JPH08140555A - Driving part of self-driving controller - Google Patents

Abstract

PURPOSE: To make the rear wheels freely vertically swingable in a self-driving controller having a wheel type driving part to facilitate the road running, increase the wheel grip force and enable uniform application of an agrochemical, capable of directing the machine body in a vertical direction even in an inclined place. CONSTITUTION: The front wheels 33a, 33a, in the driving part A loading a spraying machine are supported with a front accelerator case 57, while the rear wheels 33b, 33b, with a rear accelerator case 58. The front accelerator case 57 is fixed to the chassis 32 of the main body and is pivoted to the brackets 59, 60 hung down from the chassis freely swingably in the right and left directions, while the rear wheels are made swingable in the vertical direction.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a structure of a traveling portion of a self-propelled control machine which is mounted on a traveling vehicle to control fruit trees.

[0002]

2. Description of the Related Art Conventionally, the running portion of a control work vehicle such as a speed sprayer uses a crawler type running device to reduce the vehicle height and widen the ground contact area so that the vehicle can run stably. . In addition, a control work vehicle of a wheel type is also known, and a large number of wheels such as six wheels and eight wheels are arranged in order to increase running stability.

[0003]

However, when the crawler type traveling device is used, there is a problem that the structure is complicated, the cost is high, and the speed cannot be obtained when traveling on the road. Further, when the wheel type is used, the seat position becomes high, and therefore the vehicle height becomes high, and it is difficult to control shelving. Further, since the axle case is usually fixed to the chassis and the chassis is always parallel to the ground, the spraying direction is also vertical to the ground, so that even spraying may not be possible even on a sloping ground.

[0004]

The problems to be solved by the present invention are as described above. Next, the means for solving the problems will be described. That is, in a control machine in which the nozzles are arranged in a fan shape and can be swung back and forth and left and right, two wheels are supported on each of the front and rear axle cases, the front axle case is fixed to the chassis of the main body, and the rear axle case is fixed. It is pivotally supported on a bracket hung from the chassis so that it can swing left and right.

[0005]

Next, the operation will be described. The traveling unit is a four-wheel drive, which facilitates traveling on the road, each wheel is driven to increase gripping power, and the rear wheel can be swung left and right. The aircraft can be oriented vertically on a sloping ground.

[0006]

EXAMPLES Next, examples will be described. 1 is an overall side view of the nozzle rocking type control machine, FIG. 2 is a plan view of the same, FIG. 3 is a rear view of the same, and FIG. 4 is a running portion of the nozzle rocking type control machine of the present invention. FIG. 5 is a plan view showing a steering mechanism of a nozzle rocking type control machine, FIG. 6 is a side view partial sectional view showing a method of supporting an axle case of a rear wheel of the present invention, FIG.
FIG. 8 is an overall front view showing a spraying section of a nozzle swing type control machine, FIG. 8 is a side view of the same, FIG. 9 is a front view of a front bracket, and FIG. 10 is a front view of a rear bracket.

The self-propelled control machine comprises a traveling section A and a spraying work machine B mounted on the traveling section A. First, the spray work machine B will be described with reference to FIGS. 1 to 3. The spraying work machine B is mounted on the chassis 32 from the front with the medicine tank 38, the engine E,
A power sprayer D, a hydraulic pump P, and a nozzle 1 are arranged in this order, and a canopy 37 that can be opened and closed is projected forward from a medicine tank 38 at the rear of the seat 35. The lid 30 is disposed on the. A power sprayer D, an engine E, and a hydraulic pump P for expanding and contracting a steering cylinder 53, which will be described later, are mounted on the rear side of the medicine tank 38 in the left-right direction and covered by the engine cover 41, and the nozzle 1 The base is also covered by a cover 42. In the present embodiment, the cover 42 is rotatable laterally together with the base of the nozzle 1 so as to improve the maintainability of the nozzle 1. Further, the engine E drives the wheel type traveling device 33 through the mission case M, and at the same time, it also drives the power sprayer D, and the power sprayer D sucks the chemical liquid from the drug tank 38 to spray the liquid. It is configured to spray from the swingable nozzles 1 ... of the part N.

