JPH0744531Y2 - Self-propelled tea garden management device - Google Patents

Description

[Detailed description of the device]

[0001]

[Industrial application] The present invention has self-propelled ability and steering mechanism, and can perform various kinds of tea garden management work on orbit as well as from one tea ridge to another. The present invention relates to a self-propelled tea garden management device capable of performing a tea ridge movement to change trains.

[0002]

2. Description of the Related Art Conventionally, a tea mower (plucking machine) or a pest control machine is mounted on a stand that runs on a track laid across both sides of the tea ridge.
Equipped with a trimming machine etc. as an attachment, plucking tea leaves,
Various tea garden management devices that perform various tea garden management operations such as pest control and trimming as mechanized operations are well known and have been practiced (for example, Japanese Patent Laid-Open No. 61-12211 and Shokai 63-31).
739, etc.).

A self-propelled tea plantation management device having a self-propelled ability developed for the purpose of reducing the labor of the tea plantation management work and facilitating the work of moving the tea ridges is also known (for example, Japanese Utility Model Publication 53-48778). No., Jitsukai Sho 63-89739, etc.). The self-propelled tea garden management device described in Japanese Utility Model Laid-Open No. 63-89739 discloses a tire wheel that travels on the ground at the lower end of a steering shaft that is arranged vertically downward at the four corners of the frame and is steered by the handles on the frame. Each tire wheel is configured as a four-wheel drive steering type that is commonly driven to rotate by one motor on the gantry.

[0004] Japanese Utility Model 53-487 7 has been self-propelled tea plantation management device according to 8 publication is that the wheel located at the four corners of the cradle, and iron wheels in diameter at a rubber tires wheel and track large diameter ground Are adjacent to each other and are concentrically arranged. The front wheels are attached to a steering shaft that can be steered, while the rear wheels are attached to fixed legs fixed to a pedestal and are configured as drive wheels that are rotationally driven by a motor on the pedestal.

[0005]

[Problems to be solved by the present invention] Showa 63-897
Since the self-propelled tea garden management device described in Japanese Patent No. 39 is a four-wheel drive steering type interlocked with an endless belt (chain), the steering amounts of all wheels are always the same. Since the inner and outer wheels are not differentially controlled during turning, a large centrifugal force acts on the outer wheels, making it difficult to obtain a stable running state. Moreover, because it is composed only of tire wheels that run on the ground, the work of picking tea leaves and trimming becomes irregular due to unevenness and slope of the ground, which is a fatal defect that makes it difficult to ensure the quality and accuracy of the work. There is. Further, since the four-wheel drive mechanism and the steering mechanism are extremely complicated, there is a problem in practical use.

[0006] Japanese Utility Model 53-487 7 propelled tea fields management device described in No. 8 publication, that wheel part, and a steel wheel for rubber tires wheel and track for grounding. Since work such as plucking and trimming is performed constantly on the track, and the movement of the tea ridges is performed by rubber tire wheels for grounding, the above-mentioned actual opening 6
The defect described in the tea garden management device described in Japanese Patent Laid-Open No. 3-89739 has been solved. However, since the large-diameter rubber tire wheel and the small-diameter iron wheel are attached to a common rotating shaft and are commonly driven to rotate, the peripheral speeds of both wheels differ in proportion to the diameter difference between the wheels. Therefore, when the tea plantation management device goes from the track to the ground, or vice versa, unless the left and right tire wheels or iron wheels touch the ground or go to the track at the same time, the rubber tire wheel and the iron wheel have peripheral speeds. Due to the difference, the actual traveling speeds of the left and right wheels are deviated, and the steering and traveling states are disturbed and unstable, which is difficult to use. It is also true that it is inevitable that there will be a step between the end of the track and the ground even if the height of the track above the ground, especially the part where it gets on and off, is sufficiently inclined. Unless the wheels are configured with a diameter difference corresponding to the above-mentioned step at the end of the raceway, a smooth ride on / off cannot be realized. However, there is a conflicting problem that if the diameter difference is increased, the difference in the peripheral speed becomes larger and it becomes more difficult to use, which is a problem to be solved.

