JPH01206902A - Hydraulic controlling apparatus for working machine body of farm working machine and structure of hydraulic valve apparatus thereof - Google Patents

Abstract

PURPOSE:To prevent unnecessary rolling of a working machine body, by providing a stop valve to stop the inclination motion of a machine body irrespective of the operation of a change-over valve switching actuators by the signal transmitted from an inclination sensor and functioning said stop valve in non-working stage. CONSTITUTION:Transplantation work is carried out in a restricted state to prevent the short-circuit flow of an oil from a hydraulic pump 58 to a tank 59 by a stop valve 46. The lateral inclination of the machine body is detected with an inclination sensor 50 to effect the rolling control with a change-over valve 42 and the longitudinal inclination of the machine body is detected with a float to effect the pitching control with a change-over valve 41. The stop valve 46 is switched to a reverse state in the case of the supply of seedlings to a seedling tank or the running of the machine on a road after the farm work. The operation of a subcylinder is inhibited by this process regardless of the position of the change-over valve 42.

Description

DETAILED DESCRIPTION OF THE INVENTION A. OBJECTS OF THE INVENTION [Field of Industrial Application] The present invention relates to a work machine control device for controlling the lifting and lowering of a work machine in an agricultural work machine such as a rice transplanter, and a hydraulic valve device thereof.

[Prior art] The work machine is raised and lowered based on the detection results of a ground pressure sensor, and the height of the work machine relative to the field is always kept constant. There are agricultural machines, such as walk-behind rice transplanters, that tilt the working machine in the left and right directions to keep the working machine horizontal at all times.

[Problems to be Solved by the Invention] The above-mentioned conventional walk-behind rice transplanter rolled in response to the detection results of the inclination sensor even during non-planting work, so it was not suitable for E''NN tank loading work or on-road driving. There was a problem with poor stability over time.

In addition, during tilt control to move the grounding wheel relative to the aircraft, one grounding ring is moved by the required amount 1- due to the air and hair of the aircraft.
There were also problems in that the aircraft would descend (the aircraft would descend) and control would not be performed properly.

It is an object of the present invention to solve the above-mentioned problems, and an eleventh object of the present invention is to provide a hydraulic valve device suitable for being installed in these hydraulic work machine control devices.

Configuration of the Invention [Means for Solving the Problems] First, a hydraulic work machine control device for a high work machine according to the first invention is provided with a work machine capable of adjusting the tilt in the left and right direction,
A work machine body control device for an agricultural work machine that controls the tilt by tilting the work machine with a hydraulic actuator based on a detection result of a tilt sensor that detects a tilt of the work machine in the left-right direction. The present invention is characterized in that it is provided with a switching valve that controls the operation of a hydraulic actuator for tilt control, and a stop F valve that stops the tilting of the aircraft body regardless of the operation of the switching valve.

Further, the hydraulic work machine control device for an agricultural work machine according to the second invention is provided such that the work machine can be adjusted in tilt in the left and right direction,
A work machine body control device for an agricultural work machine that controls the tilt by tilting the work machine with a hydraulic actuator based on a detection result of a tilt sensor that detects a tilt of the work machine in the left-right direction. A switching valve for controlling the operation of a hydraulic actuator for tilt control is provided, and a pilot check valve for preventing runaway descent of the aircraft due to its own weight is provided between the actuator and the switching valve in an oil path on the lowering side of the work aircraft. It is characterized by the provision of a check valve in which a throttle valve is arranged in parallel to slow down the operating speed.

Furthermore, the hydraulic valve device according to the present invention is a hydraulic valve device installed in an agricultural working machine whose work machine can be raised and lowered and whose tilt can be adjusted in the left and right direction, and which includes a first hydraulic valve device that controls a hydraulic actuator that raises and lowers the work machine. A switching valve, a second switching valve that controls a hydraulic actuator that tilts the working machine to adjust the horizontal inclination, and a hydraulic pump that distributes hydraulic fluid from the hydraulic pump to the first and second switching valves. These valves are arranged in the order of the first stamp, the second stamp + valve, the diverter valve, and the first switching valve, and are integrated.
It is characterized by being submerged.

[Sakukawa] A stop that stops the tilting of the aircraft regardless of the operation of the switching valve that turns the actuator based on the signal from the tilt sensor]
Since a stop valve is provided, if this stop valve F is operated during non-work periods such as when loading seedlings or when traveling on the road 1, it is possible to prevent the work machine from rolling unnecessarily.

