JPS6232975B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION This invention aims to prevent human injury by replenishing, spraying, and stopping spraying of chemical solutions, water, powder, etc. using unmanned vehicles in orchards, afforestation areas, vegetable gardens, greenhouse cultivation areas, etc. This invention relates to an unmanned spraying device that can promote labor-saving in spraying work while preventing chemical damage to plants.

Traditionally, when spraying chemicals, water, powder, etc., in orchards, afforestation areas, vegetable gardens, greenhouse cultivation areas, etc., areas where fine particles of the spray spray are suspended in the air are , when the spraying worker chants,
Fine particles of the spray agent may adhere to and remain on the human body or clothing, or may be inhaled and accumulated in the body through breathing, contaminating or damaging clothing, and causing harm to workers, especially in areas where spraying is widespread. Spraying by hand requires a large number of workers, which incurs a large amount of labor costs, and it is impossible to ensure uniform spraying of the spraying agent. It is difficult to avoid the disadvantage that it becomes uneconomical due to heavy consumption, and that sufficient spraying effects cannot be expected. SUMMARY OF THE INVENTION Therefore, the present invention aims to provide an unmanned spraying device that can prevent the above-mentioned damage, reduce costs by saving labor, and promote the growth of crops by uniformly dispersing the spraying agent.

