JP2000037108A - Working machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a working machine designed to prevent a ground working device from posture change for its advancing direction associated with the horizontally swinging motion of a link mechanism despite using such horizontal swing style for the link mechanism. SOLUTION: This working machine has such a scheme that a ground working device 6 is linked both in vertically and horizontally movable manner via a vertically and horizontally movable link mechanism 1 to a sulky-type self-propelling machine body 5, there are provided a lift cylinder functioning to vertically swingingly drive the link mechanism 7 and a shift cylinder 19 functioning to horizontally swingingly drive the link mechanism 7, and the link mechanism 7 is rendered as parallel quadruple one so as to subject the ground working device 6 to horizontal parallel movement when viewed from above.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a self-propelled body of a riding type, which is connected to a ground working device via a link mechanism capable of swinging up and down and left and right so as to be able to move up and down and left and right. The present invention relates to a work machine such as a cultivator provided with a lift actuator such as a hydraulic cylinder that swings up and down and a shift actuator such as a hydraulic cylinder that swings a link mechanism left and right.

[0002]

2. Description of the Related Art This type of working machine can advantageously perform ground work such as tilling work inside a house where obstacles such as columns are present. In other words, it is very difficult to move the ground work equipment along the inside of the house while avoiding obstacles by steering the self-propelled body, but the link mechanism is configured to swing left and right and this link mechanism is moved to the left and right. In the working machine of the present invention provided with a shift actuator that is driven to swing, the ground mechanism can be moved left and right with respect to the self-propelled body by swinging the link mechanism left and right. By shifting the ground working device to the left and right while moving the aircraft straight, the ground working device can be easily moved along the inside of the house while avoiding obstacles.

In addition, as means for moving the ground working device to the left and right, means for attaching the ground working device to the link mechanism so as to be slidable to the left and right can be considered, but in this case, the mounting structure of the ground working device is complicated. Moreover, it is difficult to maintain smooth sliding performance because mud or the like enters the sliding portion. On the other hand, in a configuration in which the ground mechanism is moved left and right by swinging the link mechanism left and right, the structure is simple because it is sufficient to swing the link mechanism left and right.

[0004] As a conventional working machine for moving the ground working device left and right by swinging such a link mechanism left and right, a left and right lower link of the link mechanism that supports the ground working device is viewed in plan view. What is arranged in the shape of a letter is known.

[0005]

However, according to the above-described conventional technique, when the link mechanism is swung left and right to move the ground working device left and right, the ground working device is swung right and left in plan view. There is a drawback that the user moves right and left in the state, and the posture in the traveling direction of the ground working device changes with the left and right movement.

SUMMARY OF THE INVENTION An object of the present invention is to prevent a posture change in the traveling direction of a ground working apparatus due to a lateral movement.

[0007]

The features, functions and effects of the first aspect of the present invention are as follows.

[Characteristics] A ground working device is connected to a riding type self-propelled body via a link mechanism which can swing up and down and left and right so as to be able to move up and down and left and right, and the link mechanism is driven to swing up and down. A work machine provided with a lift actuator and a shift actuator that drives the link mechanism to swing left and right, wherein the link mechanism is changed to a parallel quadruple link mechanism so as to translate the ground working device to the left and right in plan view. The point is that it is structured.

[Operation] According to the first aspect of the present invention, the link mechanism is configured as a parallel quadruple link mechanism in plan view, and the ground working device is moved in parallel to the left and right as the link mechanism swings left and right. Therefore, regardless of the lateral movement of the ground working device, the attitude of the ground working device in the traveling direction can be kept constant.

[Effects] Therefore, according to the first aspect of the present invention, it is possible to prevent a change in the posture of the ground work apparatus in the traveling direction due to the lateral movement of the link mechanism by swinging the link mechanism from side to side.

According to the second aspect of the present invention, the features, functions,
The effects are as follows.

[Features] In the features of the first invention,
The point is that a left and right movement control means for controlling a shift actuator is provided so that the ground working device moves to one side in the left and right directions in accordance with the ascent operation.

