JPH0541603Y2 - - Google Patents

Description

[Detailed description of the invention] [Industrial field of application] The invention relates to a steering system for a furrow working vehicle, and more specifically, it is easy to install and operate, and even when the wheel width of the running wheels is changed, it is troublesome. The present invention relates to a steering device that can be operated reliably without extensive adjustment operations.

[Conventional technology]

In general, furrow-traveling work vehicles that perform seedling transplantation and sowing work use running wheels whose wheel distance can be adjusted to match the furrow spacing using a steering device installed on the machine body.
One that operates by steering is known.

[Problems that this invention attempts to solve]

However, with this type of steering device that steers the running wheels, if you try to automatically control the running direction based on sensor sensing, the actuator that steers the front wheels and the angle detection sensor that detects the steering angle will not work properly. However, in order to reliably control travel, it is difficult to adjust the centering of the actuator attached to the aircraft, and especially when changing the wheel width, troublesome adjustments must be made each time. First, there is a drawback that the wheel distance cannot be easily adjusted in accordance with the ridge spacing.

This invention was devised to solve the above-mentioned problems, and its purpose is to make the installation operation easy, and even when changing the wheel width, there is no need for troublesome adjustment operations. It is an object of the present invention to provide a steering device for a furrow traveling work vehicle that can perform reliable steering control and efficiently perform furrow traveling work.

[Means for solving problems]

In order to solve the above problems, the technical means adopted by the present invention is to support the left and right running wheels that run across the ridges on the left and right slide shafts that extend and contract with respect to the fixed axle, and adjust the wheel width. A furrow traveling work vehicle configured to enable automatic control of the traveling direction of the machine is provided with an actuator connected to a ridge sensing sensor for steering the front wheels and an angle detection sensor for detecting the steering angle of the front wheels, and the above-mentioned This vehicle is characterized in that the actuator is attached to the slide shaft of the axle that supports the front wheels.

[Effect of invention]

Therefore, according to the present invention, when transplanting seedlings or sowing seeds while traveling between the furrows with the left and right running wheels, the actuator that operates in conjunction with the furrow sensing sensor steers the front wheels. Since the angle detection sensor detects the steering angle of the front wheels and automatically controls the traveling direction of the aircraft, the aircraft can run smoothly along the ridge. The actuator attached to the slide shaft side of the axle that supports the front wheel can be easily attached because there is no need for troublesome adjustment operations such as centering the front wheel. Furthermore, when changing the wheel width by sliding the slide shaft, the actuator moves together with the slide shaft and the positional relationship with the front wheel does not change in any way, so there is no need for troublesome adjustment operations each time. The front wheels can be steered to accurately control the direction of travel, making it possible to efficiently carry out furrow work such as transplanting seedlings and sowing.

〔Example〕

An embodiment of the present invention will be described in detail based on the attached drawing of a sweet potato seedling transplanter. Reference numeral 1 denotes a fuselage frame having a front wheel 2, a rear wheel 3, and an engine 4 mounted at the rear. A transplant section 5 is attached. When an operator sitting in the driver's seat 6 supplies seedlings to the transplanting section 5, the descending transplanting section 5 plants the seedlings on the transplanting bed surface of the ridge.

Reference numeral 7 denotes a ridge detection sensor for forward motion disposed on both left and right sides of the front part of the fuselage. The protruding contactor 9 comes into contact with the side surface of the ridge and detects the state of bias of the body with respect to the ridge. Reference numeral 10 denotes a ridge sensing sensor for backward movement, which is disposed at the rear of the aircraft body in the same way as sensor 7 for forward movement.

Numeral 11 denotes an axle that supports the front wheels 2, 2. The axle 11 is connected to a fixed axle 13 that is attached to the vehicle body by a center pin 12, and has left and right slide shafts 14,
14a is slidably mounted on the slide shaft 14, 14a, and the support 1 supporting the front wheels 2, 2 is mounted on the slide shaft 14, 14a.
The knuckle arm 1 rotates together with the supports 15, 15.
The front ends of the wheels 6, 16 are connected via a tie rod 17 so that the left and right front wheels 2, 2 are steered simultaneously.
18 is an adjustment screw for the tie rod 17;
19" is a pin hole of the axle 11, and a fixing pin 20 is inserted into the pin hole, and an adjustment screw 18 is inserted into the pin hole.
By adjusting the above, the wheelbase of the front wheels 2, 2 can be adjusted.

Reference numeral 21 denotes an actuator that operates in conjunction with the sensing of the ridge detection sensor 7 for forward movement. The distal end of a cylinder 26 that expands and contracts in conjunction with the rotation of the wiper motor 25 that rotates forward and backward is connected via a pin 28 to the rear end of a king pin 27 that rotates together with the support 15 . Then, when the ridge detection sensor 7 detects the deviation of the aircraft body with respect to the ridge, the actuator 21 is actuated,
The king pin 27 rotates to steer the front wheels 2, 2 in a direction where they do not come into contact with the ridges. Further, 29 is a stroke regulating plate provided at the lower part of the actuator 21, and the stroke regulating plate 29 is connected to the wiper motor 2.
It is fixed to a support shaft 31 that protrudes from a mounting bracket 30 of No. 5 into the space above the front wheel 2, and limit switches 32, 32 are mounted in the left-right direction. Further, protrusions 33, 33 facing the limit switches 32, 32 are vertically provided on the cylinder 26 at a predetermined interval. When the cylinder 26 expands and contracts and the protrusions 33 contact the limit switch 32, the ridges Even if the sensing sensor 7 detects the deviation of the aircraft body, only the operation of the actuator 21 is stopped, and the stroke of the actuator 21 is regulated within a predetermined range.

