JP3422835B2 - Rolling control device for working unit in work vehicle - Google Patents

Description

Description: 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. 2. Description of the Related Art In general,
In a traveling vehicle of this type, a working member is supported by a holder member connected to a traveling machine body via a rolling support shaft, and the working portion is elastically supported by a rolling elastic machine so that the working portion can be freely moved. There is a type that performs a passive rolling control that allows a stable posture maintaining operation. However, in this case, there is a limit to the amount of rolling that can be controlled (the effective range of the rolling ammunition). Therefore, in a field with large irregularities, there is a disadvantage that the working unit is greatly inclined following the rolling of the traveling body. Therefore, an intermediate member that can be freely rolled with respect to the holder member and the working unit is provided, and a rolling elastic machine that controls the working unit in a passive manner is interposed between the intermediate member and the working unit. It has been proposed to perform a complex rolling control between a holder member and a forced rolling control mechanism for forcibly performing a rolling control (horizontal control or tilt control) of an intermediate member based on actuator driving. I have. In other words, in order to forcibly control the intermediate member, which is the reference point of the rolling machine, to a constant posture, the following rolling control by the rolling machine can always be enabled regardless of the rolling amount of the traveling aircraft. If the intermediate member reaches the rolling limit at the same time as the working part or earlier than the working part, the forcible rolling control described above does not work, and the posture of the working part is returned without the urging force of the rolling elastic machine effectively acting. Was delayed. SUMMARY OF THE INVENTION The present invention has been made in view of the above-described circumstances, and has as its object to provide a rolling control device for a working unit in a working vehicle that can eliminate these disadvantages. An intermediate member rotatable with respect to the holder member and the working part between a holder member connected to the traveling body and a working part supported by the holder member via a rolling support shaft. A member is provided, and between the intermediate member and the working part, a rolling elastic machine for controlling the rolling of the working part in a driven manner is interposed, and between the intermediate member and the holder member, an intermediate member is provided based on an actuator drive. In a working vehicle provided with a forced rolling control mechanism for forcibly controlling rolling of a member, a relative allowable rolling angle A of the intermediate member with respect to a holder member. Is set larger than the allowable rolling angle B of the working unit relative to the intermediate member . According to the present invention, with this configuration, the control range of the forced rolling control is secured wider than the rolling range of the working unit, and the posture returning operation of the working unit can be quickly performed. 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 (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 unit 3 is a holder frame (holder member) 4 which is detachably connected to a rear end of the elevating link mechanism 2 and which is integrally provided with a boss 4a facing forward and backward at a lower end thereof. A rolling support shaft 5 rotatably supported by a boss portion 4a of the frame 4 via a pair of front and rear bearings 5a, integrally connected to a rear end of the rolling support shaft 5, and seedlings at both left and right ends. A working unit frame 6 on which the mounting table support stay 6a is erected, a planter case 7 integrally fixed to the working unit frame 6, and the planter case 7
Arm, the upper end of the seedling table support stay 6a and the upper end of the planter case 7 are supported via a slide piece S so as to be able to reciprocate left and right. It comprises a seedling mounting table 9 in a forwardly inclined posture, which is forcibly fed sideways, a center and side floats 10 and 11 which are provided at the center of the bottom of the planter case 7 and on both left and right sides so as to be vertically swingable. That is, the planting work section 3 moves the holder frame 4 connected to the traveling machine body 1 through the lifting link mechanism 2.
It is rotatably supported via a rolling support shaft 5, but all of the above basic configurations are the same as those of the related art. [0005] Reference numeral 12 denotes an intermediate frame (intermediate member) interposed between the holder frame 4 and the planting work section 3 (the seedling mounting table 9). The formed boss portion 12a is rotatably and externally supported on the boss portion 4a of the holder frame 4. That is, the intermediate frame 4 is relatively free to roll with respect to the holder frame 4 and the planting operation section 3, and the rolling fulcrum coincides with the rolling fulcrum of the planting operation section 3. The intermediate frame 4 is composed of a frame body 12b in an upright posture and a T-shaped frame portion 12c protruding forward from the upper end of the frame body 12b along the rear side surface of the seedling mounting table 9. However, the intermediate frame 12 in a side view is disposed so as to be located between the seedling table support stay 6 a and the seedling table 9. [0006] Reference numeral 14 denotes a first rolling ammunition constituted by a pair of left and right coil ammunition. The first rolling ammunition 14 is provided between the frame body 12b of the intermediate frame 12 and the working section frame 6. It is interposed in a C shape. In other words, the overall load of the planting work section 3 is balanced based on the elasticity of the first rolling machine 14, but at the time of planting work, the joint shaft (the one connecting the body side PTO shaft and the work section side input shaft). ) Since the planting work section 3 attempts to roll in a predetermined direction based on the rotational force of J, a larger biasing force is set to the coil ammunition on the side that extends when rolling in the direction than the coil ammunition on the other side. By doing so, the posture of the working section during the planting operation is maintained in parallel. [0007] Reference numeral 15 denotes a second rolling ammunition composed of a pair of left and right coil ammunition. The second rolling ammunition 15 includes a T-shaped frame portion 12c of the intermediate frame 12 and both ends of the seedling mounting table 9. Is placed in a C-shape between
This balances the eccentric load caused by the lateral feed. That is, the planting work section 3 which can be freely rolled is held by the first and second rolling machines 14 and 15, and the center float 10 and the side float 1 are held.
The so-called driven rolling control which allows the following operation of the planting work section 3 based on the buoyancy is allowed. On the other hand, reference numeral 16 denotes a motor (actuator) provided with a speed reduction mechanism at a side position of the holder frame 4 via a bracket 17, and a pinion gear 16a for outputting a driving force of the motor 16 has a bracket. 1
