JP2019112048A - Work vehicle - Google Patents

Abstract

To provide a work vehicle that, despite a simple configuration thereof, is able to convey an object.SOLUTION: A work vehicle comprises: drive wheels 7 for running, which are provided on both left and right sides of each of front and rear of a vehicle body 1; a plurality of vehicle body support parts 10 separately supporting the drive wheels 7 so as to be freely changed in height position with respect to the vehicle body 1; and drive operation means operable to alter the vehicle body support parts 10. The drive wheels 7 are supported inside the vehicle body in a sidewise direction with respect to the vehicle support parts 10.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a work vehicle suitable for traveling on a road surface with many irregularities.

  Conventionally, a vehicle body is provided with an articulated manipulator (robot arm) as a working device and a plurality of traveling devices, and each of the plurality of traveling devices includes two joints and swings around a horizontal axis center There is a system in which a plurality of links are freely supported by the vehicle body through a pivotally connected refracting link mechanism, and the traveling device is supported in a state of being positioned outward of the vehicle body in the left-right direction with respect to the refracting link mechanism. (See, for example, Patent Document 1).

Unexamined-Japanese-Patent No. 9-142347

  In the above-described conventional configuration, even if the traveling road surface is uneven, it is possible to go over while changing the height of the traveling device relative to the vehicle body by the link mechanism, and when the vehicle falls down, the manipulator returns by itself It also has a function different from the running function, such as being able to Therefore, it is conceivable to apply such a configuration to an agricultural work vehicle that operates while traveling in a field or the like having irregularities. However, when it is assumed that the above configuration is applied to an agricultural vehicle, there are the following disadvantages and it has been difficult to adopt.

  That is, in an agricultural vehicle assuming application of the same configuration as the above configuration, a work device mounted on a vehicle body while traveling across a row of crops planted in a row, a narrow ridge, etc. May work. In such a case, when the above-described conventional configuration is adopted, the bending link mechanism is positioned on the vehicle body inward side in the left and right direction, and the driving wheel is positioned on the vehicle outside side of the bending link mechanism in the left and right direction. Contact with the side of the weir may break the weir and may also damage the refractive link mechanism.

  In addition, when performing an operation such as lifting and transporting an object such as a crop in a farming vehicle, it is necessary to provide a working device for transporting an object such as a manipulator or an installation separately from the traveling device. There is a disadvantage that the structure becomes complicated.

  Therefore, there has been a demand for a working vehicle that can maintain the posture of the vehicle body in a posture suitable for work even if the road surface is uneven, and can travel in a state suitable for agricultural work.

The characteristic configuration of the work vehicle according to the present invention is
Vehicle body,
Drive wheels for traveling provided on the left and right in the front and rear both sides of the vehicle body;
A plurality of vehicle body support sections for supporting the plurality of drive wheels separately for height position change with respect to the vehicle body;
And a drive operation means capable of changing the vehicle body support.
The plurality of drive wheels are supported in a state of being positioned on the vehicle body inward side in the left-right direction with respect to the vehicle body support portion.

  According to the present invention, it is possible to change the relative heights of the drive wheels for traveling provided on the left and right sides of the vehicle body by the drive operation means. As a result, even when traveling on the uneven ground, it is possible to travel in a state where the vehicle body is maintained in an appropriate posture while being stably grounded and supported by a plurality of drive wheels. Then, since the plurality of drive wheels are supported in a state of being positioned on the vehicle body inward side in the left-right direction with respect to the vehicle body support portion, for example, the left and right drive wheels are positioned on the both sides In such a case, the hydraulic motor can travel well while avoiding the possibility of damage due to contact with the side surface of the weir or the weir.

  In addition, when the vehicle body support is configured to turn so that the left and right drive wheels approach each other, it is possible to hold the object with a simple configuration using the left and right drive wheels. The driving wheel effectively acts on the object, which is advantageous in that the object can be held easily.

  Therefore, even if the traveling road surface is uneven, the posture of the vehicle main body can be maintained in a posture suitable for work, and the work traveling can be performed in a state suitable for agricultural work.

  In the present invention, it is preferable that a plurality of turning mechanisms are provided for supporting the vehicle body support portions on the vehicle body so as to be changeable around the longitudinal axis center.

  According to this configuration, when the turning mechanisms are used to change the direction around the longitudinal axis center so that the left and right vehicle body support parts approach each other, the left and right driving wheels can hold the object. That is, the left and right drive wheels can hold an object and function as a device for carrying a load. As a result, it is possible to hold an object with a simple configuration without using a working device for conveying an object such as a manipulator or an implant.

In the present invention, an auxiliary wheel is provided on the left and right sides in a state of being located between the drive wheel on the front side and the drive wheel on the rear side,
In the state where the attitude of the vehicle body is maintained by any combination of the combination of the front drive wheel and the auxiliary wheel and the combination of the rear drive wheel and the auxiliary wheel, the other side It is preferable that the left and right drive wheels positioned on the surface can float from the ground and turn so as to approach each other to hold an object.

  According to this configuration, the left and right rear drive wheels rise from the ground and come close to each other while maintaining the front side of the vehicle main body by the combination of the left and right front drive wheels and the auxiliary wheels. It can be pivoted to hold an object. Also, with the rear side of the vehicle main body held in posture by the combination of the left and right rear drive wheels and the auxiliary wheels, the left and right front drive wheels float from the ground and turn to approach each other It can hold an object.

