JP2854768B2 - Rolling control device for walking type rice field work machine - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a rolling control device for a walking type rice field working machine such as a rice transplanter, a fertilizer and a seeder.

[0002]

2. Description of the Related Art In general,
This type of walk-behind field work machine has a so-called rolling control that constantly raises and lowers the left and right running wheels reciprocally to maintain the left and right inclination of the machine horizontally, based on the detection of a horizontal sensing object such as a tilt sensing float and a pendulum sensor. There is something to do. However, in the related art, since the balance arm in which the left and right traveling wheels are respectively connected to both ends is forcibly rocked by the operation of the hydraulic cylinder directly connected to the balance arm, the body is controlled to be rolled. Lacks smoothness,
In particular, if the horizontal sensing element is sensitive to slight aircraft rolling or aircraft vibration, frequent or incorrect operation of the hydraulic cylinder may result in a decrease in work accuracy. In addition, since the operating stroke of the hydraulic cylinder is limited, if the body rolls beyond the stroke, there is an inconvenience that the horizontal return is impossible. It is also conceivable to perform rolling control based only on free swing of the balance arm.In this case, however, the attitude of the fuselage is adjusted horizontally with respect to the rice field surface by the ground contact force of the float provided at the bottom of the aircraft body with the field surface. since that will be maintained, while there is a limit to the return of the aircraft attitude in large field of irregularities, add as isochronous or when the aircraft once the line road
Less compliance is required and flow is not grounded
In situations where workers need retention,
There is a problem that requests are inferior.

[0003]

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned circumstances, and has been made in order to provide a rolling control device for a walking type field working machine which can eliminate these disadvantages. A walking type paddle working machine having left and right ends of a balance arm pivotally supported at an intermediate portion and left and right traveling wheels that can move up and down with respect to the body via connecting rods, respectively. At least one of the left and right connecting rods is provided with a side cylinder that reciprocally raises and lowers the left and right traveling wheels based on the hydraulic expansion and contraction operation, forcibly controlling the rolling based on the hydraulic expansion and contraction operation of the side cylinder, and controlling the balance arm. While it is possible to execute the passive rolling control based on free swing in a complex manner,
On the side cylinder, a hydraulic expansion operation movement of the side cylinder while permitting free swinging of the balance arm in tandem the lock can Shirindarotsuku mechanism, and the balance arm, Saidoshi
Free swing of balance arm while allowing hydraulic expansion and contraction of Linda
Linking the balance locking mechanism that can lock the movement
Subsequent rolling control with rolling control locked
And the forced rolling with the locked rolling control
Rolling control and multiple rollins without any locks
And the other is capable of selectively executing the switching control . And the present invention, by this configuration,
Passively rolling system by the balance arm control, Saidoshiri
Forced rolling control by
Rolling control can be performed alternatively if necessary
Operability can be measured in this way
Things .

[0004]

Next, an embodiment of the present invention will be described with reference to the drawings. In the drawing, reference numeral 1 denotes a traveling machine of a six-row walking type rice transplanter, and an engine 2 is provided in front of the traveling machine 1.
And the transmission case 3 are arranged,
A planting work section 6 having a seedling mounting table 4, a planting mechanism 5, and the like is disposed at the rear of the body. An output shaft (not shown) of the transmission case 3 projecting right and left outward from the body. Z)
, Right and left running wheels 8 are connected to each other via a swing case 7 having a chain transmission mechanism therein so as to be vertically movable. 9 is a main float provided on the bottom of the fuselage, and 9a is a side float provided on the left and right outer sides of the fuselage.

[0005] Reference numeral 10 denotes a main cylinder which is disposed at a substantially central portion of the fuselage in a forwardly inclined state.
The balance arm 11 whose intermediate portion is pivotally supported by the piston rod 10a is displaced to the upper front position based on the hydraulic extension operation, and is displaced to the lower rear position based on the hydraulic reduction operation. The balance arm 1 facing
The left and right end portions 1 are connected to the lower end portions of left and right link plates 13 and 14 constituting an intermediate link mechanism 12 to be described later, via a first connection rod 15, respectively.

