JPH0134566B2 - - Google Patents

Description

[Detailed Description of the Invention] (Field of Industrial Application) The present invention relates to a self-propelled agricultural working machine in which a ground-contacting agricultural working machine is attached to a towing vehicle body via a rolling control mechanism. This relates to a control device.

(Prior art) Conventionally, Japanese Patent Application Laid-open No. 11813/1983, Japanese Patent Application Laid-Open No. 1983-
As disclosed in Japanese Patent No. 38513, a traveling type agricultural machine in which a tractor body is forced to roll or pitch the farm machine was known. However, this conventional command signal for forcing rolling or pitching is not provided with a tilt detector on the towing vehicle body, but instead is installed on the work equipment side so that the command signal can be issued. It was getting worse.

In addition, the technology in Japanese Patent Application Laid-Open No. 1983-68813, which is a conventionally known publication disclosing a walking type rice transplanter, is similar to the prior art described above, by providing a tilt detector on the working machine side and A pair of running wheels was forcibly controlled up and down.

(Problems to be Solved by the Invention) In the prior art, an inclination detector for giving a rolling command to the working equipment was provided on the working equipment that is substantially attached to the towing vehicle body. Since the tilting of the working machine accompanied by side operation is always detected, there have been cases where a tilting that is unnecessary for actual work is detected and a command signal is issued accordingly. Another problem with the conventional technology in which a tilt detector is provided on the agricultural machine side is that control cannot be performed when each work machine is not provided with a tilt detector.

(Means for Solving the Problems) This invention aims to solve at least one of the above problems, and for this purpose, the invention has taken the following technical measures.

That is, in the present invention, a rolling forced operation mechanism B is provided between the towing vehicle body 1 side and the work implement 3 side that is mounted on the rear side of this towing vehicle body 1 so as to be rollable, and the rolling forced operation mechanism B is In response to the forced operation, the work equipment 3 side is provided with an idler mechanism C that allows idle rolling, and a detector 30 for issuing an operation command for the forced rolling operation mechanism B is provided on the towing vehicle body 1 side, and the left and right sides of the towing vehicle body 1 are The rolling control device switches the tilting side command signal on the working machine 3 side based on the switching of the tilting from the horizontal state to the left or right side.

(Operations and Effects of the Invention) In this invention, when the agricultural machine is working while traveling, the towing vehicle body that is moving the agricultural machine first tilts to the left and right sides due to the ups and downs of the running contact surface. The detector detects this and sends a command signal to activate the operating mechanism of the rolling device, causing the agricultural machine to roll later in the direction opposite to the rotational direction in which the towing vehicle body tilts. Therefore, according to the present invention, since the inclination detector is provided on the towing vehicle body side, an unexpected inclination direction due to the operation of the agricultural machine itself is not detected by the inclination detector. Detection function is provided.

Further, it is not necessary to provide each agricultural machine with a separate tilt detector for rolling control, and the structure can be simplified.

(Example) Hereinafter, a riding-type rice transplanter which is an example of the present invention will be described with reference to the drawings.

In Fig. 1, the riding type rice transplanter has a towing vehicle body 1
and a rice transplanting machine 3 connected to this towing vehicle body 1 via a lift device 2. Towing vehicle body 1
has a front wheel 5 and a rear wheel 6 at the front and rear of a transmission case 4 which also serves as a frame, and an engine stand 7 extends in front of the transmission case 4, on which an engine 8 is mounted. A driver's seat 9 is provided on one side, and a handle 10 is provided in front of the driver's seat. The power from the engine 8 is transmitted to the rear wheels via the transmission case 4 and the transmission shaft 11, and is also transmitted to the rice transplanting machine 3.

The lift device 2 has an upper arm 13 and a lower arm 14 attached to a frame 12 that supports the rear wheel 6. The lower arm 14 consists of two bending arms 14a and 14b.
4a, 14b are pivotally connected to each other. The end of the lower arm 14 on the rice transplanting machine side is pivotally connected to the rolling metal 15 via a link 16, the upper end of the link 16 is pivotally connected to the upper arm 13, and the lower end of the link 16 is fixed to the rolling metal 15. ing.