Reference numeral 34 denotes an angle detection sensor for detecting the steering angle of the front wheels 2. The angle detection sensor 34 is attached to the mounting member 35 on the slide shaft 14a using a space on the opposite side to the mounting position of the actuator 21. The tip of the rotating arm 36 fixed to the rotating shaft of the angle detection sensor 34 is connected to the elongated hole 38 of the L-shaped plate 37 fixed to the tie rod 17 via the pin 9. has been done. When the front wheels 2, 2 are steered by the operation of the actuator 21, the rotation arm 36 rotates in conjunction with the movement of the tie rod 17 from side to side. Detects steering angle. Then, when the ridge sensing sensor 7 detects that the aircraft continues to run and is parallel to the ridges, the actuator 21 is actuated in the opposite direction to return the front wheels 2 to the straight-ahead state where no steering angle is detected.

In the above configuration, when the sweet potato seedlings are transplanted while the machine body is traveling across the ridge with the left and right running wheels, when the ridge detection sensor 7 in contact with the ridge detects that the machine body is biased with respect to the ridge, the actuator is activated. 21 to steer the front wheels 2 so that the aircraft body is parallel to the ridge. At this time, the angle detection sensor 34
The microcomputer detects the steering angle and compares it with the detection by the ridge detection sensor 7. Next, when the aircraft continues to travel and the ridge detection sensor 7 detects that the direction of the aircraft has become parallel to the ridge, the actuator 21 is operated in the opposite direction, and the angle detection sensor 34 no longer detects the steering angle. The front wheels 2 are returned to a straight-ahead state.

In addition, since the operating range of the actuator 21 is restricted to a predetermined range by the stroke regulating plate 29, it is possible to reliably prevent the actuator 21 from protruding too much and coming into contact with the fuselage and being damaged. At this time, the limit switch 32 is activated and the actuator is Even if the yuator 21 stops, the aircraft continues to move forward, and when it becomes parallel to the ridge, the ridge detection sensor 7 detects this and returns the front wheels 2 to the straight traveling state. Therefore, the traveling direction of the aircraft can always be automatically controlled along the ridge. Since the actuator 21 is attached to one of the slide shafts 14 that supported the front wheel 2, adjustment such as centering with respect to the front wheel 2 is simple and installation is easy. Even when the wheel width is changed by moving the actuator 21, the actuator 21 moves together with the slide shaft 14, and the position relative to the front wheel 2 does not change at all, so there is no need for particularly troublesome adjustment operations.
The wheel width can be easily adjusted by simply replacing the fixing pin 20 and adjusting the tie rod 17 using the adjustment screw 18.

Also, the angle detection sensor 34 is connected to the actuator 21.
Since it is mounted on the slide shaft 14a on the opposite side from the mounting position of the pin 39, it can be easily mounted using a large space, and when changing the wheel width, it moves with the slide shaft 14a and the pin 39
Since the tie rod 17 connected via the tie rod 17 is also adjusted at the same time, the relative position with the tie rod 17 does not change, and the wheel width can be easily adjusted.

[Effect of idea]

In short, the present invention provides a vehicle for furrow traveling in which the left and right traveling wheels that travel across the ridge are supported by left and right slide shafts that extend and contract with respect to a fixed axle, so that the wheel width can be adjusted. The direction of movement of the aircraft is automatically controlled by providing an actuator connected to a ridge sensing sensor that steers the front wheels and an angle detection sensor that detects the steering angle of the front wheels. When transplanting seedlings or sowing seeds, when the left and right running wheels are used to straddle the ridge, the front wheels are steered by the actuator connected to the ridge sensor's ridge sensor. Since the angle detection sensor detects the steering angle of the wheels and automatically controls the direction of travel, the aircraft can run smoothly along the ridges. The actuator that steers the front wheels is attached to the slide shaft side of the axle that supports the front wheels, so there is no need for troublesome adjustment operations such as centering, and the actuator can be easily installed. When changing the wheel width by sliding the actuator, the actuator moves along with the slide shaft and the positional relationship with the front wheel does not change in any way, so it is easy to adjust to the ridge spacing without having to make troublesome adjustments each time. The wheel distance can be adjusted to allow for efficient furrow running work.

[Brief explanation of the drawing]

The drawings show an embodiment of the steering device for a furrow working vehicle according to the present invention, in which FIG. 1 is an overall side view, FIG. 2 is a plan view of the same, and FIG. 3 is a plan view of the front wheels. FIG. 4 is a front view of the same as above, FIG. 5 is a rear view of essential parts, and FIG. 6 is a cross-sectional view along AA of FIG. 3. In the figure, 2... front wheel, 3... rear wheel, 7... ridge detection sensor, 13... fixed axle, 14, 14a... slide shaft, 21... actuator, 34...
It is an angle detection sensor.

Claims (1)

[Scope of Claim for Utility Model Registration] (1) A furrow traveling work vehicle configured such that the wheel width can be adjusted by having left and right traveling wheels that travel across the ridge supported by left and right sliding shafts that extend and contract with respect to a fixed axle. An actuator connected to a ridge sensing sensor for steering the front wheels and an angle detection sensor for detecting the steering angle of the front wheels are provided to automatically control the traveling direction of the aircraft, and the actuator is used to support the front wheels. A steering device for a furrow working vehicle, characterized in that it is attached to a sliding shaft of an axle. (2) The steering device for a furrow working vehicle according to claim 1, wherein the angle detection sensor is attached to a slide shaft on the opposite side of the actuator.