An embodiment of the present invention will be described below with reference to the drawings.A rail 1 having a rectangular cross section is installed in a predetermined shape, for example, an ellipse as shown in FIG. The rails 1 are laid in a shape or a circle, or even a figure 8 shape, so that the unmanned vehicle B is guided so as to be able to run in the direction of the arrow a. Spreading agent spray stop pieces 2 are sequentially placed slightly ahead of the unmanned vehicle B along the running direction.
Spraying agent jetting direction selectors 3 are installed on the ground g at a predetermined interval below, and furthermore, spreading agent jetting direction selectors 4 and 5 are installed at appropriate positions inside near the rail 1 after the direction of travel of the unmanned vehicle B is reversed. Install at specified intervals below. However, these spray agent jetting direction selectors 4, 5
is not necessary when the spraying agent spray direction is not changed while the unmanned vehicle B is running, or the arm pieces h ₁ and h ₂ described later are applied to the contact pieces i ₁ and i ₂ , respectively. Set the stake bar _h3 in a position where they do not touch each other. On the outside of the rail 1, at a position approximately symmetrical to the supply tank T, a travel stop piece 6 (signal-shaped or stake-shaped) for stopping the unmanned vehicle B is installed upright on the ground. This makes it possible to replenish the spray agent k in the replenishment tank T to the storage tank 7 mounted on the unmanned vehicle B. Regarding the above-mentioned replenishment tank T, an outflow pipe 8 is integrally suspended from the upper end exposed above the ground of a pair of pillars v ₁ and v ₂ fixed and upright on the upper surface of the bottom plate b buried in the ground g. A tank T is placed and fixed, an on-off valve 9 is placed on the valve seat S facing the discharge port e at the upper part of the outflow pipe 8 so as to be freely accessible and detachable, and an elevating rod 10 connected to the on-off valve 9 is A shaft for penetrating and protruding the outflow pipe 8 and planting its lower end above the support column v ₁
It is movably connected to one end of a swinging rod 11 pivotally connected to v ₀ , while the other end of this swinging rod 11 is movably connected to the upper end of a connecting rod 12, and the lower end of the connecting rod 12 is installed near the ground g. The connecting rod 13 is movably connected to the upper end of a connecting rod 13 whose root is fixed to one end _t1 of the supporting shaft d, and the connecting rod ₁₃ is The connecting rod 12, the swinging rod 11 and the elevating rod 1 are constantly pulled and urged upward.
The opening/closing valve 9 is closed to the discharge port e through the outlet port 0. In addition, a petal P whose root portion is fixed to the other end _t2 of the support shaft d is set in the running path of one rear wheel _W1 (inside in Fig. 1) of the unmanned vehicle B, and is normally set to Although it is located above the ground g at f, the rear wheels of unmanned vehicle B
When pressed and lowered by running W ₁ , the petal P
At the same time, the opening/closing valve 9 is opened by lowering the connecting rod 13 via the support shaft d.
is opened so that the dispersing agent k, such as a chemical solution, water, or powder, in the supply tank T can flow into a storage tank 7 mounted on the unmanned vehicle B. In the dispersant spray stopper piece 2, adjustment holes 2 to ₄ are bored in the stake rods 2 to ₃ whose lower part is buried and fixed in the ground g, and the adjustment holes 2
₄ , each of the arm pieces 2 ₁ and 2 ₂ can be set at any desired position using a fixing device 2 ₅ , and the unmanned vehicle B
It is adapted to the set position of the contact pieces i ₁ and i ₂ on the side. However, these arm pieces 2 ₁ , 2 ₂
is removably attached to the side of the unmanned vehicle B, and is capable of abutting either or both of the rotatable lever-shaped contact pieces i ₁ and i ₂ , respectively.
(See figure) Below the contact pieces i ₁ and i ₂ are branch pipes 69 ₁ , which communicate with spray pipes 36 and 37, which will be described later.
69 Ball handles 14 and 15 that open and close ₂ respectively
These abutting pieces i ₁ and i ₂ are intersected with each other in a criss-cross pattern as shown in FIG. For example, when the abutting piece i ₁ abuts the arm piece 2 ₁ , the ball tip 14 rotates to stop the distribution of the spraying agent k, and the abutting piece i ₂ does not abut the arm piece 2 ₂ . At this time, the ball handle 15 is not operated at all. However, before the rear wheel _W1 presses and lowers the petal P, the dispersant spray stopper piece 2 of the lever is in contact with the travel stopper piece 6, and the contact lever 64 on the unmanned vehicle B side contacts the unmanned vehicle B. When stopped, the arm pieces 2 ₁ and 2 ₂ are set so as to abut one or both of the contact pieces i ₁ and i ₂ . In the spraying agent jetting direction selector 3 (4 and 5 have the same configuration), similarly to the aforementioned spraying agent jetting stopper piece 2, a pile rod _h3 whose lower part is embedded and fixed in the ground g is installed. An adjustment hole _h4 is drilled in the vertical direction, and the setting position of each of the arm pieces _h1 and _h2 can be arbitrarily selected in this adjustment hole _h4 by means of a fastener _h5 ,
It is adapted to the selection of the setting positions of the contact pieces i ₁ and i ₂ on the unmanned vehicle B side and the spouting direction of the spraying agent k. Each of the arm pieces h ₁ and h ₂ is brought into contact with one or both of the contact pieces i ₁ and i ₂ , and when the ball kettle 14 or 15 is opened, the spraying agent k is ejected in the direction (left and right). direction) can be selected. Therefore, for example, the abutment piece i ₁ abuts the arm piece h ₁ in the spray agent jetting direction selector 3, and the arm piece
When the contact piece i ₂ does not come into contact with h ₂ , the spreading agent k can be sprayed inside the rail ₁ , and _the abutting piece i ₁ ,
When each of i ₂ comes into contact, the ball stock 14 is closed, the ball stock 15 is opened, and the spraying agent k is sprayed only on the outside of the rail 1.