An intermediate gear 18 rotatably provided on the gear 7 is meshed with the intermediate gear 18. The intermediate gear 18 is set to have a wider tooth width than a rack 19 to be described later.
The occurrence of disengagement based on the backlash in the front-rear direction is surely avoided. The rack 19 is provided so as to protrude laterally from the intermediate frame 12.
A gear portion 19a is formed on the outer peripheral side of the outer peripheral side at the outer peripheral side so as to mesh with the intermediate gear 18 in a circumscribed manner. That is, when the intermediate gear 19 rotates with the driving of the motor 16,
The intermediate frame 12 is forcibly rolled based on the left and right movement of the rack 19 meshing with the intermediate gear 19, and the intermediate gear 18 has a gear portion 19a formed on the outer peripheral side of the curved rack 19. As a result, the backlash in the engagement between the intermediate gear 18 and the rack 19 can be set smaller than that in the case where the intermediate gear 18 and the rack 19 are inscribed in the rack 19. Reference numeral 20 denotes a pendulum type or other rolling detection sensor provided on the rear surface of the intermediate frame 12 via an L-shaped sensor bracket 20a. The rolling detection value of the rolling detection sensor 20 is transmitted to a control unit (not shown). The control unit controls the motor 16 to drive the motor 16 forward and reverse so that the input rolling detection value matches a predetermined set value (horizontal set value or tilt set value). 12 is forcibly controlled in a fixed posture (horizontal control or tilt control). Reference numeral 21 denotes a regulating pin projecting rearward from the intermediate frame 12, and the regulating pin 21 is loosely fitted into a concave portion 22a of a regulating plate 22 provided integrally with the planter case 7 to be planted. It constitutes a rolling regulation mechanism of the attachment working unit 3. That is, if the relative rolling angle of the planting operation unit 3 with respect to the intermediate frame 12 is within the predetermined angle B, the regulating pin 21 allows the planting operation unit 3 to roll. 3
When the relative rolling angle has reached the predetermined angle B, the right and left ends of the concave portion 22a are contacted to restrict further rolling of the planting work section 3. Reference numeral 23 denotes a T-shaped frame 1 of the intermediate frame 12.
A lower end of the bracket 23 is slidably contacted with a front surface of a guide plate 24 provided at an upper end of the holder frame 4. That is, a tilt restricting mechanism that restricts the rearward tilting of the intermediate frame 12 receiving the urging forces of the rolling bullets 14 and 15 based on the contact of the bracket 23 with the guide plate 24 is configured. Further, a pair of left and right cylindrical members 23a is protrudingly provided on the guide plate contact surface of the bracket 23, and a part of each of the cylindrical members 23a is exposed from the distal end of the cylindrical member 23a. A ball 25 that rolls against the roller 24 is accommodated therein. That is, the sliding resistance between the bracket 23 and the guide plate 24 accompanying the rolling of the intermediate frame 12 can be minimized. At the left and right ends of the guide plate 24, a pair of left and right bent pieces 24a facing each other across the lower end of the bracket 23 are formed.
The left and right contact pieces 23b formed on the bracket 23
Switch 26 that detects and operates based on contact with the
Are provided respectively. That is, the left and right limit switches 26 are connected to the intermediate frame 1 with respect to the holder frame 4.
2 detects that the relative rolling angle has reached a predetermined angle A, and outputs the detection signal to the control unit to automatically stop the motor 16. The limit switch 26 controls the intermediate frame 12 by the limit switch 26. Detection angle A
Is set to be larger than the restriction angle B of the planting work section 3 by the rolling restriction mechanism. In the embodiment of the present invention constructed as described above, the intermediate frame 12 which can be relatively rolled with respect to the holder frame 12 and the planting work section 3 is provided, and the intermediate frame 12 and the planting work section 3 are provided. , While a forced rolling control mechanism is provided between the intermediate frame 12 and the holder frame 4, and the motor 16 of the forced rolling control mechanism is attached to the intermediate frame 12. In performing the driving control based on the detection of the provided rolling detection sensor 20 to perform the complex rolling control, a planting work unit is provided between the intermediate frame 12 and the planting work unit 3 through a rolling regulation mechanism. 3 is regulated at a predetermined angle B, and a limit switch 26 is connected to the motor 16 to connect the intermediate frame 1 to the motor 16.
The motor drive is automatically stopped when the rotation angle 2 reaches a predetermined rolling angle A. However, since the limit detection angle A of the intermediate frame 12 is set to be larger than the rolling restriction angle B of the planting work section 3, the planting is performed. Even in the state where the attached work unit 3 has reached the rolling restriction angle B, the rolling of the intermediate frame 12 is allowed, and the forced rolling control mechanism operates effectively. Therefore, the urging force of the rolling ammunition machines 14 and 15 is applied in a well-balanced manner to the planting work section 3 which has reached the rolling regulation angle B, whereby the posture can be quickly returned, and as a result, the accuracy of the rolling control can be improved. This can greatly contribute to the improvement of work accuracy. In summary, since the present invention is constructed as described above, an intermediate member which can be rolled with respect to the holder member and the working portion is provided, and the intermediate member and the working portion are provided between the intermediate member and the working portion. While a rolling elastic machine is interposed, a composite rolling control is performed by interposing a forced rolling control mechanism between the intermediate member and the holder member. Is set to be larger than the allowable rolling angle of the intermediate member, even if the provisional working unit reaches the rolling limit, rolling of the intermediate member is permitted. In other words, when the working section reaches the rolling limit, the intermediate member reaches the rolling limit at the same time as the working section or earlier than the working section. It is possible to reliably execute the rolling control and to apply the urging force of the rolling ammunition to the working unit in a well-balanced manner. Therefore, the working unit that has reached the rolling limit can be quickly returned to the predetermined posture, and as a result, the accuracy of the rolling control can be increased, thereby greatly contributing to the improvement of the working accuracy.