In addition, a pilot check valve and a check valve with a throttle valve are installed in the oil passage on the lowering side of the machine body between the hydraulic cylinder that is the actuator and the switching valve, so that the hydraulic cylinder When it operates, its operation becomes slow, and over-operation of the working machine due to its own t can be prevented. By providing these pilot check valves and check valves with throttle valves at the base of the cylinder tube of the hydraulic cylinder, the entire cylinder can be made lightweight and compact, and inspection can be performed easily.

Furthermore, the first switching valve that controls the hydraulic actuator that raises and lowers the work machine and the second switch valve that controls the hydraulic actuator that adjusts the horizontal tilt of the work machine are moved up and down with the diversion valve in between. Since they are arranged side by side and integrated, the hydraulic valve device can be made compact and easy to process. In addition, since the second switching valve is placed at the top, in the case of agricultural machinery that uses a pendulum as the tilt sensor, the length of the pendulum can be increased, and the tilt sensor has good responsiveness. can be obtained.

[Example] The embodiments shown in the drawings will be described below.

The agricultural machine l shown in FIGS. 1 to 6 is a walk-behind fertilizing rice transplanter, in which an engine 3 is disposed at the front of a transmission case 2, and chain cases 6, 6 are disposed on the sides of the transmission case 2.
is provided rearward so as to be able to rotate up and down, and traction wheels 7, 7, which are ground wheels for supporting the work machine, are attached to the rear end of the chain case 6.6. Furthermore, a main frame 9 is provided to protrude rearward from the rear part of the mission case 2, and a planting part 10 is provided at the rear end.

The planting area 10 is a yf tank 11. Planting device 12. and a handle 13. The seedling tank ll is slidably supported by a rail 15 and a support frame 16 attached to the rear frame 14, and can be moved laterally. is caused to reciprocate in the lateral direction by the position 17. In addition, in the planting device 12, a planting rod 18 moves up and down in a predetermined trajectory, and a planting claw 19 provided at the tip of the rod 18 removes seedlings from a seedling mat held in a seedling tank 11. Divide it, take it out, and plant it in the field.

A fuel tank 21 and a fertilizer tank 22 are provided at the top of the aircraft. The fertilizer in the fertilizer tank 22 is delivered to the delivery pipe 24 by the 1# delivery device 23, and is supplied to the field from the lower end of the delivery pipe. The upper parts of these machines are covered with a bonnet 25, and a spare seedling stand 26 is further provided above the bonnet 25. Further, on the lower side of the fuselage, there is provided a float 29 whose rear part is rotatably attached to a support shaft 27 and whose front part is supported by a variable link 28 having a length of f+7, the height of which is adjustable. . float 29
doubles as a height sensor that detects the height of the machine relative to the field.

This rice plantation al is equipped with a hydraulic working machine control device 30 of a configuration shown in the hydraulic circuit diagram of FIG. This hydraulic work machine control device 30 will be explained below.

A valve device 31 is provided at the -L portion of the mission case 2, and a main cylinder 34, which is a seven-actuator for lifting and lowering the work machine, is fixedly provided rearward at the lower rear of the valve device. A link plate 35 is attached horizontally to the left and right at the rear end of the main cylinder, and both left and right ends of the link plate are connected to the chain case 6 by connecting rods 36 and 36.
It is connected to a swing arm 38, 38 which rotates integrally with the swing arm 6. Of the connecting rods 36 (L, R), the left connecting rod 36 (L) is provided with a sub-cylinder 39, which is a seven-cut unit for adjusting the horizontal inclination of the work machine, in the middle part.

The valve device 31 includes a pitching switching valve (first switching valve) 41 and a rolling switching valve (second switching valve) 4.
2. A diverter valve 43, a relief valve 44, 45, and a rolling stop valve 46 are provided. Rolling stop valve 46
is a reverse 1F valve that regulates the direction of oil flow in one direction, and is a rolling lock lever 4 provided on the rear frame 14.
It is possible to reverse the flow by operating 7. Further, the flow dividing valve 43 is provided with a variable orifice flow path 48 for keeping the oil pressure to the pitching switching valve 41 constant, as shown in FIG. and.

