JPH053704A - Unmanned working vehicle - Google Patents

Abstract

PURPOSE:To improve the straight-driving performance and facilitate the turn of an unmanned working vehicle by placing a running and steering drive unit and an operation and controlling unit in the middle of a main frame connecting both axle cases provided at the front and rear ends of a machine body. CONSTITUTION:Front wheels 5 and rear wheels 7 are placed between a front axle case 1 at the front end of a machine body and a rear axle case 2 at the rear end of the machine body. Both axle cases are connected through a main frame 3 and the middle part of the main frame is provided with a running and steering drive unit (e.g. engine 21 and hydraulic pump 22) and an operation and controlling unit (e.g. controlling apparatus 30 and an operation board 33).

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a technique of a work vehicle for performing unmanned work by setting a remote operation or a work process for performing agricultural work such as plowing.

[0002]

2. Description of the Related Art Conventionally, a work vehicle that allows unattended management work has been publicly known.
This is the technology of No. 317310. According to this technique, the traveling wheels provided at the four corners of the machine body frame can be rotated by 90 degrees, respectively, the swing frame is provided on the machine body frame, the working machine is attached to the rear end of the swing frame, and the stick is attached to the front end. When you reach the headland during work, lower the stick and lift the front wheel, rotate the front wheel 90 degrees, then rotate the revolving frame 180 degrees, lower the stick and lift the rear wheel 90 degrees. When it is rotated and moved in parallel to the next step, the front wheels and the rear wheels are rotated by 90 degrees in the same manner as described above to change the traveling direction to the opposite direction to the above, and the next work is performed. It was.

[0003]

However, with the technique as described above, it takes time to change the direction in order, such as raising and lowering the stick and rotating the steering wheel in order.
The structure for turning is very complicated.
The present invention is intended to improve straightness with a simple structure, facilitate turning, and enable unmanned work.

[0004]

In consideration of such a point, the present invention arranges a front axle case provided at the front end of the machine body and a rear axle case provided at the rear end of the machine body in parallel in the front-rear direction, and A front wheel and a rear wheel are arranged between the cases, the front axle case and the rear axle case are connected by a main frame, and a traveling / steering drive unit and an operation / control unit are arranged in a central portion. . Further, in the unmanned work vehicle, a sensor detects the deviation of the position, angle, and direction with respect to the traveling direction of the center of gravity of the machine, calculates the detection signal and the target direction, and changes the camber angles of the left and right wheels. It is configured to move the center of gravity and perform steering correction.

[0005]

The problems to be solved and the means for solving the problems of the present invention are as described above, and the embodiments shown in the accompanying drawings will be described below. FIG. 1 is a side view of an unmanned work vehicle according to the present invention, and FIG.
Is a plan view, FIG. 3 is a rear cross-sectional view of the same, FIG. 4 is a side view of a state in which a working machine is mounted, and FIG. 5 is a plan view of the same. 1, 2, and 3, a front axle case 1 is arranged on the front end and a rear axle case 2 is arranged parallel to and opposed to the rear end, and the front axle case 1 and the rear axle case 2 are arranged parallel to each other on a main frame. 3.3 is arranged and connected to form an airframe.

Rotating cases 4 are pivotally supported in the front-rear direction at both ends of the front axle case 1, and the rotating cases 4 are
.4 front wheels 5 and 5 are pivotally supported on the outside of the rear end, and the rotating case 4
An arm 10 is projected to the front axle case side of, and the other end of the arm 10 is pivotally connected to a tie rod 11.
The center of the tie rod 11 is pivotally connected to the tip of the piston rod 12a of the hydraulic cylinder 12 via an arm 13. The hydraulic cylinder 12 is pivotally connected to the main frame 3, and an electromagnetic valve is switched by a control signal of a control circuit described later to expand and contract, and the lower end of the arm 13 is pivotally supported by the front axle case 1. However, the arm 13
May be arranged in the horizontal direction to rotate the tie rod 11. Similarly, the rotating cases 6 and 6 are pivotally supported at both ends of the rear axle case 2, respectively.
The rear wheel 7 is pivotally supported at the front end, the arm 14 is projected from the rotating case 6, and the other end of the arm 14 has a tie rod 15
The center of the tie rod 15 is pivotally connected to a hydraulic cylinder 17 via an arm 16.

