JP2854783B2 - Rolling control device for walking type working 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 working machine such as a walking rice transplanter.

[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. Conventionally, a balance arm having left and right running wheels connected to both ends thereof is forcibly rocked by the operation of a hydraulic cylinder directly connected to the balance arm, and a roll control of the body is performed. It is known that a hydraulic cylinder (side cylinder) is connected to each of the lifting wheels to control the rolling of the airframe based on the opposition of the hydraulic cylinder. Since only the rolling control is executed, the smoothness of the control is lacking, especially when the horizontal sensing object is sensitive to slight rolling of the airframe or the airframe vibration. There is a fear that the operation accuracy or malfunction may lead to a decrease in work accuracy. Therefore, a pair of left and right hydraulic cylinders are provided between the left and right ends of the balance arm and the left and right traveling wheels, respectively, so as to perform forced rolling control based on active reciprocal operation of the left and right hydraulic cylinders. It is proposed to make it possible to perform a complex rolling control with a passive rolling control based on the free swing of the balance arm. However, in this case,
Since both a hydraulic rolling mechanism composed of a pair of left and right hydraulic cylinders and a mechanical rolling mechanism composed of a balance arm are required, the number of parts cannot be greatly increased, and the structure is complicated. With the development, there is a fear that the assemblability and maintainability may be reduced.

[0003]

SUMMARY OF THE INVENTION The present invention has been made in order to provide a rolling control device for a walking-type working machine which can eliminate these disadvantages in view of the above-mentioned circumstances. comprises a pair of left and right side cylinders for elevating the left and right traveling wheels respectively, left
Based on the opposing telescopic operation of the right side cylinder,
In a walk-behind work machine that is controlled by rolling,
Synchronize the left and right side cylinders in opposite directions
Hydraulic connection in series and left and right side cylinders
Hydraulic valves for operation control include left and right side cylinders.
Pressure oil from the hydraulic pump to one of the
And a pair of pressure oil supply positions for
Supply of pressure oil to the left and right side cylinders from
The output ports to the left and right side cylinders
Output port communication position where the flow path for
It is characterized by being formed . In addition, a pair of left and right side cylinders for raising and lowering the left and right traveling wheels respectively is provided , and the left and right side cylinders are opposed to each other in expansion and contraction work.
Walking type with rolling control of aircraft based on movement
In the working machine, move the left and right side cylinders
Hydraulic connection in series for synchronous operation in
Hydraulic valve to control the operation of the side cylinder
Is from the hydraulic pump to one of the left and right side cylinders
A pair of pressurized oil supply positives for selecting and supplying
Pressure from the hydraulic pump to the left and right side cylinders
The oil supply stops, and the output port to the left and right side cylinders
Output port with a flow path for communicating ports with each other
Communicating with Spoken position is formed, further, the hydraulic valve, while within a predetermined rolling range performs passively rolling control to maintain the output port communicating Spoken port <br/> Jishiyon, the predetermined rolling range If the pressure exceeds
The present invention is also characterized in that it is connected to a rolling control switching means for performing forced rolling control by switching to a supply position. According to the present invention, when the forced rolling control and the passive rolling control are performed in a combined manner, the present invention eliminates the need for a mechanical rolling mechanism such as a balance arm and reduces the number of parts. Along with
It is intended to improve assemblability and maintainability with the simplification of the structure.

[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. Incidentally, reference numeral 9 denotes a main float provided at the bottom 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 connecting arm 11 connected in a T-shape to the piston rod 10a via the shock absorber 11a is displaced to the upper front position based on the hydraulic extension operation, and is displaced to the rear lower position based on the hydraulic reduction operation. The left and right ends of the connection arm 11 facing in the left and right direction are interlockingly connected via a first connection rod 14 to the lower ends of left and right link plates 13 that rotate integrally with the horizontal axis 12 as a fulcrum.

