JPH0520050B2 - - Google Patents

Description

[Detailed description of the invention]

[0001] (Industrial Application Field) The present invention is applied to, for example, an automatic liquid spraying vehicle that runs unmanned inside a greenhouse and automatically sprays disinfectant, liquid fertilizer, water, etc. on plants being cultivated. The present invention relates to a drive device for a mobile vehicle that is used to automatically advance and retreat a vehicle, an automatic liquid spraying vehicle using the drive device, and an automatic liquid spraying device using the automatic liquid spraying vehicle.

[0002] (Prior art) Liquid spraying inside a greenhouse has traditionally been done manually, so it cannot be sprayed without manpower, and even if there is manpower, when spraying, people become attached to it. The problem was that I was unable to do any other work during that time.

[0003] Therefore, the present applicant first developed an automatic liquid spraying device that automatically travels back and forth within the greenhouse and can automatically spray liquid while traveling, and has filed a utility model registration application (Jitsugan Showa). 57-86600). The rail C shown in Fig. 21 is laid horizontally at one end in the longitudinal direction of a large number of ridges A formed in the vertical direction as shown in Fig. 20, and the rail C shown in Fig.
The cart D shown in the figure is configured to be able to automatically reciprocate in the direction of the arrow (left and right), and the scattering vehicle E is automatically able to get on and off the cart D. Then, the trolley D running on the rail C automatically stops when it comes to the position of the passage B between the ridges A, and when it stops, the spraying vehicle E automatically descends from the trolley D to the passage B and automatically moves along the same passage B. move forward and backward (reciprocating movement),
In the meantime, the liquid is sprayed onto the plants grown in the row A using the sprayer E. Then, when the retreating sprayer E runs onto the trolley D, the trolley D moves to the next passage B and automatically stops, and then the sprayer E descends from the trolley D onto the passage B as before. , Hereafter, by repeating this process, the spraying vehicle E moves back and forth through each passage B to automatically spray the liquid. Note that when the cart D moves to the turn-around position on the passage B, it automatically returns to the starting position and stops.

(Problems with the prior art) This automatic liquid spraying device does not have any particular difficulties, but to be more specific, while the spraying vehicle E shown in FIG. 23 is traveling along the path B shown in FIG. When the spreading vehicle E runs onto the guide path F of the trolley D shown in Fig. 22, the front wheels G and rear wheels H of the spreading vehicle E slip, causing the spreading vehicle E to slip.
Sometimes it stopped. Further, the scattering vehicle E only moves one by one from the previous passage B to the next passage B, for example, from passage B to the next passage B.
The problem was that it was not possible to select and run every second or third line.

(Objective of the invention) The object of the present invention is to provide an automatic liquid spraying vehicle that can run without stopping even if the wheels of the liquid spraying vehicle slip, and can freely select desired ridges and spray the liquid. An object of the present invention is to provide a vehicle, a liquid spreading vehicle driving device for moving the liquid spreading vehicle back and forth, and an automatic liquid spreading device using the liquid spreading vehicle.

(Means for solving the problem) As shown in FIGS. 6 and 7 of the driving device for a moving vehicle according to claim 1 of the present invention, the front wheel 4 and the rear wheel are attached to the front axle 8 of the moving vehicle. A drive device 6 (FIG. 5) that rotates the rear wheel 5 attached to the shaft 11 is attached to the drive shaft 31 and a drive gear 7 that is attached to the drive shaft 31 and rotated by the motor M as shown in FIG. A forward large-diameter gear that rotates in the same direction as the drive gear 7 rotates, and rotates the front small gear 33 attached to the front shaft 8 and the front wheels 4 that rotate in conjunction with the front small gear 33 in the forward direction to move the vehicle forward. 9, which is attached to the drive shaft 31, and when the rotational speed of the rear shaft 11 becomes slower than the rotational speed of the rear large gear 37 attached to the rear shaft 11 due to slipping of the front wheels 4, etc. when the moving vehicle moves forward, the rear large gear 37 is attached to the rear large gear 37. 37 in the forward direction and rotates the rear wheels 5 in the same direction to advance the moving vehicle; A rear small gear 35 attached to the rear shaft 11 and a rear large diameter gear 12 that rotates the rear wheels 5 rotating in conjunction with the rear gear in the backward direction to move the vehicle backward; When the rotational speed of the front axle 8 becomes slower than the rotational speed of the large front gear 39 attached to the front axle 8 due to the rear wheel 5 slipping or the like when reversing, the front axle 8 is rotated in the large backward direction and the front wheels 4 are rotated in the same direction. Now, it is composed of a reverse small diameter gear 13 for moving the moving vehicle backward.

[0007] The automatic liquid spraying vehicle according to claim 2 of the present invention includes a front wheel 4, a rear wheel 5, and a drive device 6 as shown in FIGS. 5 to 7, and is driven by the drive device 6 to In the liquid spraying vehicle 3, which moves forward as shown in FIG. Drive device (first
Figure 4).

[0008] The automatic liquid spraying device according to claim 3 of the present invention has a running path 1 installed along the arrangement direction of the ridges A at one end in the longitudinal direction of a large number of ridges A as shown in FIG.
and a trolley 2 that can freely move back and forth on the running path 1.
It consists of a liquid spraying vehicle 3 that can freely move forward and backward along the path B between the ridges A by a drive device 6. When the automatic liquid spraying vehicle rides on it, the trolley 2 automatically moves on the running path 1 and moves as desired. When the truck 2 reaches the position, it stops, and when the truck 2 stops, the automatic liquid spraying vehicle automatically gets off the truck 2 and moves forward along the path B. When the automatic liquid spraying truck retreats and rides on the truck 2 and stops, the truck 2 moves to the desired position. The automatic liquid spraying vehicle 3 automatically gets off the trolley 2 and moves forward along the path B at the stopped position, and then repeats the same operation as the previous time to automatically spray the liquid. Accordingly, the drive device 6 is a drive device for a moving vehicle according to a first aspect of the present invention.

