JPH0617410U - Direction control device for mobile agricultural machinery - Google Patents

Abstract

(57) [Abstract] [Purpose] It is an object of the present invention to provide a direction control device for a mobile agricultural machine capable of preventing the field subsidence of a direction sensor even in a weak field and always performing an accurate direction automatic control regardless of the field conditions. . [Structure] In a mobile agricultural machine in which a direction sensor detects a passing position of a vehicle body with respect to an already-planted crop strip and controls the aircraft to travel along an appropriate position along the crop strip, the sensor arm supporting the direction sensor 17 described above. 22 running machine 1
The rocket is mounted so that it can swing in the front-back direction, the sled body 28 for following the paddle surface is detachably and replaceably attached to the lower end of the sensor arm, and the pressing force of the sled body can be adjusted by spring pressure. It can be changed via 30.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to a direction control device for a mobile agricultural machine, and more particularly to a direction control device suitable for an unmanned mobile agricultural machine that is remotely controlled.

[0002]

[Prior art]

 Conventionally, in management work vehicles such as chemical sprayers (controlling machines) and mobile agricultural machines such as combine harvesters, a direction sensor is mounted below the front part of the traveling machine body with the direction sensor protruding laterally. It can be seen that it is equipped with a direction control device that senses the passing position of the aircraft with respect to the strip and automatically controls the aircraft to follow the proper position along the crop row.

[0003]

[Problems to be solved by the device]

 By the way, the direction sensor of the above-mentioned direction control device is generally arranged in the front part of the traveling machine body so as to face the proximity position of the field scene, in order to detect the plant base position of the crop. Therefore, the direction sensor itself may also sink in the field due to the subsidence of the aircraft in a soft field, etc. This not only disables the automatic direction control, but also damages the sensor part. There was a problem.

[0004]

[Means for Solving the Problems]

 The direction control device for a mobile agricultural machine according to the present invention was created based on the above-mentioned situation, and detects the passage position of the machine body with respect to the planted crop line with the direction sensor and moves the machine along the crop line. In a mobile agricultural machine that is controlled to follow an appropriate position for traveling, a sensor arm that supports the above-mentioned direction sensor is attached to the traveling machine body while swinging forward and backward, and the lower end of the sensor arm is used to follow the paddy field. The main point is that the sled body of the sled body is detachably and replaceably mounted, and that the pressing force of the sled body on the paddy field can be changed via an ammunition machine with adjustable spring pressure.

[0005]

[Action]

 Since the pressing force on the paddy field and the sled body (size of the sled body, etc.) can be changed, for example, in the case of a wetland where the field is prone to sink, adjust the spring pressure to reduce the pushing force of the sled body on the paddy field. At the same time, by exchanging the sled body with a large pressure receiving area from the paddy field, it is possible to adjust the padding ability of the directional sensor to an appropriate state, which prevents the subsidence of the directional sensor in the field.

[0006]

【Example】

 The structure of the present invention will be described with reference to an embodiment shown in the drawings, in which the liquid spraying apparatus, for example, an exterminating machine, is equipped with the present invention. Reference numeral 1 denotes a traveling body (this machine) of a paddy field vehicle (a passenger rice transplanter in the illustrated example) having front wheels 2 and rear wheels 3 and an engine 4 mounted at the front, and a top link 5 and a lower link 6 behind the traveling body. A spraying work machine (controlling machine) S equipped with a liquid tank (chemical solution tank) 8 is detachably mounted via an elevating link 7 consisting of.

The pest control machine S is composed of the chemical liquid tank 8, the drive unit 10 mounted in the machine frame 9, and the injection pipe section 11 provided behind the machine frame 9 so as to be able to switch between the working posture and the non-working posture. The power is transmitted from the PTO shaft 12 of the machine 1 through the universal joint shaft 13 to the drive unit 10 of the control machine S to drive the dynamic injection pump 10a, whereby the chemical liquid in the tank 8 is injected into the injection pipe 11a. The spouts 11b are provided on both the left and right sides of the plant and are sprayed toward the crop strip. The control machine S of the present embodiment has a structure that is sprayed from between the rows of the crop, but it may be sprayed from above the crop.

By the way, on the side of the main unit 1, a control unit 15 composed of a microcomputer and a remote control unit 16 for unmanned operation are arranged behind the driver's seat 14, and the control unit 15 is a pre-installed unit. It is electrically connected to the direction sensor 17, which is aware of the position where the aircraft passes the crop strip, and enables unmanned operation by remote control.

The direction sensor 17 is located below the front part of the machine 1 and is mounted so as to be rotatable in a pair of left and right directions. That is, the link arm 20 is swingably supported in the back-and-forth direction by the bracket 19 fixed to the back surface side of the intermediate portion of the bumper 18 in the lateral width direction, and the lateral shaft 21 is inserted and fixed to the fulcrum boss portion 20a of the link arm 20. At the same time, the holders 23 of the sensor arms 22 are fixed to the left and right ends of the horizontal shaft 21 with bolts 23a, and the sensor arms 22 made of hexagonal rods are inserted into and supported by the holders 23 via the bolts 24 so as to be vertically adjustable and fixable. A sled body 28 is detachably and replaceably attached to the lower end of the sensor arm 22 via an L-shaped elastic plate 25, a bolt 26, and a nut 27, and is located above the sled body 28. The direction sensor 17 made of a linear body is attached to the sensor arm 22 via a bracket 29 in a state of protruding inward.