[0007]

[Means for Solving the Problems] As a means for solving the above-mentioned problems of the prior art, the invention of claim 1 straddles a tea ridge.
Cars with both legs on the track 1 laid in the passages on both sides of the Gicha ridge
The vehicle is made by mounting a tea mower on the platform on which the wheels 4 travel.
The wheel part runs on the track and the track wheels 4 that run on the track.
A steering wheel shaft 6 configured to be paired with a grounding wheel 5 for steering.
It is attached to the lower end of the
That propelled tea fields management apparatus, a track wheel 4 paired
The grounding wheels 5 are vertical wheels located at the four corners of both legs of the gantry 2.
Utilizes a wheel base 17 fixed to the bottom of each handle shaft 6.
Installed on each wheel base as well.
Be driven to rotate by a motor 9 for
Of the handle shafts 6 at the four corners, move back and forth in the running direction on the track.
Two steering wheel shafts in the same direction with the same rotation angle
A steering mechanism 7 for driving the steering mechanism is provided.
The motor 36 for the bearings have been installed, the steering
A sensor 8 for detecting the steering amount of the steering mechanism 7 is installed.
The control device 40 to which the detection value of
The position 40 is set to the traveling motor 9 of each wheel based on the detected value.
Therefore, differential control appropriate for turning and curving is individually performed.
, Respectively.

A pair of track wheels 4 and ground wheels according to claim 1.
Reference numeral 5 is a vehicle with orbital wheels that is rotationally driven by a traveling motor 9.
The pinion 11 is attached to one end of the shaft 13 and
An internal gear 10 is formed on the inner peripheral surface of the hub of the wheel 5 and
The pinion 11 is meshed with the vehicle 10,
The gear ratio of the internal gear and pinion is determined by the race wheel 4 and the ground wheel.
The peripheral speeds of 5 are set to be the same or similar.
It is also characterized. A pair of raceway wheels according to claim 1 or 2.
4 and the axles 13 and 12 of the grounding wheel 5 are
Axle of track wheel 4 with respect to wheel base 17 fixed to the lower part
13 is rotatable in a vertical plane, and
Height adjustment plate 1 whose rotation position can be fixed with tightening bolts 22
8 is also supported in an eccentric state. Claim
Handles located at the four corners of both legs of the mount described in item 1.
The pair of track wheels 4 and ground wheels 5 installed on the shaft 6 are
For track running with track wheels and ground running with ground wheels
In the longitudinal direction and the lateral direction of the plane arrangement of each handle shaft 6.
The steering amount of the steering mechanism 7 is used by changing the direction by 90 °.
2 running based on the detection of or by 1 inverter device
Drives a motor for driving to turn inside and outside when turning
It is also characterized in that the wheels are differentially controlled.

[0009]

[Action] tea garden management apparatus according to claim 1, when the steering mechanism 7 for turning during running on a curve and tea moved acts, on the basis of the detection value of the sensor (rotary encoder) 8 for detecting the steering amount The rotation speed of the inner and outer wheels is the traveling motor 9 of each wheel.
Is differentially controlled individually, so that smoothness and stability of curved traveling and turning traveling are achieved. Moreover, four-wheel drive
Since it is (4WD), the wheels will not slip when used on slopes.
It is not convenient, and since it is a four-wheel steering (4WS) steering wheel
The cutting is good, and it is possible to properly use claim 4.

According to the second aspect of the present invention, the orbit wheels 4 and the ground wheels 5 are driven so that the effective peripheral velocities are the same or approximate to each other. Therefore, when the orbit 1 descends to the ground or vice versa. Even when the left and right wheels come into contact with the track or the ground before and after the vehicle when riding, the running state is not disturbed, and the switching between the track wheel 4 and the ground wheel 5 can be performed very smoothly. Also, the invention of claim 3 has a height adjusting plate 1
By rotationally displacing 8, the position of the axle 12 of the grounding wheel 5 can be changed up and down relatively easily, so that the step difference between the track wheel 4 and the grounding wheel 5 can be changed to a large or small size. It is possible to adapt to the size of the step between the end of 1 and the ground. Further, the invention of claim 4 is such that a track 1 is provided by a track wheel 4.
When traveling on top, run in the inevitable direction as a tea garden management device
There are irregularities, slopes and steps due to the grounding wheel 5
When riding on the ground, use the most stable posture and orientation
Make it run. Such a usage mode is defined in claim 1.
Because the tea plantation management device is a four-wheel drive and four-wheel steering type configuration
Is possible.

[0011]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The embodiments of the present invention shown in the drawings will be described below.
In the tea plantation management device shown in FIG. 1, a tea mower 3 is mounted as an attachment on a pedestal 2 that runs on tracks 1 that are laid one by one on both sides of the tea ridge across the tea ridge. There is. The wheels located at the four corners of the gantry 2 in the front, rear, left, and right are
A pair of a small-diameter grooved track wheel 4 that travels on the ground and a large-diameter ground wheel 5 that travels on the ground and has rubber tires, each of which is attached to the lower part of the same vertical handle shaft 6, It is commonly driven by a motor 9 as a driving power source.