[Operation] In general, the roof (cover) of a house is of a kamaboko type, and in such a house interior work, when raising a ground working device for turning or the like, the roof is covered with respect to the self-propelled body. In order to prevent the end of the ground working device moving to the inner side of the house from hitting the roof, the ground working device cannot be raised as high. Paying attention to the above points, according to the second aspect of the present invention, since the left and right movement control means is provided, the shift actuator is controlled with the ascending operation to move the ground working device to one of the left and right sides. By setting one of the left and right sides away from the inside of the house, the ground working device is automatically moved away from the inside of the house with the ascending operation, and the ground working device is moved to a position where the height of the roof is high. be able to.

[Effect] Therefore, according to the second aspect of the present invention, it is possible to raise the ground working device to a sufficient height while avoiding the ground working device from hitting the roof.

According to the third aspect of the present invention, the features, functions,
The effects are as follows.

[Features] In the features of the first and second aspects of the present invention, the upper surface and the side surface on one of the left and right sides of the ground working device are connected by an inclined surface.

[Operation] In the case of work inside the house, the height of the roof portion where the upper portions of the left and right ends of the ground working device are located is the lowest. Therefore, when the upper surface and the side surface of one of the left and right sides of the ground working device are directly connected to form a corner, the corner is located closer to the roof, and the corner is prevented from hitting the roof. In doing so, the ground work equipment cannot be raised high. Paying attention to the above points, according to the third aspect of the present invention, since the upper surface and the side surface on one of the left and right sides of the ground working device are connected by an inclined surface, the corner approaching the roof is eliminated, and the inclined surface is removed. A sufficient vertical space can be secured between the roof and the roof.

[Effect] Therefore, according to the third aspect of the present invention, it is possible to raise the ground working device to a sufficient height while avoiding the ground working device from hitting the roof.

According to the fourth aspect of the present invention, the features, functions,
The effects are as follows.

[Features] In the features of the first invention, the second invention, and the third invention, a link mechanism that supports the ground working device in a rotatable manner is provided, and the ground working device is associated with a rising operation. Is characterized in that rolling control means for controlling a rolling actuator that performs a rolling operation of a link mechanism so as to roll to a posture in which one of the right and left sides is lowered is provided.

[Operation] When the ground working device is raised in the inside of a house having a Kamaboko-shaped roof, the end of the ground working device located on the inner side of the house approaches the roof earliest. Focusing on the above points, in the fourth aspect of the present invention, the rolling control means is provided to control the rolling actuator for rolling the link mechanism in accordance with the ascending operation, thereby lowering one of the left and right sides of the ground working device. The left and right sides are set to the innermost side of the house, so that the end of the groundworking device located on the innermost side of the house is attached to the roof as the groundworking device rises. The approach, that is, the hit can be delayed, and the ground work equipment can be raised higher accordingly.

[Effects] Therefore, according to the fourth aspect of the present invention, it is possible to raise the ground working device to a sufficient height while avoiding contact of the ground working device with the roof.

According to the fifth aspect of the present invention, the features, functions,
The effects are as follows.

[Features] In the features of the first invention, the second invention, the third invention, and the fourth invention, the ground working device includes a fixed side cover and a vertically swayable swing for detecting a plowing depth. A tillage rotary provided with a rear cover and a rear side cover for closing a gap between left and right edges of the rear cover and a rear edge of the side cover, wherein the rear side cover is attached to the rear cover.

[Operation] Due to the characteristics of a link mechanism, for example, a three-point link mechanism composed of left and right lower links and a top link, when the tilling rotary is raised, the tilling rotary changes to a posture in which the rear portion is lifted. In such a case, if the rear side cover is attached to the side cover, the rear side cover stands up with the rear part lifted with the rise of the tilling rotary. This means that the rear side cover approaches the Kamaboko-shaped roof of the house,
Lower the upper limit of the tillage rotary. Paying attention to the above points, in the fifth aspect of the invention, the rear side cover is attached to the rear cover that hangs down with the rise of the tilling rotary so that the rear side cover hangs down with the rear cover with the rise of the tilling rotary. Therefore, the approach of the rear side cover to the roof due to the rise of the tilling rotary can be suppressed.