Reference numeral 15 denotes a pair of left and right second connecting rods. The second connecting rod 15 includes an arm 7 a projecting upward from a base end of the left and right swing case 7 and a left and right link plate 13. It is provided to interlock and connect the upper end. That is, the left and right traveling wheels 8 are connected to the left and right ends of the connecting arm 11 via the first connecting rod 14, the left and right link plates 13, the second connecting rod 15, and the swing case 7, respectively. The connecting 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 perform the vertical movement control of the machine body.

Reference numeral 16 denotes a pair of left and right side cylinders each of which is a single-rod double-acting hydraulic cylinder. The side cylinders 16 are interposed in the left and right second connection rods 15, respectively. That is, the left and right side cylinders 16
In this configuration, the right and left traveling wheels 8 are moved up and down in the opposite direction based on the active opposite operation to forcibly control the body.

Reference numeral 17 denotes a cylinder lock mechanism provided in the side cylinder 16. The cylinder lock mechanism 17 engages and disengages with a bracket 19 integrally supported on the piston rod 18 side and an engagement groove 20 a of the cylinder tube 20. A lock pin 21 supported so as to be freely retractable on a bracket 19, a spring 22 for constantly urging the lock pin 21 toward the engagement side, and a cylinder locking operation of a handle 24 connected to the lock pin 21 via a connecting wire 23. It is composed of a lever 25, an outer receptacle 19a for fixing the outer tube 23a of the connecting wire 23, and the like. That is, in a state where the lock pin 21 is engaged with the engagement groove 20a based on the operation of the cylinder lock operation lever 25,
The expansion and contraction operation of the side cylinder 16 is restricted. Since the left and right side cylinders 16 are hydraulically linked as described later, the left and right side cylinders 16 can be locked simultaneously by the locking operation of the cylinder locking mechanism 17 provided on one of the side cylinders 16. It is like that.

On the other hand, reference numeral 26 denotes a hydraulic valve unit disposed at the center of the machine body.
Is a diverting valve 27 for diverting the supply oil of the pump, and a first tank port T is connected to one output port of the diverting valve 27.
1st hydraulic valve (directional control valve) interposed in the oil passage to 1
28, a second hydraulic valve 29 interposed in an oil passage from the other output port of the flow dividing valve 27 to the second tank port T2.
And so on.

The first hydraulic valve 28 is operated by a lifting operation lever 30 (or the main float 9 is moved up and down).
Is a four-port valve operable to switch between three positions (ascending, neutral, descending) based on
The cylinder ports C and D of the main cylinder 10 are connected to the pair of output ports A and B, respectively. That is, the first hydraulic valve 28 performs the hydraulic expansion and contraction operation of the main cylinder 10 by the switching operation based on the operation of the elevating operation lever 30 (or the detection of the vehicle height of the main float 9), thereby performing the elevating control of the body. ing.

On the other hand, the second hydraulic valve 29 is the "oil" according to the present invention.
This is a four-port valve that is connected to a rolling detection mechanism, which will be described later, and can be operated to switch to three positions (left tilt, neutral, right tilt) based on the detection of the rolling detection mechanism. Although one of the pair of output ports E and F is configured, one of the output ports E is connected to a wheel-up-side (extension-side) cylinder port G of the left side cylinder 16L via a hydraulic pipe 31. On the other hand, the other output side port F is connected to a wheel rising side (extending side) cylinder port H of the right side cylinder 16R via a hydraulic pipe 32, and further, a wheel descending side of both side cylinders 16L, 16R. (Reduction side) The cylinder ports I and J are connected to each other through a hydraulic pipe 33. That is, a pair of left and right side cylinders 16L and 16R are hydraulically connected in series to a single second hydraulic valve 29 to provide a first position (a hydraulic pressure supply for the left side cylinder).
In the switching state of the left side cylinder 16L, the hydraulic pressure is supplied to the cylinder port G to operate the left side cylinder 16L on the wheel raising side, and the hydraulic pressure discharged from the cylinder port I of the left side cylinder 16L is supplied to the cylinder port J.
And the right side cylinder 16R is operated synchronously with the wheel descending side, which is the opposite direction, while the third position ( right
In the switching state to the side cylinder hydraulic pressure supply position) , the hydraulic pressure is supplied to the cylinder port H to operate the right side cylinder 16R to the wheel ascending side, and the hydraulic pressure discharged from the cylinder port J of the right side cylinder 16R is applied to the cylinder port H. It is supplied to the port I so that the left side cylinder 16L is operated synchronously with the wheel descending side, which is the opposite direction.