  One of the combination of the front drive wheel and the auxiliary wheel and the combination of the rear drive wheel and the auxiliary wheel functions as a foot for supporting the vehicle body, and the other is a hand for holding an object and carrying a load Function. As described above, the object can be transported by only the four travel operation units, and the configuration can be coped with with a simple configuration.

In the present invention, the vehicle body support portion has a first link whose one end is pivotally supported about the horizontal axis with respect to the vehicle body, and one end is horizontal to the other end of the first link. And a second link supported swingably around the axis, and is constituted by a refractive link mechanism,
Preferably, the drive wheel is supported at the other end of the second link, and the auxiliary wheel is supported at a connection point between the first link and the second link.

  According to this configuration, each of the plurality of vehicle body support portions can ground and support the vehicle body with a wide contact width in the front-rear direction by the drive wheels and the auxiliary wheels. Then, by changing the swinging posture of the first link with respect to the vehicle body and changing the swinging posture of the second link with respect to the first link, it is possible to raise and lower the drive wheel and the auxiliary wheel with respect to the vehicle body. As a result, when the vehicle body is supported, the pair of left and right driving wheels and the auxiliary wheels can be supported in a stable posture with a wide contact width by being in contact with the ground. Furthermore, the support shaft for pivotally connecting the first link and the second link can be used as a support shaft for the auxiliary wheel, and support is provided as compared to a configuration in which a dedicated support shaft for supporting the auxiliary wheel is separately provided. The structure can be simplified.

  In the present invention, the turning mechanism can change the direction of each of the vehicle body supporting portions disposed opposite to each other in the left and right direction of the vehicle in directions different from each other around the longitudinal axis center, and the driving wheel is the vehicle body supporting portion Preferably, the support is changeable around the vertical axis center.

  According to this configuration, the vehicle body support portions disposed opposite to each other in the lateral direction of the vehicle are changed in directions (rightward or leftward) different from each other about the longitudinal axis center by the operation of the turning mechanism. Since the position of the drive wheel with respect to the vehicle body is different in the left-right direction, it is possible to change the left-right interval of the left and right drive wheels. And since the drive wheel can be changed relative to the vehicle body support around the longitudinal axis center, the drive can be performed regardless of whether the distance between the left and right drive wheels is wide or narrow. The desired direction can be set by changing the direction of the ring.

  As a result, it is possible to change the left and right width of the wheel by effectively utilizing the configuration of the vehicle body support portion, and it is possible to cope with different work widths and to be easy to use. It is possible to

  The characterizing feature of the work vehicle according to the present invention is that the height of the vehicle body, the drive wheels for traveling provided on the left and right in the front and rear sides of the vehicle body, and the plurality of drive wheels with respect to the vehicle body separately. A plurality of vehicle body support portions that support position changeable, drive operation means capable of changing the vehicle body support portion, and a plurality of vehicle body support portions are supported on the vehicle body so as to be changeable around a longitudinal axis center A plurality of turning mechanisms, the turning mechanisms being capable of changing the direction of each of the vehicle body support portions disposed opposite to each other in the left-right direction of the vehicle in directions different from each other around the longitudinal axis center; It is in the point supported by the said vehicle body support part so that direction change is possible around a vertical-axis core.

  According to this configuration, it is possible to change the relative heights of the driving wheels for traveling provided on the left and right sides of the vehicle body by the drive operation means. As a result, even when traveling on the uneven ground, it is possible to travel in a state where the vehicle body is maintained in an appropriate posture while being stably grounded and supported by a plurality of drive wheels.

  Then, when the vehicle body support portions disposed opposite to each other in the left and right directions are changed in directions (right direction or left direction) different from each other about the longitudinal axis center by the operation of the turning mechanism, the drive wheels for the vehicle body Since the position of the position is different in the left-right direction, it is possible to change the left-right distance of the left and right driving wheels. And since the drive wheel can be changed relative to the vehicle body support around the longitudinal axis center, the drive can be performed regardless of whether the distance between the left and right drive wheels is wide or narrow. The desired direction can be set by changing the direction of the ring. As a result, it is possible to change the left and right width of the wheel by effectively utilizing the configuration of the vehicle body support portion, and it is possible to cope with different work widths and to be easy to use. It is possible to

  In the present invention, it is possible to variably set the distance between the drive wheels of the two vehicle support portions by changing the direction of each of the vehicle support portions arranged opposite to each other in the vehicle left and right direction to different directions by the turning mechanism. Further, it is preferable that the rotational directions of both the drive wheels can be set parallel to each other by changing the directions of the two drive wheels around the longitudinal axis center.

  According to this configuration, when the turning mechanism is operated to change the left and right vehicle support parts to the outside in the left and right direction around the vertical axis with respect to the vehicle body, the distance between the left and right driving wheels is expanded. Become. Alternatively, when the left and right vehicle body support portions are changed inward in the left and right direction around the longitudinal axis with respect to the vehicle body, the distance between the left and right driving wheels is narrowed. In either state, the left and right drive wheels can be changed to the vehicle body support, so that the rotational directions of the left and right drive wheels are set parallel to each other, in other words, in the front-rear direction It can be set to the straight running posture that it faces. As a result, straight traveling can be performed in a state where the distance between the left and right driving wheels (tread width) is variously changed.