Next, to describe the unmanned vehicle B, a U-shaped or flat bumper 16 is fixed to the front end (the left side is the rear and the right side is the front in FIG. 6) and is protruded from the lower part of the front center of the frame 17. A holder 1 having an inverted U-shaped cross section is attached to the suspended suspension piece 18.
9 is rotatably supported via a thrust bearing (not shown), and the guide wheel W has a recess j having a U or V-shaped cross section on a support shaft 20 that is tilted forward and horizontally suspended below the support shaft 20. ₃ is rotatably supported, while a drive shaft 22 is rotatably penetrated and supported by bearings 21, 21 suspended and supported on the left and right sides of the rear of the frame 17, respectively, and a cam clutch 23 is attached to each end thereof. , so that the inner ring 23 ₁ is loosely fitted onto the drive shaft 22, and the outer ring 23 ₂ is integrally formed with a bearing case 26, which will be described later.
It is rotatable in one direction but not rotatable in the opposite direction. The cam clutch case 24, the bearing case 26 that covers the bearing 25, and the tongue piece 28 at the drop part of the split rim 27 are flange-jointed, and a fastening device 2 such as a bolt or nut is attached.
9 forms a wheel body, and tires 30 are fitted and mounted thereon to constitute rear wheels W ₁ and W ₂ . However, by employing the cam clutch 23, it is possible to pass through a place with a small radius of curvature in a stable state even if the circumferential speeds of the inner and outer rear wheels are greatly different. Further, a chain wheel 31 is attached to the middle of the drive shaft 22, and a chain 33 is suspended between the chain wheel 31 and a chain wheel 32 on the reducer 71 side, which will be described later.

A blower 35 with a blowhole U is removably attached to the front end of the blower 34 placed in the middle of the frame 17 using a joint such as a flange, and a sprayer 35 is installed along both sides of the blower tube 35, respectively. A nozzle n is attached to each of the pipes 36 and 37 at an appropriate position, and the spray agent k sprayed from these nozzles n is atomized by the pressurized air from the blowhole U, and the leaves are shaken so that the spray agent k is sprayed on the underside of the leaf. Also, spraying agent K can be sprayed. Further, a suction pipe 39 and a discharge pipe 40, which will be described later, are connected to a pump 38 fixed at a suitable position on the frame 17, and the pump 38 is attached to an output shaft 42 of an engine 41 mounted approximately in the center of the frame 17, and is constantly rotated. A belt 46 is hung between the pulley 43 that is in the middle and a pulley 45 that is rotatably supported on the outside of the transmission casing 44, and the tension pulley Q is brought into contact with the appropriate position of the belt 46. The belt 46 is pressed and tensioned by the pulley Q, thereby making the pulley 45 rotatable via the pulley 43. (In the state shown in FIG. 6, the pulley 43 is rotating, but the belt 46 is in an idle state and does not transmit power to the pulley 45.)
A bevel gear 73 is attached to the tip of a rotating shaft 72 of a reducer 71 connected by an output shaft 70 of
A concave-convex engaging element 75 is integrally formed on one side of a bevel gear 74 that meshes with the bevel gear 3, and the chain wheel 32 is integrally formed on one side of a concave-convex engaging element 76 that can be freely engaged with and disengaged from the engaging element 75. At the same time, a coil spring 77 is brought into contact with the side of this chain wheel 32, and the chain wheel 32 is always elastically biased toward the engaging element 75 side. Further, the root of the operating rod 79 is loosely engaged with a recess 78 provided in the middle of the engaging element 76, and the engaging elements 75 and 76 can be engaged or disengaged from each other by operating the operating rod 79 in the direction of the arrow. Although the engagers 75 and 76 are engaged, if the engagers 75 and 76 are disengaged as necessary, the unmanned vehicle B can be operated even without the power of the engine 41.
It is possible to move forward or backward. The speed reducer 7
1. The bevel gears 73, 74 and the engagers 75, 76 are collectively referred to as a transmission clutch M. This transmission clutch M
When the belt 46 is in the engaged state and the belt 46 is tensioned, the power of the engine 41 can be transmitted to the rear wheels W ₁ and W ₂ . 47 and a pulley 48 attached to the blower 34, a belt 49 is suspended between the pulley 48 and the blower 34. One end of a flexible running operating pipe 52 is communicated above a cylinder 51 which is swingably supported by a pillar 50 at the rear of the frame 17 via a pin r, and the other end of the running operating pipe 52 is connected to The front end of a discharge pipe 40 that communicates with a three-way pot 53 (described later) and one of the three-way pots 53 is connected to the pump 38. Furthermore, frame 17
The three-way socket 53 is attached to the upper end of the storage tank 7 supported on a support 54 that stands upright above, and the rocking piece 5 is pivotally attached to the three-side socket 53 via a pin r.
At the same time as fixing the three-way handle 56 to 5,
A spring 58, which is stretched between a net 57 stretched halfway inside the storage tank 7 and the swinging piece 55, is always biased towards the net 57 (in the direction of the arrow). A cock opening/closing adjustment plate 61 is attached to the upper part of the lifting rod 60 that vertically penetrates the attached holding piece 59, and a spherical float 62 is attached to the lower end of the lifting rod 60. 62 can be raised and lowered, and when the pot opening/closing adjustment plate 61 is raised, the lower surface of the three-way pot handle 56 is pressed.
Pipe 5 for traveling operation of three-way kettle 53
A through hole (not shown) from 2 can be opened. Also, an L-shaped tension handle 63 is provided at the tip of the piston rod y that can freely retract from the cylinder 51.
At one end of the contact piece 64, the bent part of the tension handle 63 is pivotally connected to the pin _X1 , and the tip of the bent part is pivotally connected to the pin _X2 at a proper location on the frame 17. 65, the other end can be brought into contact with the travel stop piece 6, and the tension handle 6 is connected via a connecting rod 66.
3 is connected to the connecting rod 67 of the tension pulley Q. In the figure, 68 is a cover, 69 is a supply pipe 69 ₁ ,
The branch pipe 80 of the supply pipe ₆₉₂ is an air vent hole.