With such a structure, when the front and rear hydraulic cylinders 12 and 17 are simultaneously expanded and contracted by the same length, the tie rods 11 and 15 are moved left and right to rotate the arms 10 and 14, and the rotating cases 4 and 6 rotate. As a result, the front wheels 5 and the rear wheels 7 are tilted to the right or left. At this time, the center of gravity of the aircraft also moves in the same direction, so the traveling direction is also changed to the moving side.

A mission case 20 is arranged on the central portion of the main frames 3, 3, power is input from an engine 21 to the mission case 20, and a hydraulic pump 22 is arranged on the side opposite to the engine 21. It is installed and driven, pressure oil is sent to the hydraulic cylinders 12 and 17, etc., and the transmission case 23 is transmitted from the front surface of the transmission case 20.
The power is transmitted to the front axle case 1 via the drive to drive the front wheels 5, and the rear surface of the transmission case 20 is transmitted to the rear axle case 2 via the transmission case 24 to drive the rear wheels 7. .

A turning device is provided at the center of gravity of the machine body, and the upper end of a pantograph-shaped lifting link 26 is pivotally connected to a support base 25 fixed to the main frame 3, and the lower end of the lifting link 26 is connected. The swivel 27 is pivoted,
A piston rod of a hydraulic cylinder 28 is pivotally connected to one end of the swivel base 27, and can be moved up and down by expanding and contracting the hydraulic cylinder 28. The revolving base 27 is configured to be rotatable by upper and lower support plates, and one of the support plates is rotated by a hydraulic motor or an electric motor to revolve.

On the rear part of the main frame 3, a control device 30 including a microcomputer, a horizontal sensor 31, a direction sensor 32, and an operation panel 33 are mounted.
An operation switch for setting a work process and a monitor thereof are provided on the operation panel 33, and a solar cell is attached to a lid of the operation panel 33 so that control can be performed even when the battery goes down and charging can be performed while the battery is stopped. . The azimuth sensor 32 detects the traveling direction by a geomagnetic sensor, a gyro locator, or the like, the horizontal sensor 31 detects an angle between the front-rear direction and the left-right direction, and the respective values are input to the control device 30. Front wheel 5
Alternatively, the rear wheel 7 is provided with a rotation speed sensor 34 to detect the traveling distance, and the bumper 9 provided at the front end of the front axle case 1 is stopped by the switch 3 for hitting an obstacle.
5 are provided. Further, an angle sensor, a rotation speed sensor, and the like are also provided on the rotary shaft of the rotary tiller and the rotary shaft of the rotary, which will be described later, and the position and the rotation speed of the rotary tiller are also input to the control device 30.

As shown in FIGS. 4 and 5, a working machine can be mounted on the rear part of the machine body. When mounting a ridger, a hitch 40 is fixedly installed at the center of the rear axle case 2. The front end of the main support 41 of the rotary tiller is pivotally supported by the hitch 40 and can be moved up and down by an elevating link 39. A gear box 42 is fixed to the rear end of the main support 41, and a chain case is installed below the gear box 42. A cultivating shaft is laterally mounted on the lower end so as to project, and a cultivating claw 43 is planted on the cultivating shaft so that it can be cultivated. Power to the gearbox 42 is transmitted from the rear axle case 2 via a universal joint or the like.

Beams 44, 44 project from the gearbox 42 to both sides, and the beams 44, 44 are constructed like cylinders so that rods 45, 45 can be expanded and contracted, and are supported by the rods 45, 45. The plate 47 and the side tillage cover 46 are fixedly mounted, and the tilling shaft is supported at the lower end of the support plate 47, so that the side tillage cover 46 can adjust the tilling width. The mounting body 4 is provided on the rear surface of the gear box 42.
9, a supporting rod 50 is horizontally installed at the rear end, and the supporting rod 5
Shaping plates 51, 51 are fixedly installed at both ends so that the width can be adjusted, and are slid in conjunction with the width adjustment of the side tillage cover 46. The shaping plates 51, 51 are rotated up and down by a motor 52 provided on the rear end of the mounting body 49 so that the ridges can be shaped according to the tilling depth of the rotary.