Further, the second hydraulic valve 29 is a second position ( neutral position) for communicating with the output port of the present invention.
In the state located in corresponding to Pojishiyon), one has summer to stop side cylinder 16L, the pressure oil supplied from the hydraulic pump to 16R, the second hydraulic valve 29
Is formed in a so-called tandem center in which the supply port P and the return port R communicate with each other.
The second position further includes the left and right side syringes.
A flow path 29a is formed for connecting the output ports E and F to the nozzles 16L and 16R . That is, the second hydraulic valve 29 is positioned at the second neutral position.
In this state, the cylinder ports G and H are communicated with each other to allow passive reversal operation of the side cylinders 16L and 16R, and based on the passive reversal operation, the aircraft is controlled to be rolled passively. I have. Further, in the present embodiment, a throttle 29 for regulating the flow rate is provided in the flow path 29a.
b, so that the operation speed at the time of the passive reciprocal operation can be set to an appropriate speed.

The piston 34 of the side cylinder 16 is formed with a communication hole 34a for communicating the two cylinder chambers partitioned by the piston 34, and a stepped hole is formed at each end of the communication hole 34a. Seat part 3
4b is formed. A pair of poppets 35 for opening and closing the respective sheet portions 34b are provided inside the communication holes 34a.
And an ammunition 36 that constantly urges the poppet 35 toward the closed side are provided therein.
Contact pins 35a protruding into the cylinder chamber are formed integrally with each other. That is, in a state where the piston 34 is located in the middle of the operation stroke, both poppets 35 are kept closed by receiving the urging force of the elastic machine 36, but when the piston 34 reaches the stroke end, the cylinder chamber is closed. The contact pin 35a contacts the end face to open one of the poppets 35, while the other poppet 35 receives the hydraulic pressure higher than that of the bullet 36 to open and operate to connect the two cylinder chambers. . For this reason, even if one of the provisional side cylinders 16 reaches the stroke end in advance, the flow of the supplied pressure oil is stopped without stopping the flow of the supplied pressure oil and stopping the other side cylinders 16. Thus, the operation of the other side cylinder 16 can be continued.

Reference numeral 37 denotes a side float disposed on the right and left outer sides of the machine body. The rear end of the side float 37 is connected to the lower end of the planting work section 6 so as to be vertically swingable. However, the front end of the side float 37 is supported by a support shaft 3 projecting outward from the pivot point of the swing case 7.
8 is connected via a U-shaped link 39 which is rotatable around the axis of the support shaft 38 so as to be vertically movable.

Reference numeral 40 denotes a rolling detection rod constituting the rolling detection mechanism. The rolling detection rod 40 is disposed along the support shaft 38. The outer end of the rolling detection rod 40 is integrally connected to the link 39, while the outer end of the rolling detection rod 40 is supported by the base end of the support shaft 38 so as to be able to rotate back and forth. It is integrally connected to the connection arm 41. In other words, both ends of the rolling detection rod 40 are supported on the same axis to prevent the eccentric load from acting on the rolling detection rod 40. Therefore, the rolling detection rod 40 is Float 3
7 smoothly follows the up and down movement of the connecting arm 41.
Can be surely rotated.