Since this invention has the above-mentioned configuration, when the rear wheel _W1 presses the petal P, the swinging rod 1 is lowered by lowering the connecting rod 12 via the connecting rod 13 which is interlocked with the rear wheel W1.
1, the lifting rod 10 rises and the on-off valve 9 leaves the valve seat S, so that the spray agent k in the supply tank T is removed.
For example, the chemical solution flows into the storage tank 7 through the supply pipe 8 . As the spray agent k flows into the storage tank 7, the float 62 rises, so when the cock opening/closing adjustment plate 61 presses the three-way cock handle 56 upward, the swinging piece 55 rotates to open the valve (not shown) of the three-way cock handle 53. is opened and communicates with the traveling operation pipe 52,
When the spraying agent k from the suction pipe 39 and the discharge pipe 40 flows into the upper part of the cylinder 51 and pushes down the piston rod y, and also tilts the cylinder 51 itself, the connecting rod 67 is moved through the rotation of the tension handle 63. When the belt 46 is stood up and the tension pulley Q is pressed, the belt 46, which is loosely engaged with the pulley 43 which is constantly rotated by the engine 41, becomes under tension. Since the pulley 45 is rotated through the transmission clutch M, the power from the engine 41 is transmitted through the transmission clutch M to cause the rear wheels W ₁ and W ₂ to run again. Then, when these rear wheels W ₁ and W ₂ start running, the petal P
is released from the pressure and rotates upward again by the elastic force of the coil spring f, so the lifting rod 10 descends due to the operation opposite to the above, and the on-off valve 9 comes into contact with the valve seat S, so that the replenishment tank Replenishment of the spray agent k in T to the storage tank 7 is stopped. When the unmanned vehicle B runs in the direction of the arrow _a in _FIG .
h ₁ ) comes into contact with the contact piece i ₁ and opens the ball stock 14 , so the spraying agent k in the storage tank 7 passes through the supply pipe 96 and the branch pipe 69 ₁ to the spray pipe 36 (in FIG. 1, the rail 1 The spraying agent flows into the inside) and is ejected and sprayed from the nozzle n toward the objects to be sprayed inside the rail 1. Pressurized air sent from the blower 34 is ejected from the blowhole u of the blower 35, and the spraying agent k
At the same time, by shaking the leaves, the spraying agent K can also be applied to the underside of the leaves. The unmanned vehicle B moves forward along the rail 1 while spraying the spraying agent k on the inside of the rail, and in Fig. 1, the rear wheel W ₁ presses the petal P and the spraying agent k is stored in the supply tank T again. While replenishing the tank 7, the contact piece 64 comes into contact with the running stop piece 6 just before the rear wheel _W1 presses the petal P, so that the tension pulley Q releases the pressure on the belt 46, and the transmission clutch M side The unmanned vehicle B is stopped by stopping the power transmission from the engine 41, and the contact piece _i1 is brought into contact with and rotated to the arm piece ₂₁ of the spraying stopper piece 2, and the ball cock 14 is moved to the closed position. to stop the spraying agent k. By repeating the above-mentioned actions, while the unmanned vehicle B travels in the direction of the arrow a in FIG. Spraying towards the sprayed area Z, the rear wheel W ₁ is the petal P
By pressing , the storage tank 7 is replenished with the spraying agent k, the spraying is stopped, and the unmanned vehicle B is stopped. When the storage tank 7 is filled with the spraying agent k, the unmanned vehicle automatically restarts. Start running.