[0009] The automatic liquid spraying device according to claim 4 of the present invention is the automatic liquid spraying device according to claim 3, as shown in FIG. A road 16 is provided, and an auxiliary road 17 is provided at the end of the guide road 16 to guide the spreading vehicle 3 to the guide road 16. When the spreading vehicle 3 gets off the trolley 2, the spreading vehicle 3
The vehicle is tilted forward by the front wheels 4 of the vehicle.

[0011] The automatic liquid dispersing device according to claim 5 of the present invention is the automatic liquid dispersing device according to claims 3 and 4, in which the cart 2 is moved laterally and is attached to the spreading vehicle 3 on the cart 2. Antenna 14 (Fig. 4, 5
When the pusher 15 (Fig. 1) is pressed against the pusher 15 (Fig. 1) provided at a desired position near the running path 1 (Fig. 1), the cart 2 stops, and when the cart 2 stops, the spreading vehicle 3 2, move forward along passage B, and the scattering vehicle 3 stops at the stopper 18 provided at the end of passage B (Fig. 1).
When pressed, it retreats and trolley 2 rides on the
When it hits the stopper, the backward movement stops, and when the spreader vehicle 3 stops, the trolley 2 moves laterally again, and the previous operations are repeated until the trolley 2 reaches the turn-around position 1R (Fig. 1) on the running path 1. Then, the same trolley 2 moves backwards on the traveling path 1 and reaches the predetermined position 1S (Fig. 1).
When the carriage 2 returns to this point, the carriage 2 stops, and after stopping, the carriage 2 starts moving laterally again, and the above-mentioned operation is repeated.

(Operation) The operation of the automatic liquid spraying vehicle and automatic liquid spraying device of the present invention is as follows. When the lateral movement start switch SW5 shown in FIG. 19 attached to the trolley 2 shown in FIGS. 1 and 3 is turned on, that state is maintained by the holding circuit H3 shown in the same figure.
A cart 2 carrying a liquid spraying vehicle 3 is moved on a traveling path 1 to the right in FIG. 1 by a lateral movement motor. As a result of this movement, as shown in FIG. 17, when the antenna 14 attached to the roof of the liquid spray vehicle 3 hits the pusher 15, the lateral movement stop switch SW6 (19th Figure) is
The holding circuit H3 is turned OFF and the lateral movement of the trolley 2 is stopped. At this time, the forward start switch SW1 (19th switch) of the liquid spray vehicle 3 installed near the antenna 14
) is turned ON, and even if the antenna 14 comes off the pusher 15, the ON state is maintained by the holding circuit H1, the spreading vehicle drive motor rotates forward, and the liquid spreading vehicle 3 advances from the cart 2 through the passage B. .

[0013] The liquid spray vehicle 3 moves forward and its front bumper 20
(Fig. 5) hits the stopper 18 installed in front of passage B as shown in Fig. 1, the same bumper 20 slides rearward (in the direction of arrow a in Fig. 5), and as a result, the Forward stop switch SW shown in the figure
2 is turned OFF, the holding circuit H1 is cut off, and the forward movement of the liquid spreading vehicle 3 is stopped. At this time, front bumper 2
Rear bumper 21 (7th bumper) that slides in the same direction as 0
), the reverse start switch SW3 in Fig. 19 is activated.
It is turned ON, this state is held by the holding circuit H2, the spreading wheel drive motor M is switched to reverse rotation, and the liquid spreading wheel 3 is moved backward.

[0014] The liquid spraying vehicle 3 moves backward and rides on the truck 2, and the rear bumper 21 protrudes to the rear of the liquid spraying vehicle 3.
When it hits the stopper of the truck 2, the backward stop switch SW4 of the liquid spreading vehicle 3 is turned off, the holding circuit H2 is cut off, and the backward movement of the liquid spreading vehicle 3 is stopped. At this time, the lateral movement start switch SW5 of truck 2 is turned on.
This is held by the holding circuit H3, and the trolley 2
moves laterally to the right in FIG. 1 again, and the antenna 14 hits the next pusher 15 as before. From then on,
Similarly to the above case, the truck 2 stops, the liquid spraying vehicle 3 moves forward, then retreats, rides on the truck 2, and stops. Liquid spraying is performed when the liquid spreading vehicle 3 moves forward and backward.

[0015] When the above operation is repeated and the trolley 2 reaches the turn-around position 1R (Fig. 1) on the traveling path 1, the trolley 2
Return start switch SW8 (Fig. 19) attached to
Return to (Figure 1). When returning, the liquid spraying vehicle 3 remains on the trolley 2, and is configured so as not to get off the trolley 2 and spray the liquid on the way (if necessary) so that it can get off the trolley 2 and spray the liquid on the way. You can also do that.

