JPH01304807A - Rolling device of movable agricultural working machine - Google Patents

Abstract

PURPOSE:To compensate normal rolling control and not to make an operating device extraordinarily high by regulating a rolling control range of the operating device by upward movement of a side float by >= fixed distance. CONSTITUTION:Left or right inclination of an operating device is detected by a pendulum sensor 29, a hydraulic valve 31 is changed, a piston is expanded and contracted and left and right traveling wheels 1 and 2 are raised and dropped in the opposite direction so that the operating device is maintained in a horizontal attitude at left and right sides. At near by border, for example, when a left side float 5 is upward moved by >= fixed distance, a rising and dropping part 37 is protruded through a linking mechanism 35, shaking of the pendulum sensor 29 is regulated, switch of the hydraulic valve 31 is limited and the distance of the right traveling wheel 2 dropped is controlled so that a side float 6 is not raised.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application The present invention relates to a rolling device for a mobile agricultural working machine, and can be used for a working machine having a float such as a seedling planting machine.

Problems to be Solved by the Prior Art and the Invention The problem to be solved by the conventional technology and the invention is to detect the horizontal inclination of the seedling planting device, which is a working device, by the vertical movement of side floats provided on the outside of the pair of left and right running wheels. In the rolling control device, the running wheels are controlled to rise and fall so as to maintain the wheels in a horizontal horizontal position.

This is because the side floats are pushed up at the edge of the ridge.

This causes the car body to lean toward the opposite side of the ridge.

Furthermore, rolling control is performed by detecting this inclination, and the running wheels on the opposite side of the ridge are lowered.
The side float on this side may be moved higher than necessary and floated, making it impossible to level the plant for proper planting.

Means for Solving the Problems The present invention provides a rolling control device that performs rolling control to maintain a working device (3) in a substantially horizontal posture on the left and right sides regardless of the inclination in the direction between a pair of left and right running wheels. (4) is provided with a rolling correction control device (7) that corrects the rolling control of the working device (3) by upward movement of a side float fil (61) above a certain level that touches the ground on the outside of the running wheels +11 +2). This is the configuration of a rolling device for a mobile agricultural machine.

Operation and Effect of the Invention Due to the transmitted rotation of the traveling wheels +11 F2), the working device (3) slides on the soil surface and is supported by the side floats (5), (6), etc., and performs a predetermined work on the soil surface. conduct. During this traveling operation, when the vehicle body tilts due to the left and right tilt of the tiller, the left and right side floats (5) or (6) move up and down. When this left/right tilt of the vehicle body is detected, the rolling control device (4) controls the running wheels (1) or (2) on either the left or right side to move up and down, thereby moving the vehicle body and work equipment (3) approximately to the left or right. Perform one work by controlling the rolling in a horizontal position and keeping the working equipment (3) horizontally parallel to the soil surface 6. When working while running the working equipment along the ridge,
This side float (5) or (6) on the ridge side may be pushed up onto a high ridge, but when this side float (5) or (6) is moved up, this side float (5) ) or (6) above a certain level, the rolling correction control device (7) is activated, and the ridge-side running wheels +11 or (2) are moved upward relative to the vehicle body, thereby performing rolling control. By modifying the normal rolling control by the device (4), it is possible to prevent the working device (3) from becoming abnormally high and to control and maintain the horizontal horizontal posture of the working device (3) at a position as low as possible.

Embodiment When rotating, the seedling transplanter is equipped with an engine (9), a transmission device (1), a pair of left and right wheel transmission cases (Ill (+2), etc.) at the front of the vehicle body (8), At the rear is a seedling tank (13, this seedling tank (+3
) Seedling planting loading (14)
The working device (3) is constituted by a seedling planting device consisting of the following.

(One is a handle that protrudes from the rear end of the vehicle body (8) to the rear upper part.The float is attached to the lower side of the vehicle body (8).
) +2) and side floats +51 +61 are provided on the outside of these running wheels +11 +2).

The left and right running wheels (1) and (2) are equipped with a transmission case (lυ(!) which is pivoted around a swing shaft (11) at the lower end of the transmission case (11) in which a transmission device (1α) is housed so that it can move up and down. A shaft (19) is installed at the tip of the transmission case (19) for transmission rotation, and an arm 0 is provided on the wheel transmission case (1 and 1δ), and an arm 0 is provided on the rear side of the transmission case (1η), which can be freely entered and exited by a hydraulic cylinder Q. A hydraulic piston Qδ is provided, which is controlled by a hydraulic piston Qδ, and a buffer spring (23) is provided at the tip of the hydraulic piston Qδ. Rod G!S) (Rolling cylinder (5) and rolling piston 12) (connected by 2e and expanded and contracted by this - side condo 29 hydraulic pressure) are provided, and by expanding and contracting this rolling cylinder and piston 12), the left and right The relative vertical position of the running wheels (1) and (2) can be controlled.

