JP3146095B2 - Rolling control device for working unit in work vehicle - 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 working unit in a working vehicle such as a riding rice transplanter.

[0002]

2. Description of the Related Art In general,
In a working vehicle connected to this type of working unit, when the traveling machine body rolls due to unevenness of the field, inclination, obstacles, etc., the working unit also rolls integrally following the rolling, so that the field scene or There is an inconvenience that the working unit attitude with respect to the horizontal plane changes and the working accuracy is significantly reduced. Therefore, conventionally, a work unit is connected and supported in a freely rotatable manner, and the work unit is so-called free-rolling control that allows the work unit to be freely held by a rolling elastic machine to maintain a free attitude of the work unit. There is proposed a so-called forced rolling control for forcibly rolling a working section by an actuator operation based on detection of a horizontal sensor or the like. However, in the free rolling control, there is a limit to the amount of rolling that can be controlled.Therefore, in a field with severe unevenness, there is a drawback that the working unit follows the rolling of the traveling machine body and is greatly inclined. In this case, it is necessary to lower the control sensitivity in order to prevent a so-called hunting phenomenon peculiar to the automatic control and a malfunction due to a false detection, so that it is difficult to perform the control with a desired accuracy. As a result, any rolling control is sufficient. In fact, it was not possible to ensure work accuracy.

[0003]

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned circumstances, and has as its object to provide a rolling control device for a working unit in a working vehicle which can eliminate these drawbacks. A working vehicle having a working unit rotatably connected to the traveling machine side, wherein the working vehicle is positioned between the traveling machine side and the working unit side.
Te, an intermediate member which is rolling freely interposed respectively traveling vehicle body side and the working side, located between the intermediate member and the working portion, the working portion on the basis of the expansion and contraction of the rolling bullet machine a free rolling control mechanism is interposed to a free rolling control, between the intermediate member traveling machine body
Located, and forced rolling control mechanism is interposed to a strong <br/> system rolling control of the working unit based on the operation of the actuator, it is arranged in the intermediate member, the intermediate member so as to the control reference of the actuator And a horizontal detection mechanism for performing horizontal detection. According to the present invention, with this configuration, the accuracy of the rolling control can be significantly improved.

[0004]

Next, an embodiment of the present invention will be described with reference to the drawings. In the drawings, reference numeral 1 denotes a traveling machine of a riding type rice transplanter, and a planting work section 3 is connected to a rear portion of the traveling machine 1 via an elevating link mechanism 2 that operates to raise and lower hydraulic pressure. The planting work section 3 is rotatably supported by a link connecting frame 4 connected to a rear end of the lifting link mechanism 2 and a boss tube 4a formed at a lower end of the link connecting frame 4. A first rolling support shaft 5, a substantially U-shaped seedling mounting base support frame 6 integrally connected to a rear end of the first rolling support shaft 5, and an integral part of the seedling mounting support frame 6. A planer case 7 having a substantially letter-like shape in plan view, a planter arm 8 provided at each rear end of the planter case 7, an upper end of the seedling support frame 6, and an upper part of the planter case 7 The seedling mounting table 9 which is freely supported and is forcibly reciprocated left and right based on a lateral feeding action of a lateral feeding mechanism provided in the planter case 7, and swings up and down at the center of the bottom of the planter case 7 and on both left and right sides. Freely provided Is composed of centers float 10 and the side floats 11 and the like. That is, the planting work unit 3 moves the traveling body 1 (the link connecting frame 4)
In the planting operation state in which the first rolling support shaft 5 can be freely rolled with the fulcrum as a fulcrum and the buoyancy of the center float 10 and the side float 11 slides on the rice field, the planter arm 6 is adjusted to the planting timing. The seedlings to be planted are scraped from the seedling mounting table 9 fed side by side at a predetermined pitch and planted on the rice field. All of the above basic configurations are conventional.

[0005] Further, reference numeral 12 denotes the link connection frame 4.
The boss cylinder portion 12a formed at the lower end portion of the ammunition mounting frame 12 is provided at a position near the rear of the link connecting frame 4 from a position above the first rolling support shaft. A second rolling support shaft 13 protruding rearward is rotatably supported, so that the frame 12 is attached to the traveling body 1 (link connection frame 4) by a second rolling support. It is configured to be freely rollable with the shaft 13 as a fulcrum.