[Effects] Therefore, according to the fifth aspect of the present invention, it is possible to suppress the lowering of the raising limit of the tilling rotary caused by the rear side cover, thereby avoiding the contact of the ground working device with the roof while maintaining the ground work. The device can now be raised to a sufficient height.

According to the sixth aspect of the present invention, the features, actions,
The effects are as follows.

[Features] In the features of the first invention, the second invention, the third invention, the fourth invention, and the fifth invention, a link mechanism having a pair of left and right lower links is provided as a link mechanism. A pair of left and right first support shafts for mounting a lower link, which are arranged on the ground working device side at a left-right space equal to the left and right space between the pair of left and right support shafts for mounting the lower link on the self-propelled body side; And a pair of left and right second support shafts for mounting the lower link, which are arranged at a large left-right space.

[Operation] A form of a parallel quadruple link mechanism in which the rear end of the lower link is attached to the ground working device using the first support shaft so that the front-end left-right space and the rear end left-right space are equal. On the other hand, by attaching the rear end of the lower link to the ground working device by using the second support shaft, the rear end left-right spacing of the lower link is made larger than the front end left-right spacing, so that the ground working device can be formed. Can be constructed in a normal form link mechanism that stably supports.

[Effects] Therefore, according to the sixth aspect of the present invention, only by selectively using the first support shaft and the second support shaft, the ground work device can be moved in the left-right direction and the ground work device can be stably supported. Form can be revealed.

According to the seventh aspect of the present invention, the features, operations,
The effects are as follows.

[Features] In the features of the sixth invention,
The point is that the first support shaft and the second support shaft are arranged so that those located on the same side on the left and right project in the same left and right inward and outward directions.

[Operation] The first support shaft and the second support shaft located on the same left and right sides are arranged so as to protrude in the same left and right inward and outward directions, and the insertion and removal directions of the lower link rear end with respect to the first support shaft are determined. Since the insertion direction of the lower link rear end portion with respect to the second support shaft is the same, the mounting procedure of the lower link rear end portion to the first support shaft and the mounting of the lower link rear end portion to the second support shaft The procedure is the same, so that the mounting operation can be prevented.

[Effects] Therefore, according to the seventh aspect of the present invention, the attachment of the lower link rear end to the first support shaft and the attachment of the lower link rear end to the second support shaft can both be performed with good workability. It became so.

[0035]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A riding-type cultivator, which is an example of a working machine, includes a pair of left and right driving front wheels 1, a pair of right and left driving rear wheels 2, and a cabin 3 as shown in FIG. A tillage rotary 6, which is an example of a ground work device, is connected to a rear portion of a riding type self-propelled body 5 having a boarding operation unit 4 via a link mechanism 7.

The tillage rotary 6 is of a side drive type, and as shown in FIGS. 3, 4 and 11, a frame 6A attached to a link mechanism 7 and a tillage shaft supported by the frame 6A. 6B, an upper cover 6C covering above the cultivating shaft 6B, fixed left and right side covers 6D covering left and right sides of the cultivating shaft 6B, a vertically swingable rear cover 6E covering a rear portion of the cultivating shaft 6B, and a side. Cover 6
A rear side cover 6F is provided to close a gap between the rear edge of D and the left and right edges of the rear cover 6E. The frame 6A comprises a left and right side cylindrical main frame 6G also serving as a transmission case attached to the link mechanism 7, and left and right side plates 6H supporting both ends of the tilling shaft 6B.
One of the left and right side plates 6H is a transmission case to the tilling shaft 6B. Then, an upper surface 6a on one side of the left and right sides (the other side plate 6H side) of the main frame 6G and a side surface 6 of the other side plate 6H.
b is connected by an inclined surface 6c as shown in FIG. As shown in FIG. 1, the rear side cover 6F is attached to the rear cover 6E so as to swing up and down integrally with the rear cover 6E.

The link mechanism 7 is a three-point link mechanism as shown in detail in FIGS. 2 to 4 and also as shown in FIGS. To connect a pair of left and right lower links 8 for tilling rotary connection to the rear part, and to restrict swinging of the tilling rotary 6 attached to the rear end of the lower link 8 around a pivot connection point with the lower link 8. And a pair of left and right lift arms 11 connected to corresponding ones of the left and right lower links 8 via lift rods 10.
Are connected so as to be vertically swingable.

