JP4541920B2 - Offset work machine - Google Patents

Description

  The present invention relates to an offset working machine that is mounted on a traveling machine body such as a tractor and works at a position offset laterally with respect to a traveling position of the traveling machine body.

  A coater that is attached to a traveling machine body such as a tractor and forms a basket along the traveling direction of the traveling machine body forms a basket over almost the entire circumference of a wide field, and conventionally requires much time and labor. In recent years, it has been attracting attention as an epoch-making work machine that mechanizes the glazing work.

  This padding machine performs a straight-ahead operation at a position offset along the traveling direction of the traveling machine body. However, when performing a straight-ahead operation along a side of a rectangular field, the tip of the traveling machine body is When it reaches the end of this, there is a problem that it is not possible to perform the subsequent smearing operation.

Therefore, a glazing machine that solves this problem has been developed (see Patent Documents 1 and 2). As shown in FIG. 3 (a) (plan view), the coater 80 described in Patent Document 1 (agricultural working machine in the literature) is rotatable in a horizontal direction on a fixed machine frame 81 connected to a traveling machine body. A pivoting arm body 82 that is pivoted, and a movable machine frame 83 pivotally coupled to the tip of the pivoting arm body 82 so as to be pivotable in the horizontal direction are provided. The movable machine frame 83 is fixedly attached with a soil working means 84 for performing a filling operation. A manually operated first cylinder 85 and second cylinder 86 are pivotally connected between the movable machine frame 83 and the fixed machine frame 81. When the extension amount of the first cylinder 85 is adjusted, the offset amount of the earth working means 84 can be adjusted while keeping the working direction of the earth working means 84 at the time of forward traveling, and the first cylinder 85 and the second cylinder can be adjusted. When the extension amount of 86 is adjusted, as shown in FIG. 3B (plan view), the movable frame 83 can be rotated to move the earth working means 84 to the reverse working position.

  On the other hand, as shown in FIG. 4 (a) (plan view), the plastering machine 100 described in Patent Document 2 (offset working machine in the literature) includes a mounting unit 10 connected to the traveling machine body 90, and a traveling machine body 90. A working unit 20 that works at a position offset laterally with respect to the travel position of the motor, and one end of which is pivotally supported by the mounting unit 10 and extends to the moving end side, and can be rotated in the horizontal direction. The offset frame 101 (in the literature, the offset link mechanism) that supports the working unit 20 at the offset position with respect to the mounting portion 10 by pivotally supporting the mounting frame 10 and the offset cylinder 102 that rotates the offset frame 101 (in the literature, driving) Device), a rotating cylinder 51 (a driving device in the literature) for rotating the working unit 20 with respect to the offset frame 101, a reference work line O2 indicating the working direction of the working unit 20, and the working unit The detecting unit 103 that detects the positional relationship with 0 and the operation of the offset cylinder 102 and the rotating cylinder 51 are controlled so that the working unit 20 moves along the reference work line O2 according to the detection signal from the detecting unit 103. A control unit.

  When the traveling machine body 90 is moved forward along the edge of the field F in a state in which the coater 100 is mounted on the traveling machine body 90 and the working unit 20 is moved to the offset work position, FIG. As shown in the figure), it is possible to perform a linear operation by the working unit 20 along the edge of the farm field F (reference numerals 20a to 20b), and when the traveling machine body 90 is turned at the end of the farm field F However, the working unit 20 can be continuously worked along the edge to the end of the field F (reference numerals 20c to 20e). In addition, when a field with no corners or a corner is not required, it is possible to continuously apply the whole area of the field.

JP 2004-267098 A Japanese Patent Laid-Open No. 2004-267012

  In the above-described plastering machine described in Patent Document 1, the first cylinder sets and fixes the protruding amount of the earth working means to one side with respect to the tractor during forward traveling at a position most suitable for the tractor. The second cylinder is for switching the earth working means to the forward working state, the retracting non-working state, and the backward working state, and the first and second cylinders are manually operated. The telescopic motion cannot be controlled automatically. For this reason, when the traveling machine body turns at the end of the field and the paddy machine performs the padding operation, the working direction of the soil working means deviates from the direction in which the edge of the field extends, and the working unit is moved to the end of the field. Cannot be moved. For this reason, the padding machine described in Patent Document 1 has a problem that the padding work cannot be continuously performed to the end of the field by forward traveling. Therefore, if the work part is moved to the offset work position on the opposite side from that during normal work, the front-rear relation is reversed, and the work is performed while the traveling machine body is moved backward with respect to the unworked part at the corner, the unworked part. Although it is possible to perform the smearing operation on the corners of this, almost all of the reversing work of the working unit must be performed manually, and this work is inconvenient.

