JPH07184406A - Handling apparatus for agricultural use - Google Patents

Abstract

PURPOSE:To obtain a handling apparatus for agricultural use capable of performing wired or wireless remote control of a remote-controllable vehicle such as a farm tractor under handling operation by attaching a working part for handling to the vehicle. CONSTITUTION:An operation mechanism for handling is provided with a remote controlling apparatus for a vehicle to enable the separate or simultaneous operation of a working part 4 and a vehicle 1. The handling force generated in a boom, manipulator, etc., is applied not only in the direction to lift a material but also in three-dimensional directions, i.e., forward and backward directions, right and left directions and upper and lower directions. The operation mechanism placed near a hand part 3 is provided with a hydraulic or pneumatic servo valve along the moving direction of the boom, manipulator, etc., and the actuator of a hydraulic or pneumatic cylinder is actuated to move the boom, manipulator, etc., in the direction same as the moving direction of the serve valve operated by an operator.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an agricultural tractor such as an agricultural tractor which can be remotely controlled by radio or wire, and is provided with a working unit for handling so that the vehicle can be remotely controlled while handling. The present invention relates to a handling device.

[0002]

2. Description of the Related Art Conventionally, as one of agricultural handling devices, a vehicle such as a tractor, which allows remote control of starting, stopping, traveling speed control, steering, etc. by wireless or wired, is exchanged at the tip. It is known that a working unit such as a boom and a manipulator for handling having a possible hand unit is provided, and the working unit is operated by an operation mechanism installed in the vicinity of the hand unit. The remote control mechanism of the vehicle and the operation mechanism of the working unit are separately provided and operated.

[0003]

In the agricultural handling apparatus as described above, since the remote control mechanism of the vehicle and the operation mechanism of the working unit are separately provided and operated, for example, the operation of the working unit is performed. There was a problem that it was not possible to accurately control the vehicle remotely while operating the mechanism. The present invention has been made for the purpose of solving the above problems.

[0004]

In order to achieve the above-mentioned object, the present invention provides a vehicle at a tip of which a driving operation such as starting, stopping, traveling speed control and steering can be remotely controlled by wireless or wire. Equipped with working parts such as a boom and manipulator for handling with replaceable hand parts,
In an agricultural handling device configured to operate the working unit by an operation mechanism installed near the hand unit,
A remote control device for the vehicle is provided in the operation mechanism so that the working section and the vehicle can be operated independently or simultaneously, and the force for handling that is generated in the boom, manipulator, etc. can be applied only in the direction of lifting the object. Instead, a hydraulic or pneumatic servo valve is provided along the direction of movement of the boom, manipulator, etc. in the operating mechanism installed near the hand part so as to act in the three-dimensional directions of front, rear, left, right, up and down. Is operated to operate the actuator of the hydraulic or pneumatic cylinder so that the boom, the manipulator and the like move in the same direction as the operated direction.

[0005]

With the above construction, the agricultural handling apparatus of the present invention performs the following actions. The operating mechanism of the working unit is equipped with a remote control device for the vehicle so that the working unit and the vehicle can be operated independently or simultaneously, so that the operating unit such as the boom and manipulator can be operated while handling the vehicle. Can be operated accurately. The force for handling that occurs in the boom, manipulator, etc. is not limited to the direction of lifting the object,
Since it is made to act in the front-back, left-right, and top-bottom three-dimensional directions, the hand part that approaches the handling object exerts force in the three-dimensional directions.

A hydraulic or pneumatic servo valve is provided in the operating mechanism installed near the hand part along the direction of movement of the boom, manipulator, etc., and the operator operates the servo valve to operate in the same direction as the operated direction. Boom,
Since the actuator of the hydraulic or pneumatic cylinder is operated so that the manipulator etc. moves, when the operator moves the pneumatic servo valve in the direction in which the object to be handled is to be moved, the hydraulic or hydraulic pressure is proportional to the movement. The pneumatic cylinder operates.