On the other hand, reference numeral 42 denotes a balance rod which is disposed in the center of the machine body in the left-right direction, and
The center is pivotally supported so as to be able to swing back and forth, and the spool of the second hydraulic valve 29 is interlockingly connected to a position deviated laterally from the pivoted position, while being connected to the left and right ends of the balance rod 42. Are connected to the connection arms 41 via connection rods 43, respectively. Therefore, the balance rod 42 is
The second hydraulic valve 29 is automatically switched based on the reciprocal vertical movement of the left and right side floats 37 and the pushing and pulling of the spool accompanying the swinging. In the rolling detection path leading to the second hydraulic valve 29, a not-shown accommodating mechanism (such as forming a connection hole as a long hole) is provided, and the switching timing of the second hydraulic valve 29 is set based on the accommodating width setting of the accommodating mechanism. Can be set freely. That is, while the second hydraulic valve 29 is maintained at the neutral position within the predetermined rolling range, the passive rolling control is performed, while the second hydraulic valve 29 is switched to another position outside the predetermined rolling range to forcibly. Rolling control can be performed.

Reference numeral 44 denotes a balance lock mechanism for regulating the swing of the balance rod 42. The balance lock mechanism 44 includes a bracket 45 integrally supported by the machine body and a lock plate 42a on the balance rod 42 side. A locking pin 46 supported so as to be able to move in and out of the bracket 45 to be disengaged from the
An ammunition device 4 that constantly urges the locking pin 46 toward the engagement side.
7. A balance lock operating tool (not shown) connected to the lock pin 46 via a connecting wire 48. Then, based on the operation of the balance lock operating tool, the balance rod 4 is operated.
2 is locked, the second hydraulic valve 29 is fixed to the neutral position, and the left and right side cylinders 16L,
Only the passive rolling control based on the passive reversal operation of the 16R is alternatively executed.

In the embodiment of the present invention constructed as described above, the left and right side cylinders 16L and 16R are provided when the second hydraulic valve 29 is located at the first and third positions.
In this case, the hydraulic oil is supplied from the hydraulic pump , and the rolling control of the airframe is forcibly performed based on the active reciprocal operation, but the second hydraulic valve 29 becomes neutral .
In the second position, the cylinder ports G and H are communicated with each other via the flow path 29a. Will be in control. In other words, the forced rolling control and the driven rolling control can be performed in a complex manner based on the active and passive opposing operations of the left and right side cylinders 16L and 16R. Therefore, while performing a complex rolling control, a mechanical rolling mechanism including a balance arm and the like becomes unnecessary, and as a result,
Not Motori that enables cost reductions by reducing the number of parts, the companion connexion assembling property and maintainability to simplify the structure direction
I can do it.

Further, when the second hydraulic valve 29 is fixed to the neutral position by the locking operation of the balance locking mechanism 44, only the passive rolling control based on the passive reversal operation of the left and right side cylinders 16L and 16R is selected. The rolling control can be selectively switched in accordance with the field conditions, and as a result, the rolling control suitable for the field conditions can be executed, and the work accuracy can be improved .

Further, in the rolling detection path extending from the side float 37 to the second hydraulic valve 29, an accommodation mechanism for setting the switching timing of the second hydraulic valve 29 is provided, so that the rolling control can be performed in a passive manner. Is set appropriately, and the accuracy of the rolling control can be further improved.

In this embodiment, the side cylinder 16
Since the cylinder lock mechanism 17 that regulates the operation of the side cylinders 16L and 16R is provided during traveling on the road,
The disadvantage that the 16R operates passively can be solved .

Furthermore, the cylinder lock mechanism 17
When the lock operation is performed, the side cylinders 16L, 16L
Because passive contradictory operation of R is acceptable, the side cylinder 16L, the bother actively without contradictory operated 16R, the operator that the degree of capacity <br/> easy operation of tilting the handle portion 24, Shirindarotsuku Lock pin 21 of mechanism 17
The position can be aligned with the position of the engagement groove 20b of the side cylinder 16R, and the operability during cylinder locking can be improved .

Further, in this embodiment, the flow path 4
4a is provided with the throttle 44b, so that the side cylinder 1
6L, Huh 16R may passively departures operated at a proper speed Rika, side cylinder 16L, and also to prevent unstable operation of the 16R can improve the operability of the aircraft.