In addition, since a cam clutch 23 is installed inside the bearing case 26 on the rear wheels W ₁ and W ₂ side, the outer wheel has a larger circumference than the inner wheel, especially when passing through a curved road with a small radius of curvature. The guide wheel W ₃ rotates at a high speed so that it can run in a stable state, and has a recess j having a U- or V-shaped cross section on the holder 18 which is inclined forward below the frame 17. Since it is rotatably supported, it is well guided and rolled by the rails 1, allowing the unmanned vehicle B to travel in a stable state.

According to this invention, (1) the rear wheel of the unmanned vehicle presses the pedal on the side edge near the rail, and the spray agent in the supply tank T set at a certain position on the rail side is transferred to the unmanned vehicle through the connecting rod. Because the storage tank is automatically replenished, the spraying agent in the storage tank can be replenished according to the distance traveled by the unmanned vehicle, and the shortage of spraying agent in the storage tank is prevented in advance during driving and spraying. , the spraying work can be continued safely, and there is no risk of workers being exposed to radiation when replenishing the supply tank.

(2) The float floating in the storage tank rises as the spraying agent is replenished from the supply tank to the storage tank, and this rise connects the three-way valve to the cylinder, allowing the pump to forcefully feed the spraying agent into the cylinder. Power is transmitted from the engine to the rear wheels by the pressure of the belt of the tension pulley that is linked to the cylinder itself, and the unmanned vehicle starts running. On the other hand, when the rear wheel of the unmanned vehicle releases the pressure on the pedal, replenishment begins. Since replenishment of the spraying agent from the tank to the storage tank is stopped, overflow of the spraying agent in the storage tank is prevented, so filling of the storage tank with the spraying agent and the start of driving of the unmanned vehicle can be done almost simultaneously. We have almost no time loss.

(3) Since the belt is automatically pressed by the tension pulley when the three-way valve is opened, the unmanned vehicle starts running after the spraying agent has been replenished into the storage tank, and the unmanned vehicle is exposed to the spraying agent. There is no concern about radiation exposure to nearby people.

(4) When the contact piece on the unmanned vehicle side of the travel stop piece set near the petal comes into contact, the pressure on the belt by the tension pulley is automatically released, and the unmanned vehicle stops running at the same time. Since the spray agent is replenished from the replenishment tank to the storage tank based on the pressure of the rear wheel of the vehicle, replenishment work can be carried out safely.

(5) When the contact piece on the unmanned vehicle side comes into contact with a plurality of spraying agent spray direction selectors set near the rail, the spraying agent is sprayed from either one of the pair of spray pipes through switching of the pipe line. Because it can be automatically converted,
It is convenient for the user to be able to reliably spray the spraying agent to the desired spraying area, and also to be able to employ spraying means such as various nozzles that correspond to the type and growth condition of the material to be sprayed.

(6) Pressurized air from a blower tube connected to a blower can be used in conjunction with the spraying of the spraying agent, so it is possible to spread the spraying agent evenly on the front and back of the object by making it finer and shaking the object. It has various features such as being able to predict the spraying and also being able to adjust the distance that the spraying agent reaches the object to be sprayed.