[0016] When the truck 2 returns to the starting end 1S, the side return stop switch SW8 (FIG. 19) of the truck 2 is turned off, the holding of the side return holding circuit H4 is released, and the truck 2 stops. When the cart 2 stops, the lateral movement start switch SW5 of the cart 2 is turned ON again, the lateral movement holding circuit H3 is held, and the cart 2 repeats the lateral movement in the same way as the previous time, during which the antenna 14 is 15, the liquid spraying vehicle 3 gets off the truck 2 and moves forward and backward along the path B, during which time the liquid is sprayed. In this switch circuit, the lateral movement of the cart 2 and the forward and backward movement of the liquid spray vehicle 3 are repeated as many times as necessary until the lateral movement of the cart 2 is manually stopped. In addition, in order for the lateral movement of the cart 2 to stop as it is when the cart 2 returns to the starting end 1S of the running path 1, a stop switch SW9 is provided on the cart 2 as shown in FIG. When it returns to the starting point 1S, the stop SW5 is switched to the lateral movement start switch SW5.
All you have to do is turn it on before it turns on.

(Example) FIGS. 1 to 19 show an example of the present invention.
Among these, A in Figure 1 is a large number of ridges, and B is a ridge A.
1 is a running path laid along one longitudinal end of the ridges A along the arrangement direction of the ridges A; 2 is a running path 1;
A truck 3 is movable back and forth in the directions of arrows c and d above it, and 3 is a liquid spraying vehicle that moves forward in the direction of arrow a in passage B and retreats in the direction of arrow b.

[0018] FIG. 2 is an example of the traveling path 1. This connects two parallel rails 1a with connectors 1b at appropriate intervals.
It is connected by.

[0019] FIG. 3 shows an example of the truck 2. A power supply box 23 is provided on the trolley frame 22, and a 200V power supply, a motor for moving the trolley, etc. are built inside the power box 23, and the wheels 24 attached to the trolley frame 22 are powered by the motor for moving the trolley.
When rotated, it moves on the running path 1.

[0020] Two guide paths 16 on which the liquid spray vehicle 3 rides are attached to the truck frame 22 in a perpendicular manner, and an auxiliary path 17 that widens toward the tip thereof is connected by a connecting pin 25. A support shaft 26 for supporting the auxiliary path 17 is vertically attached to the outside of the auxiliary path 17. A leading guide 27 for guiding the liquid dispersing vehicle 3 to the auxiliary path 17 is formed on the support leg 26, and this guide 27 is formed by bending a round bar so that its front part expands outward.

[0021] Further, one end of a rope 28 is connected to the auxiliary path 17, and the other end of the rope 28 is attached to a rotating arm 29. As a result, when the liquid spreading vehicle 3 rides on the guide path 16 as shown in FIG. It is pulled up from the sideways state shown in FIG. 3 to the state shown in FIG. 4. For this reason, when the trolley 2 moves laterally on the travel path 1, the auxiliary path 17 may be dragged on the ground, or the liquid spray vehicle 3 that has run onto the auxiliary path 17 may accidentally fall forward. I have made sure that there is no such thing. The auxiliary path 17 is pushed forward by the front wheels 4 of the liquid spreading vehicle 3 when the liquid spreading vehicle 3 descends from the guide path 16, and is automatically set in front of the guiding path 16 as shown in FIG. .

[0022] FIGS. 4 to 8 show an example of the liquid spreading vehicle 3.
In these figures, M is a forward/reverse rotating motor for moving the spreading vehicle, and this motor M is driven by a 200V power supply in a power supply box 23 (FIG. 3) of the cart 2.

[0023] This liquid dispersing vehicle 3 has a drive device 6 (FIG. 5, first
4 to 16) to move forward and backward. This forward movement and backward movement is performed as follows. When the motor M in FIG. 14 rotates forward, the drive gear 7 connected to the motor M by a chain 30
rotates, and with this rotation, the forward large diameter gear 9 and the forward drive shaft 31 to which it is attached rotate, and with this rotation, the chain 3 is connected to the forward large diameter gear 9.
The forward gear 33 connected by the forward gear 2 and the front shaft 8 to which it is attached rotate in the direction of arrow e in FIG. 14, and the front wheel 4 attached to the front shaft 8 rotates in the same direction to spray the liquid. The car moves forward.

[0024] When the motor M shown in FIG. 34 and the rear shaft 1 to which it is attached.
1 rotates in the direction of the arrow h in FIG. 16, the rear wheel 5 attached to the rear shaft 11 rotates in the same direction, and the liquid spraying vehicle 3 moves backward.

[0025] When the front wheels 4 of the liquid dispersing vehicle 3 slip in mud etc. when moving forward and become unable to advance, the 14th
The rear large gear 37, which is connected to the forward small diameter gear 10 in the figure by a chain 36, rotates in the direction of arrow g in the figure.
Along with this, the rear wheel 5 also rotates in the same direction (forward direction) and becomes a forward drive wheel, thereby moving the liquid spraying vehicle 3 forward and pushing it out of the mud.

[0026] Similarly, when the liquid dispersion vehicle 3 is retreating, the rear wheels slip and it becomes impossible to retreat, the front large gear 39, which is connected to the reverse small diameter gear 13 by the chain 38, rotates in the direction of the arrow f in the figure. Along with this, the front wheels 4 also rotate in the same direction (backward direction) and become rearward drive wheels, causing the liquid spreading vehicle 3 to move backward and push out of the mud.

[0027] Below, the drive device 6 (Fig. 5) of the present invention will be explained in detail based on Figs. 9 to 16. The drive device 6 in FIG. 5 is a liquid spraying vehicle (mobile vehicle) 3.
Various gears are attached to a drive shaft 31 rotatably attached to a bearing 41 at the lower part of a frame 40, as shown in FIGS. 9 and 10.

