JP2018166441A - Wheel mechanism for self-running sprayer - Google Patents

Abstract

To make it possible to easily run using man power on a field outside a rail.SOLUTION: A wheel mechanism 3 of the invention comprises: a non-driven wheel 20 and driven wheel 21 that support a front part and rear part of a machine body 2 of a self-running type sprayer, respectively, and individually run on a rail R laid in a field H, the non-driven wheel 20 being configured to be rotatable, the driven wheel 21 being configured to be rotatably driven by driving means provided on the machine body 2; and an auxiliary wheel 23 disposed, via elevating and lowering means 22, on the rear side on which the driven wheel 21 is provided and on the lower part of the machine body 2, the auxiliary wheel 23 being configured to be rotatable and directionally changeable. The wheel mechanism is configured so that running on the field H outside the rail is enabled using the non-driven wheel 20 and the auxiliary wheel 23 when the elevating and lowering means 22 is extended and running on the rail R is enabled using the non-driven wheel 20 and the driven wheel 21 when the elevating and lowering means 22 is shrunk.SELECTED DRAWING: Figure 6

Description

  The present invention relates to a wheel mechanism of a self-propelled sprayer that is used for fertilizing, controlling, and irrigating crops and fields, and that travels on a track laid on the field.

  As a prior art, the agricultural robot apparatus described in patent document 1 is illustrated. As shown in FIG. 7, this apparatus includes a carriage 104 having a moving mechanism capable of moving on a rail 111 as a track by a wheel, a working mechanism 105 operated by electric power, and the moving mechanism and the working mechanism. A power supply drum 107 that houses a power supply cable 106 for supplying power, and a control device 108 that moves the power supply cable from the power supply drum, or moves the winding mechanism in conjunction with the operation of the moving mechanism, are mounted. An agricultural robot 120, and a movable carriage 121 that carries the agricultural robot and reciprocates on a rail 110 provided in a furrow moving carriage passage 109 formed in a direction intersecting the linear direction of the carriage. It is connected.

JP 2010-233459 A (paragraphs [0023] to [0024], FIGS. 7 and 8 of the specification)

  However, the conventional apparatus requires a moving carriage 121, a furrow moving carriage passage 109, and a rail 110 installed on the furrow moving carriage passage 109 as equipment for changing the track. There is a problem that costs are incurred.

  Therefore, it is possible to omit the facility for changing the trajectory and move the agricultural robot 120 manually, but the agricultural robot 120 includes a moving mechanism, a working mechanism, a power supply drum, and a control device. Since there is considerable weight, there is a problem that the work load is large. At this time, if workers (or workers) with insufficient labor force are forced to change the trajectory and drag the agricultural robot, the wheels may be worn or the moving mechanism may be impossible through the wheels. There is also a problem that a load is applied and the life of components such as wheels is shortened.

In order to solve the above-mentioned problem, the wheel mechanism of the self-propelled sprayer according to the first invention is:
The front and rear parts of the body of the self-propelled sprayer, or the rear and front parts are supported, respectively, and provided with non-drive wheels and drive wheels that respectively run on tracks laid on the field,
The non-drive wheel is configured to be rotatable,
The drive wheel is a wheel mechanism of a self-propelled sprayer configured to be rotationally driven by drive means provided in the airframe,
In the lower part of the body on the side where the driving wheel is provided in the front part and the rear part, provided with auxiliary wheels arranged via lifting means,
The auxiliary wheel is configured to be rotatable and freely turnable.
When the lifting means is extended, outside the track, the auxiliary wheel descends and comes into contact with the field, whereby the driving wheel floats above the field, and the non-driving wheel and the auxiliary wheel It is possible to run on the
When the elevating means is contracted, on the track, the auxiliary wheel rises and floats above the field, whereby the driving wheel contacts the track, and the non-driving wheel and the driving wheel It is configured to be able to travel on the track.

  According to this configuration, the auxiliary wheel configured to be rotatable and turnable in place of the driving wheel instead of the driving wheel at the time of trajectory change, installation and storage, etc. The non-driving wheel that is configured to be rotatable can easily drive the field outside the track manually. Therefore, it is not necessary to provide a facility for changing the track as in the prior art, and the cost can be reduced. Further, the auxiliary wheel is configured to be rotatable and turnable in the direction, and the non-driving wheel is configured to be rotatable, so that the advancement and turning of the machine body in the field can be performed with less labor, At that time, an excessive burden is not imposed on components such as wheels as in the prior art.