More specifically, a bracket 16 is fixed by welding or the like to a column 15 that constitutes the legs on both sides of the pedestal 2, and the handle shaft 6 rotates in a vertical posture in a vertical socket 16a of the bracket 16. It is supported freely. An inverted L-shaped wheel base 1 is provided below the handle shaft 6.
7 is secured, mounted so parallel to rotatably superimposed height adjustment plate 18 to the vertical surface portion 17a of the wheel base 17
It is A bearing plate 19 mounted on the opposite side of the same vertical surface portion 17a and fixed in parallel with the height adjusting plate 18 and the height adjusting plate 18 support the axle 13 of the track wheel 4 rotatably at both ends. There is. An arcuate portion 20 concentric with the axle 13 of the track wheel 4 is formed in the lower corner of the vertical surface portion 17a at a circumferential angle of about 90 ° (FIG. 3). On the other hand, a circular step portion (convex portion) 21 having the same radius as the arc portion 20 is formed on one surface (vertical surface portion 17a side) of the height adjusting plate 18 at a circumferential angle of about 180 °. The step portion 21 is inscribed in the circular arc portion 20 of the vertical surface portion 17a, and the height adjusting plate 18 is rotatable about the axle 13 of the track wheel 4 with the circular step portion 21 being restrained by the circular arc portion 20. Has been done. Further, the circular groove 14 centered on the axle 13 of the track wheel 4 has a circumferential angle of about 90 degrees on the vertical surface portion 17a.
Two tightening bolts 22, 22 which are formed to have a circular shape and pass through the circular arc groove 14 are screwed into the height adjusting plate 18. That is, by loosening the tightening bolt 22, the height adjusting plate 18 can be rotationally displaced about the axle 13 within the range of the circular arc groove 14, and conversely, the tightening bolt 2
The position can be fixed by tightening 2.

One end of the axle 12 of the grounding wheel 5 is fixed to the height adjusting plate 18 in a cantilevered manner, and the grounding wheel 5 rotatable about the axle 12 is installed. An internal gear (hereinafter, simply referred to as internal teeth) 10 is formed on the inner peripheral surface of the hub of the ground wheel 5, and a pinion 11 that meshes with the internal teeth 10 is attached to one end of an axle 13 of the race wheel 4. Axle 13
The sprocket wheel 23 is attached to the other end of the
The drive side sprocket wheel 25 of the reduction gear 24 of the brake motor 9 for traveling installed on the wheel base 17 and the sprocket wheel 23 are connected by a chain 26. Therefore, the pair of track wheels 4 and ground wheels 5 are rotationally driven by the common motor 9. Large diameter (usually 24
The ground wheel 5 of about 5 mm and the track wheel 4 of small diameter (usually about 67 mm) have the same or similar peripheral speeds (effective peripheral speeds) of their respective effective diameters (by the way, 40m at the time of high-speed traveling for controlling).
/ M min., 30m / min during medium-speed running such as plucking
10m / min during low speed running such as cutting and pruning. However, the peripheral speed is volume-controlled according to conditions such as the amount of plucked tea leaves or the amount of pruning tea plants. ), The ratio of the number of teeth of the internal teeth 10 and the number of teeth of the pinions 11 is designed. 2 is a dustproof packing fixed to the inner surface of the hub of the grounding wheel 5 and slidingly contacting the surface of the height adjusting plate 18, which protects the internal gear mechanism from dust.

Due to the above-mentioned structure, when the above-mentioned tightening bolt 22 is loosened and the height adjusting plate 18 is rotationally displaced about the axle 13, the position of the axle 12 of the grounding wheel 5 is vertically displaced, The effective step difference H ₁ between the ground wheel 5 and the track wheel 4 can be adjusted to be large or small within the range of, for example, 66 mm to 110 mm. By the way, the average height H ₂ of the orbit 1 on the ground is 1
At about 15 mm, the structure is sufficiently adaptable to the step (about 50 mm) on the ground of the end 1a (see FIG. 1) of the end of the track 1 which is inclined downward toward the ground.