  Therefore, the left and right width of the wheel can be changed by effectively utilizing the configuration of the vehicle body support portion, and the work traveling can be performed in the straight traveling state with different work widths, and the usability can be improved.

It is a whole side view of a work car. It is a whole top view of a work car. It is a top view of a refraction | bending link mechanism. It is a side view of a refraction link mechanism. It is a front view which shows the attachment state of the refraction | bending link mechanism in the removed state. It is a front view which shows the attachment state of the refraction | bending link mechanism in the attached state. It is a top view which shows the left turning state by a turning mechanism. It is a top view which shows the right turning state by a turning mechanism. It is explanatory drawing of a four-wheel driving state. It is explanatory drawing of a two-wheel driving state. It is explanatory drawing of a two-wheel driving state. It is a side view of a free movement state. It is a side view of a level crossing over state. It is a top view of an article conveyance state. It is a side view of an article conveyance state. It is a side view of a slope driving state. It is a front view of a crossing run state. It is a top view of a refraction | bending link mechanism. It is a side view of a refraction link mechanism. It is a disassembled perspective view of a driving wheel support part. It is a top view which shows the state which changed the wheel space | interval.

  Hereinafter, an embodiment of a work vehicle according to the present invention will be described based on the drawings.

First Embodiment
As shown in FIGS. 1 and 2, the work vehicle includes a vehicle body 1 having a substantially rectangular frame shape for supporting the entire vehicle, a plurality of (specifically, four) traveling devices 2, and a plurality of traveling devices 2. A plurality of auxiliary wheels 3 provided corresponding to each, a bending link mechanism 10 as a vehicle body supporting portion for supporting the plurality of traveling devices 2 separately on the vehicle body 1 so as to be positionally changeable, and a bending link mechanism 10 are changed A hydraulic drive type drive mechanism 5 as an operable drive operation means and a hydraulic oil supply device 6 for supplying the hydraulic oil to the drive mechanism 5 are provided. The plurality of traveling devices 2 are provided with a drive wheel 7 and a hydraulic motor 9 that is internally mounted on a bearing portion of the drive wheel 7.

  In this embodiment, when defining the longitudinal direction of the vehicle body, it is defined along the traveling direction of the vehicle body, and when defining the lateral direction of the vehicle body, left and right are defined in a state viewed in the traveling direction of the vehicle body. That is, the direction indicated by a symbol (A) in FIG. 1 is the longitudinal direction of the vehicle body, and the direction indicated by a symbol (B) in FIG. 2 is a lateral direction of the vehicle body.

  The drive mechanism 5 can change the attitudes of the plurality of refractive link mechanisms 10 separately. The auxiliary wheel 3 is supported freely rotatably by the middle refractive portions 11 (see FIG. 4) of each of the plurality of refractive link mechanisms 10. Therefore, the bending link mechanism 10, the driving wheel 7 and the auxiliary wheel 3 are respectively provided on the front and rear sides of the vehicle body 1 in pairs.

  The vehicle body 1 is provided with a rectangular frame-shaped support frame 13 that surrounds the entire periphery of the vehicle body 1 and supports the entire vehicle body 1. The hydraulic oil supply device 6 is housed and supported inside the vehicle body 1. Although not described in detail, the hydraulic oil supply device 6 is driven by an engine mounted on a vehicle and is supplied to the drive mechanism 5 from a hydraulic pump or hydraulic pump that delivers the hydraulic oil toward the drive mechanism 5 A plurality of hydraulic control valves for controlling the hydraulic fluid, a hydraulic fluid tank and the like are provided, and supply and discharge of hydraulic fluid to the drive mechanism 5 or adjustment of the flow rate are performed.

  A control device 15 for controlling the operation of the hydraulic oil supply device 6 is provided inside the vehicle body 1. Although the control operation of the control device 15 is not described in detail, the drive mechanism 5 and the hydraulic motor 9 are based on control information input by a manual input device (not shown) or control information set and stored in advance. Control the supply of hydraulic fluid to the

Next, a support structure for supporting the drive wheel 7 on the vehicle body 1 will be described.
A plurality of (specifically, four) drive wheels 7 are supported so as to be separately raised and lowered with respect to the vehicle body 1 via the bending link mechanism 10. The four sets of bending link mechanisms 10 are separately supported by the turning mechanism 16 on the vehicle body 1 so as to be changeable around the longitudinal axis center. That is, the left and right turning mechanisms 16 can change the directions of the bending link mechanisms 10 disposed opposite to each other in the left-right direction of the vehicle in directions different from each other around the longitudinal axis center.

  The bending link mechanism 10 is supported by the support frame 13 so as to be pivotable about a longitudinal axis Y via a pivoting mechanism 16. The turning mechanism 16 is connected to the support frame 13 and supports the vehicle side support portion 17 (see FIGS. 3 and 4) for swingably supporting the bending link mechanism 10, and turning the bending link mechanism 10 to turn A hydraulic cylinder (hereinafter referred to as a turning cylinder) 18 is provided.