A detection rod 50a of a pendulum 50, which is a tilt sensor, is connected to the spool 42a of the rolling switching valve 42, so that the rolling switching valve 42 can be switched according to the swing of the pendulum in the left-right direction with respect to the aircraft body. . Further, the pitching switching valve 41 is configured to be switched according to the vertical movement of the float 29 by a mechanism not shown.

As shown in the figure, a rolling switching valve 42, which is a second switching valve, is arranged on the upper side of the first flow dividing valve 43, and a pitching switching valve 41, which is a first switching valve, is arranged in parallel on the lower side. Since the valve device 31 is functionally arranged in an integrally assembled state, the valve device 31 is compact. Furthermore, since the rolling switching valve 42 is disposed at the top, the length of the pendulum 50 can be increased. If the length of the pendulum 50 is long, the cycle becomes long, so the responsiveness to the inclination of the working machine is good, and accurate rolling control can be performed.

Further, at the base of the tube 39a of the sub cylinder 39,
Check valve 5 with pilot check valve 52 and throttle valve 53
4 is provided. These valves may be provided in the plumbing pipe 56, but such a configuration increases the diameter of the entire cylinder.

In contrast, the configuration of the present embodiment is compact in that the diameter of the entire cylinder 39 is small.

When using this Fil transplanter 1 in Kida, the stop F valve 46 should be in the state shown in FIG.
The planting work is performed under the condition where the water is short-circuited from the water to the tank 59 and no water flows. During work, if the tiller has a height in the horizontal direction, the tilt of the machine body at that time is detected by the pendulum 50, which is a tilt sensor.

When the aircraft body turns left-L, the pendulum 50 swings to the right with respect to the aircraft body, so the rolling switching valve 42 is switched in the direction in which the sub cylinder 39 extends. Then, the left chain case 6 rotates in the direction F, and the left wheel 7 (L) moves, so that the aircraft returns to a horizontal state. Conversely, when the aircraft body tilts downward to the left, the pendulum 48 swings to the left with respect to the aircraft body, so the switching valve 42 is switched in the direction in which the sub cylinder 39 contracts. In addition, due to the action of the pilot check valve 52 and the check valve 54 with the throttle valve 53, the work machine moves to the tilt adjustment wheels 7 (
When tilting to the L) side, the system prevents runaway descent and slows down the movement, preventing excessive tilting movement due to the weight of the work machine. There is.

When interrupting the work and replenishing the seedling tank 11 with seedlings, or when driving on the road after finishing the work, the regulating direction of the stop F valve 46 is switched to the opposite direction using the rolling lock lever 47. Then, the sleeve is short-circuited and the fluid flows from the hydraulic pump 58 to the tank 59, so that the sub-cylinder 39 does not operate regardless of the operating position of the rolling switching valve 42.

Therefore, the work machine does not swing from side to side, making it possible to reliably and easily replenish seedlings and to perform stable travel.

Further, when there is elevation in the longitudinal direction during one operation, the float 29 moves up and down with respect to the aircraft body, and the pitching switching valve 41 is switched. When the main cylinder 34 expands and contracts, the left and right traction wheels 7, 7 simultaneously move up and down with respect to the machine body by the same amount, and as a result, the working machine moves up and down with respect to the tiller to maintain a constant planting depth.

As mentioned above, the hydraulic pressure to the pitching switching valve 41 is constant due to the action of the flow dividing valve 43, so the planting depth does not change due to a change in the rotational speed of the hydraulic pump 58 which takes power from the engine.

FIG. 7 is a diagram of a main part of a different embodiment, and this embodiment is configured to mechanically lock the rolling of the working machine. That is, this rolling lock mechanism includes an engaging member 60 provided at the intermediate portion of the connecting rod 36 (L) on the sub-cylinder 39 side, and a lock arm 62 provided on a support rod 61 integrated with the sub-cylinder 39. The engagement groove 60a of the engagement member and the engagement portion 62a of the lock arm engage with each other. Since the lock arm 62 is rotatable within the water surface, the sub cylinder 39 can be expanded and contracted at all times, but when not working, the lock wire 64 is operated to move the stopper 65 to the stopper receiver 62b of the lock arm.
When fitted, the lock arm 62 becomes unrotatable, restricts the expansion and contraction of the sub-cylinder 39, and prevents the work machine from rolling. It should be noted that if the lock wire 64 is operated in conjunction with the operation of the change lever or the like that suggests stopping the work, manual lock operation becomes unnecessary and it is convenient to prevent forgetting to operate the lock wire 64.

