JPH09322610A - Reverse rotary track type agricultural robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To aim at the thorough mechanization of an agriculture itself by the automated robotization of various agricultural machines used in the rice farming and field farming and to realize the daring rationalization and modernization of an administration by powerfully promoting a large scale intensification. SOLUTION: This reverse rotary track type agricultural robot is obtained by installing driving wheels 5a, 5b capable of driving by a single wheel, both wheels, or by reverse rotation as independently suspended at the left and right of a driving body mounted with a power source, also a liftable stage plate 2 to the driving body for forming a robot capable of mounting various exclusive electric powered agricultural working machines as freely exchangeable. At a turning point in travelling the robot 1 on a route by using a rotate guide, the driving wheel 5b at the inside thereof is stopped and kept waiting, while keeping the traveling of the outside driving wheel 5a for making a turn of the driving body in 180 deg. through a rotary shaft 8, and then the stopped one side driving wheel rotates in reverse direction for returning on the same route to start the traveling with driving by the both wheels and keeps traveling in a zigzag state for enabling the continuous working without an operator.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION Field of the Invention Field of the Invention Agricultural work is carried out by mounting an electric farm work machine corresponding to each purpose as an attachment on a robot that automatically travels by mounting power on a track provided as a fixed route such as a road guide or radio wave guide. It is equipped with a function to support a wide range of work for rice cultivation and upland cultivation, and enables unmanned or manned running and work, and promotes thorough mechanization and systemization of agriculture.

[0002]

2. Description of the Related Art In recent years, the spread and improvement of performance of agricultural machinery have been very remarkable, however, they have not yet been widely spread as unmanned aerial vehicles outdoors, and there are multiple types according to each work purpose. The main focus is on mechanization of specialized machines, and even in small-scale management, each farmer owns several kinds of specialized machines and bears the financial burden. Therefore, structural and constitutional improvements in agriculture have not been achieved.

[0003]

[Problems to be Solved by the Invention] Recently, there has been a serious question about Japanese agriculture, and the need for improvement in constitution is being sought, but it is in a state where no solution can be found. The present invention, as a solution to this problem, solves structural problems and promotes improvement of the constitution itself while achieving large-scale management by realizing mechanization by a robot capable of unmanned operations that are fatal labor-intensive work of agriculture. A) plowing work and ridge making on various cultivated fields, b) rice planting,
Weeding of fields, c) harvesting and threshing, d) sowing, seed planting, making and harvesting various vegetables, e) fertilization, disinfection, control, irrigation, and f) inspection and cultivation management of crops, or
G) The purpose of this project is to improve the efficiency and modernization of agricultural work by carrying out unmanned or manned work by mounting the attachment of each dedicated machine, including various works in the greenhouse.

[0004]

The present invention provides a zigzag continuous orbit formed by a straight line portion and a turnback portion on a positioned orbit provided as a fixed route on a paddy field or a field by a running guide or radio wave guide, A robot that can handle a variety of tasks is formed on the orbit, and this robot is run by manned or unmanned to promote further mechanization of agriculture. In the body part of the robot equipped with possible independent suspension tracks or tires etc. as both wheels, an elevator base plate that can be moved up and down according to the purpose of work or the growth of crops is installed, and this elevator base plate Various electric farm work machines that can be operated by power are mounted on the front or rear as detachable and replaceable attachments. It is also possible to drive by manned operation.

Further, this robot is provided with a device capable of receiving and transmitting, and when the robot reaches a fixed point of the turnback portion of the track after traveling along a straight line portion of a fixed route set by various guiding devices, The drive wheel on one side, which is the inner side, is stopped by the installed transmitter / receiver and the sensor built into the wheel drive section, and is left in that state.
The driving body side connection support, which is connected to the face plate of the frame of the driving wheel that is stopped, is rotated while sliding continuously on the rotating shaft while continuing to drive the driving wheel on the opposite side, and the robot moves. When the switch rotates 180 degrees and returns to the parallel state, the switch automatically enters, and by rotating the stopped driving wheel in the reverse direction, the robot moves straight again again. The drive wheel on the opposite side is stopped to rotate in the opposite direction, and this operation is continuously repeated. Therefore, since the drive wheel on the inner side of the robot rotates in the reverse direction and always turns back on the return path on the one-side track where the robot has traveled on the outward path, the radius of rotation of the inner ring at the turning point is Also, since the ground contact pressure can be reduced by using crawler belts on the drive wheels, the width of the crawler belt itself and the loss space on both sides can be set to an extremely small value. The ratio of idle area can be kept small.