  3 to 6, the vehicle-body-side support portion 17 is provided laterally with respect to the pair of upper and lower rectangular cylindrical front-to-back frame bodies 19 provided at the side positions of the support frame 13. A connecting member 20 which is engaged in a sandwiching manner from the outside and which is detachably connected by a bolt, an outer side pivotal support bracket 21 located at a vehicle front-rear direction outer side location of the connecting member 20, and a connection The pivot support shaft includes an inward pivot bracket 22 positioned on an inboard side of the member 20 in the longitudinal direction of the vehicle body, and a vertically oriented pivot spindle 23 supported by the outward pivot bracket 21. The refractive link mechanism 10 is supported rotatably around the axis Y of the twenty-three.

  The bending link mechanism 10 has a base end 24 supported by the vehicle-body-side support 17 rotatably around the vertical axis Y with the vertical position fixed and a base end 24 at one end. A first link 25 swingably supported about the horizontal axis X1 at the lower part of the lower part, and one end thereof is swingably supported around the horizontal axis X2 at the other end of the first link 25 and the other end And a second link 26 on which the drive wheel 7 is supported.

  To add the description, the base end portion 24 is provided in a rectangular frame shape in plan view, and is rotatable around the vertical axis Y via the rotation support shaft 23 at a position biased to the inner side in the vehicle width direction. In addition, it is supported by the outward pivot bracket 21 of the vehicle body side support portion 17. The pivot cylinder 18 is pivotally connected at one end to the inward pivot bracket 22 and at the other end where the proximal end 24 is laterally displaced relative to the pivot shaft 23. It is connected rotatably.

  A support shaft 27 provided on one end side of the first link 25 is rotatably supported over the left and right side portions of the base end portion 24, and the first link 25 is a support shaft with respect to the lower portion of the base end portion 24. It is connected rotatably around the axis of 27.

  As shown in FIG. 4, the first link 25 has a proximal end arm 25 b and an other end arm 25 a. At one end side of the first link 25, a proximal end arm 25b extending obliquely upward and outward is integrally formed. At the other end side of the first link 25, an other end arm 25a extending obliquely upward and outward is integrally formed.

  As shown in FIG. 3, the second link 26 includes a pair of left and right band plate-like plates 26 a and 26 b and is bifurcated in a plan view. A pair of plate bodies 26a and 26b are spaced apart at the connection point of the second link 26 to the first link 25. A connection support shaft 28 for connecting to the first link 25 is rotatably supported in a region sandwiched by the pair of plate members 26a and 26b. The driving wheel 7 is supported at the swinging side end of the second link 26 opposite to the connecting point with the first link 25. As shown in FIG. 4, the swing side end of the second link 26 is formed with an L-shaped extending portion 26A extending in a substantially L shape in a direction away from the vehicle main body 1, and the L-shaped extending portion 26A The drive wheel 7 is supported at the end on the extension side.

  As shown in FIGS. 1, 3 and 5, the drive wheel 7 is supported in a state in which it is positioned on the inward side of the vehicle with respect to the bending link mechanism 10. Specifically, the swing side end of the second link 26 is supported so as to be positioned on the vehicle inward side in the left-right direction. The hydraulic motor 9 is supported at the swing side end of the second link 26 so as to be located on the vehicle body outer side (the opposite side to the drive wheel 7) in the left-right direction.

  A drive mechanism 5 is provided corresponding to each of the plurality of refractive link mechanisms 10. As shown in FIGS. 1 and 4, in the drive mechanism 5, the first hydraulic cylinder 29 capable of changing the swing posture of the first link 25 with respect to the vehicle body 1 and the swing of the second link 26 with respect to the first link 25. A second hydraulic cylinder 30 whose attitude can be changed is provided. The first hydraulic cylinder 29 and the second hydraulic cylinder 30 are collectively arranged in the vicinity of the first link 25.

  The first link 25, the first hydraulic cylinder 29, and the second hydraulic cylinder 30 are disposed in a state of being located between the pair of plate bodies 26 a and 26 b of the second link 26 in a plan view. As shown in FIGS. 3 and 4, the first hydraulic cylinder 29 is located inward of the first link 25 in the longitudinal direction of the vehicle body, and is provided along the longitudinal direction of the first link 25. One end of the first hydraulic cylinder 29 is interlocked and connected to the lower part of the base end 24 via the arc-like first interlocking member 31. One end of the first hydraulic cylinder 29 is interlocked and connected to the proximal end of the first link 25 via another second interlocking member 32. Both ends of the first interlocking member 31 and the second interlocking member 32 are pivotally connected so as to be able to rotate relative to each other. The other end of the first hydraulic cylinder 29 is interlockingly connected to the other end arm 25 a integrally formed with the first link 25.

  The second hydraulic cylinder 30 is provided on the side opposite to the first hydraulic cylinder 29, that is, on the outer side in the longitudinal direction of the vehicle with respect to the first link 25 and substantially along the longitudinal direction of the first link 25. It is done. One end portion of the second hydraulic cylinder 30 is interlocked and connected to a proximal end arm portion 25 b integrally formed on the proximal end side of the first link 25. The other end of the second hydraulic cylinder 30 is interlockingly connected to an arm 35 integrally formed at a proximal end of the second link 26 via a third interlocking member 34. The other end of the second hydraulic cylinder 30 is interlocked and connected to the swing end side of the first link 25 via another fourth interlocking member 36. The third interlocking member 34 and the fourth interlocking member 36 are pivotally connected at their opposite end portions so as to be able to rotate relative to each other.