[0007]

Embodiments of the present invention will now be described in detail with reference to the accompanying drawings. In FIG. 1, reference numeral 1 denotes a vehicle (agricultural tractor). In this vehicle 1, driving operations such as starting, stopping, traveling speed control, and steering by a vehicle driving device 2 are performed manually by an operator, or by wireless or It can be operated remotely by wire. At the rear part of the vehicle 1, there is a boom for handling having a replaceable hand part 3 at the tip,
A working unit 4 such as a manipulator (drawing) is provided, and an operating mechanism (handling device operating unit) 5 installed in the vicinity of the hand unit 3 allows the vehicle 1 to be remotely operated together with the operation of the working unit 4. . The vehicle 1 and the working unit 4 constitute an agricultural handling device 6.

As shown in FIG. 2, the operating mechanism 5 comprises a manipulator grip 7 and a vehicle operating lever 8 integrally provided on one side of the upper portion of the manipulator grip 7. And the manipulator grip 7
Is operated by an operator holding the grip and operating it in the front, rear, left, right, up and down directions, and by freely moving the hand section 3 in the front, rear, left, right, up and down for handling. To start (forward / reverse), stop (neutral), control the traveling speed, and steer (left / right).
You can perform remote driving operations such as turning right and going straight = neutral.

FIG. 3 shows a vehicle control mechanism for remotely operating the vehicle 1 from the operation mechanism (handling device operation unit) 5. In FIG. 3, the lead wire 5a of the operating mechanism 5 is
It is connected via a connector 9 to a switchboard (relay unit) 11 that uses a battery 10 as a power source. Switchboard 11
A large number of electromagnetic (solenoid) pneumatic valves 12 are connected to and a bumper switch 13 as an emergency stop button is provided. These pneumatic valves 12 switch the passage of supply / exhaust of compressed air from a compressor 14 mounted on the vehicle 1 to a pneumatic cylinder (actuator group) that operates each operation mechanism provided in the vehicle driving device 2.
This is done by electromagnetic (solenoid) operation to expand and contract the pneumatic cylinder.

The vehicle operating system 2 includes a hydraulic valve lever 15 for raising and lowering the working portion 4, a throttle link 17, a brake intermediate link 19, a clutch operating portion, a shuttle lever 23 for switching between forward and reverse movements, a main speed change lever 26, and a steering motor. A steering gear box 31 and the like are provided. The hydraulic valve lever 15 is a working machine lifting hydraulic device control cylinder 16, and the throttle link 1
7 is a throttle cylinder 18, which is a brake intermediate link 1
9 is a left brake cylinder 20 and a right brake cylinder 2
1, the clutch operating portion is a clutch cylinder 22, the shuttle lever 23 is a shuttle cylinder 24 and a shuttle cylinder 25, and the main shift lever 26 is a main shift cylinder 27, a main shift cylinder 28, a main shift cylinder 29.
The steering motor 30 and the steering gear box 31 are controlled by the switchboard (relay unit) 11, respectively.

FIG. 4 shows an embodiment of a boom and operating section 4 which exerts a force in three dimensions. FIG. 4A shows a rectangular coordinate type, in which vertical and horizontal booms 32 are supported on the elevating section of the vehicle 1. Let
The boom 32 is provided with a vertical actuator 33, a front-back actuator 34, and a left-right actuator 35,
The operation mechanism 5 and the hand unit 3 are provided at the tip of the horizontal boom 32 so that the hand unit 3 can be freely moved up and down, forward and backward, and left and right. Further, (b) is of a polar coordinate type, in which the operation mechanism 5 and the hand portion 3 are provided at the tip of the telescopic cylinder having the front and rear cylinders 36, and the vertical cylinder 37 is provided between the telescopic cylinder and the elevating part of the vehicle 1. It is provided. It should be noted that the telescopic cylinder is provided with left and right cylinders (not shown), and is also rotatable in the left and right directions.