The means for connecting the lower link 8 to the self-propelled body 5 includes a support shaft 5S on the machine body side via a ball joint 12 so that the lower link 8 can swing vertically and horizontally with respect to the self-propelled body 5. The connecting means of the tilling rotary 6 to the rear end of the lower link 8 is connected to the lower link 8 via a ball joint 13 via a ball joint 13 so that the tilling rotary 6 can swing vertically and horizontally with respect to the lower link 8. This is a means for connecting to the first support shaft 6S1 on the tillage rotary 6) side.

The means for connecting the top link 9 to the self-propelled body 5 is means for connecting the top link 9 to the self-propelled body 5 via a ball joint 14 so that the top link 9 can swing vertically and horizontally. The means for connecting the tillage rotary 6 to the top link 9 is a means for connecting the tillage rotary 6 to the top link 9 via a ball joint 15 so as to swing vertically and horizontally.

The lift arm 11 of the lift rod 10
The connecting means for connecting the lift rod 10 to the lift arm 11
Is connected to the lower link 8 by a ball joint 16 so that the lift rod 10 can swing vertically and horizontally. The connecting means of the lift rod 10 to the lower link 8 And means for connecting via a support shaft 17 so as to be swingable right and left. In addition, the lower link 8
The ball joint 16 is mounted on the support shaft 11a mounted on the lift arm 11 so as to protrude left and right outward from the tip of the lift arm 11. The lift rods 10 on the left and right sides are positioned parallel to each other, that is, positioned directly above the link 8.

The left and right lower links 8 are arranged so as to be parallel to each other by making the left-right space of the first support shaft 6S1 on the frame side equal to the left-right space of the support shaft 5S on the body side. . That is, the left and right lower links 8
The link mechanism including the self-propelled body 5 and the tiller rotary 6 is configured as a parallel quadruple link mechanism.

As a result, the link mechanism 7 swings the lift arm 11 up and down and swings the lower link 8 up and down, thereby regulating the attitude of the tilling rotary 6 around the left-right axis with the top link 9. The tilling rotary 6 is moved up and down in a state in which the tilling rotary 6 is moved up and down, and the left and right lower links 8 are swung integrally left and right so that the top link 9 and the lift rod 10 are swung left and right so that the tilling rotary 6 is moved horizontally. Is configured.

Also, the tillage rotary 6 is provided with a second support shaft 6S2 on the frame side for mounting a lower link, which is disposed at a left-right interval larger than the left-right interval of the first support shaft 6S1 on the frame side. And as shown in FIG.
Using the first support shaft 6S1 on the frame side, the lower link 8
By attaching the rear end to the tillage rotary 6, the link mechanism 7 can be configured in such a manner that the rear end left / right spacing is equal to the front end left / right spacing, and as shown in FIG.
By attaching the rear end of the lower link 8 to the tillage rotary 6 using the support shaft 6S2, the link mechanism 7 can be configured in a form in which the rear end left-right spacing is larger than the front end left-right spacing. Note that the first support shaft 6S1 and the second support shaft 6S2 on the frame side located on the same side on the left and right are arranged so as to protrude in the same left and right direction. In this embodiment, they protrude outward in the left and right directions. However, the first support shaft 6S1 may be disposed so as to protrude outward and the second support shaft may be disposed such that the first support shaft 6S1 protrudes outward. The shaft 6S2 is arranged so as to protrude inward, or the first support shaft 6S1 is arranged so as to protrude inward, and the second support shaft 6S2 is arranged so as to protrude outward. Or may be implemented.