  When the first hydraulic cylinder 29 is extended and contracted while the second hydraulic cylinder 30 is stopped, each of the first link 25, the second link 26 and the drive wheel 7 is integrally maintained while maintaining the relative posture constant. , Pivoting about the transverse axis X1 of the pivot connection point with respect to the proximal end 24. When the second hydraulic cylinder 30 is extended and contracted while the first hydraulic cylinder 29 is stopped, the second link 26 and the drive wheel 7 are integrally integrated while the posture of the first link 25 is maintained constant. It swings around the horizontal axis X2 of the connection point between the first link 25 and the second link 26.

  The auxiliary wheel 3 is supported freely rotatably by the middle refractive portions 11 of the plurality of refractive link mechanisms 10. As shown in FIGS. 1 and 2, the auxiliary wheel 3 is configured by a wheel having substantially the same outer diameter as the drive wheel 7. As shown in FIG. 3, a connection support shaft 28 for pivotally connecting the first link 25 and the second link 26 is formed to extend so as to protrude outward in the vehicle body width direction than the second link 26. . The auxiliary wheel 3 is rotatably supported at an extended projecting position of the connection support shaft 28. That is, the connecting support shaft 28 for pivotally connecting the first link 25 and the second link 26 is configured to also serve as the rotating support shaft of the auxiliary wheel 3, and simplification of the configuration is achieved by combining the members. ing.

  As shown in FIGS. 7 and 8, each of the bending link mechanism 10, the driving wheel 7, the auxiliary wheel 3, and the driving mechanism 5 is integrally rotatable around the axis Y of the rotation support shaft 23. It is supported by the outer side pivot bracket 21. And, by expanding and contracting the turning cylinder 18, they are operated to rotate integrally. The drive wheel 7 can be turned about 45 degrees each in the left turn direction and the right turn direction from the straight-ahead state in which the drive wheel 7 is directed in the front-rear direction.

  When the bolt connection of the connection member 20 to the front-rear direction frame body 19 is released, the turning mechanism 16, the bending link mechanism 10, the driving wheel 7, the auxiliary wheel 3 and the driving mechanism 5 are integrally assembled. Can be removed from the vehicle body 1. Further, by bolt-connecting the connecting member 20 to the front-rear direction frame body 19, the above-described respective devices can be attached to the vehicle main body 1 in an integrally assembled state.

  The hydraulic oil is supplied from the hydraulic oil supply device 6 to the first hydraulic cylinder 29 and the second hydraulic cylinder 30 of each of the plurality of refractive link mechanisms 10. Hydraulic fluid is supplied and discharged by the hydraulic control valve, and the first hydraulic cylinder 29 and the second hydraulic cylinder 30 can be operated to extend and contract. The hydraulic control valve is controlled by the controller 15.

  In addition, the flow rate adjustment of the hydraulic fluid is performed by the hydraulic control valve corresponding to the hydraulic motor 9, whereby the rotational speed of the hydraulic motor 9, that is, the driving wheel 7 can be changed. The hydraulic control valve is controlled by the control device 15 based on control information input by manual operation or control information stored in advance.

  As shown in FIG. 1, this work vehicle is equipped with various sensors. Specifically, the first head side pressure sensor S1 and the first cap side (opposite head side) pressure sensor S2 provided in each first hydraulic cylinder 29, the second provided in each second hydraulic cylinder 30 A cap side pressure sensor S3 and a second head side (non-cap side) pressure sensor S4 are provided. The first head side pressure sensor S1 detects the hydraulic pressure of the head side chamber of the first hydraulic cylinder 29. The first cap side pressure sensor S2 detects the hydraulic pressure of the cap side chamber of the first hydraulic cylinder 29. The second cap-side pressure sensor S3 detects the hydraulic pressure of the cap-side chamber of the second hydraulic cylinder 30. The second head side pressure sensor S4 detects the oil pressure in the head side chamber of the second hydraulic cylinder 30. Although not shown, each of the hydraulic cylinders 18, 29 and 30 has a stroke sensor capable of detecting the amount of expansion and contraction, and is configured to feed back an operation state to the control device 15. .

  In addition, the attachment position of each pressure sensor S1, S2, S3, S4 is not restricted to an above-described position. Each pressure sensor S1, S2, S3 and S4 may be provided if it is possible to detect (estimate) the hydraulic pressure of the corresponding cap side chamber or head side chamber, and provided in the pipe between the valve mechanism and the corresponding cap side chamber or head side chamber It is also good.

  The force required to support the vehicle body 1 is calculated based on the detection results of these sensors, and the supply of hydraulic fluid to the first hydraulic cylinder 29 and the second hydraulic cylinder 30 is performed based on the result. Is controlled. Specifically, based on the detection value of the first head side pressure sensor S1 and the detection value of the first cap side pressure sensor S2, from the differential pressure between the cap side chamber and the head side chamber of the first hydraulic cylinder 29, the first hydraulic pressure The cylinder thrust of the cylinder 29 is calculated. Further, based on the detection value of the second cap pressure sensor S3 and the detection value of the second head pressure sensor S4, the cylinder thrust of the second hydraulic cylinder 30 is calculated similarly to the first hydraulic cylinder 29.

