocked with the lower arm 8 of a harvesting link device 4 by links 11, and the tilt angle of the link 11 is changed by a motor 12 and a connecting rod 13 connected to the motor 12. The wheels 10 are thereby moved upward interlockingly with the upward extension of the harvesting link device 4, and thus an under carriage 2 is lowered. A body is thereby stabilized.

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Field of Application] The present invention relates to a vehicle platform stabilizing device for an aerial work machine, and can be used, for example, in a fruit harvesting machine that is an aerial work machine.

[Prior art]

Conventional high-altitude work equipment of this kind has a working part, for example,
When the fruit inspection section 8 or the fruit-thinning device moves upward from a predetermined position on the chassis, the center of gravity of the chassis moves upward accordingly, making the entire vehicle extremely unstable.

For this reason, with this type of work machine, accidents such as overturning of the chassis frequently occur during work.

[Problem to be solved by the invention]

As mentioned above, in the conventional type, when the work equipment on the undercarriage is extended upward to perform work at high places, the center of gravity of the undercarriage becomes higher as it rises, resulting in instability. I was awake.

Therefore, in such an aerial work machine, in order to perform work while maintaining the stability of the chassis, it is necessary to lower the center of gravity of the chassis.

This invention aims to raise the overall center of gravity by raising the wheels (in other words, lowering the chassis) to ensure stability as the working machine mounted on the chassis extends upward. be.

[Means to solve the problem]

This invention takes technical means similar to those in Europe in order to solve the above-mentioned problems. That is, in an aerial working machine that performs work while moving the chassis 2 forward and backward by the traveling device 11, an aerial working machine 3 capable of extending to a working position at a high place is provided on the chassis 2, and the aerial working machine This is a vehicle platform stabilizing device for a high-altitude working machine configured so that when the traveling device 3 moves upward, the lower traveling device 1 can also move upward.

[Action/Effect]

First, a case where fruit harvesting work is performed will be explained.

The chassis 2 drives a drive motor to transmit power to the traveling device 1, and moves forward in the orchard.

At this time, the harvesting link device 4 operates the joints 9 of each arm 8 in response to a control signal from the control device in order to adjust the height of the image sensor 7 provided on the upper fruit harvesting hand 6 to the fruit level. and rise.

In this way, the image sensor 7 advances while capturing the target position within the screen, and when it captures an image of the fruit, it sends it as an image signal to the control device.

In this manner, when the position of the fruit is recognized by the control device, the control device calculates the distance between the fruit and the fruit harvesting hand 4, issues a control signal to each electric motor, and starts the fruit thinning operation.

Now, during such a series of harvesting operations, when the above-mentioned harvesting linkage device 4 extends upward, the wheels 10 constituting the traveling device 1 move upward to lower the chassis 2 and raise the center of gravity. .

As described above, the present invention provides an aerial working machine that performs work while moving the chassis forward and backward using a traveling device, in which an aerial working machine capable of extending ρI to a working position at an elevated location is provided on the chassis, and The structure is such that when the work equipment moves upward, the lower wheels can also move upward.1 This makes it possible to lower the center of gravity not only during normal driving but also during work, thereby reducing the risk of falls. It has the feature that you can work safely without worrying.

In particular, among this type of aerial work equipment, like fruit harvesters,
This is even more effective for those working on slopes.

〔Example〕

The chassis 2 has four wheels 10 constituting the traveling device 1, and is configured to be able to travel forward, backward, left and right.

The harvesting link device 4 is configured to be movable upward and laterally by a joint portion 9 that pivotally connects a plurality of arms 8.

The image sensor 7 is provided at the tip of the above-mentioned harvesting link device 4 together with the fruit harvesting hand 6.

The wheels 10 and the lower arm 8 of the harvesting link device 4 are connected by a link 11 so as to be interlocked.

The upper end is integrally constructed with the lower arm 8.

The link 11 is a connecting rod 13 connected to the motor 12.
The inclination angle can be changed by

Therefore, the wheels 10 are configured to be able to rise upward in relation to the upward extension of the harvesting linkage 4 to lower the chassis 2.

It should be noted that, without being limited to the above-described embodiment, the purpose can be achieved as long as the center of gravity of the chassis 2 is lowered in relation to the operation when the harvesting link device 4 rises.

In addition, this fruit harvesting machine uses a spin-turn device that can make small turns in order to make it easier to turn on the narrow fruit side, but if it is set to spin-turn mode during work, it is configured to be able to make spin-turns when turning. .

The above-mentioned harvesting link device 4 is configured so that it can be stored at a low center of gravity position if it is set in the spin-turn mode.

In addition, although this kind of harvesting machine generally runs in the grooves between the furrows inside a greenhouse, it does not necessarily run only on flat ground, but may also run on slopes going up and down. be.

Therefore, for fruit harvesting machines, we have taken measures to prevent running on slopes.
If the harvesting link device 4 is used instead of a weight, the balance will be less likely to be lost during running and the vehicle will be able to run safely.

Further, in order to ensure the safety of the vehicle chassis 2, the turning angle of the steering can be regulated using a horizontal sensor.

Next, its effect will be explained.

First, a case where fruit harvesting work is performed will be explained.

The chassis 2 drives a drive motor to transmit power to the traveling device 1, and moves forward in the orchard.

At this time, the harvesting link device 4 operates the joints 9 of each arm 8 in response to a control signal from the control device in order to adjust the height of the image sensor 7 provided on the upper fruit harvesting hand 6 to the fruit level. and rise.

In this way, the image sensor 7 advances while capturing the target position within the screen, and when it captures an image of the fruit, it sends it as an image signal to the control device.

In this way, when the position of the fruit is recognized by the control device, the control device calculates the distance between the fruit and the fruit harvesting hand 4, issues a control signal to each electric motor, and starts the fruit thinning operation.

Now, during such a series of harvesting operations, when the above-mentioned harvesting linkage device 4 extends upward, the wheels 10 constituting the traveling device 1 move upward to lower the chassis 2 and lower the center of gravity. stability can be ensured.

[Brief explanation of drawings]

The drawings show an embodiment of the present invention, and FIG. 1 is a partially cutaway side view, FIG. 2 is a line diagram showing the operating state, and FIG. 3 is a slope view. Explanation of symbols 2...Car chassis 4...Harvesting link device 7...Image sensor 9...Joint portion 11...Link 13...Connection

Claims (1)

[Claims] (1) In an aerial work machine that performs work while moving the platform forward and backward using a traveling device, an aerial work machine that can extend to a high work position is installed on the chassis, and the aerial work machine moves upward. Undercarriage stabilization device for aerial work equipment configured so that the lower wheels can also be moved upwards.