As a wheel mechanism of the self-propelled sprayer of the second invention, in the first invention,
The said raising / lowering means illustrates the aspect comprised so that the expansion-contraction may be driven by operation of human power.

  According to this configuration, since it is not necessary to supply power for driving expansion and contraction of the elevating means, it can be configured at low cost.

As the wheel mechanism of the self-propelled sprayer of the third invention, in the second invention,
The said raising / lowering means illustrates the aspect provided with the power assist means which reduces the burden of all or one part operation of the said manual operation.

  According to this configuration, the burden on the operator can be reduced.

As the wheel mechanism of the self-propelled sprayer of the fourth invention, in the first invention,
The said raising / lowering means illustrates the aspect comprised so that the expansion-contraction may be driven with the motive power of a motor | power_engine.

  According to this structure, the said raising / lowering means can be operated, without putting a burden on an operator.

As a wheel mechanism of the self-propelled sprayer of the fifth invention, in any one of the first to fourth inventions,
The non-driving wheels are provided on the left and right sides of the machine body, and the left and right wheels are illustrated as being configured to be rotatable independently of each other.

  According to this configuration, the airframe can be turned smoothly, and wear of the non-driving wheels at that time can be reduced.

  According to the wheel mechanism of the self-propelled sprayer according to the present invention, there is an excellent effect that the field outside the track can be easily driven manually.

It is a perspective view showing a self-propelled sprayer provided with a wheel mechanism concerning one embodiment which materialized the present invention. It is a side view of the self-propelled sprayer in the state where the elevating means is extended. It is a rear view of the self-propelled sprayer in a state where the elevating means is extended. It is a bottom view of the self-propelled sprayer in a state where the elevating means is extended. It is a side view of a wheel mechanism in the state where a raising / lowering means was extended. It is a side view of the wheel mechanism in a state where the lifting means is contracted. It is a top view which shows the agricultural robot apparatus as a prior art.

  FIGS. 1-6 has shown the self-propelled sprayer 1 provided with the wheel mechanism 3 of one Embodiment which actualized this invention. In the self-propelled sprayer 1 of this example, as shown in FIGS. A spray nozzle mounting portion 4 for mounting a spray nozzle (not shown) for jetting liquid such as water, liquid fertilizer, and chemical solution is wound around the airframe 2, and a hose (not shown) for supplying the liquid to the spray nozzle is wound around the body 2. A reel 6, a hose guide 7 for guiding the hose to the reel 6, a motor 8 as a prime mover, a battery 9 for operating the motor 8, and a transmission mechanism for transmitting the driving force of the motor 8 to the reel 6 and the wheel mechanism 3 10. Magnetic sensor 11 for detecting a magnet (indicating the starting point, end point, etc.) of the magnet installed on the ground, a control device 12 for controlling the operation of the motor 8 in accordance with a signal from the magnetic sensor 11, an airframe A handle 13 or the like for manipulating the progression of 2 manually is mounted. In each figure, arrow F indicates the front side of the aircraft.

  The wheel mechanism 3 includes a non-driving wheel 20 and a driving wheel 21 that respectively support the front part and the rear part of the body 2 and travel on the track R laid on the farm field H, and the driving wheel 21 is provided. Auxiliary wheels 23 are provided below the airframe 2 on the rear side of the airframe 2, which is on the side where the vehicle is located, via an elevating means 22. The track R in this example is constituted by a pair of left and right pipe rails.

  The non-driving wheels 20 are provided on the left and right sides of the machine body 2, and the left and right wheels are configured to be rotatable independently of each other. Each non-driving wheel 20 is formed with an annular groove 25 on the circumferential surface for positioning on the track, and a flange portion 26 is formed on both sides for preventing the wheel from being removed from the track R. .

  The drive wheels 21 are respectively provided on the left and right sides of the machine body 2 and are configured to be rotationally driven by the motor 8 and the transmission mechanism 10 as drive means. As with the non-drive wheels 20, each drive wheel 21 is also formed with an annular groove 25 and a flange portion 26.