  The vehicle body 1 is provided with, for example, an acceleration sensor S5 including a three-axis acceleration sensor or the like. Based on the detection result of the acceleration sensor S5, the inclination of the front and rear, right and left of the vehicle body 1 is detected, and the attitude of the vehicle body 1 is controlled based on the result. That is, the supply of hydraulic fluid to each of the first hydraulic cylinder 29 and the second hydraulic cylinder 30 is controlled such that the attitude of the vehicle body 1 becomes the target attitude.

  The drive wheel 7 is provided with a rotation sensor S6 that detects the rotational speed of the drive wheel 7. The supply of hydraulic fluid to the hydraulic motor 9 is controlled based on the rotational speed of the drive wheel 7 calculated by the rotation sensor S6 so that the rotational speed of the drive wheel 7 becomes a target value.

  As described above, the work vehicle according to the present embodiment is configured to support the drive wheel 7 via the bending link mechanism 10, and the hydraulic cylinders 29, 30 as the hydraulically driven driving mechanism 5 Since the posture is changed and the driving is also performed by the hydraulic motor, it is not easily affected by moisture, fine dust and the like, and is suitable for agricultural work.

As an example of use of the work vehicle having such a configuration, there is the following traveling mode.
<Driving form on flat ground>
When traveling on a flat ground, as shown in FIGS. 9, 10 and 11, traveling can be performed in any of a plurality of different traveling modes. That is, as shown in FIG. 9, a four-wheel traveling state in which all four drive wheels 7 are grounded and all four auxiliary wheels 3 float from the ground, and as shown in FIG. The drive wheel 7 located on the side rises and the auxiliary wheel 3 corresponding to the drive wheel 7 is in contact with the ground, and the drive wheel 7 located on the other side in the vehicle longitudinal direction is in contact with the ground and corresponds to the drive wheel 7 It is a two-wheel traveling state in which the wheel 3 rises.

  In the two-wheel traveling state, the relationship between the driving wheel 7 and the auxiliary wheel 3 is opposite in the longitudinal direction of the vehicle body, that is, as shown in FIG. While the auxiliary wheel 3 corresponding to the drive wheel 7 floats from the ground, there is also a state in which the drive wheel 7 located on the other side in the vehicle longitudinal direction floats and the auxiliary wheel 3 corresponding to the drive wheel 7 contacts the ground.

  In addition to the above-described traveling mode, as shown in FIG. 12, it is possible to switch to a free movement state in which all four sets of drive wheels 7 are floated and used. In this case, although it is not possible to drive and drive, it is possible to manually push and move it manually.

  In this work vehicle, in addition to traveling on a flat surface as described above, it is possible to use the following forms as a unique use form.

<2-leg upright form>
The driving wheel 7 can be placed at a high place by largely inclining the vehicle body 1.
That is, as shown in FIG. 13, in a state in which all the two sets of drive wheels 7 and auxiliary wheels 3 on one side in the vehicle longitudinal direction are grounded, the two sets of drive wheels 7 and auxiliary wheels on the other side in the vehicle longitudinal direction The vehicle body 1 is largely inclined so that the other side is raised by using the bending link mechanism 10 that supports the third and the third. Then, when the center of gravity W of the vehicle body 1 is inclined to be positioned within the contact width L between the two sets of drive wheels 7 and the auxiliary wheels 3 on one side, the bending link mechanism 10 supporting the other two sets is enlarged. By extension, the drive wheel 7 can be placed on the ground at a high place.

  In the two-leg upright configuration, in addition to the configuration of riding up to a high place, as shown in FIGS. 14 and 15, it is possible to perform an operation of lifting another object. That is, as described above, the vehicle body 1 is largely inclined in a state in which the two sets of drive wheels 7 and the auxiliary wheel 3 on one side in the vehicle longitudinal direction are grounded, and the center of gravity W of the vehicle body 1 is on one side. It is inclined until it is located within the contact width L by the two sets of drive wheels 7 and the auxiliary wheels 3. Further, with respect to the two sets on the other side in the vehicle longitudinal direction, the left and right drive wheels 7 are turned to approach each other. The two sets of drive wheels 7 on the other side in the vehicle longitudinal direction grip and lift the object M to be conveyed. In the state of gripping the object M, it can travel and move while maintaining the posture of the vehicle main body 1 by the two sets of drive wheels 7 and the auxiliary wheel 3 on one side in the longitudinal direction of the vehicle body. Can do

<Slope driving mode>
As shown in FIG. 16, the attitudes of all the four sets of bending link mechanisms 10 are changed to an extended attitude in which each of the drive wheel 7 and the auxiliary wheel 3 is positioned outside the longitudinal end of the vehicle in the longitudinal direction of the vehicle. . In a state where all the drive wheels 7 and the auxiliary wheels 3 are in contact with the ground, the first link 25 and the second link 26 are brought close to a horizontal posture as much as possible to lower the height of the vehicle body 1 to a low position. In such a state, travel while riding up the slope. In this traveling mode, the contact width along the longitudinal direction of the vehicle body is wide, and it is possible to travel in a stable state without falling over, even on a slope that is greatly inclined.