[0006] Reference numerals 14 and 15 denote a pair of left and right rolling ammunitions each comprising a coil ammunition. Of the rolling ammunition 14 and 15, the rolling ammunition 14 includes the above-mentioned ammunition mounting frame 12 and the seedling mounting. It is interposed between the table support frame 6 and the base support frame 6 to allow voluntary rolling of the planting work unit 3 by float buoyancy, while the other rolling bullet 15 is provided with a bullet mounting frame 12 and a seedling. It is interposed in a C-shape between it and the mounting table 9 so as to balance the unbalanced load accompanying the lateral feeding of the seedling mounting table 9. In other words, the so-called free rolling control mechanism is constituted by interposing the above-mentioned rolling machines 14, 15 between the machine mounting frame 12 and the planting work section 3 side.

On the other hand, reference numeral 16 denotes an electric cylinder, and the upper end of the electric cylinder 16 is connected to the link connecting frame 4.
The lower end is connected to an arm portion 12b projecting laterally from the frame 12 while being connected to an arm portion 4b projecting laterally from the armature. In other words, a so-called forced rolling control mechanism for forcibly rolling the planting work unit 3 (armature mounting frame 12) based on the expansion and contraction of the electric cylinder 16 is provided between the link connecting frame 4 and the armature mounting frame 12. It is configured.

Further, reference numeral 17 denotes a gravity sensor provided on the rear surface of the machine mounting frame 12 facing the seedling mounting table 9, and the gravity sensor 17 detects the horizontal of the machine mounting frame 12, It is configured to output the detected value to a cylinder control circuit (not shown). Then, in the cylinder control circuit, the electric cylinder 16 is rotated to roll the frame 12 against the detection of the gravity sensor 17.
By outputting an operation signal to the armature mounting frame 12, the horizontal position is always maintained regardless of the rolling of the traveling body 1.

Further, reference numeral 18 denotes a link connection frame 4.
A locking mechanism between the armature mounting frame 12 and the armature mounting frame 12.
An engaging bracket 21 provided on the side, the L-shaped provided in the link coupling frame 4 side Rotsukupureto 20 及
And a lock pin 19 integrated with the lock pin. The lock plate 20 is attached to the left and right side surfaces of the link connection frame 4 via a pair of bolts 22 penetrating through the elongated holes 20a so as to be slidable back and forth. When the lock plate 20 is fixed to the front non-locking position (fixed by the bolt 22), the locking pin 19 and the engaging bracket 21 do not engage with each other. To allow the execution of the forced rolling control,
When the locking plate 20 is fixed at the locking position on the rear side, the holes 21 b of the engagement bracket 21 are locked with the locking pins 19.
Therefore, the rolling of the armature mounting frame 12 with respect to the link connecting frame 4 is restricted to cancel the forced rolling control.

[0010] In the embodiment of the present invention configured as described above, the planting work unit 3 includes the traveling body 1 and the elevating link mechanism 2.
Is rotatably connected to the link connecting frame 4 via the first rolling support shaft 5 as a fulcrum. The mounting frame 12 is rotatably connected, and
While rolling ammunition machines 14 and 15 constituting a free rolling control mechanism are interposed between the planting work section 3 and the planting work section 3,
An electric cylinder 16 that constitutes a forced rolling mechanism is interposed between the frame 12 and the link connecting frame 4. In other words, the planting work unit 3 performs the forced rolling control for controlling the armature mounting frame 12 to be in the horizontal posture based on the expansion and contraction control of the electric cylinder 16 and the planting based on the elastic expansion and contraction of the rolling bullets 14 and 15. Rolling control is performed in a complex manner with free rolling control allowing the independent rolling of the working unit 3. Therefore, in comparison with the case where only the free rolling control is performed or the case where only the forced rolling control is performed, a large rolling control range can be ensured. As a result, even in a field with severe unevenness, the planting work unit 3 can be used. Work accuracy can be improved by reliable rolling control.

Further, in the forced rolling control, the control range of the free rolling control is displaced in accordance with the rolling amount of the planting work section 3 to always enable the free rolling control. If the sensitivity of the forced rolling control is reduced, the control accuracy does not decrease even if the sensitivity is reduced.As a result, the hunting phenomenon and the malfunction due to erroneous detection in the forced rolling control are prevented, and the control accuracy and smoothness of the rolling control are improved. Can be improved .

In addition, the electric cylinder 16 is attached to the frame 12 to be controlled by the gravitational sensor
7, the operation is controlled on the basis of the detection of No. 7, so that the detection error does not occur based on the backlash of the elevating link mechanism 2 as in the case where the sensor is disposed on the traveling body 1, and the rolling ammunition 14, 15 The detection does not become unstable as in the case where the sensor is provided in the planting work section 3 connected via the. Therefore, it is not permissible to perform high-precision rolling control based on high-precision horizontal detection with a small detection error, and the stability of rolling control can be improved.

