JP3564768B2 - Agricultural work equipment propulsion device - Google Patents

Description

[0001]
[Industrial applications]
The present invention relates to a propulsion device for an agricultural work machine such as a seedling planter or a seeder.
[0002]
[Prior art]
The propulsion device of the agricultural working machine is configured as follows. Extending from both side of the gearbox constituting the body to one pair chain case lower rear oblique (or diagonal front lower), the drive wheels mounted on respective lower end rotation of the prime mover is transmitted. Each chain case is provided so as to swing about an upper horizontal axis, and the swing moves the body up and down. In addition, the swinging is automatically performed, and the height of the aircraft from the ground (or the upper surface of the ridge) is maintained within a certain range, or the height of the aircraft can be arbitrarily determined by performing a manual operation. it can.
[0003]
[Problems to be solved by the invention]
When this agricultural work machine comes near the ridge, it makes a U-turn to change the forward direction. In this case, to raise the vehicle body by lowering the driving wheels of a pair, stopping the rotation of the inner driving wheel of the turn. Then, the agricultural working machine rotates around the lower end of the inner drive wheel as the outer drive wheel rotates. That is, in this turning, the inner drive wheels rotate on the ground as one body with the body, so that the mud is kneaded and the field is roughened.
[0004]
[Means for Solving the Problems]
The present invention solves the above-mentioned problem in a propulsion device of an agricultural work machine provided with crawlers for body running on the right and left sides. That is, the left and right crawlers 55L, 55R, the left and right propulsion motors 56L, 56R for rotationally driving the left and right crawlers 55L, 55R, and the left and right crawlers 55L, 55R are vertically moved along the vertical axis. Left and right turning motors 49L and 49R for turning around 48L and 48R, left and right turning angle sensors 58L and 58R for detecting turning angles of the left and right crawlers 55L and 55R about the vertical axes 48L and 48R, The left and right crawlers 55L and 55R detect the turning angles of the left and right crawlers 55L and 55R so that the body turns 180 degrees without turning the crawlers 55L or 55R inside the turning with respect to the ground during the turning. Drive control of the left and right swing motors 49L, 49R and the left and right swing motors 49L, 49R independently of each other That is obtained by the propulsion device of agricultural working machine, characterized in that a control device 59.
[0005]
[Action]
Propulsion device agricultural working machine configured as above Symbol left and right crawlers 55L, running straight at 55R, during turning, the turning of the machine body 180 is not pivoted relative to ground turning inner crawler 55L or 55R be able to.
[0006]
【effect】
Therefore, according to the present invention, the body 50 can be U-turned without turning the crawler 55L or 55R inside the turning with respect to the ground, and the field is not roughened.
[0007]
【Example】
The propulsion device shown in the figure is configured as follows. A pair of fork-shaped support frame 47L, the longitudinal axis 48L of the 47R, 48R, respectively of the swing motor 49L, so as to be rotated at 49R, is provided on the left and right of the machine body 50. Triangular frames 51L, 51R are fixed to supports 47L, 47R, and crawlers 55L, 55R are wound around driving wheels 52, 52 and rolling wheels 53, 53, 54, 54 arranged at the vertices. Support frame 47L, one piece of the propulsion motors 56L bent horizontally for 47R, 56R is attached, the rotation thien 57L, transmitted to the respective wheel 52 in 57R, crawler 55L, so as to rotate the 55R Has become. The turning angle sensors 58L and 58R are mounted on the respective turning motors 49L and 49R, and detect the angles of the longitudinal axes 48L and 48R and transmit the detected angles to the control device 59. The ridge detection sensor 60 is attached to the front of the body 50, and transmits to the control device 59 that the body 50 has approached the ridge D at the field end.
[0008]
The ridge detection sensor 60 is constituted by an ultrasonic sensor having a transmitter and a receiver as shown in FIG. 4 , and when the transmitted sound wave is reflected on the ridge D and returns quickly, the ridge can be recognized as a ridge. The turning switches 61L and 61R are provided so that the direction in which the body 50 turns can be designated by a command from the control device 59.