In such a structure, before the work, the shape and size of the field, the work process (work route, running speed), PT
O drive speed, ridge height, ridge width, etc. are set from the operation panel 33, and when the work is started, the rotary is lowered while being rotated, and the shaping plate 51 is also lowered at the same time, and when this is lowered to the set position, the machine is moved. Gradually move forward, and the controller 30 calculates by the input of the horizontal sensor 31 and the direction sensor 32,
The hydraulic cylinders 12 and 17 are expanded and contracted to move forward while correcting the direction to the set direction. Also, when load fluctuations occur in the rotary, the traveling speed is reduced to increase the torque,
Make sure the work is not finished badly.

When the machine reaches the headland, the front sensor (bumper 9) of the machine touches the ridges or piles and the machine and the rotary stop. (In addition, the direction sensor and the distance sensor should detect the headland. However, there is a slight error in running slips and the like, and there should be an unworked part, so the sensor at the front of the fuselage detects the end to improve certainty). At the same time when the rotary is stopped, the shaping plate 51 is raised, and then the rotary is raised.

Next, the hydraulic cylinder 28 is extended, the elevating link 26 is extended, the swivel base 27 is lowered to raise the machine body, and the swivel base 27 is swung 90 degrees at the upper end position to change the direction of the machine body. 28 is reduced, the swivel base 27 is raised, the machine is moved to the next work position, the hydraulic cylinder 28 is extended again and swung 90 degrees in the same manner as described above, and the traveling direction is changed to the next work step. Then, when the swivel base 27 is raised, the rotary is lowered and the work is started again as described above. In addition, as shown in FIG.
Not only unmanned driving but also remote control using the wireless device 37 or the like is possible, and it is possible to arbitrarily control when a process is changed or a dangerous state is reached.

[0016]

Since the present invention is configured as described above, it has the following effects. That is, since the left and right wheels do not have a turning function, there is no disturbance in the traveling direction due to steering and excellent straightness, and since the correction to the set traveling direction is performed by moving the center of gravity, there is little lateral variation of the working machine and the finish is It became clean and could be a work vehicle suitable for plowing and maintenance work. In addition, by setting the work process before starting work, running, turning, and work can be done automatically, and corrections are also made automatically by the control circuit, so unmanned work can be achieved and work can be done efficiently. And the labor saving can be achieved.
It became possible to work reasonably.

[Brief description of drawings]

FIG. 1 is a side view of an unmanned work vehicle according to the present invention.

FIG. 2 is a plan view of the same.

FIG. 3 is a rear sectional view of the same.

FIG. 4 is a side view showing a state in which a working machine is mounted.

FIG. 5 is a plan view of the same.

[Explanation of symbols]

1 front axle case 2 rear axle case 3 mainframe 5 front wheels 7 rear wheels 20 mission case 21 engine 22 Hydraulic pump 30 control device 31 Horizontal sensor 32 direction sensor 33 Control panel

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁵ Identification number Reference number in the agency FI Technical display location B62D 133: 00 (72) Inventor Nobuo Kuromiya 1-32 Chayamachi, Kita-ku, Osaka-shi, Osaka Yanmar Agricultural Machinery Co., Ltd. (72) Inventor Susumu Nochi 1-32, Chaya-cho, Kita-ku, Osaka City, Osaka Yanma Agricultural Machinery Co., Ltd. (72) Akihiro Kubo 1-32-32, Chaya-machi, Kita-ku, Osaka City, Osaka Yanma -Agricultural machinery Co., Ltd.

Claims (2)

[Claims] 1. A front axle case provided at the front end of the machine body and a rear axle case provided at the rear end of the machine body are arranged in parallel in the front-rear direction, and a front wheel and a rear wheel are arranged between both axle cases, and the front axle case and An unmanned work vehicle characterized in that a main frame is connected to the rear axle case and a traveling / steering drive unit and an operation / control unit are arranged in the center. 2. The unmanned work vehicle according to claim 1, wherein a sensor detects a deviation in position, angle, and direction with respect to the traveling direction of the center of gravity of the machine, and calculates the detection signal and the target direction.
An unmanned work vehicle that is configured to change the camber angles of the left and right wheels to move the center of gravity and perform steering correction.