JPH0794232B2 - Straightening type traveling vehicle - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a traveling vehicle capable of straightening itself along a route, and more particularly to a traveling vehicle suitable for traveling in a passage between ridges for sprinkling water or the like.

[0002]

2. Description of the Related Art A conventional vehicle of this type cannot straighten itself along a path, and when climbing up an inclined surface, the vehicle can change its course to the opposite side and return to the original path to repeat straighten itself. The applicant developed the traveling vehicle in a previous application (Japanese Patent Application No. 61-226388, etc.). However, since the structure for straightening the course has a high height, the position of the body is higher than the wheels and becomes unstable, and there is also a risk of rolling over, which poses a problem that the place of use is limited.

[0003]

SUMMARY OF THE INVENTION Therefore, according to the present invention, a traveling vehicle having a structure for straightening the course so that the position of the frame can be lowered improves the stability of traveling and simplifies the structure for self-correcting straightening. Is provided.

[0004]

Therefore, according to the present invention , a front axle and a rear axle having wheels on both sides are provided in a frame, and a front holding member is tilted upward and rearward at the center of the front part of the frame. The rear holding member is fixed to the center of the rear part of the frame by tilting it upward and forward, and the mounting shaft that is connected to the front holding member by tilting to the center of the front axle is attached to the front holding member and tilted to the center of the rear axle. By attaching the linked mounting shafts to the rear holding member, each mounting shaft can be pivoted in an oblique direction with each mounting shaft as an axis, and an engine device that rotationally drives the front axle or the rear axle is installed on the frame, A reversing mechanism that rotates one axle that is rotated by the engine in the opposite direction, a stopper that connects the respective axles to prevent diagonal swinging of the axles, and a front axle that connects the stoppers to the rear axle in the traveling direction. The axle of It has a configuration that includes a stopper switching mechanism to release the stopper.

[0005]

In the present invention, the front axle swings diagonally about the mounting shaft of the front axle, and when one of the front wheels climbs up to an inclined surface such as a ridge, the wheel side becomes higher, so the axle is Since the vehicle is tilted and the mounting shaft is tilted, the front axle is tilted in an oblique direction and the wheel that has climbed to the inclined surface is positioned in front of the other wheel. Therefore, the track of the front axle is corrected in the opposite direction, and the vehicle always travels in the furrow passage.

Further, the mounting shaft which is fixed to be inclined to the center of the rear axle and pivotable front and rear axles in an oblique direction mounting shaft as axis by also interlocking the rear holding member, an engine drive by reversing mechanism When the vehicle is moving backward, the stopper switching mechanism releases the stopper that blocks the diagonal swing of the axle that is linked to the rear axle, and the stopper is linked to the front axle that blocks the diagonal swing of the axle. is there. As a result, the stopper is separated from the front axle in the traveling direction at all times to allow the diagonal swinging of the axle, so that the wheels climbing on the inclined surface correct the trajectory in the opposite direction and the stopper is attached to the rear axle. The path is corrected by connecting and blocking the rocking.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The illustrated embodiment of the present invention will now be described with reference to FIG.
In the present example shown in FIG. 4, reference numeral 1 denotes a frame that is arranged at a position lower than the axle, and is connected between a pair of frame plates 11 that are provided in the front-rear direction and are close to the inner sides of the wheels on both sides. It is formed by connecting the plates 12 and the like. Installation angles 13, 14 for the engine device E are welded to the front part of the frame 1, and installation angles 15, 16 for the machine body 51 of the speed reducer 5 are provided on the rear part.
Is welded.

A front axle 2 has front wheels 21 on both sides. At the center of the front axle 2, a mounting shaft 22 that is inclined forward and downward by about 45 degrees is welded.
A mounting shaft 2 is attached to a holding cylinder 3 which is a front holding member fixed by 7.
2 is attached.