[0028] In the drive device 6 shown in FIGS. 9 and 10, a drive gear 7 is rotatably attached to the center of the drive shaft 31 in the longitudinal direction. As shown in FIG. 12, this drive gear 7 has locking protrusions 7a and 7b welded to both left and right sides, and these two locking protrusions 7a and 7b have the same shape, and the side surfaces 7e and 7f are Locking parts 7c, 7d
(Fig. 10), it is gradually formed into a spiral taper in the circumferential direction, and the positions of the locking parts 7c and 7d are 180 degrees.
They are welded to the left and right sides of the drive gear 7 at different degrees. These locking protrusions 7a and 7b are connected to a cylindrical bearing 7 rotatably mounted on the drive shaft 31 as shown in FIG.
It is rotatably placed on the outside of g as shown in FIGS. 9 and 10.

[0029] A forward eccentric cam 42 is arranged on the right side of the drive gear 7 as shown in FIG. 9, and a backward eccentric cam 45 is arranged on the left side.
is fixed to the drive shaft 31 by. The forward eccentric cam 42 and the backward eccentric cam 45
have the same structure, and as shown in FIGS. 11 and 13, a shaft hole 50 is penetrated at a position eccentric from the center, a pin hole 51 is formed next to it, and a coil spring 52 is inserted into the pin hole 51. pin 5 covered with
3 has been inserted.

[0030] A forward small diameter gear 10 is arranged on the right side of the forward eccentric cam 42, and a backward small diameter gear 13 is arranged on the left side of the backward eccentric cam 45, and they are rotatably attached to the drive shaft 31. There is. The forward small-diameter gear 10 and the reverse small-diameter gear 13 have the same structure, and as shown in FIG. Stopper 1
0b and 13b are provided protrudingly. Also, both gears 1
0 and 13 both have a ratchet structure in which they idle in one direction in the circumferential direction but do not idle in the other, and the directions of idle rotation are opposite to each other, that is, forward small diameter gear 1
9 and the reverse small-diameter gear 13 are attached to the drive shaft 31 in opposite directions so that they idle in the direction of arrow a in FIG.

Furthermore, a forward large diameter gear 9 is arranged on the right side of the forward small diameter gear 10, and a large reverse gear 12 is arranged on the left side of the reverse small diameter gear 13.
4 and 47, it is fixed to the drive shaft 31. The forward large-diameter gear 9 and the reverse large-diameter gear 12 have the same structure, and as shown in FIG. 11, mounting cylinders 9a and 12a are attached to the side surfaces of both, and although they idle on one side in the circumferential direction, the other side rotates idly. The gears have a ratchet structure that prevents them from idling, and the idling directions are opposite to each other, that is, the forward large-diameter gear 9 is idling in the direction of arrow c in FIG. 9, and the reverse large-diameter gear 13 is idling in the direction of arrow d in the same figure. It is attached to the drive shaft 31 with the direction reversed as shown.

[0032] In FIG. 7, 8 is a front axle, and 11 is a rear axle, which are rotatably attached to the frame 40 of the liquid spraying vehicle 3. The front wheels 4 are attached to both ends of the front axle 8, and the rear axle 11 is attached to the frame 40 of the liquid dispersing vehicle 3. Rear wheels 5 are rotatably attached to both ends of the vehicle.

[0033] As clearly shown in FIGS. 7 and 14, a front small gear 33 and a front large gear 39 are fixed to the front shaft 8, and a rear small gear 35 and a rear large gear 37 are fixed to the rear shaft 11. is fixed. The front small gear 33 has a smaller outer diameter than the forward large diameter gear 9, the front large gear 39 has a larger outer diameter than the reverse small diameter gear 13, and the rear large gear 37
has a larger outer diameter than the forward small diameter gear 10, and the rear small gear 35 has a smaller outer diameter than the large reverse gear 12.

[0034] These gears 33, 35, 37, and 39 all have a ratchet structure that idles in one direction in the circumferential direction but does not idle in the other, and the front small gear 33 and the front large gear 39 have a ratchet structure in which the idle direction is They are attached to the front shaft 8 so that they are opposite to each other, that is, the front small gear 33 idles in the direction of the arrow e in FIG. 14, and the large front gear 39 idles in the direction of the arrow f in the same figure. Similarly, the rear large gear 37 and the rear small gear 35 are arranged so that their idling directions are opposite to each other, that is, the rear large gear 37
is attached so as to idle in the direction of arrow g in FIG. 14, and the rear small gear 35 is attached to idle in the direction of arrow h in the same figure.

[0035] FIGS. 14 to 16 are explanatory diagrams of driving the front wheels 4 and rear wheels 5 in the liquid spraying vehicle 3, and FIG. 14 shows that the locking portion 7d of the left locking protrusion 7b of the drive gear 7 is A state in which the locking portion 7c of the right locking protrusion 7a of the drive gear 7 is disengaged from the pin 53 of the backward eccentric cam 45, the first state
5 shows a state in which the pins 53 of the forward eccentric cam 42 and the backward eccentric cam 45 are being pushed into the respective cams by the left and right locking protrusions 7a and 7b of the drive gear 7, and FIG. 16 shows the state shown in FIG. 14. On the contrary, the locking portion 7c of the locking protrusion 7a on the right side of the drive gear 7 locks on the pin 53 of the forward eccentric cam 42, and the locking portion 7d of the locking protrusion 7b on the left side of the drive gear 7 locks on the pin 53 of the forward eccentric cam 42. is detached from the pin 53 of the backward eccentric cam 45.