FIG. 5 shows an embodiment of the operating mechanism 5 in the case where the boom and operating portion 4 are provided with force sensors that exert forces in three dimensions. In FIG. 5, the manipulator grip 7 provided with the vehicle operating lever 8 is provided with a left / right sensor 38, a front / rear sensor 39, a ball joint 40, an up / down sensor 41, etc. inside the casing. When the operator grips the manipulator grip 7 and operates it up, down, left, and right as shown in FIG. 6, each actuator is operated through the signal converter, and the hand unit 3 is moved up, down, left, and right. Move freely.

In FIG. 7, a hydraulic front / rear servo valve 42 and a hydraulic up / down servo valve 43 are provided in the casing of the manipulator grip 7. Although not shown, a hydraulic left / right servo valve is also provided in the casing. FIG. 8 shows an example of a hydraulic circuit of an operating mechanism having such a hydraulic servo mechanism. In FIG. 8, the upper and lower cylinders 44 have the upper and lower servo valves 47a, the front and rear cylinders 45 have the front and rear servo valves 47b, and the left and right cylinders 46 have the left and right servo valves 4a.
7c are connected to each other, and the pressure oil from the hydraulic pump 48 is switched by a servo valve to expand and contract the cylinder. Reference numeral 49 is a relief valve, and 50 is an oil tank.

In the agricultural handling apparatus 6 having such a structure, as shown in FIG. 9, a fork-shaped container hand for handling the container 51 is attached to the hand portion 3 and the container 51 is loaded. It can be done (a). In (b), a pulling hook 52 adapted to exert a pulling force is attached to the hand portion 3, and a wire 5 is attached.
Rooting work is performed by pulling out the root 54 of the tree through 3. By using the pulling hook 52, a wire 53 or a wire can be pulled to perform a wire-tightening work for a hedge-grown fruit tree.

FIG. 9 (c) shows a bag part hand 55 attached to the hand part 3, which is used for accommodating grains and for handling a bag 56 having a hanging hole. Also,
(D) attaches the scoop hand 57 to the hand unit 3,
Perform digging work. In addition to the above, various kinds of work can be performed, for example, a pile driving work with a hand part 3 having a rake and a grass collecting work with a rake.

10 (a) to 10 (f) show a state in which the vehicle 1 is moved by remote control when the container hand is attached to the hand portion 3 to handle the container 51, and the handling work range is expanded. Show. As is clear from this figure, by adding the movement range of the vehicle 1 to the operation range of the working unit (manipulator) 4, the handling work range can be greatly expanded. And
For example, the container 51 can be easily loaded on the carrier 58 of the carrier. The pneumatic valve 12 of the above embodiment
May be replaced by a hydraulic valve, the compressor 14 may be replaced by a hydraulic pump, and the pneumatic cylinder may be replaced by a hydraulic cylinder.

[0017]

As described above, according to the agricultural handling apparatus of the present invention, the operating mechanism installed near the hand portion is provided with the remote control device for the vehicle, and the working portion and the vehicle are individually or simultaneously provided. To be able to drive
The handling force generated in the working unit is applied not only in the direction of lifting the object but also in the three-dimensional directions of the front, rear, left, right, and up and down, and the operation mechanism installed near the hand unit moves the working unit. The hydraulic or pneumatic servo valve is installed along the direction of, and the operator operates the hydraulic or pneumatic cylinder actuator so that the working part moves in the same direction as the operated direction. Therefore, the following effects can be achieved.

Since the operation unit is located near the object to be handled, no skill is required for the operation, and the vehicle can be operated simultaneously or independently with the same operation unit, so that the handling work and the remote operation of the vehicle can be performed. It can be done by one worker at the same time. Even if the operating range of the handling working unit is narrow, by using the moving function of the vehicle, the handling work can be performed in a wide range, and the structure of the working unit can be simplified.

In the hand part, handling of containers, bags, etc., digging work with a scoop, pile driving work with a rake, grass collection work with a rake, pulling wires and wires A variety of handling operations are possible, such as rooting work for standing trees and wire-lining work for fruit trees made of hedges. By adopting a servo mechanism for the operation unit, the hand unit can be moved at a speed intended by the operator without separately providing a sensor. Therefore, the handling mechanism can be generalized and the operating rate can be improved, and the structure of the handling mechanism can be simplified.