<Step over form>
All three sets of drive wheels 7 and auxiliary wheels 3 are grounded and the vehicle main body 1 is stably grounded on the ground, while the remaining one set of drive wheels 7 and auxiliary wheels 3 are supported by a refraction link The mechanism 10 is greatly extended and, for example, as shown in FIG. 13, the drive wheel 7 is placed on the upper surface of the step. The step can be overcome by moving the drive wheels 7 one set at a time to the upper surface of the step while expanding and contracting the bending link mechanisms 10 of each set. Although the case where the level difference is high is shown in FIG. 13, if the level difference is low, the vehicle body 1 can ride on.

<Across travel mode>
As shown in FIG. 17, the four sets of bending link mechanisms 10 are greatly extended to raise the vehicle body 1 largely from the ground contact surface. For example, the work can be performed in a state where the vehicle body 1 is positioned above the eyelid in a state where the eyelid straddles. Even if the crop planted in the bush grows, for example, it is possible to carry out, for example, chemical spraying and harvesting from the upper side of the crop.

  Although detailed description is omitted, when traveling in various forms as described above, the content instructed based on control information input by manual operation or control information stored in advance, etc. The controller 15 controls the operation of each hydraulic cylinder 18, 29, 30 and each hydraulic motor 9 so as to correspond to the corresponding mode.

Second Embodiment
Next, a second embodiment will be described.
In this embodiment, although the support structure of the drive wheel 7 by the vehicle body support portion (refractive link mechanism 10) is different, the other configuration is the same as the first embodiment, and the different configuration will be described, and the same as the first embodiment. Description of the configuration is omitted.

  In this embodiment, the plurality of drive wheels 7 are supported at the swinging side end as the other end of the second link 26 in the bending link mechanism 10 so as to be changeable around the longitudinal axis Y2. ing. Further, in this embodiment, the plurality of drive wheels 7 are supported in a state of being positioned on the vehicle body outer side in the left-right direction with respect to the vehicle body support portion (refractive link mechanism 10). However, the present invention is not limited to this, and a plurality of drive wheels 7 may be supported in a state positioned on the vehicle body outer side in the left-right direction with respect to the vehicle body support (refractive link mechanism 10). It may be optionally detachable from the inside of the body.

  To add to the description, as shown in FIGS. 18 and 19, the rocking side end of the second link 26 is provided with the bearing boss 40 in the vertical orientation, and the bearing boss 40 can rotate around the vertical axis Y2. The wheel base 41 is supported on the The driving wheel 7 is rotatably supported around the horizontal axis in a state where the driving wheel 7 is positioned on the vehicle body outer side in the left-right direction of the wheel base 41. The hydraulic motor 9 is supported in a state in which it is positioned on the vehicle inward side in the left-right direction of the wheel base 41. A support shaft 43 is integrally provided on the wheel base 41 so as to extend upward, and the support shaft 43 is rotatably supported through the bearing boss 40 and tightened with a screw 44 from above. It is fixedly supported by the bearing boss 40.

  As shown in FIG. 20, on the radially outward side of the support shaft 43 on the upper side of the wheel base 41, a pair of locking plates 45 in a vertical orientation is provided. On the other hand, the lower end surface of the bearing boss 40 is formed with a recessed groove 46 in which the locking plate 45 can be engaged and engaged. A plurality of recessed grooves 46 are formed at different positions in the circumferential direction of the support shaft 43. The orientation of the drive wheel 7 with respect to the second link 26 around the longitudinal axis Y2 can be changed by loosening the screw fastening and selectively engaging the locking plate 45 with different recessed grooves 46.

  In this configuration, by changing the directions of the bending link mechanisms 10 disposed opposite to each other in the left-right direction of the vehicle in different directions by the turning mechanism 16, the distance between the drive wheels 7 of the both bending link mechanisms 10 can be variably set. In addition, the directions of rotation of the two drive wheels 7 can be set parallel to each other by changing the directions of the two drive wheels 7 around the longitudinal axis Y2.

  If description is added, the bending link mechanism 10 is rotated about the vertical axis Y1 using the turning cylinder 18, and as shown in FIG. 21, the bending link mechanism 10 is rotated outward in the lateral direction. . Next, the wheel base 41 can be turned around the vertical axis Y2 by manual operation, and the drive wheel 7 can be set to be in a posture (straight running state) along the front-rear direction. At this time, when the left and right refracting link mechanisms 10 are mutually pivoted outward in the left-right direction around the vertical axis Y1, the distance between the left and right driving wheels 7 is increased, and they are mutually pivoted inwardly in the left-right direction. The distance between the left and right drive wheels 7 becomes narrow. Therefore, as shown in FIG. 21, the left-right interval (tread width) of the drive wheel 7 when the work vehicle travels straight can be changed to a plurality of types within the set range, and the width W1, W2 of the ridge is It can correspond to a plurality of different work forms.

As another configuration of the second embodiment, the following configuration may be employed.
Instead of manually changing the direction of the drive wheel 7 around the vertical axis Y2, the direction may be changed and fixed using an actuator such as a hydraulic motor or an electric motor.
The drive wheel 7 may be configured to be supported in a state in which the drive wheel 7 is positioned on the vehicle body inward side in the left-right direction with respect to the vehicle body support (refractive link mechanism 10).
As a turning mechanism, instead of the turning cylinder, a rod is provided so as to bridge over the inner side pivot bracket 22 and the base end portion 24, and the rod is replaced with a plurality of types having different lengths. Alternatively, the vehicle body support (the bending link mechanism 10) may be pivoted. In this case, the steering wheel may be operated by changing the direction of the drive wheel 7 around the vertical axis Y2.
The wheel base 41 may be supported so as to be rotatable about a lateral axis with respect to the vehicle body support portion (refractive link mechanism 10), and may be configured to be able to change the relative front and rear position of the drive wheel.

