JP2931491B2 - 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,
Some types of walking-type paddy machines perform rolling control of the body based on reciprocal elevation of the left and right traveling wheels, but in the prior art, a balance arm having both ends connected to the left and right traveling wheels, respectively. Was forced to swing by a single hydraulic cylinder operation to raise and lower the left and right traveling wheels reciprocally, so that the rolling operation load all acted on a single hydraulic cylinder, and as a result, a large hydraulic cylinder When it becomes necessary, there is a disadvantage that the accuracy of the rolling control is reduced due to a hydraulic leak. Therefore, it has been proposed that the rolling control of the airframe is performed by a pair of left and right side cylinders to measure the dispersion of the rolling operation load. However, in this case, a hydraulic valve for controlling the expansion and contraction of the side cylinder is required for each, so that an increase in the number of parts is not a problem. There is a possibility that the speeds of the right and left traveling wheels do not coincide with each other due to the difference, and the accuracy of the rolling control is reduced.

[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 walk-behind field working machine having rolling control based on reciprocal lifting and lowering of left and right running wheels, wherein the walking-based field working machine is controlled to roll over the body based on reciprocal hydraulic expansion and contraction operations. When providing a pair of left and right side cylinders, each of the side cylinders is constituted by a single-rod double-acting cylinder in which the cross sections of both cylinder chambers partitioned by pistons differ based on the presence or absence of a piston rod. Cylinder chambers having the same cross section are connected to each other, while the other cylinder chamber is connected to a single hydraulic valve. . Also, a walking-type field working machine in which the body is controlled to roll based on reciprocal elevation of left and right running wheels, and the walking-type field working machine is controlled to roll the body based on reciprocal hydraulic expansion and contraction operation. When providing a pair of left and right side cylinders, each of the side cylinders is constituted by a single-rod double-acting cylinder in which the cross sections of both cylinder chambers partitioned by pistons differ based on the presence or absence of a piston rod, and the wheel elevation of both side cylinders The side cylinder chambers are connected to each other, while the wheel descending cylinder chamber is connected to a single hydraulic valve. According to the present invention, with this configuration, the pair of left and right side cylinders can be extended and contracted by a single hydraulic valve to reduce the number of parts, and the operating speeds of the left and right side cylinders are made to coincide with each other so that the accuracy of the rolling control is improved. Can also be significantly improved.

[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. I'm sorry.

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 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 for constantly urging the locking pin 26 toward the engaging side, and a connecting wire 28 to the locking pin 26. And an outer receptacle 25a for fixing an outer tube 28a of the connecting wire 28, and the like. That is, the side cylinder 23 is locked based on the operation of engaging the locking pin 26 by the cylinder locking operation tool.
The balance lock mechanism 1 controls the expansion and contraction of
8, the above-described driven rolling control based on the free swing of the balance arm 11 is performed by restricting the expansion and contraction of the side cylinder 23 while allowing the free swing of the balance arm 11. Only alternatives can be performed.

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 configured as described above, the rolling control of the airframe is performed based on the fact that the pair of left and right side cylinders 23 expand and contract reciprocally. Are hydraulically connected to a single second hydraulic valve 32 in series with each other,
Only by the switching operation of the second hydraulic valve 32, the expansion and contraction operation can be performed contrary. Therefore, it is not necessary to provide a hydraulic valve for each side cylinder 23 while rolling control is performed while distributing the rolling operation load by the pair of side cylinders 23. As a result, the number of parts can be reduced. And can greatly reduce costs.

Further, when the left and right side cylinders 23 are constituted by single-rod double-acting cylinders in which the cross sections of the two cylinder chambers partitioned by the piston 23d differ depending on the presence or absence of the piston rod 23a, the two side cylinders 23
Since the cylinder chambers having the same cross section are connected to each other, it is possible to prevent the operating speed of both side cylinders 23 from being varied due to the difference in cross section, and to make the vertical speeds of the left and right traveling wheels 8 coincide. Therefore, the accuracy of the rolling control can be greatly improved.