Then, the left and right lift arms 11 are swingably driven up and down integrally with the self-propelled body 5.
A single-acting lift actuator that lifts the lift arm 11, that is, the tilling rotary 6 against the weight of the tilling rotary 6 with the supply of pressurized oil, and lowers the tilling rotary 6 with its weight with the drainage of oil An example of a shift actuator in which a hydraulic cylinder lift cylinder 18 is provided, and between the self-propelled body 5 and one of the lower links 8, the left and right lower links 8 are integrally swung to the left and right by expanding and contracting. A certain double-acting hydraulic shift cylinder 19 is interposed, and the other left and right lift rods 10 extend and contract and expand and contract freely, so that the other lower arm 8 can move relative to the other lift arm 11. Oscillating up and down, the left and right lower links 8 are relatively oscillated up and down, and the tillage rotary 6 is rolled with respect to the self-propelled body 5. It is configured double-acting hydraulic rolling cylinder 20 where it is over the ring actuator. In other words, the shift cylinder 19 and the rolling cylinder 20 are separately arranged on the left and right, and the tilling rotary 6 is rolled with respect to the self-propelled body 5 in accordance with the amount of rolling of the self-propelled body 5 with respect to the ground. The ground rolling attitude can be kept constant.

Therefore, as shown in FIGS. 5A and 5B, if the lift rod 10 and the rolling cylinder 20 have the same length and are located in parallel, the lower link 8 is swung right and left. Regardless of the left and right movement of the tillage rotary 6, the ground rolling posture of the tillage rotary 6 can be maintained constant. However, as shown in FIGS. Regardless of the difference in length between the lift rod 10 and the rolling cylinder 20 in order to maintain the ground rolling posture of the tillage rotary 6 constant, the lower link 8 is swung left and right to move the tillage rotary 6 left and right. When this is done, the tilling rotary 6 rolls with respect to the self-propelled body 5 in accordance with the difference in length, and the ground rolling attitude of the tilling rotary 6 changes.

As shown in FIG. 7, the hydraulic supply circuit for the lift cylinder 18, shift cylinder 19, and rolling cylinder 20 includes an engine 2 mounted on the self-propelled vehicle body 5.
A flow priority valve 23 for shunting the pressure oil generated by the hydraulic pump 22 driven by the hydraulic pump 22; an excess flow oil passage L1 for supplying an excess flow from the flow priority valve 23 to the lift cylinder 18;
A control flow passage L2 for supplying a control flow from the flow priority valve 23 to the shift cylinder 19 and the rolling cylinder 20 is provided. The surplus flow passage L1 is operated by the pilot pressure of the ascending electromagnetic pilot valve UPV. The lift cylinder 1 is operated by the lift valve UV that switches to a pressure oil supply state for extending the lift cylinder 18 and the pilot pressure of the descending electromagnetic pilot valve DPV.
Down valve D that switches to a draining state that allows shortening
And an electromagnetic shift control valve 24 that expands and contracts the shift cylinder 19 in the control flow oil passage L2 and an electromagnetic shift control valve 24 that expands and contracts the rolling cylinder 20 in the control flow oil passage L2. The rolling control valve 25 is interposed in a state of being connected in series.

The shift control valve 24, the rolling control valve 25, and the lift control valve 26 for the lift cylinder 18 are, as shown in FIG.
The rolling control valve 25 is arranged on the same side as the left and right sides of the lift cylinder 9 and on the same side as the left and right sides of the rolling cylinder 20, and is attached to the cylinder case 18A of the lift cylinder 18. A circuit case 27 containing a hydraulic supply circuit is also attached to the cylinder case 18A.

As shown in FIGS. 2 to 5, the cultivator is provided with an urging means for urging the pair of left and right lower links 8 to swing rightward or leftward. The biasing means is configured by providing a gas spring 28 that is biased to extend and extend between the other left and right lower link 8 and the self-propelled body 5. In place of the gas spring 28, a compression coil spring or a tension coil spring may be provided.