[Brief description of drawings]

1 is a schematic side view of an agricultural handling device according to the present invention.

FIG. 2 is a side view (a) and a front view (b) of an operation unit provided with a remote control device for a vehicle.

FIG. 3 is a diagram of a vehicle control mechanism when a vehicle is remotely operated from a handling operation unit.

FIG. 4 is a side view of a boom or the like that exerts power in three dimensions,
(A) is a rectangular coordinate type, and (b) is a polar coordinate type.

FIG. 5 is a side view (a) of the operation unit that exerts force in three dimensions.
It is a front view (b).

FIG. 6 is a control block diagram of the operation unit in FIG.

FIG. 7 is a side view of an operation unit provided with a servo valve.

FIG. 8 is a hydraulic circuit diagram of an operating mechanism having a servo mechanism.

FIG. 9 shows the work of the hand part when exerting force in three dimensions, (a) is a container hand, (b) is a towing hand,
(C) is a bag hand, and (d) is a scoop hand.

10 (a) to 10 (f) are side views showing examples of expanding a handling work range by remote control of a vehicle.

[Explanation of symbols]

1 Vehicle (agricultural tractor) 2 Vehicle driving device 3 Hand part 4 Working part 5 Operating mechanism (handling device operating part) 5a Lead wire 6 Agricultural handling device 7 Manipulator grip 8 Vehicle operating lever 9 Connector 10 Battery 11 Switchboard (relay unit) 12 Pneumatic Valve 13 Bumper Switch 1 14 Compressor 15 Hydraulic Valve Lever 16 Working Machine Lifting Hydraulic Control Cylinder 17 Throttle Link 18 Throttle Cylinder 18 19 Brake Intermediate Link 20 Left Brake Cylinder 21 Right Brake Cylinder 22 Clutch Cylinder 23 Shuttle Lever 24 Shuttle Cylinder 25 Shuttle cylinder 26 Main shift lever 27 Main shift cylinder 28 Main shift cylinder 29 Main shift cylinder 30 Steering motor 31 Steering gear X 32 Vertical and horizontal boom 33 Vertical actuator 34 Front-rear actuator 35 Left-right actuator 36 Front-rear cylinder 37 Up-down cylinder 38 Left-right sensor 39 Front-rear sensor 40 Ball joint 41 Up-down sensor 42 Hydraulic front-rear servo valve 43 Hydraulic up-down servo valve 44 Up-down cylinder 45 front-rear cylinder 46 left-right cylinder 47a upper-lower servo valve 47b front-rear servo valve 47c
Left and right servo valves 48 Hydraulic pump 49 Relief valve 50 Oil tank 51 Container 52 Pulling hook 53 Wire 54 Tree root 55 Bag hand 56 Bag 57 Scoop hand 58 Carrier bed

Claims (1)

[Claims] 1. A vehicle, which allows remote control of driving operations such as starting, stopping, traveling speed control, and steering by wireless or wired, a boom for handling having a replaceable hand portion, a manipulator, etc. Equipped with a working unit,
In an agricultural handling device in which a working unit is operated by an operating mechanism installed in the vicinity of the hand unit, a remote control device for a vehicle is provided in the operating mechanism, and the working unit and the vehicle are operated independently or simultaneously. This enables the handling force to be generated in the boom, manipulator, etc., not only in the direction of lifting the object,
A hydraulic or pneumatic servo valve is installed along the direction of movement of the boom, manipulator, etc. in the operating mechanism installed near the above hand part so that it can be operated in the three-dimensional directions of front, rear, left and right, and up and down, and the operator By operating
An agricultural handling device, characterized in that an actuator of a hydraulic or pneumatic cylinder is operated so that a boom, a manipulator and the like move in the same direction as the operated direction.