The intermediate link mechanism 12 connects the intermediate portion of the right link plate 14 to the right end of a horizontal shaft 16 which is rotatably supported by the body by spline coupling. The left end of the horizontal link 16 is rotatably connected to an intermediate portion of the left link plate 13. The left end of the horizontal shaft 16 further faces the outer surface of the left link plate 13. Stopper plate 1
7 are integrally welded. In other words, a long hole 17a that is long in the direction around the axis is formed in the stopper plate 17, while a stopper pin 13a that fits loosely into the long hole 17a is formed on the outer surface of the left link plate 13. Therefore, the left and right link plates 13 and 14 are configured to restrict the rotation in the opposite direction more than necessary, and the swing range of the balance arm 11 is set based on the configuration.

Further, reference numeral 18 denotes the left link plate 1.
3. The balance locking mechanism 18 is provided on the inner side surface of the stop plate 3.
A locking pin 19 supported by the left link plate 13 so as to be freely retractable to be disengaged from the locking pin 7b, an elastic machine 20 for constantly urging the locking pin 19 toward the engagement side, and a balance connected to the locking pin 19 via a connecting wire 21. It comprises a lock operating tool (not shown), an outer receptacle 13b for fixing the outer tube 21a of the connecting wire 21, and the like. That is, the independent rotation of the left and right link plates 13 and 14 is regulated based on the engagement operation of the locking pin 19 by the balance locking operation tool, and the balance arm 11 can be locked in the horizontal posture by the rotation regulation. It is like this
Thus, the balance locking mechanism 18 of the present invention is implemented .

Reference numeral 22 denotes a pair of left and right second connecting rods. The second connecting rod 22 includes an arm 7a projecting upward from a base end of the left and right swing case 7, and
The left and right link plates 13 and 14 are provided so as to be linked to the upper ends thereof. That is, the first connecting rod 15 and the intermediate link mechanism 1 are provided at both left and right ends of the balance arm 11.
2. The left and right running wheels 8 are connected via the second connecting rod 22 and the swing case 7, respectively.
The balance arm 11 raises and lowers the left and right traveling wheels 8 in the same direction based on the parallel movement caused by the hydraulic expansion and contraction operation of the main cylinder 10 to control the elevating of the body, while traveling left and right with the left and right inclination of the body. When an eccentric load is applied to the wheels 8, the right and left traveling wheels 8 are allowed to move up and down in the opposite direction based on the free swing of the balance arm 11, and the aircraft is controlled to be rolled passively.

Reference numeral 23 denotes a pair of left and right side cylinders each composed of a single-rod double-acting cylinder. The side cylinders 23 are not directly connected to the balance arm 11 as in the prior art, but are connected to the left and right second cylinders. The connecting rods 22 are interposed respectively. That is, the left and right side cylinders 23
Are the left and right traveling wheels 8 based on the reciprocal hydraulic expansion and contraction operation.
Is lifted up and down in the opposite direction, thereby forcibly controlling the rolling of the body. In order to allow the free swing of the balance arm 11 even in the forced rolling control state, the hydraulic expansion and contraction operation of the side cylinder 23 is performed. , And a passive rolling control based on free swing of the balance arm 11 can be performed in a combined manner.

Further, 24 is the side cylinder 2
3, a cylinder lock mechanism 24 includes a bracket 25 integrally fixed to a fixed side (piston rod 23a) of the side cylinder 23, and a movable side (cylinder cylinder 23) of the side cylinder 23.
b) A locking pin 26 which is supported by a bracket 25 so as to be able to be disengaged from and engaged with an engaging groove 23c formed in b), an elastic machine 27 which constantly urges the locking pin 26 toward the engagement side, and a connecting wire 28 for the locking pin 26 , And an outer lever 25a for fixing the outer tube 28a of the connecting wire 28, and the like. That is, the expansion and contraction of the side cylinder 23 is regulated based on the engagement operation of the locking pin 26 by the hand operation lever 50.
And independent of the above-described driven rolling control based on the free swing of the balance arm 11 by restricting the expansion and contraction of the side cylinder 23 while allowing the free swing of the balance arm 11. Can be performed alternatively. In this embodiment, since the left and right side cylinders 23 are hydraulically interlocked, only one of the side cylinders 23 is provided with the cylinder locking mechanism 24, and the left and right side cylinders are operated by the locking operation of the cylinder locking mechanism 24. 23 is locked.