Further, the lower end of a lift cylinder 17 for raising and lowering the rice transplanting machine 3 via the lift device 2 is pivotally attached to the frame 12, and the upper end of a piston rod 17a of the lift cylinder 17 is attached to the upper arm 13. Bending arms 14a, 14b
A pitching cylinder 18 is provided between the pivot point 14c and the upper arm 13 to correct the inclination of the rice transplanting work machine 3 in the longitudinal direction (progressing direction).

The rice transplanting machine 3 has a frame 19, a float 20 is attached to the lower side of the frame, and a seedling tank 21 is attached to the upper side of the frame 19 with its upper end inclined toward the vehicle body and connected to a support rod 22 and a connection. A planting culm 24 is supported by the plate 23 and placed at the lower end of the seedling tank.
The seedlings are taken out one by one from the seedling tank 21 and planted on the rice field by reciprocating the planting culm 24 in the vertical direction.

The rolling device A includes the rolling metal 1
5, a rolling shaft 25 protruding from the front of the rice transplanting machine 3 is rotatably fitted. The operating mechanism B of this rolling device A operates from a rolling shaft 25 to a support plate 2 as shown in FIG.
6 protrudes, and a piston rod 28a of a rolling action cylinder 28 is connected to the tip of this support plate 26 as a floating mechanism C via springs 27, 27.
The ears 15a formed on 5 are fixed.

The transmission case 4 is located approximately at the center of the lower part of the vehicle body, and a storage case 29 is attached to the lower part of the transmission case 4.
A pendulum-shaped detector 30 for detecting the longitudinal and lateral inclination of the towing vehicle body 1 is housed inside.
The cylinders 18 and 28 are operated by signals from the detector 30.

The detector 30 and the rolling actuation cylinder 28
An electric control circuit and a hydraulic control circuit as shown in FIGS. 3 and 4 are provided between the detector 30 and the pitching cylinder 18, and the same electric control circuit and hydraulic control circuit are also provided between the detector 30 and the pitching cylinder 18. It is provided. The detector 30 emits pitching and rolling signals depending on the position of the pendulum.
Since the operation of each control circuit at this time is the same for pitching and rolling, only the rolling case will be described in detail.

The detector 30 is connected to the vehicle body 1 as shown in FIG.
The tilt side determining section 40 includes a tilt side determining section 40 that determines which side is tilted from the left or right horizontal state to the left or right, and a tilt detecting section S that detects the amount of tilt.
In this case, the vehicle body 1 leans to the left, and along with this, the planting part 3
It consists of a left contact 40a that closes when it tilts to the left, and a right contact 40b that closes when it tilts to the right.The left contact 40a is connected to a 4-port 3-position switching valve 41 (Fig. 4) via a relay _R1 . left solenoid 41
a, and the right contact 40b is connected to the right solenoid 41b of the switching valve ₄₁ via a relay R2.

Relay R ₁ is connected to a left contact 42 a provided in parallel with the inclined side discrimination section 40 , and relay R ₂ is connected to its right contact 42 b .
2a and 42b are connected to a variable resistor of the tilt amount detection section S, and the variable relief valve 4 of FIG. 4 is connected to this variable resistor.
No. 3 solenoid 43a is connected.

Now, when the towing vehicle body 1 tilts to the left from the left-right horizontal state and the rice transplanting machine 3 tries to tilt to the left while being relaxed by the swing mechanism C, the left contact 40a of the tilt discrimination section 40 closes and the relay is activated. _R1 operates, closing the left contact 42a and switching valve 4.
The left solenoid 41a of No. 1 is excited to open the switching valve 41.
is switched from the neutral position P ₀ to the left position P ₁ shown in FIG. Along with this, the inclination amount detection section S detects the inclination amount, changes the resistance value of the variable resistor according to the inclination amount, changes the excitation force of the solenoid 43a of the relief valve 43, and controls the relief valve 43. Adjust relief pressure.

