JPS62186716A - Working machine - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed Description of the Invention] [Field of Industrial Application] The present invention relates to a work machine mainly used for growing and managing fruit trees such as tangerines and apples, and for harvesting work, etc., and more specifically, to a work machine that can rotate and move up and down with respect to a vehicle body. The present invention relates to a working machine comprising a boom, an auxiliary boom horizontally swingable with respect to the boom, and a telescoping manipulator rotatably attached to the auxiliary boom.

[Conventional technology]

This type of work equipment includes a boom that can swing freely relative to the vehicle body, an auxiliary boom that can swing horizontally relative to the boom,
And, by adjusting the rotation and rocking in each horizontal direction of the manipulator that can freely rotate with respect to the auxiliary boom,
By setting the approach start position of the manipulator to the work target in the horizontal direction, changing the height of the boom that can be raised and lowered, setting the position in the vertical direction, and extending and contracting the manipulator from the set position, This allows the Mayu Brake to be guided straight toward the work target from a position that bypasses obstacles near the vehicle body without moving the vehicle body. Note that the search for the target to guide the manipulator is performed using a visual device equipped with a video camera or the like.

[Problem that the invention seeks to solve]

By the way, to explain the case where this type of work machine is used for fruit tree growth management and harvesting work, etc., as shown in Figure 2, depending on the type of fruit tree, the fruit to be worked on may be close to the ground. If you search for or approach the target from a higher position than the target at such a low location, the fruits and leaves near the target fruit may interfere with your field of vision. It may get in the way of your approach, making it impossible to approach it normally. Therefore, when working on fruits or the like, it is desirable to be able to approach from a position lower than the work target so that the handles and leaves do not get in the way of the approach.

In addition, in order to rotate the manipulator, an actuator for rotating the manipulator must be provided on the auxiliary boom side or the manipulator side, but if this actuator protrudes below the auxiliary boom to which the eyebrow break is attached, the The eyebrow break cannot be lowered below the protruding position. Furthermore, there is a risk that the turning actuator will collide with the ground when the manipulator is lowered.

The present invention has been made in view of the above-mentioned circumstances, and its purpose is to enable the cocoon break to be lowered to a low position near the ground.

[Means for solving problems]

The working machine according to the present invention is characterized in that the turning actuator of the manipulator is provided on the upper surface side of the auxiliary boom, and its functions and effects are as follows.

[For production]

That is, by arranging the turning actuator of the eyebrow break on the top side of the auxiliary boom to which the manipulator is attached, the turning actuator does not protrude below the auxiliary boom, so the manipulator attached to the auxiliary boom can be It can be lowered to very low positions near the ground.

〔Effect of the invention〕

Therefore, since the manipulator can be lowered to a very low position near the ground, it can
Even when the work target is located low near the ground,
It is now possible to approach the work target from below without being obstructed by nearby obstacles.

〔Example〕

Embodiments of the present invention will be described below based on the drawings.

As shown in Figure 2, a pair of left and right wheels (1), (1
) A boom (2), which has a dogleg shape in side view, is attached to the vehicle body (V) at the front and rear so that it can rotate and be raised and lowered freely at its base end, and a An auxiliary boom (3) that can swing horizontally is attached to the auxiliary boom (3), and a telescoping manipulator (4) is attached to the tip of the auxiliary boom (3) so that it can rotate freely, thereby forming a working machine for fruit harvesting. It is. In addition, in FIG. 2, (E) is a driving part.

Turn the boom (2) with respect to the vehicle body (V) and -5
7. The base end of the boom (2) is configured to be freely lowerable.
It is attached to the upper end of a support post (5) that is erected approximately at the center of the vehicle body (V) so as to be rotatable around the vertical axis (P), and is attached to the horizontal axis (Q) using a hydraulic cylinder (6). It is attached so that it can be raised and lowered freely.