  The elevating means 22 includes a pair of left and right rotating arms 30 extending in the front-rear direction of the machine body 2, a lifting table 31 that is installed across the distal ends of the pair of rotating arms 30, and the elevator table 31 and the machine body. A pair of left and right foldable links 32 that vertically connect the two, an operation lever 33 attached to one (right side in this example) foldable link 32, and a power assist means for assisting the deployment of the foldable link 32 34.

  The rotating arm 30 is rotatably supported on the side surface of the lower part of the machine body 2 via a shaft 30a whose front end extends in the left-right direction.

  The pair of foldable links 32 is pivotally supported on the machine body 2 via an upper shaft 32a having an upper end extending in the left-right direction so that the two integrally operate, and a lower shaft 32b having a lower end extending in the left-right direction. It is supported by the lifting platform 31 via Each foldable link 32 is divided into an upper piece 35 and a lower piece 36 at a substantially central portion in the length direction, and the upper piece 35 and the lower piece 36 are connected via a joint shaft 32c extending in the left-right direction. ing. The relative rotation range of the upper piece 35 and the lower piece 36 via the joint shaft 32c is such that the joint shaft 32c is moved rearward from the state in which both extend substantially linearly by the pin 32d (see FIG. 5). Thus, it is limited to the state in which both are folded in half (see FIG. 6). The upper piece 35 of the foldable link 32 includes an extension portion 35a that is extended to the anti-joint axis side.

  The power assist means 34 of this example is pivotally supported on one side surface (right side in this example) of the lower part of the machine body 2 via a shaft 34a having one end portion extending in the left-right direction, and a shaft 34b having the other end portion extending in the left-right direction. The compression elastic body is pivotally supported by the extension portion 35a of the upper piece 35 on one side (right side in this example). This power assist means 34 reduces the burden of manpower operation when the folding link 32 is deployed in a linearly extended state by urging the folding link 32 in the direction of deployment. Yes.

  The operation lever 33 is attached to the upper piece 35 of one of the foldable links 32 (right side in this example). When the operation lever 33 is rotated forward by manual operation, the foldable link 32 is folded in half (the lifting means 22 is contracted), and when it is rotated backward, the foldable link 32 is substantially linear. It is developed (the lifting means 22 is extended).

  The auxiliary wheels 23 are provided on the left and right sides of the lifting platform 31, respectively, and in the state where the airframe 2 is supported by the non-driving wheels 20 and the auxiliary wheels 23 by extending the lifting means 22, the shafts extend in the horizontal direction. It is configured to be rotatable around the axis 23a and turn around the axis 23b (see FIG. 4) extending in the vertical direction.

  Next, the operation and operation of the wheel mechanism 3 of this example will be described. When the elevating means 22 is extended by manually operating the operation lever 33, the auxiliary wheel 23 descends to the field H outside the track. Then, the driving wheel 21 floats above the farm field H and can travel on the farm field H by the non-driving wheel 20 and the auxiliary wheel 23 (see FIG. 5). Further, when the elevating means 22 is contracted by manually operating the operation lever 33, the auxiliary wheel 23 rises and floats above the field H on the track, whereby the driving wheel 21 contacts the track R. Thus, the vehicle can travel on the track R by the non-driving wheels 20 and the driving wheels 21 (see FIG. 6).

  According to the wheel mechanism 3 of the self-propelled sprayer 1 of the present example configured as described above, it can be rotated and rotated freely in place of the drive wheel 21 when changing the track or during installation / storage. By grounding the configured auxiliary wheel 23 to the field H, the field H outside the track can be easily driven manually by the auxiliary wheel 23 and the non-driven wheel 20 configured to be rotatable. . Therefore, it is not necessary to provide a facility for changing the track R as in the prior art, and the cost can be reduced. Further, since the auxiliary wheel 23 is configured to be rotatable and turnable, and the non-driving wheel 20 is configured to be rotatable, the advancement and turning of the body 2 in the field H can be performed with a small labor force. At that time, an excessive burden is not imposed on parts such as wheels as in the prior art.

  Further, the elevating means 22 is configured such that its expansion and contraction is driven by an operation of human power, and it is not necessary to supply power for driving the expansion and contraction of the elevating means 22, so that it can be configured at low cost.