In this state, the pressure oil from the hydraulic pump 44 moves the piston of the left-right tilt correction cylinder 28 to the left in the drawing (Fig. 4) (in Fig. 2, the piston rod 28a extends and moves toward the support plate). 2
6 is pressed to the right in the figure, the rolling shaft 25 rotates clockwise around its central axis with respect to the traveling direction). Therefore, the rice transplanting machine 3 that was tilted to the left gradually returns to the horizontal position, but when it becomes horizontal, the relief valve 43 operates to release the pressure oil, so the rotation of the rice transplanting machine 3 returns to the horizontal position. Stop at.

When the towing vehicle body 1 leans to the right and the rice transplanting machine 3 leans to the right as well, the right contact 40b
closes, relay _R2 operates, the switching valve 41 switches to the right position _P2 , and the pressure oil from the hydraulic pump 44 moves the piston of the left/right tilt correction cylinder 28 to the right in the diagram (Figure 4). Move, rolling axis 2
5 to make the rice transplanting work machine 3 horizontal. When the rice transplanting machine 3 becomes horizontal, the relief valve 43 operates to stop the rotation of the rolling shaft 25.

In this embodiment, when the towing vehicle body 1 leans to the left or right side from the horizontal state, the rice transplanting machine 3
The side is switched to the right side and the left side, and the rolling control is performed only to the left or right side,
From the controlled operating position to the neutral position on the return side, control is not performed depending on the action of the swing mechanism C.

However, the Utility Model 1972- which has a rolling mechanism
If it is equipped with a spring that always restores the working part to the left and right horizontal state as in Publication No. 117433,
Even in the case of the embodiment described above, control toward the neutral position can also be effected.

When the towing vehicle body 1 and the rice transplanting work machine 3 tilt forward, the piston rod 18a of the longitudinal tilt correction cylinder 18 is extended by a circuit similar to the control circuits shown in FIGS. 3 and 4, and the bending arm 14 is
a, 14b are bent downward, and the link 16 is rotated clockwise. Then, the rolling shaft 25
rotates along a vertical plane so as to lower the rear part of the rice transplanting machine 3.

Conversely, if the towing vehicle body 1 tilts rearward and the rice transplanting machine 3 also tilts rearward, the piston rod 18a of the longitudinal inclination correction cylinder 18 is bent to the link 1.
4a and 14b are shortened from the reference position in the bent state shown by the solid line in FIG. Rotate it so that it does. When the rice transplanting machine becomes horizontal in the front-rear direction, its rotation stops.

When the towing vehicle body 1 tilts forward to the right, etc., when horizontal and longitudinal tilts occur at the same time, each correction cylinder 1 is adjusted according to the amount of each tilt.
8,28 is activated.

[Brief explanation of drawings]

FIG. 1 is a side view of a riding-type rice transplanter according to the present invention;
FIG. 2 is a perspective view of the main parts, FIG. 3 is an electrical control circuit diagram, and FIG. 4 is a hydraulic control circuit diagram. Symbols in the figure: 1 is the towing vehicle body, 2 is the lift device, 3
is an agricultural machine (rice transplanting machine), 30 is a tilt detector,
A indicates a rolling device, and B indicates a forced operation mechanism.

Claims (1)

[Claims] 1 Between the towing vehicle body 1 side and the working machine 3 side that is rollably mounted on the rear side of this towing vehicle body 1,
A rolling forced operation mechanism B is provided, and the rolling forced operation mechanism B is provided with an idle mechanism C that allows the working machine 3 to perform idle rolling in response to the forced operation, and a detector 30 that issues an operation command to the rolling forced operation mechanism B. is provided on the towing vehicle body 1 side, and the tilting side command signal on the working machine 3 side is switched and changed based on the switching of the tilting of the towing vehicle body 1 from the horizontal state to the left side or the right side.