The boom (2) has a boom body (2a) bent in a dogleg shape toward the bottom of the vehicle body (V) at its intermediate portion.
A parallel link is formed by two ronds (2b) and (2c) rotatably supported on the boom body (2a) at the intermediate portion bent in a dogleg shape. The auxiliary boom (3) attached to the tip of the boom (3) is kept horizontal regardless of the lifting and lowering operation by the hydraulic cylinder (6). In addition, by bending the boom (2) in a dogleg shape, the vehicle body (v
) The auxiliary boom (3) and manipulator (4) attached to the tip of the upper part can be lowered to a very low position near the ground. Note that the direction of the boom (2) in the horizontal direction can be changed by using the first boom rotation switch provided at the bottom of the support post (5).
This is done by rotating the support boss I-(5) around the vertical axis (P) using a motor (Ml).

The auxiliary boom (3) is pivoted to the tip of the boom (2) at a second moke (M2) so as to be horizontally swingable about the vertical axis (II). Then, by combining the direction change of the boom (2) by the first motor (Ml) and the direction change of the auxiliary boom (3) with respect to the boom (2) by the second motor (M2), the auxiliary boom (3)
The horizontal direction of the manipulator (4) attached to the tip of the vehicle body (V) and its approach start position can be changed while the vehicle body (V) is stopped.

The manipulator (4) is configured as shown in FIGS. 1 and 2.
As shown in the figure, an arm base (4a) is attached to the tip of the auxiliary boom (3) so as to be able to rotate around the vertical axis (Y), and the arm base (4a) is attached to the horizontal axis ( The first arm (4
b) At the tip of this first arm (4b), there is a horizontal axis (
x2) The second arm (4c) is rotatably supported around
, and a working hand (11) attached to the tip of the second arm (4c) so as to be rotatable around the horizontal axis (x3), making it a so-called multi-joint telescopic manipulator. It is composed.

Then, by rotating the arm base (4a) around the vertical axis (Y) using the third motor (hz) as a rotation drive actuator of the manipulator (4),
The eyebrow break (4), that is, the horizontal direction of the working hand (11) relative to the auxiliary boom (3) is changed, and the first arm drive motor (M4) is used to change the vertical direction. .

A second moke (M2) for horizontal swinging of the auxiliary boom (4)
) and the third motor (M3) for turning the manipulator (4)
are respectively arranged on the upper surface side of the auxiliary boom (3). Then, as shown in FIG. 1, the third motor (M3
) and arm base (4a) to the niI auxiliary boom (4a).
) is interlocked and connected via a toothed heald (7) inside the auxiliary boom (3).
) and the actuators for turning the manipulator (4) so that nothing protrudes. Therefore, the auxiliary boom (3) can be formed thin and its lower surface can be formed flat, so that the manipulator (3) can be lowered close to the road surface and the weight of the auxiliary boom (3) can be reduced. .

Further, the second arm (2c) and the working hand (11)
The second arm driving motor (M5) and its driving force transmission breaks (8a) and (8b) are arranged so that the rotations about the respective horizontal axes (Xz) and (X:l) are interlocked. a second arm (4b) with respect to the first arm (4b);
The arm (4C) and the working hand (1) are operated in a coordinated manner to move the working hand (11) up and down.
The manipulator (4) is configured to linearly expand and contract in the direction in which the manipulator (4) is set in the vertical direction by the motor (M4).

In FIG. 1, (9) is a video camera constituting a visual device for searching the position of the fruit to be worked on,
The first It is stored inside the base end of the arm (4b). Further, the arm base (4a) is bent upward in a dogleg shape, and the vertical axis (4a) of the arm base (4a) is bent upward.
The center of rotation around Y) coincides with the center of rotation of the first arm (4b), that is, the center of vertical field of view of the video camera (9), and
The horizontal rotation axis (
xl) and the upper surface of the auxiliary boom (3) are arranged so that they are close to each other. In other words, the field of view of the video camera (9) is changed in conjunction with the direction change of the manipulator (4), and the field of view is changed by the working hand (11) attached to the tip of the manipulator (4). The working hand (II) can be guided from a low position in a so-called line-of-sight tracking manner. Therefore, the fruit to be worked on is the same as the video camera (9).
) Check whether there are any obstacles such as tricks or leaves that would get in the way of the approach within the imaged field of view. Check whether the Mayu Break (4) can approach the work target at . can be easily checked.