  Japanese Patent Application Laid-Open No. 2004-228561 improves such an inconvenience. In the paddy machine described in Patent Document 2, in a normal field, only the forward traveling can be applied to the entire circumference and the continuous padding work can be performed linearly along the edge of the field to the four corner ends. When the corners of the field are smeared during traveling, especially when the driving conditions are too bad, such as in intense wet fields, turning the tractor changes the tractor's attitude significantly, and only controls the operation of the offset and rotating cylinders. However, there is a possibility that a scene where it is difficult to form a highly accurate Xinjiang may occur.

  The present invention has a good workability of the reversing operation of the working part, and can be applied to the entire circumference of the field or the edges continuously while adjusting the position of the working part in forward traveling, and the field is in a bad condition. There is a need to form the four corners of the field into a high-precision new potato even at a certain time, and an object is to provide an offset working machine that meets such a demand.

In order to achieve the above object, the offset working machine of the present invention (for example, the coater 1 in the embodiment) includes a mounting portion to be mounted on the traveling machine body and a position offset laterally with respect to the traveling position of the traveling machine body An offset position adjusting unit having a parallel link mechanism for adjusting the offset position of the working unit, and a rotation shaft (for example, implemented) rotatably provided on the moving end side of the parallel link mechanism Connected to the drive shaft case 21) in the form of the working direction adjusting unit for adjusting the working direction of the working unit, and the working unit by controlling the operation of the offset position adjusting unit and the working direction adjusting unit according to the progress of the traveling machine body. and a hydraulic control unit for adjusting the position of the one of the left and right link members of the parallel link mechanism of the offset adjusting unit in length adjustable length adjustable link member, a working unit The time normally work, characterized in that it has a direction reversal possible length of the working portion extending maintained substantially parallel to the other link member when moving to the offset position of the opposite side.

According to the present invention, it is possible to adjust the length of either the left or right link member of the parallel link mechanism of the offset position adjusting unit, and the link member capable of adjusting the length is provided on the side opposite to that during normal operation. by have a reversible length orientation of the working unit extends maintained substantially parallel to the other link member when moving in the offset position, a maximum rotation angle of the working portion by working direction adjustment unit After the rotation, the working portion can be further rotated by changing the length of the link member whose length can be adjusted. That is, the rotation range of the working unit can be expanded without changing the mechanism of the working direction adjusting unit. As a result, the work unit can be reversed and moved to the offset work position opposite to the normal work position, and the front-rear relationship can be reversed, while the traveling machine body is traveling straight forward with respect to the unworked portions at the four corners. Work can be done. For this reason, when the farm field is in an unfavorable condition, it is possible to perform the smearing operation by the offset working machine while the traveling machine body is traveling straight ahead in the reverse direction on the unworked portions at the four corners. For this reason, since the traveling machine body moves backward in a straight line, the traveling stability is improved, and as a result, the working unit can be moved along the edge of the field by adjusting the position of the working unit by the operation control unit. It can be formed into a highly accurate Xinjiang. In addition, even if the length of the link member whose length can be adjusted is changed manually, the work portion reversing work is performed halfway by the work direction adjusting portion. It is not work. For this reason, the workability | operativity of the reversing work of a working part can be improved. If the length of the link member is automatically changed, such as a hydraulic cylinder, the workability can be further improved.

  Further, the present invention is characterized in that either one of the link members includes a winding transmission mechanism.

  According to this invention, since either one of the link members is provided with the winding transmission mechanism, a part of the parallel link mechanism is provided with the winding transmission mechanism, so the number of parts is reduced and the cost is reduced. It is possible to prevent the offset working machine from being enlarged.

  Further, the present invention is characterized in that the rotation shaft is disposed coaxially with the drive shaft of the winding transmission mechanism provided on any of the link members.

  According to the present invention, the rotation shaft is arranged coaxially with the drive shaft of the winding transmission mechanism provided on any of the link members, so that the movement direction or movement according to the rotation angle of the working unit is achieved. Position calculation processing is facilitated, and as a result, the operation control of the offset position adjustment unit and the work direction adjustment unit by the operation control unit can be facilitated, and the work position adjustment of the work unit can be brought into a highly accurate state. it can.