Further, the elevator base plate provided in this automatic robot is mounted on the abdomen of the body in a flat shape, and can be vertically moved up and down electrically depending on the growth of the crop or the work purpose. It is configured such that a dedicated electric farm work machine corresponding to each work purpose can be detachably and replaceably mounted in front of or behind the elevator platform. Therefore, if a dedicated agricultural working machine is mounted on the automatic robot of the present invention and set, it is possible to carry out continuous work without time restrictions by inserting a switch, and also enables remote control. Therefore, a dramatic rationalization of agricultural work can be brought about. Furthermore, it is possible to perform two different operations at the same time by mounting dedicated machines on the front side and the rear side of the lift base plate. Further, since the robot can be made to travel on the return path, different operations can be performed by installing a special machine according to the purpose of the outward path and the return path. Furthermore, since it is also possible to perform manual work on the lifting base plate, it is possible to improve the speed and efficiency of agricultural work. Further, it is possible to connect a tow vehicle to the gantry plate for cargo handling.

Further, an auxiliary wheel may be provided in the middle portion of the left / right two-wheel drive robot to widen it, or a plurality of dedicated agricultural machines may be mounted to further increase the size of the robot.

It is also possible to drive a robot having the above-mentioned functions by a manned person without providing a track guide or a dielectric device on the track of the robot.

Further, it is possible to achieve the same object by forming a robot having a function of traveling straight toward a fixed point by a gyro compass or the like and stopping or rotating at the fixed point.

Further, the same purpose can be achieved by laying a fixed track such as a rail to provide a semicircular continuous track and a dead-end track at the turnback portion, and running the robot on the fixed track. .

Further, the same purpose can be achieved by manipulating and operating the robot without providing a guiding device or a fixed track. It is also effective to downsize the robot.

[0012]

BEST MODE FOR CARRYING OUT THE INVENTION The present invention will be described with reference to the drawings. First, the robot 1 shown in FIG. 1 can be vertically moved electrically up and down on an inner intermediate abdomen of a vehicle body 2 framed by a mold steel or a resin frame. A frame 6a6b provided integrally with a crawler belt and the like as driving wheels 5a5b at the lower part of the connecting and supporting body 4a4b. Are superposed in an independent suspension state, and are rotatably connected to each other via a rotary shaft 8. Further, an electric device is mounted on the robot 1, and the elevator base plate 3 and drive wheels 5a5 are mounted.
Simultaneously with the operation of b, a dedicated electric farm work machine 9 corresponding to various work purposes is mounted as a detachable and replaceable attachment in front of or behind the lift base plate 3 and connected to enable operation of various devices. It has a structure. In addition, the crawler belt as the driving wheels 5a5b is capable of driving on one side and driving on both wheels, and each has the function of driving simultaneously or independently by reverse rotation.

A runway guide 29 or a radio wave guiding device for running the robot 1 automatically or running on a route determined for the purpose of cultivating and managing crops at a fixed position without waste is provided. It is provided as a continuous track consisting of a straight line portion and a folded portion, and the driving wheel 5b on one side, which is inside the folded portion of the robot 1, is driven by the response from the starter / starter 30 provided at each fixed point of the folded portion. Is stopped by the reception of a sensor built into the driving wheel from a transmitter 30 provided at a fixed point, and at the same time, the connection support 4a is superposed in the suspended state.
The stopper 11 provided at the portion 4b comes off and the rotary shaft 8
Is slid forward along the long hole 7a of the face plate 7 of the frame on the drive wheel side provided to reduce the turning radius of the robot, and the inner drive wheel 5b at the tip of the long hole 7a.
The robot 1 by continuously driving the drive wheel 5a on the opposite side while rotating through the rotary shaft 8 in a stopped state while waiting.
Turns 180 degrees and returns to the parallel state, and the switch enters the ON / OFF state on the drive wheels in standby.
At that time, the stopped driving wheel 5b starts to rotate in the reverse direction and follows the same track, and the driving wheel 5a on the side where the continuous running continues, at the equidistant position in a semicircle, the straight running by the two wheels again. It is configured to start and turn back on a predetermined track. Therefore, the radius of gyration during rotation caused by the crawler belts and wheels becomes unnecessary, or the ground is not rubbed by the stop wheel when rotating the entire robot with one wheel stopped, and efficient and groundbreaking can be performed. Is configured. It is more preferable to allow the gantry plate to move in the front-back direction in consideration of the load balance when the dedicated agricultural working machine is mounted on the lifting pedestal plate 3 of the robot.