As shown in FIG.
In an orchard that has a passageway wide enough to allow the passage of
By turning the working machine having the above structure around the outside of the fruit trees (F) located at the edge of the orchard, each fruit tree (F)
The fruit will be harvested one by one while moving along the road.

To explain in detail the movable range of the manipulator (4), as shown in Fig. 3, there are fruit trees (F), (
The vehicle body (V) is stopped in a state where F) is located, and based on the image captured by the video camera (9) installed at the center of rotation of the first arm (4b) of the manipulator (4),
The orientation of the boom (2) in the horizontal direction, the boom (2)
) and the orientation of the manipulator (4) with respect to the auxiliary boom (3) in each horizontal direction, as well as raising and lowering the boom (2) and the auxiliary boom J, Manipulator for (3) (
Adjust the vertical direction by vertical swinging in step 4) so that the approach start position and direction of the working hand (11) to the fruit tree (F) to be worked on can be set to a tree or a leaf near the fruit to be worked on. The fruit to be worked on and the center of the fruit tree (F) on which the fruit grows are set so as to be in the direction of the sticky line so that it is not disturbed by obstacles such as. and,
The manipulator (4) is operated to protrude, and the working hand (11) attached to the tip thereof is made to approach the fruit to be worked on.

Therefore, when the vehicle body (V) is stopped in the passage, for example, when the vehicle body (V) is at the position shown by the solid line in FIG. The movable range of the hand (l()) is set.Then, by combining the horizontal direction change of the boom (2) and the auxiliary boom (3), the movement range of the hand (l()) can be set without changing the direction of the vehicle body (v). Fruit tree (F) adjacent to the car body (V)
While detouring around the fruit trees that approached and the fruit trees on both sides of the vehicle (
It is possible to approach any position approximately half of the circumference of F). To approach a position outside the movable range indicated by the diagonal lines, simply move the vehicle body (V) forward along the path to the position indicated by the broken line in the figure, and approach any position within the next work target range. can. In other words, it is possible to approach a wide range of approximately half the circumference of the fruit trees (F) on both sides facing the passageway from one side of the passageway without changing the orientation of the vehicle body (V). Moreover, as mentioned above, since the boom (2) is bent into a dogleg shape so as to bypass the front part of the vehicle body (V), the manipulator (
4) from a very low position close to the alley.
2) can be raised and lowered over a wide range up to the possible lifting position, so even if the height of the fruit tree to be worked on or the position where the fruit is growing is low near the ground, the upper end of the fruit tree can be raised and lowered. Even if you are at a high position, you can easily approach the fruit you are working on without being obstructed by obstacles in the vicinity.

[Another example]

In the above embodiment, the boom (2) is bent to have a substantially doglegged shape when viewed from the side, but it may be formed into other shapes such as a straight shape. In addition, the boom (
2) may not constitute a parallel link.

Furthermore, the present invention can be applied not only to the working machines used in orchards as shown in the above embodiments, but also to various other working machines.

[Brief explanation of drawings]

The drawings show an embodiment of the working machine according to the present invention, in which Fig. 1 is a sectional view of essential parts showing the arrangement of the actuator for rotating the eyebrow brake, Fig. 2 is a side view of the entire working machine, and Fig. 3 shows the movement of the eyebrow brake. FIG. 4 is a schematic plan view of the orchard showing the positional relationship between the working machine and the fruit trees. (v)...Car body, (2)...Boom,
(3)... Auxiliary boom, (4)... Manipulator, (M3)... Turning actuator.

Claims (1)

[Claims] Boom (2) that can rotate and move up and down relative to the vehicle body (V)
and an auxiliary boom (3) that is horizontally swingable with respect to the boom (2), and a telescoping manipulator (4) is rotatably attached to the auxiliary boom (3). In this work machine, the turning actuator (M_3) of the manipulator (4) is provided on the upper surface side of the auxiliary boom (3).