[Effects of the Invention] As is clear from the above explanation, the hydraulic working machine control device for agricultural working machines according to the present invention can control the
By installing a stop valve that stops the tilting of the machine regardless of the operation of the switching valve that switches the cutter, it is possible to prevent unnecessary rolling of the work machine when not working, and it is possible to easily carry out seedling loading work. At the same time, it has become more stable when driving on roads, making it safer to drive.

It also slows down the movement when lowering the aircraft and prevents it from descending out of control.
By providing the valve for regulating the rolling motion at the base of the tube of the hydraulic cylinder, which is the actuator, as described above, the hydraulic cylinder can be made smaller.

Further, the structure of the hydraulic valve device according to the present invention allows the entire valve device to be made small and easy to process, and is suitable for a work machine control device that uses a pendulum as a tilt sensor.

The length of the pendulum can be increased, and a tilt sensor with good responsiveness can be obtained.

4. Simplified contact surface of the drawings Figure 1 is a side view of an example of an agricultural machine to which the present invention is applied, 0'
Figure S2 is a plan view, Figure 3 (a) is a front sectional view of the valve device, Figure 3 (b) is a side view with a part of it removed, and Figure 3 (C) is the x- x sectional view, Fig. 4 (
FIG. 5A is a cross-sectional view of the sub-cylinder, FIG. 5B is a plan view thereof, FIG. 5 is an explanatory diagram of a flow divider valve, and FIG. 6 is a hydraulic circuit diagram of a work machine control device. Moreover, FIG. 7 is a diagram showing the main parts of different embodiments.

l...Walking rice transplanter (agricultural work a), 7...Traction wheel.

29...Float (height sensor), 30...Work machine control device, 31...Valve device, 34...Main cylinder (actuator), 39...Sub cylinder (actuator), 41... - Pitching switching valve (first switching valve), 42... Rolling switching valve (second switching valve), 43... Diversion valve, 46... Rolling stop valve, 50... Pendulum ( Tilt Senna), 52...
Pilot check valve, 53... Throttle valve, 54...
Reverse 1F valve.

Claims (4)

[Claims] (1) An agricultural working machine in which the working machine is provided so that its tilt can be adjusted in the horizontal direction, and the working machine is tilted by a hydraulic actuator to control the tilt based on the detection result of a tilt sensor that detects the horizontal tilt of the working machine. The work machine control device includes a switching valve that controls the operation of a hydraulic actuator for tilt control based on a signal from the tilt sensor, and a stop valve that stops the tilting of the machine regardless of the operation of the switching valve. A hydraulic work machine control device for an agricultural work machine, characterized in that: (2) A hydraulic work machine body control device for an agricultural work machine according to claim 1, which drives a stop valve in conjunction with the operation of a work stop operation member. (3) An agricultural working machine in which the working machine is provided so that its tilt can be adjusted in the horizontal direction, and the working machine is tilted by a hydraulic actuator to control the tilt based on the detection result of a tilt sensor that detects the horizontal tilt of the working machine. In the work machine control device, a switching valve is provided for controlling the operation of a hydraulic actuator for tilt control based on a signal from the tilt sensor, and an oil passage on the lowering side of the work machine is provided between the actuator and the switching valve. A hydraulic work machine control device for an agricultural work machine, characterized in that a check valve is provided in which a pilot check valve to prevent runaway descent of the machine due to its own weight and a throttle valve to slow down the operating speed are arranged in parallel. (4) A hydraulic pulp device installed in an agricultural working machine whose working machine can be raised and lowered and whose tilt can be adjusted in the left and right direction, the hydraulic pulp device including a first switching valve that controls a hydraulic actuator that raises and lowers the working machine, and a first switching valve that controls a hydraulic actuator that raises and lowers the working machine, and which tilts the working machine. a second switching valve that controls a hydraulic actuator that adjusts the inclination in the left and right direction, and a diversion valve that distributes and supplies hydraulic oil from the hydraulic pump to the first and second switching valves, A hydraulic valve device for an agricultural machine, characterized in that these valves are integrally arranged in the order of a second switching valve, a diversion valve, and a first switching valve from the top.