After that, the orbit is designed such that the same operation is alternately repeated for each turning point, and the vehicle continuously runs in a zigzag manner while being rotated, and continuous work by each dedicated farming machine can be performed by an unmanned or manned operation. It is configured as a reversible agricultural robot.

Further, means for vertically moving up and down electrically by a chain 20 or a gear is provided on the elevating base plate 3 provided on the intermediate abdomen of the vehicle body 2, and further the front part or rear of the elevating base plate 3 is provided. Each of the dedicated agricultural working machines 9 is detachably and replaceably mounted on the section as an attachment. Therefore, the vehicle body 2 having the lifting / lowering base plate 3 of the robot 1 and the drive wheels 5a5b around the undercarriage have commonality as a main body, and various special agricultural working machines corresponding to the work purpose are exchanged for the lifting / lowering base plate 3 If you install it, you can expect great merits in terms of economy. Further, since the elevating platform 3 can be moved up and down according to the growth of the crop and the purpose of the work, it is possible to cope with work of various uses without damaging the crop at all.

The robot has a vehicle body width of 5 to 6 meters and an elevating platform width of 1, 5 to 2 meters. In addition, since this robot is self-propelled, it can be easily moved in and out of the low-floor truck using the scaffolding material from the lateral direction during transportation, and it can also run on the ground. . Further, a towing vehicle can be connected to the rear part of the lifting platform of this robot for cargo handling.

As another aspect, by providing an auxiliary wheel at the intermediate portion of the robot consisting of the left and right wheel drives, it is possible to further widen the dedicated agricultural working machine or to mount the dedicated agricultural working machine in a dual manner. And, it is possible to form a larger orbit-reversing agricultural robot.

Further, the same purpose can be achieved by manipulating the robot having the function according to the present invention by manned without installing a track guide or a guide device. this is,
It is possible to work in a small turn before the full-scale equipment leading to the system of the present invention or by a small machine.

Further, it is possible to achieve the same object by forming a robot having a function of traveling straight toward a fixed point by a gyro compass or the like and stopping or rotating at the fixed point.

Further, the same purpose can be achieved by laying a fixed track such as a rail to provide a semi-circular continuous track and a dead end track at the turnback portion, and by running the robot.

[0021]

[Effects of the Invention] By the development of a new agricultural system by the orbital reversal type agricultural robotization of the present invention, i) Strong promotion of large-scale integration of agriculture in rice cultivation and upland cultivation, and joint work , It is possible to bring about a change in consciousness toward the improvement of Japanese agricultural constitution through joint management and realize it. B) Most people can work without entering the paddy fields, and the mechanization and modernization frees them from the heavy labor from early morning to sunset, eliminating the conventional preconceptions about agriculture and creating the possibility of creating an attractive image of agriculture. You can expect it. C) Since the lifting base plate provided in the vehicle body has a structure that can be moved up and down, various mechanical operations can be performed according to the growth of crops, which was impossible in the past. At the same time, it is also possible to perform various operations on the lift base plate while the agricultural machine is in operation. Furthermore, it is also possible to carry out cargo handling by connecting a towing vehicle to the lifting base plate. D) Since the robot automatically travels at a position determined by a road guide that travels on a certain route, unmanned operation allows planting rice plants and crops and planting seeds to harvest at accurate positions without waste. I can. E) It is possible to promote rapid mechanization even in the field of upland cultivation, where mechanization has been relatively delayed until now. F) Also, by installing it in a greenhouse, it is possible to perform fine management and labor saving. G) Furthermore, it is possible to introduce this robot by manned operation as a pre-stage before laying a route with a guidance device or the like.

[Brief description of drawings]

FIG. 1 is an overall oblique view of a reversing orbiting agricultural robot.

FIG. 2 is a virtual view of a running guide and a robot.

FIG. 3 is a diagram showing a state in which the robot rotates with one driving wheel stopped.

FIG. 4 is a partial side view showing a state where an A-only farm work machine is mounted. B Front partial view of the same.