[Another embodiment]
(1) In each of the above embodiments, the first hydraulic cylinder 29 and the second hydraulic cylinder 30 are provided as the drive operation unit to change the attitude of the bending link mechanism 10, but instead of this configuration, A hydraulic motor may be provided at the rocking fulcrum of the bending link mechanism 10, and the posture of the bending link mechanism 10 may be changed by the hydraulic motor.

(2) In each of the above embodiments, the bending link mechanism 10 is provided as the vehicle body support portion, but instead of this configuration, a robot arm or the like that is bendable in any direction may be used as the vehicle body supporting portion. The drive wheel 7 may be configured to be supported. In other words, the drive wheel 7 may be separately supported on the vehicle body 1 so that the height position can be changed with respect to the vehicle body 1 separately. The specific structure can be implemented with various modifications.

(3) In the above embodiments, the first hydraulic cylinder 29 has the cylinder tube side pivotally connected to the connected portion (base end portion 24) on the vehicle body side, and the piston rod side connected to the first link side ( Although it is configured to be pivotally connected to the arm portion 35), instead of this configuration, in the first hydraulic cylinder 29, the cylinder tube side is pivotally connected to the coupled portion (arm portion 35) on the first link side, The piston rod side may be pivotally connected to the connected portion (proximal end portion 24) on the vehicle body side.

(4) In the above embodiments, the drive wheel 7 is driven by the hydraulic motor 9, but instead of this configuration, for example, the power of the engine mounted on the vehicle is a mechanical transmission such as a chain transmission mechanism. It may be configured to be supplied to the drive wheel 7 via a mechanism.

(5) In each of the above-described embodiments, the turning hydraulic cylinder 18 capable of turning the entire bending link mechanism 10 is provided as the turning operation means, but the turning operation may be performed by an electric motor or hydraulic motor Good.

  The present invention can be applied to a work vehicle suitable for traveling on a road surface with many irregularities.

DESCRIPTION OF SYMBOLS 1 vehicle main body 3 auxiliary | assistant wheel 5 drive operation means 7 drive wheel 10 vehicle body support part 16 turning mechanism 18 turning operation means 25 1st link 26 2nd link

Claims (7)

Vehicle body,
Drive wheels for traveling provided on the left and right in the front and rear both sides of the vehicle body;
A plurality of vehicle body support sections for supporting the plurality of drive wheels separately for height position change with respect to the vehicle body;
And a drive operation means capable of changing the vehicle body support.
A work vehicle supported by the plurality of drive wheels being positioned inward in the vehicle body in the left-right direction with respect to the vehicle body support.   The work vehicle according to claim 1, further comprising: a plurality of turning mechanisms for supporting the vehicle body so as to be changeable in directions around the longitudinal axis center. An auxiliary wheel is provided on the left and right sides in a state of being located between the drive wheel on the front side and the drive wheel on the rear side,
In the state where the attitude of the vehicle body is maintained by any combination of the combination of the front drive wheel and the auxiliary wheel and the combination of the rear drive wheel and the auxiliary wheel, the other side 3. The work vehicle according to claim 2, wherein the left and right drive wheels positioned on the surface float from the ground and turn so as to approach each other to hold an object. The vehicle body support portion swings around the horizontal axis at the other end of the first link, and a first link whose one end is supported swingably around the horizontal axis with respect to the vehicle body. A refractive link mechanism having a second link supported movably;
The work vehicle according to claim 3, wherein the drive wheel is supported at the other end of the second link, and the auxiliary wheel is supported at a connection point between the first link and the second link. The turning mechanism is capable of changing the direction of each of the vehicle body support portions disposed opposite to each other in the left-right direction of the vehicle in directions different from each other around the longitudinal axis center,
The work wheel according to any one of claims 2 to 4, wherein the drive wheel is supported on the vehicle body support portion so as to be changeable in direction around a longitudinal axis core. Vehicle body,
Drive wheels for traveling provided on the left and right in the front and rear both sides of the vehicle body;
A plurality of vehicle body support sections for supporting the plurality of drive wheels separately for height position change with respect to the vehicle body;
Drive operation means capable of changing the vehicle body support;
And a plurality of turning mechanisms for supporting the plurality of vehicle body support portions on the vehicle body so as to be changeable around the longitudinal axis center,
The turning mechanism is capable of changing the direction of each of the vehicle body support portions disposed opposite to each other in the left-right direction of the vehicle in directions different from each other around the longitudinal axis center,
The driving wheel is changeably supported by the vehicle body support portion about a longitudinal axis core.   It is possible to variably set the distance between the drive wheels of the two carbody support parts by changing the direction of the carbody support parts arranged opposite to each other in the left and right direction of the vehicle in different directions by the turning mechanism. The work vehicle according to claim 5 or 6, wherein the rotational directions of the drive wheels can be set parallel to each other by changing the direction of the drive wheels around the longitudinal axis center.

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