According to the offset working machine according to the present invention, it is possible to adjust the length of any one of the link members constituting the parallel link mechanism of the offset position adjusting unit, and the link member capable of adjusting the length allows the working unit to perform normal work. time and at Rukoto have other link member approximately working portion extending maintained parallel to the direction invertible length of when moving to the offset position of the opposite side, of the working unit in forward travel An offset work machine that can continuously perform all over the field or edge coating while adjusting the position, and can form the four corners of the field into new high precision even when the field is in bad conditions. Can be provided.

  Hereinafter, an offset working machine according to the present invention will be described with reference to FIGS. 1 and 2. The present embodiment will be described by taking a wrinkle coater of offset working machines as an example. For convenience of explanation, the directions of the arrows shown in FIG. 1A (plan view) will be described below as the front-rear direction and the left-right direction.

  As shown in FIG. 1A, the wrinkle coater 1 includes a mounting unit 10 that extends in the left-right direction, a working unit 20 that works a position offset laterally with respect to the traveling position of the traveling machine body 90, and a mounting unit. The offset position adjusting unit 30 having a parallel link mechanism 31 that adjusts the offset position of the working unit 20 and is rotatable to the moving end side of the parallel link mechanism 31. A work direction adjusting unit 50 that is provided and adjusts the work direction of the working unit 20, and controls the operations of the offset position adjusting unit 30 and the work direction adjusting unit 50 according to the traveling of the traveling machine body 90 to adjust the position of the working unit 20. The operation control part 60 which performs is provided.

  The mounting portion 10 includes a hitch frame 11 that extends in the left-right direction, and a connection frame 12 that is attached to the front side of the hitch frame 11 and that can be connected to the three-point link connection mechanism of the traveling machine body 90. A gear box 13 is provided at the lower center of the hitch frame 11 in the left-right direction, and the gear box 13 is provided with an input shaft 13a. The input shaft 13a is configured to transmit power from a PTO shaft (not shown) of the traveling machine body 90 via a transmission shaft (not shown).

  The offset position adjusting unit 30 is connected to the hitch frame 11 so that the front end thereof is pivotable and extends rearward. A link member 35 that is pivotably connected to the portion, a left end is pivotally attached to the lower rear end of the transmission case 33, and a right end is pivotally attached to the rear end of the link member 35. And the offset cylinder 42 that swings the parallel link mechanism 31 including the transmission case 33, the link member 35, the hitch frame 11, and the connecting member 40 in the left-right direction. For this reason, when the offset cylinder 42 is expanded and contracted, the working unit 20 connected to the moving end side of the parallel link mechanism 31 can be offset.

  The link member 35 is constructed in a telescoping manner and can be adjusted in length, and is a cylindrical member 36 pivotally connected to the hitch frame 11 and a rod-like shape that is inserted from the distal end side of the cylindrical member 36 so as to be freely projectable and movable. And a member 37. The rod-shaped member 37 has a plurality of holes (not shown) having a predetermined interval in the axial direction, and a fixing pin 36a provided at the tip of the cylindrical member 36 is inserted into any of the plurality of holes. Thus, the protruding length of the rod-shaped member 37 can be changed and fixed to the cylindrical member 36. The details of the operation by adjusting the length of the link member 35 will be described later.

  The working unit 20 is attached to a drive shaft case 21 that is rotatably attached to a lower portion of the rear end of the transmission case 33 and extends downward. In the drive shaft case 21, a power transmission shaft 23 that transmits power to the working unit 20 extends in the vertical direction and is rotatably supported. The power transmission shaft 23 is configured such that power input to the input shaft 13 a is transmitted via a winding transmission mechanism 34 provided in a transmission case 33. The power transmission shaft 23 is arranged coaxially with a drive shaft provided on the rear end side of the winding transmission mechanism 34.

  A working direction adjustment unit 50 is provided between the drive shaft case 21 and the moving end side of the parallel link mechanism 31. The working direction adjusting unit 50 is configured to horizontally rotate the working unit 20 with respect to the parallel link mechanism 31 by the expansion and contraction operation of the rotating cylinder 51. That is, the working unit 20 can move in the left-right direction around the rotation fulcrum O ′ on the front side of the parallel link mechanism 31 and rotates in the horizontal direction around the rotation center O of the power transmission shaft 23 as a rotation fulcrum. Move. The rotating cylinder 51 is pivotally connected to a connecting arm member (not shown) whose one end is connected to the working unit 20 and the other end is connected to the drive shaft case 21. For this reason, when the parallel link mechanism 31 is swung in the left-right direction in a state where the expansion / contraction operation of the rotating cylinder 51 is restricted, the work direction axis O2 indicating the work direction of the work unit 20 is kept constant and the work is performed. The unit 20 can be offset. Note that the rotating cylinder 51 moves the working unit 20 from the offset working position PA on the right side of the traveling machine body 90 to a position of about 120 ° in the clockwise direction when it is fully extended. When the working unit 20 is rotated by the rotating cylinder 51, when the traveling machine body 90 turns 90 ° from a state parallel to the kite when approaching the corner while performing the smearing operation in the forward traveling, The working unit 20 goes straight and can form corners. The rotation of the working unit 20 by the rotating cylinder 51 is up to about 120 ° due to design restrictions such as the direction of the force acting on the cylinder and contact with the rotating shaft.