[Description of sign]

1; Robot 2; Vehicle
3; Lifting / mounting base plate 4a4b Connection support 5a5b; Drive wheel 6
a6b; frame 7; face plate of frame 7a; elongated hole
8; rotating shaft 9; electric farming machine 10; operating motor 1
1; Stopper 12; Drive motor 13; Driving wheel 1
4; drive chain 15; rotating wheel 16; engine 1
7; battery 18; control box 19; suspension motor
20; same chain 21; receiver for mounting 22; fuel tank
23; same piping 24; chain block 25; cylinder
26; Arm 27; Conduction Chain 28; Gear
29; runway guide 30; transmitter 31; idler roll 32; shelf

Claims (4)

[Claims] 1. A crawler belt or tires as driving wheels are mounted on the left and right, and an intermediate portion of a vehicle body provided with connecting supports on the left and right,
A robot having a structure capable of being operated by power by connecting an elevating base plate capable of moving up and down in the vertical direction and mounting various electric farm work machines as detachable and replaceable attachments on the front or rear of the elevating base plate. Form. Further, the left and right drive wheels of the robot have functions of simultaneous drive and independent drive and each of them capable of reverse rotation simultaneously or independently, and have a frame structure for load support. It is connected to the lower part of the connecting support provided on the left and right so as to overlap each other in a state of independent suspension so that they can rotate in a plane, and further, the robot has a function of stopping and starting and mechanical operation by a transmitting and receiving device. In addition, the robot is capable of continuous running on a fixed route consisting of a straight line portion and a turnback portion by a previously positioned runway guide or a radio wave guiding device, and at each fixed point of the turnback portion, The drive wheel inside receives a stop command when the robot is turned back and forth by transmission and reception from a transmitting and receiving device provided magnetically or radio wave, and the drive wheel is stopped as it is. In this state, the connection support on the driving body side and the frame on the driving wheel side that have overlapped in the suspended state slide in a plane with each other via the rotating shaft, etc., while the driving wheel on the opposite side continues to run. As a result, when the entire driving body turns 180 degrees in a semicircular shape, when the driving wheels on both sides return to the parallel state again, the waiting driving wheels start to rotate in reverse and the same as when they stopped. While running back on the track in the opposite direction, the two wheels start traveling on the route again, and the vehicle continuously travels in a zigzag pattern while repeating the rotation by the same operation alternately left and right at each turning point thereafter. An orbital reversing agricultural robot configured to enable continuous operation by unmanned or manned operations of each dedicated electric agricultural work machine mounted while enabling lateral movement of each. 2. A large-sized machine or a plurality of machines in which auxiliary wheels such as tires are further provided in an intermediate portion of a robot body having a structure in which drive wheels are provided on the left and right sides and an elevating platform plate is provided in an intermediate portion as described above. The orbit-reversing agricultural robot according to claim 1, wherein the dedicated agricultural machine is mounted. 3. A robot having a structure in which drive wheels are provided on both wheels,
On the ground, a rail is laid as a continuous fixed track consisting of a straight part and a folded part, and a continuous track that draws a semicircle on the outside at the folded part of the rail on the rail and a dead end track on the inside of the robot. The orbit-reversing agricultural robot according to claim 1, which is configured to travel by electromagnetically, magnetically, or mechanically operating. 4. An intermediate portion of a vehicle body, in which crawler belts or tires are mounted on the left and right as driving wheels, and a connecting support body is provided on the left and right,
A robot with a structure that connects vertically movable platform boards and mounts various agricultural work machines as removable and replaceable attachments on the front or rear of the platform boards to form a robot that can be operated by power To do. Further, the left and right drive wheels of the robot have functions of simultaneous drive and independent drive and each of them capable of reverse rotation simultaneously or independently, and have a frame structure for load support. In the lower part of the connecting support provided on the left and right, they are overlapped in the state of independent suspension and are rotatably connected to each other in a plane. While the wheel is stopped and the drive wheel is standing by in that state, the drive wheel on the opposite side is continuously run so that the robot overlaps the suspension in the suspended state and the frame of the drive wheel at rest. When the two drive wheels on both sides return to the parallel state by rotating 180 degrees while sliding in a plane with each other through the rotation shaft etc., the waiting drive wheels are switched and start in reverse rotation. , Stopped It starts traveling by two-wheel drive while returning to the same orbit, and continuously runs in zigzag while repeating the rotation by the same operation alternately left and right at each turning point thereafter. A reversing orbiting agricultural robot configured to allow for continuous operation and operation.