Reference numeral 4 denotes a rear axle, which has rear wheels 41 on both sides.
Is equipped with. The rear axle 4 serves as an output shaft of the speed reducer 5, and the vehicle body 51 of the speed reducer 5 is housed and arranged in the support frame 6 having a rectangular frame shape, and the rear axle 4 coming out of the vehicle body 51 is supported by the support frame 6. As a result, the machine body 51 is swingably held. The supporting frame 6 is connected between the angles 15 and 16 of the frame 1 to the holding plates 18 and 18 serving as a rear holding member by a pin 61 serving as a mounting shaft so as to be inclined downward about 45 degrees rearward, Since the pin 61 is connected, the support frame 6 itself can swing in an inclined state.

Reference numeral 7 denotes a rotary drive mechanism of a rear wheel 41 by an engine device E (not shown), and a friction roller 72 is attached to an end portion of an output shaft 71 from the engine device E, and rotary discs 73 and 74 arranged to face each other. The friction roller 72 is disposed between the rotary shafts 73 and 74, and the expandable rotary rod 77 is connected to the end of the drive shaft 75 to which the rotary disks 73 and 74 are attached via the universal joint 76. The end of the rotary rod 77 is connected via a universal joint 53 that is connected to the input shaft 52 at the lower part. In addition, from the engine device E to the output shaft 7
The rotation mechanism up to 1 is well known, and illustration and description thereof will be omitted.

Further, the reversing mechanism of the rear wheel 41 fixes the advancing and retracting rods 79 to both sides of the movable plate 78 having the universal joint 76 by bearing the drive shaft 75, and abutting on the front and rear ends of the advancing and retracting rods 79. The plates M and N are connected.

Reference numeral 81 denotes a stopper having a rear portion omitted, which is connected to the front axle 2 to prevent diagonal swinging of the front axle 2, and 82 is connected to the rear axle 4 so that the rear axle 4 is slanted. This is a stopper with a front portion that is blocked from rocking. The respective stoppers 81, 82 are slidably mounted on the body plate 11, and the stoppers 81, 82 in the front-rear direction are respectively provided.
Are fixed by connecting rods 83 guided by angles 13, 14, 15 and 16, respectively, and can be integrally moved by connecting the connecting rods 83 on both sides with connecting plates 84.

A stopper switching mechanism 9 is provided with an operating rod 91 on a mounting member 54 fixed to the lower end of the machine body 51 of the speed reducer 5 as shown in FIG. A cylinder 92 is attached, and an arm 93 fixed to the rotating cylinder 92 is connected to the operating rod 91. Further, the link 94 attached to the stopper 82 at the rear part and the link 95 attached to the rotating cylinder 92 are connected by the pin 96.

Incidentally, K is an opening / closing valve for water, pesticide diluting liquid, etc., which connects the movable plate 78 and the stopper of the opening / closing valve K via a link mechanism biased by a spring.

Next, the operation of this example will be described. First, the engine device E is driven to rotate the output shaft 71. This causes the friction roller 72 to frictionally rotate the one turntable 73,
The drive shaft 75 is rotated. This rotation is universal joint 76, times
It is transmitted to the input shaft 52 of the speed reducer 5 via the rolling rod 77 and the universal joint 53, and the rear axle 4 is rotated via the speed reduction mechanism of the speed reducer 5 to drive and rotate the rear wheels 41 to travel.

At this time, the reduction gear 5 is driven by the first no-load rotation.
Since the body 51 of the rotary body is positioned as shown in FIG.
The arm 94 moves forward via the link 94,
The stopper 82 is pulled forward by the link mechanism 95, whereby all the stoppers 81 and 82 are moved forward. In this state, the stopper 81 can swing away from the front axle 2, and the stopper 82 abuts under the rear axle 4 to prevent the rear axle 4 from swinging.