  The working unit 20 includes a pretreatment body 25 that cuts the side portions of the old fence and repels the old fence to deposit the earth, and a trimming body 27 that forms the new fence by painting the piled soil on the old fence. It is comprised. The pretreatment body 25 includes a pretreatment rotor 26. The pretreatment rotor 26 includes a plurality of tilling claws 26b that are attached to the rotary shaft 26a and extend radially, and a cover 26c that covers the top of the pretreatment rotor 26. Become.

  A preprocessing power transmission case 70 is connected to the drive shaft case 21 extending downward from the rear end side of the parallel link mechanism 31. The pretreatment power transmission case 70 extends forward from the drive shaft case 21 and supports the pretreatment body 25 at the tip.

  The trimming body 27 is supported by a trimming power transmission case 73 attached to the drive shaft case 21, and a polyhedral drum 28 that is rotatably attached to the tip of the trimming power transmission case 73, and a polyhedral drum And a cylindrical portion 29 which is attached to the right end portion of 28 and extends in the lateral direction.

  In the above-described example, the offset position adjusting unit 30 is configured by the parallel link mechanism 31 and the offset cylinder 42. However, the offset position adjusting unit 30 is configured by a parallel link frame that transmits power via a universal joint or the like and the offset cylinder 42. Also good. Further, as the offset cylinder 42, a hydraulic cylinder, an electric cylinder or the like can be used.

  Now, the operation control unit 60 that controls the operation of the offset cylinder 42 and the rotation cylinder 51 is connected to the trimming power transmission case 73 and extends rearward so as to go around the outside of the polyhedral drum 28 and along the cylindrical unit 29. The position detection sensor 76 attached to the distal end portion of the support rod 75 extending in the direction and the rotation angle of the support rod 75 attached to the base end portion of the support rod 75 to detect the rotation angle of the work portion 20 relative to the work direction axis O2. The operations of the offset cylinder 42 and the rotation cylinder 51 are controlled in accordance with a signal from a deviation detection sensor (not shown) for detecting deviation so that the working unit 20 is oriented along the work direction axis O2.

  As the position detection sensor 76 and the displacement detection sensor, an angle sensor such as a limit switch that turns on / off the switch according to a set angle or a potentiometer that converts a rotation angle into an electrical signal can be used.

  Next, a power transmission mechanism that transmits power to the pretreatment body 25 and the trimming body 27 of the working unit 20 will be described. The power transmission mechanism includes an input shaft 13a provided in the hitch frame 11, a winding transmission mechanism 34 provided in the transmission case 33, a power transmission shaft 23 provided in the drive shaft case 21, and a front A power transmission mechanism (not shown) provided in the processing power transmission case 70 and a power transmission mechanism (not shown) provided in the trimming power transmission case 73 are configured. For this reason, the power transmitted to the input shaft 13a is transmitted to the pretreatment rotor 26 via the power transmission mechanism provided in the winding transmission mechanism 34 → the power transmission shaft 23 → the pretreatment power transmission case 70. Then, the power is transmitted from the power transmission shaft 23 to the trimming body 27 through a power transmission mechanism provided in the trimming power transmission case 73. In the paddy machine 1 configured as described above, in a normal farm field, a desired padding operation is performed on the entire field with only the forward traveling of the traveling machine body 90 while adjusting and controlling the working direction and offset position of the working unit 20. Can do. Further, even when it is necessary to paint the corners of the four corners, the forward traveling of the traveling machine body 90 continuously controls the position and direction of the working unit 20 and linearly extends to the four corners along the field edge. Can be painted.