Further, in connecting the cylinder chambers of the same cross section of the two side cylinders 23 to each other, the cylinder ports of the wheel-up side, which are lower in pressure than the wheel lower side (the pressure becomes higher to resist the body load), are connected. Because connected
By adopting an inexpensive low-pressure type for the hydraulic piping 37 connecting the side cylinders 23, it is possible to contribute to cost reduction.

In the above embodiment, since the check valve 39 for connecting the two cylinder chambers at the stroke end is provided at the piston 23d of the side cylinder 23, the right and left cylinder positions are corrected and the air is automatically removed. As a result, an accurate positioning operation and a troublesome air bleeding operation in the assembling stage are not required, and the assembling workability can be remarkably improved.

[0019]

In summary, since the present invention is configured as described above, the present invention is configured to control the rolling of the body based on the reciprocal expansion and contraction of the left and right side cylinders while maintaining the same one of the two side cylinders. Because the cross-section cylinder chambers are connected to each other and the other cylinder chamber is connected to a single hydraulic valve, the left and right side cylinders expand and contract in an opposing manner based on the switching of the single hydraulic valve. become. Therefore, it is not necessary to provide a hydraulic valve for each side cylinder in controlling rolling of the aircraft while distributing the rolling operation load by a pair of left and right side cylinders. As a result, the number of parts is reduced and the cost is greatly reduced. You can measure down.

In addition, when the left and right side cylinders are constituted by single-rod double-acting cylinders in which the cross sections of the two cylinder chambers separated by the pistons differ depending on the presence or absence of the piston rod, the same cross-section cylinder chambers of the two side cylinders are used. Since they are connected to each other, it is possible to prevent the operating speeds of the two side cylinders from being varied due to the difference in cross section, and as a result, it is possible to make the vertical speeds of the left and right traveling wheels coincide with each other, thereby significantly improving the accuracy of the rolling control. it can.

Further, in connecting the cylinder chambers of the same cross section of both side cylinders to each other, the cylinder chambers of the wheel rising side which are lower in pressure than the wheel descending side (the pressure is higher to resist the body load) are connected to each other. In such a case, an inexpensive low-pressure type can be adopted for the hydraulic piping connecting the side cylinders.

[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 Running wheel 10 Main cylinder 11 Balance arm 23 Side cylinder 29 Hydraulic valve unit 32 Second hydraulic valve 35 Hydraulic piping 36 Hydraulic piping 37 Hydraulic piping

────────────────────────────────────────────────── ─── Continuation of the front page (56) References JP-A-3-123406 (JP, A) JP-A-56-29910 (JP, A) JP-A-56-29909 (JP, A) (58) Investigation Field (Int.Cl. ⁶ , DB name) A01C 11/02

Claims (2)

(57) [Claims] 1. A walk-behind field working machine in which the body is controlled to roll based on reciprocal elevation of left and right running wheels. In providing a pair of left and right side cylinders for rolling control, the side cylinders are constituted by single-rod double-acting cylinders in which the cross sections of both cylinder chambers partitioned by pistons differ based on the presence or absence of piston rods, and furthermore, both side cylinders A rolling control device for a walk-behind field work machine, wherein one of the cylinder chambers having the same cross-section is connected to each other, and the other cylinder chamber is connected to a single hydraulic valve. 2. A walk-behind field working machine in which the body is controlled to roll based on reciprocal lifting and lowering of left and right running wheels. In providing a pair of left and right side cylinders for rolling control, the side cylinders are constituted by single-rod double-acting cylinders in which the cross sections of both cylinder chambers partitioned by pistons differ based on the presence or absence of piston rods, and furthermore, both side cylinders A rolling control device for a walk-behind field working machine, characterized in that the wheel cylinders on the upside of the wheel are connected to each other while the cylinder chambers on the wheel downside are connected to a single hydraulic valve.