[0009]
Then, the control device 59 can operate the swing motors 49L, 49R and the propulsion motors 56L, 56R as follows based on information from the swing switches 61L, 61R, the ridge detection sensor 60, and the swing angle sensors 58L, 58R. ing. The left and right crawlers 55L and 55R straddle the ridge A1 and rotate in the valleys B1 and B2 on both sides thereof, and the body 50 advances forward to the left as shown in FIG. 6 , for example. At this time, the right turn is designated by the turning switch 61. The body 50 approaches the ridge D, and the ridge detection sensor 60 detects this. Then, the rotation of the propulsion motors 56L, 56R is stopped by a command from the control device 59, and the forward movement of the body 50 is stopped. Thereafter, the control device 59 instructs a right turn as follows. That is, as shown in FIG. 6 , the turning motor 49R turns the vertical axis 48R counterclockwise by 90 degrees. During this time, the propulsion motor 56R slowly turns the crawler 55R in the reverse direction (rightward in the figure) as shown by “1” to “5”, and the propulsion motor 56L gives the crawler 55L a forward rotation earlier than “1”. "To" 5 ". At this time, the turning motor 49L turns the vertical axis 48L slightly to the right and then turns to the left to return to the original position. Thus, the fuselage 50 turns by 90 degrees, and the crawler 55L is parallel to the longitudinal direction of the fuselage, and the crawler 55R is orthogonal. Subsequently, the turning motor 49R turns the vertical axis 48R further 90 degrees in the same direction. During this time, the propulsion motor 56R returns the crawler 55R from “5” to “1”, the propulsion motor 56L rotates the crawler 55R in the same direction, and the turning motor 49L turns the vertical axis 48R left and then right. To undo. Then, the crawler 55R enters the valley B3 and is parallel to the crawler 55L, so that the machine body 50 changes its direction on the adjacent ridge A2. After that, the propulsion motor 56L rotates the crawler 55L in the same direction as before, and the propulsion motor 56R rotates the crawler 55R in the opposite direction to that in the past (when traveling leftward in the valley B2), and the aircraft 50 Proceed right on ridge A2.
[0010]
As described above, according to this configuration, the headland can be narrowed by turning in a crushed arc and the aircraft 50 can be U-turned without turning the inner crawler 55R with respect to the ground. Never get rough. FIG. 7 is a flowchart showing the control at the time of the turning.
[Brief description of the drawings]
FIG. 1 is a side view of an agricultural working machine.
FIG. 2 is a plan view showing a part of the agricultural work machine.
FIG. 3 is a rear view showing a part of the agricultural work machine.
FIG. 4 is a side view showing the operation of the ridge detection sensor.
FIG. 5 is a block diagram of a control device.
FIG. 6 is a plan view showing a turning state of the agricultural working machine.
FIG. 7 is a flowchart showing control during turning.
[Explanation of symbols]
48L, 48R vertical axis
49L, 49R swing motor
55L, 55R Crawler
56L, 56R propulsion motor
58L, 58R Swing angle sensor
59 Control device

Claims (1)

The left and right crawlers 55L, 55R for traveling the body, the left and right propulsion motors 56L, 56R for rotationally driving the left and right crawlers 55L, 55R, and the left and right crawlers 55L, 55R are respectively connected to the upper and lower longitudinal axes 48L, 55L. Left and right turning motors 49L and 49R for turning around 48R, left and right turning angle sensors 58L and 58R for detecting turning angles of the left and right crawlers 55L and 55R around the vertical axes 48L and 48R, and at the time of turning the body. The left and right crawlers 55L and 55R detect the turning angles of the left and right crawlers 55L and 55R so that the body turns 180 degrees without turning the crawler 55L or 55R inside the turning with respect to the ground. A control system for controlling the driving of the left and right swing motors 49L and 49R independently of the left and right swing motors 49L and 49R. Propulsion device agricultural working machine, characterized in that a and device 59.

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