Subsequently, the load operation is started, and the rear wheels 41 are driven to rotate and travel, and pass through the ridges while spraying water as shown in FIG. Then, as shown in FIG. 6, one front wheel 21
The front axle 2 inclines about the mounting shaft 22 as a fulcrum when the wheel climbs up to the inclined surface, but the front axle 2 inclines in an oblique direction because the mounting shaft 22 is inclined. become. For this reason, the front wheel that has climbed to the inclined surface is positioned slightly ahead of the other front wheel, and therefore the front wheel 21 is corrected in the opposite direction, so that the front wheel always travels forward in the furrow passage or the like. .

Then, when the front abutment plate M hits the pile H driven at the forward end, the advancing / retreating rod 79 retreats to move the movable plate 7.
8 also moves later. As a result, the drive shaft 75 retreats, the rotary disk 73 separates from the friction roller 72, and the rotary disk 74 before it abuts the friction roller 72. Therefore, since the front turntable 74 is rotated in the opposite direction, the drive shaft 75 is reversed,
The rear axle 4 is reversed and the rear wheels 41 are also driven in reverse. The reversing mechanism of the rotary disk and the friction roller portion is used as a reversing mechanism of a press machine or the like.

[0019] During this reversal, times the retraction of the drive shaft 75
Since the rolling rod 77 is also displaced backward, as shown in FIG.
The body 51 of the speed reducer 5 rotates about the rear axle 4 as a fulcrum.
Therefore, the rotary cylinder 92 is connected via the operating rod 91 and the arm 93.
Is rotated, and the link 95 fixed to the rotating cylinder 92 is rotated later to slide the link 94 later, so that the integrated stoppers 81 and 82 are moved to the rear.
As a result, the stopper 81 comes into contact with the lower side of the front axle 2 to prevent its swinging, and also the stopper 8 from below the rear axle 4.
2 is separated so that the rear axle 4 can be swung.

Then, the rear wheel 41 is driven to reverse and the traveling vehicle moves backward. If one of the rear wheels 41 climbs up the inclined surface in the middle of the backward movement, the wheel side becomes higher as described above. The rear axle 4 inclines about the pin 61 with the holding plate 18 supporting the support frame 6 as a fulcrum, but the rear axle 4 inclines in an oblique direction because the support frame 6 is inclined. . For this reason, the rear wheel that has climbed to the inclined surface is positioned slightly ahead of the other rear wheel in the traveling direction, and therefore the rear wheel 41 travels backward while the track is corrected in the opposite direction.

Then, when the rear contact plate N hits the pile driven in at the rear end, the advancing / retreating rod 79 moves forward to move the movable plate 78.
Also moves forward and returns to the state of FIG. 1 and enters the normal rotation driving state. In this case, the rotation of the drive shaft 75
Since the head 77 is also displaced forward, the body 51 of the speed reducer 5 rotates about the rear axle 4 as a fulcrum, as shown in FIG. Therefore, the rotary cylinder 92 is rotated via the operating rod 91 and the arm 93, and the link 95 fixed to the rotary cylinder 92 is rotated forward and the link 94 is slid forward. The stoppers 81 and 82 move forward and return to the forward traveling state shown in FIG.

As described above, according to this example, since the front axle is tilted by one wheel climbing on the inclined surface, the wheel climbing on the inclined surface is positioned in front of the other wheel, and the front axle is Since the trajectory is corrected in the opposite direction, the vehicle can always run on a flat passage such as a furrow. In this case, the stopper switching mechanism always prevents the rear axle of the traveling direction from swinging by the stoppers 81 and 82, so that the front wheels can smoothly correct the trajectory.

Further, since the engine is used, it is possible to reciprocate as it is because of the reversing mechanism without requiring a troublesome operation of feeding or winding the electric wire used for the motor. Further, in this example, since the opening / closing valve K is closed via the link mechanism when the movable plate 78 is retracted, it is possible to automatically stop watering when the movable plate 78 is retracted. In addition, the position of the frame 1 can be lowered to improve the running stability.