[0036] In FIG. 14, when the motor M rotates in the direction of arrow i (forward rotation), the drive gear 7 rotates in the same direction, and the locking portion 7 of the left locking protrusion 7b of the drive gear 7 rotates.
is engaged with the pin 53 of the backward eccentric cam 45. At this time, the pin 53 of the forward eccentric cam 42 is pushed out to the right from the side surface of the locking protrusion 7a by the right locking protrusion 7a of the drive gear 7, and is locked with the protrusion 10b of the forward small diameter gear 10. Therefore, when the drive gear 7 further rotates forward in the same direction, the forward small diameter gear 10 rotates in the same direction, the drive shaft 31 also rotates in the same direction, and the forward large diameter gear 9 attached to the drive shaft 31 rotates. rotate in the same direction. As a result, the front small gear 33 and the front shaft 8 to which it is attached rotate in the same direction, the front wheel 4 attached to the front shaft 8 rotates in the same direction, and the liquid spraying vehicle 3 moves forward in the direction of the arrow. .

[0037] In this case, since the outer diameter of the front small gear 33 is smaller than the outer diameter of the forward large diameter gear 9, the rotational speed of the front small gear 33, the front shaft 8, and the front wheels 4 is the same as the rotational speed of the forward large diameter gear 9. faster than Further, the rotational speed of the rear wheels 5 is the same as the rotational speed of the front wheels 4, but the rotational speed of the rear large gear 37 is designed in advance to be slower than the rotational speed of the rear shaft 11 (the forward large diameter gear 9 and the front small gear 33 and the rotation ratio between the forward small diameter gear 10 and the rear large gear 37, the rotation speed of the rear large gear 37 is slower than the rotation speed of the front small gear 33. Therefore, the rear large gear 37, which has a ratchet structure and is designed to idle in the direction of arrow g in FIG. 14, idles relative to the rear shaft 11.

[0038] In this state, if the front wheels 4 slip or the like and the running speed of the liquid spraying vehicle 3 becomes slow, and the rotational speed of the rear shaft 11 becomes slower than the rotational speed of the rear large gear 37, the rotational speed of the rear shaft 11 becomes slower than the rotational speed of the rear large gear 37. Since a load is applied to the large gear 37 and the large gear 37 cannot idle after that, the large gear 37 is rotated in the forward direction by the forward small diameter gear 10. Therefore, the rear axle 11 is rotated in the same direction, and the rear wheel 5 is also rotated in the same direction.
serve as forward drive wheels, and the liquid spray vehicle 3 is pushed forward by the rear wheels 5.

[0039] When the front wheel 4 stops slipping and the running speed of the liquid spraying vehicle 3 returns to normal, the rotational speed of the front wheel 4 increases, so the liquid spreading vehicle 3 moves forward at the original running speed.
The load on the rear large gear 37 is released, and at the same time, the rear large gear 37 idles again and moves forward only by driving the front wheels 4. Therefore, for example, even if the front wheels 4 slip in the muddy area of the passage B and become unable to move forward when the liquid dispersing vehicle 3 is moving forward, the rear wheels 5 will rotate in the forward direction (become the forward drive wheels). ) Since the liquid spreading vehicle 3 is moved forward, the liquid spreading vehicle 3 is pushed out of the muddy area and can move forward.

[0040] When the motor M rotates in the direction opposite to the arrow i direction in FIG. 14 (the j direction in FIGS. 15 and 16), the drive gear 7 rotates in the same direction as shown in FIG. In this case, as shown in FIG. 16, the pressing of the pin 53 of the forward eccentric cam 42 by the locking protrusion 7a on the right side of the drive gear 7 is released, so the pin 53 is retracted into the cam 42 and reversed. The pin 53 of the backward eccentric cam 45 is fixed by the locking protrusion 7b on the left side of the drive gear 7.
is pushed out to the left side from the side surface of the locking protrusion 33, so that the pin 53 is pushed out from the side surface of the locking protrusion 33, so that the pin 53 is pushed out from the protrusion 13b of the small-diameter backward gear 13.
to be locked. Therefore, when the drive gear 7 rotates in the j direction in FIG. 16, the small reverse gear 13 rotates in the same direction.
Further, the drive shaft 31 and large-diameter reverse gear 12 also rotate in the same direction, and the small rear gear 35 connected to the large-diameter reverse gear 12 through a chain 34 rotates in the same direction.
As a result, the rear shaft 11 rotates in the same direction, the rear wheel 5 attached to it rotates in the same direction, and the liquid spray vehicle 3 moves backward.

[0041] In this case, since the outer diameter of the rear small gear 35 is smaller than the outer diameter of the large reverse gear 12, the rotational speed of the rear small gear 35, the rear shaft 11, and the rear wheel 5 is equal to the rotation of the large reverse gear 12. faster than the speed. Further, the rotational speed of the front wheels 4 is the same as the rotational speed of the rear wheels 5, but since the rotational speed of the front large gear 39 is designed in advance to be slower than the rotational speed of the front shaft 8, the rotational speed of the front large gear 39 is 3
9 idles relative to the front shaft 8.

[0042] In this state, if the rear wheel 5 slips and the running speed of the liquid spraying vehicle 3 becomes slow, the rotational speed of the front shaft 8 becomes slower than the rotational speed of the front large gear 39,
A load is applied to the front large gear 39, which had been idling until then, and the front large gear 39 can no longer idle.
The front large gear 39 is rotated in the backward direction by the backward small diameter gear 13. As a result, the front wheel 4 along with the front axle 8
is rotated in the backward direction, the front wheels 4 become driving wheels for backward movement, and the liquid spraying vehicle 3 is pushed backward by the front wheels 4.