As described above, since the bumper 18 is used as a mounting portion for the link arm 20, the sensor arm 22, and the direction sensor 17, etc., the sensor mounting structure can be simplified, and the bumper 18 has the sensor arm 22 and the direction. The gart protects the sensor 17, and the weight W can be detachably attached to the bumper 18, so that the design is extremely rational.

As the sled body 28, a plurality of sled bodies having different sizes, that is, different ground contact areas are prepared in advance so that the sled bodies can be exchanged according to the field conditions.

On the other hand, the pressing force of the sled body 28 on the paddle surface can be changed through an elastic machine 30 whose spring pressure is adjustable. That is, a ring-shaped rod 31 is provided at the pivoting tip of the link arm 20 so as to be vertically rotatable, and one end of the ring 31 is located behind the link arm 20 and is pivotally supported on the lower surface of the front portion of the main body 1 of the present invention. The tip screw portion 32a of 32 is fitted, and the bullet 30 including a coil spring is interposed between the ring 31 and the step portion 32b of the rod 32, and the tip screw portion 32a of the rod 32 is used for adjusting the spring pressure of the bullet 30. The nut 33 is screwed in. Reference numeral 34 is a connecting pin of the rod 32, and 35 is a conducting wire for connecting the direction sensor 17 and the control unit 15.

In the above structure, the control work in the field is usually performed by the operator sitting on the driver's seat 14, but it can also be performed by unmanned operation by remote control. In this case, the direction sensor 17 detects the passing position of the machine body with respect to the already planted crop strip, and inputs the detection signal to the control unit 15 to automatically control the machine body 1 to follow the proper position along the crop strip. As a result, the straightness of the airframe can be ensured even with unmanned operation, and the control work is always performed accurately.

By the way, when the field conditions are different, for example, when the control work site is a soft field (wet field), the subsidence amount of the wheels 2 and 3 is large, so that the direction sensor 17 is inevitably lowered and the field field is reduced. It becomes easy to slip into the inside, and once the direction sensor 17 has subsided in the field, the direction automatic traveling by the direction sensor 17 becomes impossible. However, when performing control work in a weak field, the nut 33 for adjusting the spring pressure is beforehand prepared. To lower the spring pressure of the ammunition 30 (ground pressure of the sled body 28), and replace the sled body 28 with a relatively large one (with a large pressure receiving area) (depending on the field conditions, the spring pressure Either the adjustment or the replacement of the sled body 28 may be performed). As a result, when the ground pressure of the sled body 28 increases due to the sinking of the wheels 2 and 3, the sensor arm 22 easily rotates rearward against the ammunition 30 with the horizontal shaft 21 as a fulcrum, and thus the sled body 28 is As a result of facilitating the upward escape, the track surface of the sled body 28 is improved, so that the subsidence of the direction sensor 17 in the field can be prevented.

When the automatic direction control is not used, for example, when the vehicle is traveling on the road, the fixing arm 36 of the link arm 20 and the horizontal shaft 21 is loosened and the sensor arm 22 is rotated and retracted upward. Set it.

[0016]

[Effect of device]

 As described above, in the present invention, the pressing force on the paddy field and the sled body (size of the sled body, etc.) can be changed. It is possible to adjust to an appropriate state, and it is possible to prevent field subsidence of the direction sensor. Therefore, it is possible to always obtain reliable automatic direction control regardless of the field conditions.

[Brief description of drawings]

1 is an overall side view of a control machine equipped with the present invention.

FIG. 2 is a rear view of an extermination machine equipped with the present invention.

FIG. 3 is an explanatory view of the operation of the main part.

FIG. 4 is a sectional view of a rotation fulcrum portion of a sensor arm and a direction sensor.

FIG. 5 is an exploded perspective view of a main part.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Traveling machine body 15 Control part 16 Remote control part 17 Direction sensor 18 Bumper 19 Bracket 22 Sensor arm 28 Sled body 30 Ammo S Control machine W weight

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Hiroaki Yamazaki, 667 Hiroshi Yamazaki, Yazuka-gun, Shimane Prefecture, 667 Izaya-cho, Ojiya-cho, 1 Mitsubishi Agricultural Machinery Co., Ltd. 667 1 Mitsubishi Agricultural Machinery Co., Ltd. (72) Inventor Takanori Hosoda, Izumo Town, Yatsuka District, Shimane Prefecture

Claims (1)

[Scope of utility model registration request] 1. A mobile agricultural machine in which a direction sensor detects a passing position of a machine body with respect to an already planted crop strip and controls the machine body to travel along an appropriate position along the crop strip so as to support the direction sensor. The arm is mounted so that it can swing back and forth with respect to the traveling machine body, the sled body for following the paddle surface is detachably and replaceably attached to the lower end of the sensor arm, and the pressing force on the paddle surface of the sled body can be adjusted by the spring pressure. A directional control device for a mobile agricultural machine, characterized in that it can be changed via a flexible ammunition.