The front frame 3 at the front end of the chassis 32
As shown in FIG. 2, step 34 is provided on 2a,
A seat 35 is disposed on the center of the rear portion of the front frame 32a, an operation column 36 is provided upright at the center of the front end of the step 34, and a handle 36a is provided above the operation column 36. A spray operation panel 39 is arranged on the left side of the seat 35 so that the start / stop of spraying and the discharge amount can be adjusted.

The structure of the spray section N is as shown in FIGS.
The spray unit N is composed of a left spray unit N1, a middle spray unit N2, and a right spray unit N3 which are divided into three parts.
... are arranged in a fan shape when viewed from the front, and the nozzle bases 2.2 ...
Are erected on the upper surface of the nozzle base 2, and the nozzle bases 2, 2, ... Are arc-shaped when viewed from the front, and are arranged substantially concentrically with the nozzles 1, 1, ... Then, drive the motor 18,
When the eccentric shaft 23 is rotated via the drive shaft 24, one end portion of the link plate 15 pivotally supported by the eccentric shaft 23 makes a circular motion in front view and the other end portion swings to the left and right, and at the middle of the movement. The lower end of the joint 16 pivotally supported by the part is configured to make a circular or elliptical motion in a front view.

When the link plate 15 swings to the left and right, a left and right rotating stay that is pivotally supported by a rotating support base 14 that is erected at the front center of the nozzle base 20 via a left and right rotating shaft 7. 5 oscillates to the left and right, and a substantially trapezoidal nozzle support frame 10 in a front view oscillates to the left and right with the left and right rotation shaft 7 as a fulcrum, and a pedestal 13 mounted and fixed to the nozzle support frame 10, the pedestal 13 The nozzle 1 of the spraying section N via a nozzle rotating shaft 11 which is rotatably mounted on the tip of the nozzle and a nozzle rotating stay 9 which is rotatably supported by the nozzle rotating shaft 11 and fixed to the nozzle base 2. 1 ... are configured to swing left and right.

Further, when the lower end of the joint 16 moves in a circular or elliptic manner, the joint 16 moves up and down, and the connecting plate 17 to which the upper end of the joint 16 is pivotally rotated vertically moves. The front-rear rotation shaft 8 to which the plate 17 is fixed is rotated, and the rotation support frames 12 and 12 are erected at the rear left and right positions of the nozzle set base 20.
A rocking link 3 having a substantially trapezoidal shape, both ends of which are fixedly mounted on the back-and-forth rotation shaft 8, is rocked back and forth around the back-and-forth rotation shaft 8 pivotally mounted on the The nozzle links 4 and 4 projecting from the nozzle base 2 by sandwiching the nozzle swing forward and backward, and the nozzles 1.1 of the spray portion N swing forward and backward with the nozzle rotating shaft 11 as a fulcrum. Is configured to.

The engaging portions of the swing link 3 and the nozzle links 4, 4 are sliding portions, and the nozzles 1, 1, ...
When the nozzles 4 and 4 swing to the left and right, the nozzle links 4 and 4 slide in the left and right direction of the swinging link 3, and when the nozzles 1 and 1 swing back and forth, the nozzle links 4 and 4 move.
Are slidable in the vertical direction, and when these are combined, the nozzles 1, 1, ... With such a configuration, since the medicine is not concentrated and sprayed in one direction, it is possible to reduce the unevenness of spraying, and it is possible to enhance the performance of adhering the medicine to the fruit tree.

Next, the running portion of the nozzle rocking type control machine of the present invention will be described with reference to FIGS. As shown in FIG. 4, in the traveling unit A of the present invention, the chassis 32 is
Front frame 32a, connecting frame 32b, seat frame 32c, connecting frame 32d, central frame 32e,
The connecting frame 32f and the rear frame 32g are connected and fixed, and the vehicle height H shown in FIG. 1 is reduced. Further, the wheel type traveling device 33 can connect / disconnect the power from the engine E via the friction type main clutch 40, which is hung on the lower part of the engine base 45, and the universal joint so as to be able to connect and disconnect. The power is transmitted to the input shaft 46, and the power is distributed to the front axle case 57 and the rear axle case 58 in the transmission case M, so that the wide front wheels 33a and 33a and the rear wheels 33 are formed.
It is configured to drive four wheels of b and 33b.