Next, on the pedestal 2, an electric steering mechanism 7 is installed which links the two handle shafts 6, 6 which are forward and backward in the traveling direction of the tea garden management apparatus (direction of the track 1 in FIG. 1). Has been done. Therefore, substantially U-shaped bearing plates 30 are fixed at four corners on the pedestal 2, and the shaft of the pinion 31 rotatably installed in the bearing plate 30 and the above-described handle shaft 6 located immediately below the pinion 31. , Are connected by a connecting rod 33 connected by a universal joint 32. A rack rod 35, which forms racks 34 and 34 that mesh with two pinions 31 and 31 that move forward and backward in the direction of the track 1, is installed so as to reciprocate. With a brake for steering that reciprocates the rack rod 35 by a desired stroke. A linear motor 36 is installed. The two handle shafts 6, 6 moving forward and backward in the direction of the track 1 are synchronously steered in the same direction at the same rotation angle and up to 180 ° in accordance with the movement of the rack rod 35 by the meshing movement of the rack 34 and the pinion 31.
That is, it is possible to easily turn in a direction perpendicular to the track 1. A limit switch 37 is installed in order to prevent overrun of the rack rod 35, and a detection piece 38 for operating the limit switch 37 is attached to a predetermined position of the rack rod 35.

An engine generator 39 and a control device 40, which are the power sources of the self-propelled tea garden management device, are also installed on the pedestal 2. A worker uses a wired or wireless controller (Fig. 4
, The wheels of the four circles are controlled by the synchronous control of the motors 9 for traveling which are individually provided.
Go straight on 1 to be used for various tea garden management work. Further, when the controller is operated to steer the tea garden management device that has descended from the track toward the track of the next tea ridge, the handle shaft 6 is rotated to perform a so-called handle operation for changing the direction of the wheels. In addition, the steering amount (rotational displacement) of the handle shaft 6 is constantly detected by the rotary encoder 8 attached to the shaft of the pinion 31, and the detected value is input to the control device 40. The control device 40 calculates the rotational speed difference (so-called differential) of the inner and outer wheels suitable for the turning of the tea garden management device and the curved traveling following the curve by the arithmetic processing based on the detected value. Based on the calculated value, individual differential control of the motors 9 for the inner and outer wheels is realized, and smooth curve running and sharp turning are performed due to the speed difference between the inner and outer wheels.

It should be noted that the legs on both sides of the gantry 2 shown in FIG. 1 are configured to be swingable in the width direction of the tracks 1 and 1 so as to cope with changes in track width (particularly construction errors and changes over time). Has been done. Therefore, keep the left and right spread legs evenly,
As a means for preventing uneven cutting of reciprocating cutting by keeping the center of the gantry 2 always located at the center of the tracks 1, 1,
The inner ends of 2, 42 are connected to a common slider 41 located in the center of the gantry. The slider 41 is slidable in the vertical direction (vertical direction), the movement being resiliently restrained resistor such as a compression <br/> Koiruba Ne.

[0018]

[Second Embodiment] The first embodiment, the speed difference between the inner and outer wheels during cornering or turning of the frame 2, steering of <br/> sensor so-called differential control - Der Carlo - data Rie Nko - detected by da 8, but is configured to automatically controlled by the control unit 40, it is possible to differential control manually. For this purpose, first, one inverter device is used to drive two traveling motors 9, and a total of two inverter devices drive and control four motors 9. When traveling on the track 1 with the track wheels 4, the track directions designated as a and c in FIG. 5 by one inverter device.
The motors 9 of the wheels moving forward and backward are controlled so that the motors of the wheels b and d moving forward and backward in the track direction can be controlled by another inverter device.
Drive control of the controller 9.

On the other hand, when traveling on the ground with the grounding wheels 5, the drive control of the motors 9 of the two wheels a and b in the direction perpendicular to the track is performed by one inverter device. , A circuit for driving and controlling the motors 9 of the remaining two wheels c and d in the other inverter device. In this case, the control device 40 is provided with a selector switch 50 for conditionally selecting the track traveling and the ground traveling as shown in FIG. 4, and the above-mentioned combination of the inverter device and the traveling motor 9 is provided. Switch. For example, the selector - select switch 50 to the ground running, then press the origin button 51, the wheels each steering mechanism 7 is operated is Ri Do a 90 ° turning has been the track 1 and perpendicular orientations, this time Then, the linear motor 36 for the steering wheel is stopped. this
The reason to use each wheel by turning 90 ° is unevenness
The length of the gantry 2 should be
This is because traveling in the hand direction is more stable. Four wheels
It is possible because it is steering. Next, when the handle lever 52 is tilted to the left while pushing the forward button 53 to move the gantry 2 forward, the wheels turn to the left, and to the right turn to the right for steering. When the backward button 54 is pressed, the same operation as when moving forward is performed. Further, for forward and reverse speed control, continuously variable shifting is performed by the volume dial 55 attached to the right side surface. At the same time, differential control of the inner and outer wheels (inverter control) is performed by the inverter device. Go straight when the handle lever 52 is placed in the center.