As shown in FIG. 8, the operating means for the lift cylinder 18, shift cylinder 19, and rolling cylinder 20 is provided on the self-propelled body 5 by an elevating operation lever 30.
A shift operation lever 31 and a rolling sensor 32 for detecting an amount of horizontal inclination (rolling amount) of the self-propelled body 5 with respect to the horizontal, and a lifting / lowering operation position sensor using a potentiometer for detecting a vertical operation position of the lifting / lowering operation lever 30. A shift operation position sensor 34 using a potentiometer for detecting the shift operation position of the shift operation lever 31
And a body height sensor 35 using a potentiometer for detecting the amount of swing of the lift arm 11 as a body height of the tiller rotary 6, and a potentiometer for detecting the amount of expansion and contraction of the shift cylinder 19 as a lateral position of the tiller rotary 6 with respect to the machine body. A useable left / right position sensor 36, a rolling attitude sensor 37 using a potentiometer that detects the amount of expansion and contraction of the rolling cylinder 20 as an anti-aircraft rolling attitude of the tilling rotary 6, and a rolling attitude using a potentiometer that sets the ground rolling attitude of the tilling rotary 6 A setting device 38, a cultivation depth sensor 39 using a potentiometer for detecting the cultivation depth based on the swinging posture of the rear cover 6E of the cultivation rotary 6, and a cultivation depth setting device 40 using a potentiometer are provided. Lift control valve based on output And it is configured to provide a control device 41 of the microcomputer utilized to control the 26-shift control valve 24 Rolling control valve 25.

The control device 41 is shown in FIG.
As shown in (c), due to the characteristics of the link mechanism 7, the correction amount data for correcting the tilling rotary 6 that rolls with the left and right movement of the lower link 8 (the tilling rotary 6) to the set ground rolling posture is obtained. The control device 41 includes the following <1> to <11> as shown in FIG.
<7> control means is provided. <1> The output of the lifting / lowering operation position sensor 33 and the output of the vehicle height sensor 35 coincide with each other so that the cultivating rotary 6 moves up and down at the height position corresponding to the operation position of the lifting operation lever 30. So that the lift control valve 2
6. A lifting / lowering control means C1 for controlling the controller 6. <2> When the lifting operation lever 30 is operated to the working position,
The cultivation depth is set to the set cultivation depth, that is, the cultivation depth sensor 39
Automatic tillage depth control means C2 that controls the lift control valve 26 so that the output of the tillage depth setting device 40 matches the output of the tillage depth setting device 40. <3> The shift control is performed so that the tillage rotary 6 is positioned at the left and right positions corresponding to the operation position of the shift operation lever 31, that is, the output of the shift operation position sensor 34 and the output of the left and right position sensor 36 match. Shift control means C3 for controlling the valve 24; <4> The output of the rolling sensor 32, the output of the rolling attitude sensor 37, and the rolling attitude setting unit 38 so that the ground rolling attitude of the tillage rotary 6 becomes the set attitude.
Automatic rolling control means C4 for controlling the rolling control valve 25 based on the output of <5> Correction rolling control means C5 that controls the rolling control valve 25 based on the output of the left and right position sensor 36 and the data of the correction amount so that the ground rolling posture of the tillage rotary 6 becomes the set posture. <6> When the raising operation of the raising / lowering operation lever 30 is detected by the raising / lowering operation position sensor 33, when the tilling rotary 6 is located on the right side of the center of the left / right moving range, the tilling rotary 6 is located at the left end of the left / right moving range. The shift control valve 24 is controlled so as to be positioned, and when the cultivation rotary 6 is located on the left side of the center of the left / right movement range, the shift control valve 24 is positioned such that the cultivation rotary 6 is located at the right end of the left / right movement range. Right and left movement control means C6 for controlling the <7> When the raising operation of the raising / lowering operation lever 30 is detected by the raising / lowering operation position sensor 33, the left side of the cultivation rotary 6 is higher than the right side when the cultivation rotary 6 is located on the right side of the center of the left / right movement range. When the rolling valve 25 is controlled so as to be located at the rolling position, and the cultivating rotary 6 is located on the left side of the center of the left-right movement range, the rolling position at which the right side of the cultivating rotary 6 is located higher than the left side is determined. A rolling control means C7 for controlling the rolling valve 25 so that

As shown in FIG. 12, a marker 42 projecting forward from the cultivation rotary 6 is provided on one of the left and right sides (the inclined surface 6c side) of the cultivation rotary 6.
It is provided in a state where it can be seen from above. This marker 4
2 is configured so that the front and rear positions with respect to the cultivation rotary 6 can be adjusted by providing a mounting stay 44 to the cultivation rotary 6 that can be extended and contracted in the front and rear.