  Next, the operation of the padding machine 1 when the corner of the field is smeared when the field is in a bad condition such as a wet field will be described. As described above, when the field is in an unfavorable condition such as a wet paddy field, when the traveling machine body 90 travels forward and is applied with a straight line, it is desired to control the operation of each cylinder according to the signal of each sensor. However, when the operation is performed while turning the traveling machine body 90 while approaching the corner, the posture of the muddy traveling machine body 90 changes greatly, and the working unit 20 by the operation control unit 60 of the paddy machine 1 is changed. There is a possibility that the control of the process becomes insufficient and it is not possible to form a highly accurate new product. In such a case, the spreader 1 according to the present invention moves the working unit 20 to the offset work position PB on the opposite side to that during normal work and reverses the front-rear relationship so that the unworked parts at the four corners are unworked. On the other hand, the work can be performed while the traveling machine body 90 is moved backward.

  That is, first, the work unit 20 is reversed to move the work unit 20 to the offset work position PB on the side opposite to that during normal work. FIG. 1 (a) shows a state where the traveling machine body 90 is moved straight forward or traveling forward while changing its direction to perform the glazing operation from the end to the corner of the field. From this state, as shown in FIG. 1B (plan view), the turning cylinder 51 is extended so that the turning cylinder 51 is fully extended by the extension amount L. As a result, the working unit 20 moves to a position rotated about 120 ° in the clockwise direction.

  Then, as shown in FIG. 2A (plan view), the offset cylinder 42 is contracted to offset the working unit 20 to the opposite side to the normal position. Then, as shown in FIG. 2B (plan view), the fixing pin 36a of the link member 35 is removed, the rod-shaped member 37 is pulled out from the cylindrical member 36, the link member 35 is extended, and the fixing pin 36a is inserted again. And fix. When the link member 35 is extended, the working unit 20 is further rotated around the drive shaft case 21 as a rotation center and moved to the offset work position PB on the opposite side to the normal position. Although the manual method is used in the embodiment, the link member 35 may be configured by a hydraulic cylinder or the like so that it can be automatically performed.

  Then, the working unit 20 performs a smearing operation on the corner of the field F while causing the traveling machine body 90 to travel backward in a straight line in the direction of the arrow A. Here, even if the conditions of the farm field F are bad, the traveling machine body 90 is traveling straight, so that the traveling stability of the traveling machine body 90 is higher than that when the traveling machine body 90 is turning. For this reason, the traveling stability of the traveling state of the coater 1 that is pushed by the traveling machine body 90 is increased, and as a result, the operation control unit 60 can sufficiently control the working unit 20 and has high accuracy. Xinjiang can be formed. Further, the reversing operation of the working unit 20 from the state shown in FIG. 1A to the state shown in FIG. 2A is performed by the expansion and contraction operations of the rotating cylinder 51 and the offset cylinder 42, and from FIG. The reversing operation of the working unit 20 up to the state shown in FIG. 2B is performed manually. For this reason, since only a part of the reversing work is manual, the workability of the reversing operation of the working unit 20 can be improved. If the length of the link member is automatically changed, such as a hydraulic cylinder, the workability can be further improved.

1 is a plan view of a wrinkle coater according to an embodiment of the present invention. A plan view of this wrinkle coater is shown. The top view of the conventional glazing machine is shown. The top view of the conventional glazing machine is shown.

Explanation of symbols

1 Spider coater (offset work machine)
10 mounting portion 20 working portion 21 drive shaft case (rotating shaft)
30 Offset position adjustment unit 31 Parallel link mechanism 33 Transmission case (link member)
34 Wrap transmission mechanism 35 Link member 50 Work direction adjusting unit 60 Operation control unit 90 Traveling machine body

Claims (3)

Offset position adjustment having a mounting portion attached to the traveling machine body, a working part for working a position offset laterally with respect to the traveling position of the traveling machine body, and a parallel link mechanism for adjusting the offset position of the working part A working direction adjusting unit that adjusts a working direction of the working unit by being connected to a rotating shaft that is rotatably provided on a moving end side of the parallel link mechanism, and depending on a progress state of the traveling machine body An operation control unit for controlling the operation of the offset position adjustment unit and the work direction adjustment unit to adjust the position of the work unit
It is possible to adjust the length of either the left or right link member of the parallel link mechanism of the offset position adjustment unit ,
The length-adjustable link member can be extended while maintaining the substantially parallel position with the other link members when the working unit is moved to the offset position opposite to that during normal work, and the working unit can be reversed in direction. An offset working machine characterized by having a long length .   The offset working machine according to claim 1, wherein either one of the link members includes a winding transmission mechanism.   The offset working machine according to claim 2, wherein the rotation shaft is disposed coaxially with a drive shaft of the winding transmission mechanism provided on any one of the link members.

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