Although the present embodiment is configured as described above, the present invention is not limited to this. For example, the configuration in which the front axle or the rear axle is swingably attached to the holding member is also limited.
Alternatively, the front axle or the rear axle may be rotationally driven by the engine device. In this case, a reversing mechanism that reverses one axle rotated by the engine is also appropriate,
As shown in FIG. 7 , the drive shaft 75 of the axle is normally rotated by the transmission of the belt V to the output rotary shaft Ea that is rotated by the engine, and the drive shaft 75 is moved upward during the backward movement to output the pulley 75a of the drive shaft 75 to the output rotation. The drive shaft 75 is brought into contact with the pulley Eb of the shaft Ea.
Should be reversed.

Further, there is no limitation on the shape and structure of the stopper that is connected to the axle and prevents the diagonal swing of the axle. Further, the configuration of the stopper switching mechanism that connects the stopper to the rear axle and always separates the stopper from the front axle in the traveling direction is also arbitrary.

[0026]

According to the present invention, the vehicle always travels in the traveling direction.
When one of the front front wheels climbs on a sloping surface such as a ridge, the axle is tilted and the wheel climbing on the sloping surface is positioned before the other wheel, so the front wheel is corrected in the opposite direction. As a result, it is possible to always travel back and forth on a flat ground such as a furrow passage, which can be manufactured at low cost, and because the body can be arranged at a low position, there is an effect of excellent stability. Further, since the engine is used, it is not necessary to arrange electric wires on the traveling vehicle, and a simple body structure that is easy to handle can be realized.

[Brief description of drawings]

FIG. 1 is a partial cross-sectional plan view showing a first embodiment of the present invention without an engine device and a base plate.

FIG. 2 is a vertical sectional side view thereof.

FIG. 3 is a schematic side view illustrating the stopper switching mechanism.

FIG. 4 is a schematic side view illustrating a switching movement state of the stopper.

FIG. 5 is a front view showing a traveling vehicle traveling in a furrow passage.

FIG. 6 is a plan view showing a state where one front wheel of the traveling vehicle is climbing up an inclined surface.

FIG. 7 is a plan view of a main part of another example of the reversing mechanism by the engine.
is there.

[Explanation of symbols]

1 frame, 11 frame plates, 12
Connection plate, 13, 14, 15, 16
Angle, 17 Mounting plate, 18
Holding plate, 19 pin, 2 front axle,
21 front wheel, 22 mounting shaft, 3
Holding cylinder, 4 rear axle, 41 rear wheel, 5 reduction gear, 51 airframe, 5
2 input shafts, 53 universal joints, 6
Support frame, 61 pins, 7 rear wheel rotation drive mechanism, 71 output shaft, 72 friction roller, 73,74 rotary plate, 75 drive shaft, 76 universal joint, 77 rotation roll
Dod , 78 movable plate, 79 rod, 8
1,82 Stopper, 83 Connection rod, 9
Stopper switching mechanism, 91 operating rod, 92 rotating cylinder, 93 arm, 94, 95 link, 96 pin, E engine device,
M, N contact plate.

Claims (1)

[Claims] 1. A front axle 2 and a rear axle having wheels on both sides.
4 is provided in the frame 1, and the front holding member 3 is provided at the center of the front part of the frame.
It is fixed by tilting upward and rearward, and at the center of the rear part of the body
To the front axle by tilting the rear holding member forward and
The mounting shaft 22 that is inclined and connected to the center of
Attach it to the material 3 and tilt it to the center of the rear axle 4
By attaching the connected mounting shaft to the rear holding member,
Swing the axles 2 and 4 diagonally around the mounting axis
Engine that enables the front axle or rear axle to rotate.
The device E is installed on the frame 1 and is rotated by the engine.
A reversing mechanism that rotates one axle in the opposite direction and one that is connected to each axle.
A stopper 8 for preventing the diagonal swing of the axle by being connected
1,82 and stoppers on the rear axle in the direction of travel
Stopper that connects with and separates the stopper from the front axle
A straightening type traveling vehicle including a switching mechanism 9 .