Therefore, as shown in FIGS. 12A and 12B, when tilling the inside of a house where obstacles C such as columns are present, the self-propelled body 5 is moved on a traveling path that does not hit the obstacles C. The tilling rotary 6 is moved to the left and right with respect to the self-propelled body 5 so that the marker 42 moves inside the house in a state where the marker 42 is located at the position.
Before reaching the support C, the tilling rotary 6 is moved right and left to a position where it does not hit the obstacle C, and after passing the obstacle C,
By moving the tilling rotary 6 right and left to the inner side of the house, it is possible to till the inner side of the house avoiding the obstacle C without steering the self-propelled body 5. Then, as shown in (a), (b), and (c) of FIG. 6, the control of <5> maintains the ground rolling posture of the tilling rotary 6 at the set posture regardless of the left-right movement of the tilling rotary 6. Therefore, good tilling can be performed, and since it is easy to grasp the position of the tilling rotary 6 inside the house and the obstacle C by visually observing the marker 42, the tilling rotary 6 is moved right and left at appropriate timing, It is possible to plow up to near the front and rear of the obstacle C, and it is possible to reduce the remaining tillage. In addition, as shown in FIG. 10, when the cultivation rotary 6 is raised with the body turning at the end of the traveling path for the work inside the house, the cultivation rotary 6 automatically moves away from the inside of the house. Since the cultivating rotary 6 automatically rolls so that the end of the cultivating rotary 6 on the inner side of the house is lowered, even if the cultivating rotary 6 is raised high, the end of the tilling rotary 6 on the inner side of the house is house H. In particular, when moving the end on the gas spring 28 side of the tilling rotary 6 along the inside of the house,
Since there is no upper corner of the end of the tillage rotary 6 on the inner side of the house, the upper surface 6a and the side surface 6b are connected by the inclined surface 6c and the upper end is retired, so the tillage rotary 6 is raised. In this case, it is possible to more effectively suppress the end of the tillage rotary 6 from contacting and colliding with the house H.

[Alternative Embodiment] In the above embodiment, the link mechanism 7 in which the lower link 8 is located to the left and right outside the tip of the lift arm 11 has been described. As shown in (1), the tip of the lift arm 11 and the lower link 8 may be located at the same position on the left and right. In this case, the lift arm 11 is pivotally connected to the lift arm 11 at one end via a pin 60 and is pivotally connected to the lift rod 10 via a ball joint 16 at the other end.
Is connected to a lift rod 10. The intermediate member 6
Reference numeral 1 denotes a lift arm 11 and a lift rod 1 for preventing left and right displacement of the lift arm 11 and the lift rod 10.
0 has a U-shaped cross-section that is connected to both sides while sandwiching the ball joint 16 from the left and right.
The support shaft 62 is supported by the intermediate member 61 at both ends.

In the above embodiment, the left and right movement control means C
6, when the ground working device 6 is located on the right side of the center of the left-right moving range, the ground working device 6 is positioned on the left end of the left-right moving range, and Also, means for moving the ground working device 6 left and right so that the ground working device 6 is located at the right end of the left and right movement range when the device is located on the left side is shown. However, as the left and right movement control device C6, the ground working device 6 is When located on the right side of the center of the left and right movement range, the ground working device 6 is located on the left side of the center and the center of the left and right movement range,
Further, when the ground work device 6 is located on the left side of the center of the left-right movement range, the ground work device 6 is moved left and right so that the ground work device 6 is located on the right side of the center or the center of the left-right movement range. There may be.

In the above embodiment, the lifting operation lever 30
Right and left movement control means C6
And the rolling control means C7 perform the control operation. However, it is necessary to raise the ground working device 6 at the time of steering (turning), and the lifting operation of the ground working device 6 is accompanied by the steering operation. Paying attention, the steering operation may be performed as an ascending operation so that the left and right movement control means C6 and the rolling control means C7 perform control operations.