In the above embodiment, the dispersing agent k is ejected from the spray pipe 36, but the contact pieces i ₁ and i ₂ are connected to the arm pieces.
When contacting h ₁ and h ₂ , the spray pipes 36 and 3
7, and when the belt 49 is suspended only between the pulleys 43 and 47, the blower 34 is not driven and the spray pipes 36 and 37
A so-called airless spraying is performed. Note that the blower tube 35 and the spray pipes 36 and 37 may be set behind the frame 17, and the storage tank 7 is not mounted on the unmanned vehicle B, but is attached to the unmanned vehicle B with an appropriate coupler (not shown). A type in which the storage tank 7 is mounted on a towed vehicle connected to the towed vehicle may also be adopted.

[Brief explanation of the drawing]

The drawings are one embodiment of the present invention, and FIG. 1 is a schematic plan view of the arrangement of each member in the area to be sprayed, FIG. Fig. 3 is a plan view of the main parts of related members for selecting the spraying direction of the spray agent, Fig. 4 is a front view of the main parts, and Fig. 5 is a longitudinal cross-sectional view of the drive section with a portion of the rear wheel side cut away.
Figure 6 is a cross-sectional view of the main part of the unmanned vehicle with a part cut away, Figure 7 is a cross-sectional view taken along the line - - in Figure 6, Figure 8 is a view taken along the line - in Figure 6, and Figure 9 is a cross-sectional view taken along the line - - in Figure 6. Figure 6-
10 is an explanatory view of the main parts of the transmission clutch. 1... Rail, 3, 4, 5... Spray agent, jetting direction selector, 7... Storage tank, 35... Blower tube, 36, 3
7... Spray pipe, 46... Belt, 53... Three-way kettle,
B...Unmanned vehicle, Q...Tension pulley, T...
Supply tank, W ₁ , W ₂ ... rear wheels, W ₃ ... guide wheels,
k...Spreading agent, u...Blowhole, _i1 , _l2 ...Abutting piece, 2...
Dispersing agent jetting stop piece, 6... Travel stop piece, 35... Blower tube, 38... Pump, 41... Engine, 51... Cylinder, 53... Three-way cock, 62... Float, 64...
Contact piece, 69... Supply pipe, 69 ₁ , 69 ₂ ... Branch pipe, P... Petal.

Claims (1)

[Scope of Claims] 1. In an unmanned spraying device capable of replenishing a storage tank on the side of an unmanned vehicle equipped with guide wheels that roll on rails with a spraying agent in a supply tank set at a fixed position on the rail side. , the spraying agent in the replenishment tank is replenished into the storage tank through a connecting rod by pressing a petal on the side edge near the rail by the rear wheel of the unmanned vehicle, and the spraying agent is refilled in the storage tank based on the replenishment of the spraying agent into the storage tank. Communication with the three-sided cylinder by the rise of the float allows a pump to supply spraying agent to the cylinder, and a tension pulley presses the belt to transmit power between the engine and the rear wheels. When the abutting piece contacts one of the plurality of spraying agent ejection direction selectors near the rail, the spraying agent is ejected from either one of the pair of spray pipes connected to the storage tank by switching the pipe line. Pressurized air is blown out from the blower cylinder, and the contact piece on the unmanned vehicle side comes into contact with the traveling stop piece on the rail side edge slightly in front of the petal, causing the tension pulley to tighten the belt. When the pressure is released, the unmanned vehicle stops, and at the same time, when the contact piece on the unmanned vehicle side comes into contact with the spraying agent spouting stop piece near the rail, the spraying agent from the spray pipe is stopped. Unmanned spraying equipment. 2. The unmanned traveling spraying device according to claim 1, wherein the blower tube is interposed between and arranged in parallel between a pair of spray pipes. 3. The unmanned spraying device according to claim 1, wherein the cylinder is tiltably mounted on the unmanned vehicle and operably connected to a tension pulley. 4. The unmanned traveling spraying device according to claim 1, wherein the contact pieces intersect with each other in a cross shape in the vertical direction.