  Moreover, since the raising / lowering means 22 is provided with the power assist means 34 which reduces the burden of all or part of the operations of the human power, the burden on the operator can be reduced.

  Further, the non-driving wheels 20 are provided on the left and right sides of the airframe 2, and the left and right wheels are configured to be rotatable independently of each other, so that the airframe 2 can be smoothly turned. The wear of the non-driving wheel 20 can be reduced.

In addition, this invention is not limited to the said embodiment, For example, it can also be suitably changed and embodied as follows, for example in the range which does not deviate from the meaning of invention.
(1) The configuration of the lifting means 22 is appropriately changed to another known configuration. For example, a pantograph-like configuration or a configuration using parallel links can be mentioned.
(2) Changing the configuration of the lifting drive mechanism of the lifting means 22 as appropriate. For example, using a lifting screw shaft and a lifting body screwed to the lifting screw shaft, the lifting means 22 can be expanded and contracted via the lifting body that moves up and down according to the rotation direction of the lifting screw shaft.
(3) The rear part of the airframe 2 is supported by the non-driving wheel 20 and the front part is supported by the driving wheel 21, and is arranged at the lower part of the airframe 2 at the front part of the airframe 2 via the lifting means 22. The auxiliary wheel 23 is configured to be provided.
(4) The raising / lowering means 22 is made into the aspect comprised so that the expansion / contraction may be driven with the motive power of a prime mover. According to this structure, the raising / lowering means 22 can be operated without imposing a burden on an operator.
(5) Change the number of auxiliary wheels 23 as appropriate. For example, it may be configured as a single wheel.
(6) The power assist means 34 is provided on the folding links 32 on both sides.

DESCRIPTION OF SYMBOLS 1 Self-propelled sprayer 2 Airframe 3 Wheel mechanism 4 Spray nozzle attachment part 6 Reel 7 Hose guide 8 Motor 9 Battery 10 Transmission mechanism 11 Sensor 12 Control apparatus 13 Handle 20 Non-drive wheel 21 Drive wheel 22 Lifting means 23 Auxiliary wheel 23a Axis 23b Shaft 25 Annular groove 26 Flange part 30 Rotating arm 30a Shaft 31 Lifting base 32 Folding link 32a Upper shaft 32b Lower shaft 32c Joint shaft 32d Pin 33 Operation lever 34 Power assist means 34a Shaft 34b Shaft 35 Upper piece 35a Extension part 36 Lower piece F Front side of aircraft H Field R Track

Claims (5)

The front and rear parts of the body of the self-propelled sprayer, or the rear and front parts are supported, respectively, and provided with non-drive wheels and drive wheels that respectively run on tracks laid on the field,
The non-drive wheel is configured to be rotatable,
The drive wheel is a wheel mechanism of a self-propelled sprayer configured to be rotationally driven by drive means provided in the airframe,
In the lower part of the body on the side where the driving wheel is provided in the front part and the rear part, provided with auxiliary wheels arranged via lifting means,
The auxiliary wheel is configured to be rotatable and freely turnable.
When the lifting means is extended, outside the track, the auxiliary wheel descends and comes into contact with the field, whereby the driving wheel floats above the field, and the non-driving wheel and the auxiliary wheel It is possible to run on the
When the elevating means is contracted, on the track, the auxiliary wheel rises and floats above the field, whereby the driving wheel contacts the track, and the non-driving wheel and the driving wheel A wheel mechanism of a self-propelled sprayer configured to be able to travel on a track.   The wheel mechanism of the self-propelled sprayer according to claim 1, wherein the elevating means is configured such that its expansion and contraction is driven by a manual operation.   The wheel mechanism for a self-propelled sprayer according to claim 2, wherein the elevating means includes power assist means for reducing the burden of all or part of the manual operation.   The self-propelled sprayer wheel mechanism according to claim 1, wherein the elevating means is configured such that its expansion and contraction is driven by the power of a prime mover.   The self-propelled spray according to any one of claims 1 to 4, wherein the non-driving wheels are provided on the left and right sides of the machine body, and the left and right wheels are configured to be rotatable independently of each other. The wheel mechanism of the machine.

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