[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 an enlarged side view of a main part of the above. FIG. 5 is an enlarged front view of a main part of the above. FIG. 6 is an enlarged plan view of a main part of the above. FIG. 7 is an exploded perspective view of the same. [Explanation of symbols] 1 traveling aircraft 2 lifting link mechanism 3 planting work department 4 Holder frame 5 Rolling spindle 6 Working frame 12 Intermediate frame 14 First rolling ammunition 15 Second rolling ammunition 16 motor 19 Rat 20 Rolling detection sensor 21 Regulatory pin 22 Regulation plate 26 Limit Switch

──────────────────────────────────────────────────続 き Continuation of the front page (56) References JP-A-1-256309 (JP, A) JP-A-5-49318 (JP, A) Japanese Utility Model Application Sho 58-115916 (JP, U) Japanese Utility Model Utility Model No. 2- 17013 (JP, U) Japanese Utility Model Showa 58-135215 (JP, U) (58) Fields investigated (Int. Cl. ⁷ , DB name) A01C 11/02

Claims (1)

(57) [Claim 1] A holder member connected to the traveling body side,
An intermediate member that can be rolled with respect to the holder member and the working section is provided between the working section supported by the holder member via a rolling support shaft, and a working section is provided between the intermediate member and the working section. While the rolling ammunition that controls the rolling is interposed, the intermediate member and the holder member
In a working vehicle provided with a forced rolling control mechanism for forcibly controlling the rolling of an intermediate member based on actuator drive, a work member is provided with a holder member for the intermediate member .
The relative rolling allowable angle of the intermediate member of the working unit
A rolling control device for a working section of a working vehicle , wherein the rolling angle is set to be larger than a relative allowable rolling angle with respect to the working vehicle.