[0043] When the slip of the rear wheel 5 is released and the backward speed of the liquid spraying vehicle 3 returns to normal, the load on the front large gear 39 is released, so the gear 39 idles again, and the liquid dispersing vehicle 3 The vehicle moves backwards using only the rear wheels 5. For this reason, for example, even if the rear wheels 5 of the liquid spraying vehicle 3 run onto the auxiliary road 17 (Fig. 3) of the truck 2 when reversing and slip, the front wheels 4 become the rearward driving wheels and the liquid is sprayed. Since the vehicle 3 is moved backward, the liquid spray vehicle 3 can run onto the auxiliary road 17.

[0044] What is shown in FIGS. 5 to 8 is a liquid spraying vehicle 3 equipped with a moving vehicle drive device of the present invention. In those figures, 61 is a hose winding drum, which connects its rotary wheel 62 and a rotary wheel 63 attached to the drive shaft 31 with a belt 64, and when the liquid spraying vehicle 3 moves forward, the hose 65 is fed out. When retracting, the hose 65 is rotated in a direction in which the hose 65 is wound up. One end of the hose 65 is connected to an external liquid tank (not shown), and the other end is led out from inside the rotating shaft of the winding drum 61 as shown in FIG. 8, so that the drum 61 rotates. The hose 65 is made so that it does not become tangled. Furthermore, the tip of the hose 65 is connected to a forked connector 66 as shown in FIG. 6, and two nozzles 67 are attached to the forked connector 66 so that the liquid is sprayed from the nozzles 67 supplied from the liquid tank. It is set as. The liquid spray from the nozzle 67 may be performed both when the liquid spray vehicle 3 moves forward and when it retreats.
It may be configured to be performed only when moving forward or only when moving backward. This spray switching is performed as shown in FIG.

[0045] In FIG. 18, 70 is the main valve attached to the hose 65, 71 is the first opening/closing valve, 72 is the second opening/closing valve, 73
74 is a fourth opening/closing valve, and 75 is a fifth opening/closing valve.

[0046] The above-mentioned main valve 70 is caused when the liquid spraying vehicle 3 that has retreated runs onto the truck 2 as shown in FIG. 2, and the arm 76 in FIG. When pushed in the direction of the arrow a, it closes, and when the liquid sprayer 3 gets off the truck and the arm 76 leaves the support plate of the truck, the spring 77 closes the door as shown in the arrow b in the figure.
It is designed to open by being pulled in the direction. That is, it is opened when the liquid dispersing vehicle 3 is moving forward or backward along the passage B, and is closed when it rides on the truck.

[0047] The first opening/closing valve 71 and the second opening/closing valve 72 are connected to a connector 78 that connects the front bumper 20 (FIG. 18) and the rear bumper 21 of the liquid spray vehicle 3, respectively. The first opening/closing valve 71 closes when the liquid spraying vehicle 3 moves forward, and when the front bumper 20 of the liquid dispersing vehicle 3 hits the stopper 18 standing upright in front of the passage B, the bumper connector 78 is on the left side in FIG. It opens when you slide it. The second opening/closing valve 72 opens when the liquid spray vehicle 3 moves forward, contrary to the first opening/closing valve 71, and the bumper connector 78
It closes when it slides backwards. The third opening/closing valve 73, the fourth opening/closing valve 74, and the fifth opening/closing valve 75 can be opened and closed by manual operation.

[0048] Then, when the liquid spraying vehicle 3 moves forward with the third on-off valve 73 and the fifth on-off valve 75 closed and the fourth on-off valve 74 opened, the liquid supplied through the main valve 70 is Liquid is sprayed from the nozzle 67 on the right side of FIG. 18 through the stopcock 72 and the fourth stopcock 74. When the liquid spray vehicle 3 moves forward in this spraying state and the front bumper 20 in FIG. 18 hits the stopper 18, and the bumper connector 78 slides to the left, the second valve 72 closes and the first valve 71 opens. , at this time, the third valve 73 is closed, so
Liquid is not sprayed from either the left or right nozzle 67. That is, no liquid is sprayed when retracting.

[0049] When the third opening/closing valve 73 and the fourth opening/closing valve 74 are opened and the fifth opening/closing valve 75 is closed, the liquid supplied through the main valve 70 will not flow as in the case described above when the liquid spray vehicle 3 moves forward. Similarly, liquid is sprayed from the right nozzle 67, but when retracting, the second stopcock 72 closes and the first stopcock 71 opens, so the liquid is sprayed from the third stopcock 7.
3 and is sprayed from the left nozzle 67. In either case, when the fifth opening/closing valve 75 is opened, the spray is sprayed from both the left and right nozzles 67 at the same time.

[0050] The nozzle 67 in FIG. 18 is configured to move up and down, and in this case, a twister 80 is attached as shown in FIG. 18 to prevent the nozzle 67 from twisting.

[0050] In FIG. 18, 81 is a joint, which is used to replace the nozzle 67 of different length according to the height of the crop grown in the ridge A in FIG.
It expands and contracts the nozzle 67.

[0052] Reference numeral 82 in FIG. 8 is a hose winding adjustment body, which adjusts the winding amount of the hose 65 wound around the winding drum 61. This consists of two arms 84 attached to a rotating shaft 83 attached to the scatterer frame 40.
A rotary roller 85 is rotatably attached between the arms 84, and a hose support rod 86 is attached below the roller 85. Further, an operating rod 87 is attached to the lower end of one arm 84, and its tip is attached to the lower end of the rotating arm 88.
A pressing ring 89 is attached to the upper end of the holder.