On the other hand, reference numeral 29 denotes a hydraulic valve unit disposed in the center of the machine body.
Is a diverting valve 30 for diverting the supply oil of the pump, and a first tank port T is connected to one output port of the diverting valve 30.
1st hydraulic valve (directional control valve) interposed in the oil passage to 1
31, a second hydraulic valve 32 interposed in an oil passage from the other output port of the flow dividing valve 30 to the second tank port T2
And so on.

The first hydraulic valve 31 is a four-port valve operable to switch between three positions (elevation, stop, and descent) based on the operation of the elevating operation lever 33. The cylinder ports C and D of the main cylinder 10 are connected to the ports A and B, respectively. That is, the first hydraulic valve 31 controls the main cylinder 10 to hydraulically expand and contract by the switching operation based on the operation of the elevating operation lever 33 to perform the elevating control of the body.

On the other hand, the second hydraulic valve 32 is connected to a pendulum sensor (horizontal detecting body) 34, and can be switched to three positions (right tilt, stop, left tilt) based on the detection swing of the pendulum sensor 34. One of the pair of output ports E and F has one hydraulic port connected to a wheel descending side (reducing side) cylinder port G of the left side cylinder 23L. 35, the other output port F is connected to a wheel descending (reduced side) cylinder port H of the right side cylinder 23R via a hydraulic pipe 36. 23R wheel rising side (extension side)
The cylinder ports I and J are connected to each other through a hydraulic pipe 37. That is, the single second hydraulic valve 3
2 and a pair of left and right side cylinders 23L and 23R are hydraulically connected in series, and in the state of switching to the first position (inclination to the right), hydraulic pressure is supplied to the cylinder port G to move the left side cylinder 23L to the wheel descending side. On the other hand, the hydraulic pressure discharged from the cylinder port I of the left side cylinder 23L is supplied to the cylinder port J to operate the right side cylinder 23R on the wheel rising side which is the opposite direction, and the third position (left tilt) In the switching state to, the hydraulic pressure is supplied to the cylinder port H and the right side cylinder 2
While the 3R is actuated to the wheel descending side, the hydraulic pressure discharged from the cylinder port J of the right side cylinder 23R is supplied to the cylinder port I to actuate the left side cylinder 23L to the wheel ascending side which is the opposite direction. In the above, when the left and right side cylinders 23L, 23R are constituted by single-rod double-acting cylinders in which the cross sections of the two cylinder chambers partitioned by the piston 23d differ based on the presence or absence of the piston rod 23a, the two side cylinders 23L, 23L , 23R have the same cross-section cylinder chambers (wheel-increase-side cylinder chambers) connected to each other, thereby preventing variations in the operating speeds of both side cylinders 23L, 23R due to differences in cross sections, The vertical movement speed of the left and right traveling wheels 8 can be matched. Reference numeral 38 denotes a wheel 8 whose speed is increased by receiving an airframe load.
This is a throttle valve for reducing the rising speed of the throttle.

Further, in this embodiment, a check valve 39 for connecting the two cylinder chambers at the stroke end is provided on the piston 23d of the side cylinder 23. That is, in the case where the left and right side cylinders 23 are connected in series as described above, when there is a variation in the left and right cylinder positions, the hydraulic pressure supply stops at the stage when one of the side cylinders 23 reaches the stroke end and the other side cylinder 23 stops. Although the cylinder 23 cannot reach the stroke end, the cylinder position is automatically corrected by connecting the cylinder chamber with the check valve 39 and continuing to supply the hydraulic pressure to the other side cylinder 23, Moreover, when both the side cylinders 23 have reached the stroke end, the air is automatically released based on the passage of the oil through the both side cylinders 23.

In the embodiment of the present invention constructed as described above, the rolling control side cylinders 23 are not directly connected to the balance arm 11 as in the prior art, but are respectively connected to the left and right second connection rods 22. It is interposed.
That is, the left and right side cylinders 23 raise and lower the left and right traveling wheels 8 in the opposite direction based on the reciprocal hydraulic expansion and contraction operation, thereby forcibly controlling the rolling of the body. Even in the control state, the free swing of the balance arm 11 is allowed, and therefore, the forced rolling control based on the hydraulic expansion and contraction operation of the side cylinder 23 and the driven rolling control based on the free swing of the balance arm 11 are combined. It becomes possible to do it. Therefore,
Forced rolling control only allows the circular smooth rolling control as compared with the conventional performing Huh Rica, it is possible to improve the accuracy of b-ring control can erroneously be absorbed operation based on sensitive response of the horizontal sensing elements.