In the above embodiment, the hydraulic cylinder is shown as the lift actuator 18, the shift actuator 19, and the rolling actuator 20, but they may be a hydraulic motor, an electric motor, an electric cylinder, or the like.

The ground working device 6 may be a tilling rotary, that is, a device other than the tilling device.

The present invention can be applied to various working machines.

[Brief description of the drawings]

Fig. 1 Side view of a cultivator

FIG. 2 is a cutaway rear view of the rear part of the self-propelled body.

FIG. 3 is a side view of the link mechanism.

FIG. 4 is a plan view of a link mechanism.

FIG. 5 is a schematic perspective view showing a shift operation.

FIG. 6 is a schematic rear view showing the operation of the link mechanism accompanying the shift movement.

FIG. 7 is a hydraulic circuit diagram

FIG. 8 is a control block diagram.

FIG. 9 is a schematic plan view of a link mechanism in a state where a lower link is attached to a second support shaft.

FIG. 10 is a schematic rear view of the tillage rotary showing a state in which the rotary is raised and lowered;

FIG. 11 is a cutaway rear view of a tillage rotary.

FIG. 12 is a schematic plan view showing a tillage operation mode.

FIG. 13 is a side view of a link mechanism showing another embodiment.

FIG. 14 is a plan view of a link mechanism showing another embodiment.

FIG. 15 is a cutaway plan view of a main part of a link mechanism showing another embodiment.

[Explanation of symbols]

 Reference Signs List 5 Self-propelled body 5S Support shaft 6 Ground work device 6a Upper surface 6b Side surface 6c Inclined surface 6D Side cover 6E Rear cover 6F Rear side cover 6S1 First support shaft 6S2 Second support shaft 7 Link mechanism 8 Lower link 18 Lift actuator 19 Shift actuator 20 Rolling actuator C6 Left / right movement control means C7 Rolling control means

Continued on the front page (72) Inventor Soji Fujita 64 Ishizukita-cho, Sakai City, Osaka Prefecture, Kubota Sakai Works, Ltd. 72) Inventor Mitsuyoshi Hirata 64 Ishizu-Kitacho, Sakai City, Osaka Prefecture F-term in Kubota Sakai Works Co., Ltd.

Claims (7)

[Claims] 1. A ground work device is connected to a riding type self-propelled body via a link mechanism capable of swinging up and down and left and right so as to be able to move up and down and left and right, and the link mechanism is driven to swing up and down. A work machine provided with a lift actuator and a shift actuator that drives a link mechanism to swing left and right, wherein the link mechanism is configured as a parallel quadruple link mechanism so as to translate the ground working device in a horizontal direction in a plan view. Working machine. 2. The work machine according to claim 1, further comprising left / right movement control means for controlling a shift actuator so that the ground working device moves to one of the left and right sides in accordance with the ascent operation. 3. The working machine according to claim 1, wherein an upper surface and a side surface of one of the right and left sides of the ground working device are connected by an inclined surface. 4. A rolling actuator for rolling a link mechanism so that the ground working device rolls in a posture in which one of the right and left sides is lowered in accordance with a lifting operation. The working machine according to any one of claims 1 to 3, further comprising rolling control means for controlling the operation of the work machine. 5. A ground work device, comprising: a fixed side cover, a vertically slidable rear cover for detecting tillage depth, and a rear side cover for closing a gap between left and right edges of the rear cover and a rear edge of the side cover. 2. A tilling rotary having: a rear side cover attached to a rear cover.
The working machine according to any one of claims 4 to 4. 6. A link mechanism having a pair of left and right lower links is provided as a link mechanism, and a left and right interval equal to a left and right interval of a pair of left and right support shafts for mounting the lower link on the self-propelled body is provided on the ground working device side. 2. A pair of left and right first support shafts for mounting a lower link, which are spaced apart from each other, and a pair of left and right second support shafts for mounting a lower link, which are spaced apart from each other by a greater left and right distance. The working machine according to any one of claims 1 to 5. 7. The working machine according to claim 6, wherein the first support shaft and the second support shaft are arranged in such a manner that the first support shaft and the second support shaft are located on the same side in the left and right direction and project in the left and right inward and outward directions.