For steering the four wheels, the head portion 53a of the steering cylinder 53 is pivotally connected to the bottom surface of the traveling portion A shown in FIG. The rotary stay 54 is connected, and the rear rotary stay 54 is pivotally supported about a pivotal portion 54a as a fulcrum. A connecting rod 55 is pivotally supported by the rear pivot stay 54, and a front pivot stay 56 is pivotally connected to the other end of the joint rod 55. The front pivot stay 56 is pivotally pivotable about a pivot portion 56a. It is supported. Therefore, by expanding and contracting the steering cylinder 53, the tie rod 54 connected to the rear turning stay 54 is extended.
The rear wheels 33b and 33b are rotated in opposite directions via b and 54b and the tie rods 56b and 56b connected to the front rotation stay 56, respectively, so that the turning radii become smaller. Thus, it is configured to be steered.

As shown in FIG. 6, the front portion 58F of the rear axle case 58 has a front bracket 59.
The front bracket 59 is supported by the rear frame 32g.
It is fixed to a frame 51 hung at the lower part of the frame through a locking bolt 52 and a locking nut 52a, and as shown in FIG. 9, an opening 59a is formed in the central part and a front part 58F is loosely inserted and pivotally supported. ing. The rear portion 58R of the rear axle case 58 is supported by a rear bracket 60, and the rear bracket 60 is provided with a locking bolt 61 and a locking nut 61a.
The rear bracket 32 is connected and fixed to the rear frame 32g, and the rear bracket 60 is fitted to the central bracket as shown in FIG.
Is provided and the rear portion 58R is inserted and pivotally supported. Therefore, the rear axle case 58, as shown in FIG.
The front part 58F and the rear part 58R can be swung to the left and right, and therefore the rear wheels 33b and 33b can be swung in the vertical direction. However, the front axle case 5
7 is fixed to the lower part of the seat frame 32c and is not swingable, and the front wheels 33a and 33a are also swingable.

[0016]

Since the present invention is constructed as described above, it has the following effects. That is, since the traveling unit is a wheel type traveling device and the rear wheels are vertically swingable,
Even on a sloping ground, the spraying section can spray vertically, so that it is possible to configure a traveling device that eliminates uneven spraying, has a simple structure, and is inexpensive.

[Brief description of drawings]

FIG. 1 is an overall side view of a nozzle rocking type control machine.

FIG. 2 is likewise a plan view.

FIG. 3 is likewise a rear view.

FIG. 4 is a side view of a traveling portion of the nozzle rocking type control machine according to the present invention.

FIG. 5 is a plan view showing a steering mechanism of the nozzle rocking type control machine.

FIG. 6 is a side view partial cross-sectional view showing a method of supporting a rear wheel axle case according to the present invention.

FIG. 7 is an overall front view showing a spraying section of a nozzle rocking type control machine.

FIG. 8 is likewise a side view.

FIG. 9 is a front view of a front bracket.

FIG. 10 is a front view of a rear bracket.

[Explanation of symbols]

 A traveling part B spraying machine D power sprayer E engine M mission case N spraying part P hydraulic pump 1 nozzle 32 chassis 33a front wheel 33b rear wheel 57 front axle case 58 rear axle case 59 front bracket 60 rear bracket

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Chiaki Kadota 1-32, Chayamachi, Kita-ku, Osaka City, Osaka Prefecture Yanmar Agricultural Machinery Co., Ltd. In-house (72) Inventor Susumu Yamamoto, 767 Umena, Mishima City, Shizuoka Prefecture, New Delta Industrial Co., Ltd.

Claims (1)

[Claims] 1. A control machine in which nozzles are arranged in a fan shape and can be swung back and forth and left and right. Two wheels are supported on each of front and rear axle cases, and the front axle case is fixed to a chassis of the main body. A traveling part of a self-propelled control machine, characterized in that an axle case is pivotally supported on a bracket vertically extending from the chassis so that the axle case can swing freely from side to side.