[0053] As a result, the liquid dispersion vehicle 3 moves backward and the hose 65 is wound around the winding drum 61, and the winding diameter of the hose increases, the winding speed of the drum 61 becomes faster, and the rotating roller 85 When the arm 84 is pulled upward to the right side in the figure, the lower part of the arm 84 rotates in the same direction about the mounting shaft 90, the operating rod 87 is pushed to the left side in Figure 8, and the upper end of the rotating arm 88 is rotated. Pulled to the left, the pressing wheel 89 separates from the drive belt 64. Therefore, the pressure on the belt 64 by the pressing ring 89 is released, the belt 64 becomes slack, and the winding of the hose 65 onto the winding drum 61 is automatically stopped. At this time, since there is slack in the hose 65, the outward pulling of the rotating roller 85 by the hose 65 is released, the operating rod 87 returns, the pressing wheel 89 presses the drive belt 64, and the winding drum 61 rotates. The winding of the hose 65 is then restarted. In this way, the amount of winding of the hose 65 is automatically adjusted.

[0054] 92 in FIG. 8 is a cord winding drum that winds the power cord 93, and this is connected to the rotating wheel 94 and the rear shaft 1.
1 is connected to a rotating wheel (not shown) attached to 1 with a belt 95, the power cord 93 rotates in the direction in which the power cord 93 is fed out when the liquid spraying vehicle 3 moves forward, and the power cord 93 is rotated when the liquid spreading vehicle 3 moves backward. It is designed to rotate in the direction in which it is wound.

[0055] Reference numeral 96 in FIG. 8 is a cord winding adjustment body, which adjusts the amount of winding of the power cord 93 onto the cord winding drum 92. This has the same structure as the hose winding adjuster 82, and when the power cord 93 is wound around the cord winding drum 92, the winding diameter of the cord becomes larger and the winding speed becomes faster. The winding of the power cord 93 by the drum 92 is automatically stopped and the cord 93 is loosened. When the cord 93 becomes loose, the cord winding drum 92 rotates to resume winding the power cord 93, and the amount of winding of the power cord 93 is automatically adjusted.

[0056] Reference numeral 14 in FIGS. 4, 5, and 16 is an antenna, which is attached to the lid 97 placed on the liquid spraying vehicle 3 and protrudes outside the lid 97, so that the trolley 2 can move along the traveling path 1. When it moves laterally, it comes into contact with the pusher 15 of FIGS. 1 and 17, which is standing upright nearby, as shown in FIG. 17b, and passes through the pusher 15 while being curved. At this time, the forward start switch shown in FIG. 19 installed near the antenna 14 is activated.
SW1 is set to be ON.

(Effects of the Invention) The automatic liquid spraying vehicle of the present invention has the following effects. (1) If the front wheels 4 slip when moving forward, the rear wheels 5 will become the driving wheels for forward movement, and if the rear wheels 5 slip when moving backwards, the front wheels 4 will become the driving wheels for reversing. Even in the event of an accident, the liquid spraying vehicle 3 runs smoothly both when moving forward and when retreating, and does not stop midway, so that completely unmanned automation is possible. (2) The structure of the drive device 6 is simple, and slips can be reliably prevented. (3) Auxiliary path 17 provided ahead of guide path 16 for trolley 2
However, when the liquid spraying vehicle 3 gets off the guideway 16, it is automatically brought down in front of the guideway 16, and when the liquid spraying vehicle 3 rides on the guideway 16, it is automatically raised, so that the liquid spraying vehicle 3 is guide route 16
The trolley 2 is reliably guided, and the auxiliary path 17 does not get in the way when the trolley 2 moves. (4) Only when the antenna 14 comes into contact with the pusher 15, the liquid spraying vehicle 3 gets off the trolley 2 and travels along the path B, so that the ridge A where the liquid is to be sprayed is
By erecting the pusher 15 only at the position, it is possible to select only that ridge A and spray the liquid.

[Brief explanation of drawings]

FIG. 1a is a schematic plan view of the present invention, FIG. 1b is a view taken along the line X--X in FIG. FIG. 3 is an explanatory diagram showing an example of the trolley in the present invention, FIG. 4 is an explanatory diagram showing a state in which the scattering vehicle rides on the trolley in the present invention, and FIG. 5 is an explanatory diagram of the dispersing vehicle in the present invention. , Fig. 6 is an explanatory diagram of the dispersing vehicle with the lid removed, Fig. 7 is an explanatory diagram of the travel drive mechanism of the dispersing vehicle, Fig. 8 is a partial detailed diagram of the dispersing vehicle, and Fig. 9 is an explanatory diagram of the dispersing vehicle with the lid removed. An explanatory diagram of the drive device in the present invention,
Fig. 10 is an explanatory diagram of the drive device with the left half gear removed, Fig. 11 is an exploded explanatory diagram of the eccentric cam, forward small diameter gear, and forward large diameter gear in the present invention, and Fig. 12 is an explanatory diagram of the drive shaft. Fig. 13 is an illustration of the installation of the eccentric cam on the drive shaft, Figs. 14 to 16 are illustrations of the forward and backward movement of the scattering vehicle, and Fig. 17a is an illustration of the lateral movement of the cart. , FIG. 18 is an explanatory diagram of the state of contact between the antenna and the pusher during lateral movement of the cart, FIG. 18 is an explanatory diagram of switching of liquid spraying, and FIG. Fig. 20 is an explanatory plan view of the liquid dispersion system previously developed by the applicant, Fig. 21 is an explanatory view of the running path in Fig. 20, Fig. 22 is an explanatory view of the trolley in Fig. 20, and Fig. 23 is an explanatory drawing of the truck in Fig. 20. FIG. 21 is an explanatory diagram of the scattering vehicle in FIG. 20. 1 is a running road, 2 is a trolley, 3 is a spreading vehicle, 4 is a front wheel, 5 is a rear wheel, 6 is a drive device, 7 is a drive gear, 8
1 is a front shaft, 9 is a forward large diameter gear, 10 is a forward small diameter gear, 11 is a rear shaft, 12 is a reverse large diameter gear, 13 is a reverse small diameter gear, 14 is an antenna, 15 is a pusher, 1
6 is a guide path, 17 is an auxiliary path, 18 is a stopper,
1R is the turning position, and 1S is the starting point.