In addition, since the control range of the rolling control is expanded based on the combined use of the forced rolling control and the passive rolling control, it is possible to perform excellent rolling control capable of coping with a field having large irregularities. it can.

Further, since the side cylinder 23 is provided with the cylinder locking mechanism 24 independent of the balance locking mechanism 18, the side cylinder 23 is locked while allowing the free swing of the balance arm 11. Balancer
The following rolling control by the system 11 can be executed. one
, The float is in contact with the ground, such as when driving on the road or when circling the aircraft
Lock the free swing of balance arm 11 when not
Rolling control by side cylinder 23
Can be. For this reason, in a field with large unevenness, in order to secure the rolling control range as large as possible, the forced rolling control and the driven rolling control are used together,
Side when the small field of irregularities, have erroneously <br/> rows passively rolling control without a fear of degradation in accuracy based on the operation of the side cylinder 23, which is further float not grounded
By performing forcible rolling control by the cylinder
One of the most suitable rolling controls corresponding to the working conditions.
Work can be selected selectively .

The present invention is, of course, not limited to the embodiment described above. For example, the left and right connecting rods are not provided with side cylinders, but are provided with side cylinders in one of them. It can be implemented even if it is done.

[0019]

In summary, since the present invention is constructed as described above, the rolling control is performed by reciprocally moving up and down the left and right running wheels connected to the balance arm via the connecting rod. However, a side cylinder for rolling control is interposed in at least one of the left and right connecting rods ,
The balance arm has a balance lock mechanism and a side cylinder.
Is connected to the cylinder lock mechanism,
Forced rolling control based on hydraulic expansion and contraction of Linda
And passive rolling based on free swing of balance arm
Control and these complex rolling controls
It is possible to execute. Therefore, a field with large unevenness
In the above-mentioned complex, a large rolling control range
Rolling control in small uneven fields
Lock the lock mechanism and check if the side cylinder malfunctions.
Passive rolling with a balance arm without precision loss
In addition, controllability is improved for tracking on roads and
No need for it, and the flow is not grounded,
In passive rolling control, worker holding force is required.
In the state, lock the balance lock mechanism and set the side cylinder
Can perform forced rolling control by
As a result, the accuracy of the rolling control can be improved.

Further, since the controllable rolling range is expanded by using both the forced rolling control and the passive rolling control, it is possible to return the largely rolled aircraft to the horizontal position. Work accuracy in a large field can be improved.

[Brief description of the drawings]

FIG. 1 is a side view of a rice transplanter.

FIG. 2 is a plan view of the same.

FIG. 3 is a side view of a main part of the same.

FIG. 4 is a plan view of a main part of the same.

FIG. 5 is a cross-sectional view of the intermediate link mechanism.

FIG. 6 is a sectional view of a side cylinder.

FIG. 7 is a hydraulic circuit diagram showing an operation circuit of a main cylinder and a side cylinder.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Traveling body 7 Swing case 8 Traveling wheel 10 Main cylinder 11 Balance arm 12 Intermediate link mechanism 15 First connection rod 18 Balance lock mechanism 22 Second connection rod 23 Side cylinder 24 Cylinder lock mechanism

────────────────────────────────────────────────── ─── Continuation of the front page (56) References JP-A-3-117411 (JP, A) JP-A-1-181709 (JP, A) (58) Fields investigated (Int. Cl. ⁶ , DB name) A01C 11/02 334

Claims (1)

(57) [Claims] 1. A walk-behind field work machine in which left and right ends of a balance arm whose middle part is pivotably supported by swinging are connected to left and right ends of a balance arm via a connecting rod. , At least one of the left and right connecting rods is provided with a side cylinder for raising and lowering the left and right traveling wheels in a reciprocal manner based on a hydraulic expansion and contraction operation, and forcible rolling control based on the hydraulic expansion and contraction operation of the side cylinder; while the passively rolling control based on the free oscillation of balance arm can execute complex, in the side cylinder, which can lock the hydraulic expansion operation movement of the side cylinder while permitting free swinging of the balance arm Connect the cylinder lock mechanism and add the hydraulic pressure of the side cylinder to the balance arm.
Free swinging of the balance arm can be locked while allowing compression operation
Rolling control by linking various balance lock mechanisms
Of the rolling control and the
Forced rolling control with locked rolling control
And a composite rolling control without any lock can be executed alternatively.