[0020]

[Advantages of the present invention] The self-propelled tea garden management device according to the present invention is excellent in maneuverability and stability because it is a four-wheel drive and four-wheel steering type. That is, there is no inconvenience that the wheels slip even on sloping ground.
I have a good handle. Moreover, the traveling direction on the track
A steering mechanism that synchronously steers the two handle shafts
Installed, the steering amount is detected and the traveling motor of each wheel is individually
Differential control ensures smoothness and stability in curved and turning runs.
Sex is obtained. Also, the effective peripheral speed of the ground wheels 5 and a small-diameter raceway wheels 4 of large diameter, since the same or similar regardless of the diameter difference between the wheels 4 and 5, tea garden management apparatus to the ground from orbit Orbit 1 from ground 56 when descending or vice versa
Steering and running conditions when riding is stable and smooth, and easy to use. Further, the height of the ground surface of the track 1, in particular the track ends 1
The ground wheel 5
The step H ₁ between the wheel and the track wheel 4 can be adjusted to a considerably large degree and can be adjusted freely, enabling smooth riding.
And easy to use. And of running on the track and running on the ground
Can be conveniently used in various ways without distinction according to the application conditions
It

Furthermore, since the traveling mechanism and the steering mechanism 7 are relatively simple and easy to implement, and the speed control (differential control) of the inner and outer wheels can be performed along with the steering, so-called sharp steering wheel operation can be performed. It is possible to expect stable driving.

[Brief description of drawings]

FIG. 1 is a perspective view showing an entire self-propelled tea plantation device according to the present invention.

FIG. 2 is a cross-sectional view showing structural details of a wheel portion.

FIG. 3 is a right side view of FIG.

FIG. 4 is a plan view showing an example of a control device.

FIG. 5 is a simplified plan view of the gantry.

[Explanation of symbols]

 1 track 2 mount 3 tea mower 4 track wheel 5 grounding wheel 9 running motor 6 handle shaft 7 steering mechanism 8 sensor 10 internal tooth 11 pinion 12 axle 13 axle 14 arc groove

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁶ Identification code Internal reference number FI Technical display location B60K 7/00 (56) References JP 61-27773 (JP, A) JP 61- 12211 (JP, A) Actual Open 59-14774 (JP, U) Actual Open 63-31739 (JP, U) Actual Open 63-89739 (JP, U) Actual Public 53-48778 (JP, Y2)

Claims (4)

[Scope of utility model registration request] 1. A tea mower or the like is mounted on a pedestal in which wheels of both legs run on a track laid across passages on both sides of the tea ridge, and the wheel portion travels on the track. It consists of a pair of orbital wheels and grounded wheels that run on the ground and is steered.
Times in motor for traveling is attached to the lower end of the handle shaft that
In rolling driven self-propelled tea fields management device, to track the wheel and the ground wheels, such a pair, the four corners of the legs of the gantry
The wheel base fixed to the bottom of each vertical handle shaft
Installed on each wheel base as well.
Be driven to rotate by a running motor, and on the pedestal, one of the four handle shafts on the track
Rotate two handle shafts that move back and forth in the same direction in the same direction
A steering mechanism for synchronously steering at an angle is provided to drive the steering mechanism.
A moving steering motor is installed, and a sensor for detecting the steering amount of the steering mechanism is installed.
A control device to which the detected value is input is installed, and the control device
Based on the detected value
A self-propelled tea plantation management device that is characterized by individually performing differential control that is appropriate for turns and curves . 2. A pair of track wheels according to claim 1,
Ground wheels are track wheels that are driven to rotate by a running motor.
A pinion is attached to one end of the axle of the
An internal gear is formed on the inner peripheral surface of the hub, and the pin gear is attached to the internal gear.
The union meshes with the internal gear and pinion.
The tooth ratio of the wheel is equal or close to the peripheral speed of the track wheel and the ground wheel.
Self-propelled, characterized by being configured to be similar
Tea plantation management device. 3. A pair of trajectories according to claim 1 or 2.
The axles of the wheels and ground wheels are fixed to the bottom of the handle axle.
Vertical plane centered on the axle of the track wheel with respect to the wheel base
Can be rotated in the
Is supported eccentrically on a height adjustment plate that can be fixed with
A self-propelled tea garden management device characterized by. 4. The four corners of both legs of the mount according to claim 1.
And a pair of track wheels installed on the handle shaft located at
The grounding wheel is the track running by the track wheel and the grounding wheel.
When traveling on the ground, the longitudinal direction of the plane arrangement of each handle shaft and
It is used by changing the direction by 90 ° in the lateral direction, and based on the detection of the steering amount of the steering mechanism or by one inverter device, 2
A self-propelled tea garden management device characterized in that the wheels inside and outside are differentially controlled during turning and curve traveling by a method of driving individual traveling motors.