(c) is a pendulum sensor installed in the upper part of the vehicle body (8),
It detects the left and right inclination of this vehicle body (8) and is swingable around the pendulum axis OI in the front and rear direction. 0υ is a hydraulic valve that is switched by the vibration of this pendulum sensor (2!ll), which switches the hydraulic circuit of the rolling cylinder (5) to operate the running wheels (1) or (2) according to the left and right inclination of the vehicle body (8). ) is moved up and down to control the vehicle body (8) and the working device (3) horizontally and horizontally.

Center float + IG) and side float (5) (
61 are both provided to be able to swing up and down around a float shaft (support) near the seedling planting position at the rear, and by the up and down swing of the center float CIGI, the lift control valve of the hydraulic circuit is activated via the rod 03. The control arm (B) is interlocked to rotate, and by switching this elevation control, the piston (2δ) of the hydraulic cylinder I2)) is moved in and out to move the left and right running wheels (11+2) up and down, thereby raising and lowering the tiller. Supports the vehicle body (8) and work device (3) according to the depth, prevents the work device (3) and float (51+610Q, etc.) from floating or sinking, and maintains control at a constant height position at all times. do.

Also, in the rolling control device (4), when the vehicle body (8) is tilted to the left or right by a tiller or the like, the pendulum sensor (c) detects this tilt and switches the hydraulic valve OD to control the rolling cylinder (5). The piston ffl of is expanded and contracted, the left and right traveling wheels (1) and (2) are raised and lowered, and the vehicle body (8) and the working device (3) are controlled to be maintained in the left and right horizontal positions.

The side floats (51+61) have left and right protrusions (5) facing the rotating part of the base OQ of the pendulum sensor (2) via an interlocking mechanism 0'Q such as a rod or push-pull wire at the front end. By connecting and forcibly swinging the pendulum sensor around the axis 01 with the protrusion (b) or (to), the side float (5) is controlled regardless of the rolling control by the rolling control device (4). Or, by upward movement above a certain level in (6), the hydraulic valve 0υ is switched to move the running wheel (1) or (2) on the same side to this side float (5).
Or, in (6), the pendulum sensor is controlled and interlocked so as to be moved upward according to the amount of upward movement, or to limit the inclination of the pendulum sensor.

For example, when the left side float (5) is moved upward above a certain level, the pendulum sensor 12 is caused to protrude and retract.
Limit the fluctuation of ω. For this reason, this side float (5
) side is higher, the switching of the hydraulic valve 0υ is restricted and the lowering control of the running wheels (2) on the opposite side is not performed, or even if the lowering control is performed, the amount of descent is Since this side float (6) is small, the side float (6) on this side does not float up, making it possible to perform accurate and stable work.

In addition, FIG. 4 and FIG. 5 show the cross-sectional form of the running wheel (11(2)) on the inner circumference of the elastic body 6G made of rubber material covering the outer circumference of the pipe-shaped transport body (G). Adjacent planted seedlings of mud are formed along the inner circumferential surface of the running wheel (11F2), forming a slope slope F42) that slopes to both sides and a water division edge ρ1 along the top between these slopes. In order to reduce the push to the side, this water dividing edge (66), in which the water dividing edge (II3) is offset outward from the center of the cross section of the transponder (5), is arranged along the outer periphery of the elastic body 6G. With the elastic protrusion provided.

The thick part (g) of the elastic body 00 on the inside of the elastic protrusion H is formed to be thicker than the thick part (a) on the outside. (1) is a lug, which has a core metal integrated with the transport body (2), and its outer peripheral surface is covered with a series of elastic bodies that are the same as those between the elastic bodies. Also, this lug (T) is made to protrude inward.

[Brief explanation of the drawing]

The figures show one embodiment of the present invention, in which Fig. 1 is a side view, Fig. 2 is a plan view, Fig. 3 is a partially front view, Fig. 4 is a partially enlarged side view, and Fig. 5 is a partially enlarged side view. The figure is a sectional view thereof. In the figure, reference numeral fil F2) indicates a running wheel, (3) a working device, (4) a rolling control device, (5) and (6) a side float, and (7) a rolling correction control device.

Claims (1)

[Claims] A rolling control device (4) that performs rolling control to maintain the working device (3) in a substantially horizontal posture regardless of the inclination in the direction between the pair of left and right running wheels (1) and (2);
A rolling correction control device (7) corrects the rolling control of the working device (3) by upward movement of the side floats (5) (6) that touch the ground on the outside of the traveling wheels (1) (2) above a certain level. A rolling device for a mobile agricultural machine.