The present invention is, of course, not limited to the embodiment described above. For example, the neutral position of the second hydraulic valve 44 is not formed in a tandem center, and the second embodiment shown in FIG. As in the example, the present invention can be implemented even if it is configured as a so-called open center in which all ports are connected.

[0025]

In summary, since the present invention is constructed as described above, the right and left side cylinders operate in opposition to each other.
Sets the hydraulic valve to one of the pressure oil supply positions
Is controlled by rolling.
However, the left and right side cylinders operate synchronously in opposite directions
The hydraulic valve is connected in series to
In addition to the pair of pressure oil supply positions,
The supply of pressurized oil from the pump to the left and right side cylinders stops,
The output ports to the left and right side cylinders communicate with each other
For communicating with the output port with the flow dew formed
Is formed in this output port communication position.
When switching, the oil supplied to the left and right side cylinders
There is no passive reciprocal operation that moves under the float contact pressure.
Will be done. That is, the left and right side cylinders
Strengthen the aircraft based on active reciprocation with oil supply
In addition to rolling control, output port
By using a universal position, it is possible to
Therefore, the rolling control of the airframe is performed in a passive manner. Obedience
Forced rolling control and passive rolling control
As a result, it is possible to select
The need for a configured mechanical rolling mechanism is eliminated,
In addition to reducing points and enabling cost reduction, the structure
Can be improved as a result of simplification of assembly.
You .

Further, the hydraulic valve is connected to the output port communication port.
If fixed to the dichion , only the above-described passive rolling control can be executed, so that it is possible to selectively switch the rolling control according to the field conditions, and as a result, optimal rolling control adapted to the field conditions can be achieved. By making it executable, it can contribute to the improvement of work accuracy.

[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 plan view of a main part of a second connecting rod.

FIG. 6 is a sectional view of the side cylinder reaching a stroke end.

FIG. 7 is an enlarged sectional view of a main part of a piston.

FIG. 8 is a hydraulic circuit diagram showing an operation circuit of a main cylinder and a side cylinder.

FIG. 9 is a hydraulic circuit diagram showing a second embodiment.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Running body 7 Swing case 8 Running wheel 10 Main cylinder 16 Side cylinder 29 Second hydraulic valve 29a Flow path

Claims (2)

(57) [Claims] 1. A vehicle comprising a pair of left and right side cylinders for raising and lowering left and right traveling wheels, respectively.
Rolling control of the aircraft based on
In the walking type working machine,
Hydraulic connection of the series in series for synchronous operation in the opposite direction
To control the operation of the left and right side cylinders
Hydraulic valve has one of the left and right side cylinders
A pair of pressure oil for selecting and supplying hydraulic oil from the hydraulic pump
Pressure oil supply position and left and right sides from hydraulic pump
Supply of pressurized oil to the cylinder is stopped, and the left and right side
Channels are formed to connect the output ports to the
A rolling control device for a walk- behind type working machine, characterized in that an output port communication position is formed . 2. A pair of left and right side cylinders for raising and lowering left and right traveling wheels, respectively.
Rolling control of the aircraft based on
In the walking type working machine,
Hydraulic connection of the series in series for synchronous operation in the opposite direction
To control the operation of the left and right side cylinders
Hydraulic valve has one of the left and right side cylinders
A pair of pressure oil for selecting and supplying hydraulic oil from the hydraulic pump
Pressure oil supply position and left and right sides from hydraulic pump
Supply of pressurized oil to the cylinder is stopped, and the left and right side
Channels are formed to connect the output ports to the
An output port communicating Spoken position that is formed, further, the hydraulic valve, leaving within a predetermined rolling range
While performing the passive rolling control while maintaining the force port communication position, the predetermined rolling range is exceeded .
A rolling control device for a walk-behind working machine, characterized in that the rolling control device is connected to rolling control switching means for forcibly performing rolling control by switching to a pressure oil supply position in a state .