Further, since the gravity sensor 17 is a non-contact sensor, there is no fear that the gravity sensor 17 will be damaged by contact with an obstacle or the like. because the space surrounded by the urging working unit 3 is disposed gravity sensor 17, it is stable detection operation for a long period of time to eliminate also detect defects based on the deposition of such mud.

It should be noted that the present invention is not limited to the above-described embodiment, and it is not necessary to provide a second rolling support shaft as in the second embodiment shown in FIGS. It is also possible to configure. That is, in the second embodiment, the boss cylinder portion 12a of the machine mounting frame 12 is supported by the intermediate portion of the first rolling support shaft 5 so as to be freely rotatable. Since the detection sensor (pendulum sensor) 23 is provided, the same operation and effect as in the first embodiment can be obtained. The second embodiment differs from the first embodiment in that the actuator of the forced rolling control mechanism is constituted by the hydraulic cylinder 24. However, it goes without saying that other actuators can be used.

[0015]

In summary, since the present invention is configured as described above, while controlling the rolling operation of the working unit, there is a gap between the traveling machine and the working unit. rolling freely intermediate member respectively interposed Te, and, between the between the working section the intermediate member, freely rolling control mechanism based on the expansion and contraction of the rolling bullet machine, and the intermediate member traveling machine body the, forced rolling control mechanism based on the operation of the actuator it
Results Each is interposed, working portion, said free rolling control and forced based on the rolling control complex B <br/>-ring control is performed. Accordance connexion, can in a sufficiently secure a rolling control range compared to that performs free rolling control and forced rolling control alone, the precision of resolving to rolling control malfunction as falling out of control in the intense field of irregularities Can be improved .

In addition , since the forced rolling control acts to shift the control range of the free rolling control in accordance with the amount of rolling, it is necessary to enable the free rolling control irrespective of the condition of the field to perform fine control. If possible, the sensitivity of the forced rolling control can be reduced without deteriorating the control accuracy if it is within the control range of the free rolling control, and as a result, the error caused by the hunting phenomenon or the erroneous detection in the forced rolling control can be achieved. By eliminating the operation, the control accuracy in the rolling control can be further improved.

Further, a horizontal detecting mechanism is provided on an intermediate member whose attitude is controlled by the forced rolling control , and the operation of the actuator is controlled based on the detection of the horizontal detecting mechanism. or cause detection error based on as in the case of arranging the horizontal sensing mechanism, backlash or the like of the connection path from the vehicle body to the intermediate member, the free Lori
As in the case where the horizontal detection mechanism is installed on the working unit side that is connected in the switching state, there is no inconvenience that the detection becomes unstable, and as a result, high precision and stable horizontal detection is enabled. The accuracy of the rolling control can be further improved.

[Brief description of the drawings]

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

FIG. 2 is a side view of a planting work section.

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

FIG. 4 is a sectional view of a main part of the above.

FIG. 5 is a side view of a main part showing a locking mechanism.

FIG. 6 is a side view of a planting work section showing another example.

FIG. 7 is a front view of the essential parts of the same.

FIG. 8 is an enlarged sectional view of a main part of the above.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Traveling body 2 Elevating link mechanism 3 Planting work part 4 Link connection frame 5 First rolling support shaft 12 Ammunition mounting frame 13 Second rolling support shaft 14 Rolling machine 15 Rolling machine 16 Electric cylinder 17 Gravity sensor 18 Lock mechanism

──────────────────────────────────────────────────続 き Continued on front page (58) Field surveyed (Int.Cl. ⁷ , DB name) A01C 11/02 A01B 63/10

Claims (1)

(57) [Claims] 1. A work vehicle having a working unit rotatably connected to a traveling body side, wherein the working vehicle is positioned between the traveling body side and the working unit side, and is disposed between the traveling body side and the working unit side. freely through each for rolling
An intermediate member which is set, is located between the working side and the intermediate member, the free rolling control of the working unit based on the expansion and contraction of the rolling bullet machine
A free rolling control mechanism intoxicated is interposed and positioned between the intermediate member traveling machine body side, and a forced rolling control mechanism is interposed to forced rolling control of the working unit based on the operation of the actuator, disposed intermediate member, and a horizontal detection mechanism for the horizontal detection of the intermediate member so as to the control reference of the actuator
Working portion of the rolling control apparatus in a working vehicle, characterized in that the configuration was.