Claims (1)

[Claims] 1. A drive device 6 that rotates a front wheel 4 attached to a front axle 8 and a rear wheel 5 attached to a rear axle 11 of a moving vehicle is attached to a drive shaft 31 and rotated by a motor M. It is attached to the gear 7 and the drive shaft 31, and when the drive gear 7 rotates, it rotates in the same direction as the front shaft 8.
a forward large-diameter gear 9 that rotates the front small gear 33 attached to the front small gear 33 and the front wheels 4 that rotate in conjunction with it in the forward direction to move the vehicle forward; When the rotation speed of the rear shaft 11 becomes slower than the rotation speed of the rear large gear 37 attached to the rear shaft 11 due to slip etc., the rear large gear 37 is rotated in the forward direction and the rear wheels 5 are rotated in the same direction. a forward small diameter gear 10 that moves the moving vehicle forward; a rear small gear 35 that is attached to the drive shaft 31 and rotates in the same direction when the drive gear 7 rotates in the opposite direction and is attached to the rear shaft 11; a large-diameter reverse gear 12 that rotates the rear wheels 5 in the reverse direction to move the vehicle backward; and a drive shaft 3.
If the rotational speed of the front shaft 8 becomes slower than the rotational speed of the front large gear 39 attached to the front shaft 8 due to a slip of the rear wheel 5 or the like when the moving vehicle is moving backward, the front large gear 39 is moved in the backward direction. 1. A drive device for a mobile vehicle, comprising: a reverse small diameter gear 13 that rotates the vehicle in the same direction and rotates the front wheels 4 in the same direction to move the vehicle backward. 2 It is equipped with a front wheel 4, a rear wheel 5, and a drive device 6, and is driven by the drive device 6 to move forward, and automatically moves backward when it advances to a predetermined position, and automatically sprays liquid when desired to move forward or backward. An automatic liquid spreading vehicle characterized in that the driving device 6 is the driving device for a moving vehicle according to claim 1. 3. A running path 1 installed along the arrangement direction of the ridges A at one end in the longitudinal direction of a large number of ridges A, a trolley 2 that can freely reciprocate on the running path 1, and a path B between the ridges A by a drive device 6. It consists of a liquid spraying vehicle 3 that can move forward and backward, and when the automatic liquid spraying vehicle rides on it, the trolley 2 automatically moves on the running path 1,
When it reaches the desired position, it stops, and when the truck 2 stops, the automatic liquid spraying vehicle automatically gets off the truck 2 and moves forward along the path B. When the automatic liquid spraying vehicle retreats and rides on the truck 2 and stops, the truck 2 The automatic liquid spraying vehicle 3 moves to a desired position on the travel path 1 and stops, and at that stopping position, the automatic liquid spraying vehicle 3 automatically gets off the trolley 2 and moves forward along the path B. Thereafter, the same operation as the previous time is repeated to automatically distribute the liquid. An automatic liquid spraying device characterized in that said drive device (6) is a drive device for a mobile vehicle according to claim 1. 4. In the automatic liquid spraying device according to claim 3, the trolley 2 is provided with a guide path 16 on which the spreading vehicle 3 running backward on the path B runs onto the guide path 16, and the spreading vehicle 3 is placed on the guide path 16 at the end of this guide path 16. A guiding auxiliary road 17 is provided, and the auxiliary road 17 is pulled up when the retreating spreading vehicle 3 runs onto the guiding path 16, and when the spreading vehicle 3 dismounts from the trolley 2, it is pulled forward by the front wheels 4 of the spreading vehicle 3. An automatic liquid spraying device characterized in that it is designed to be knocked down. 5. In the automatic liquid spraying device according to claims 3 and 4, the trolley 2 moves laterally to displace the spraying vehicle 3 on the trolley 2.
When the antenna 14 attached to the carriage 1 presses against the pusher 15 provided at a desired position near the running path 1, the trolley 2 stops. B moves forward, and when the spreading vehicle 3 hits the stopper 18 provided at the end of the passage B, it moves backward and rides on the trolley 2. When it hits the stopper of the trolley 2, it stops moving backward, and when the spreading vehicle 3 stops, the trolley 2 moves laterally again, and the previous operations are repeated until the trolley 2 reaches the turn-around position 1R on the running route 1. When the trolley 2 moves back on the running route 1 and returns to the predetermined position 1S, An automatic liquid spraying device characterized in that the truck 2 stops, and after stopping, the truck 2 starts moving laterally again, and the above operation is repeated.