JPH0630610A - Structure for rolling working section in traveling vehicle for working - Google Patents

Abstract

PURPOSE:To highly improve the accuracy of rolling control by expanding the range of the rolling control and enabling the complicated control of the rolling. CONSTITUTION:The rolling structure of the working machine is characterized by disposing a link holder capable of being rolled on a traveling frame 1 and a planting work section 3, respectively, between the traveling frame 1 and the planting work section 3, disposing a hydraulic cylinder 17 for forcibly controlling the rolling between the link holder 12 and the traveling frame 1, and further disposing a rolling damper 13 for controlling free rolling between the link holder 12 and the planting working machine 3.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a rolling structure of a working portion of a work vehicle such as a riding type rice transplanter and a tractor.

[0002]

BACKGROUND OF THE INVENTION Generally,
In a traveling vehicle for work with this type of working unit connected, when the traveling machine body rolls due to unevenness, slope, obstacles, etc. in the field, the working unit also rolls integrally with it, so that There is an inconvenience that the working unit posture with respect to the horizontal plane changes and the working accuracy is significantly lowered. Therefore, conventionally, a so-called free rolling control is performed in which the working unit is connected and supported in a rolling manner, and the working unit is held by a rolling ammunition to allow a voluntary posture maintaining operation of the working unit. It has been proposed to perform so-called forced rolling control in which a free working portion is forcibly rolled by an actuator operation based on detection by a tilt sensor or the like. However, in the free rolling control, since there is a limit to the amount of rolling that can be controlled, there is a drawback that the working unit inclines largely following the rolling of the traveling machine body in a field with severe unevenness, while the forced rolling control is performed. However, since it is necessary to reduce the control sensitivity in order to prevent so-called hunting phenomenon peculiar to automatic control and malfunction due to false detection, it is difficult to perform control with desired accuracy, and as a result, any rolling control is sufficient. The reality is that the work accuracy cannot be ensured.

[0003]

SUMMARY OF THE INVENTION The present invention was conceived with the object of providing a rolling structure of a working portion in a working vehicle capable of eliminating these drawbacks in view of the above circumstances. A member for rolling a working vehicle in which the working parts are connected in a freely rolling manner, wherein the working part and the traveling machine body are connected via a plurality of rolling fulcrums, and the rolling is relatively performed via the rolling fulcrums. A rolling control member for rolling-controlling the working unit according to the posture of the working unit is provided between the rolling control members. Further, in a working vehicle in which the working units are connected in a rolling manner, the working unit and the traveling machine body are connected via a plurality of rolling fulcrums,
A rolling control member that controls the rolling of the working unit according to the posture of the working unit is provided between the members that relatively roll through the rolling fulcrums, and the rolling fulcrums are located on substantially the same axis. It is characterized by having done. Furthermore, in a work traveling vehicle in which the working units are connected to each other in a rolling manner, an intermediate member that can be rolled between the working unit and the traveling machine body is provided between the working unit and the traveling machine body, A forced rolling control mechanism for forcibly rolling-controlling the working unit by an actuator is provided between the intermediate member and the traveling machine body, and a rolling bullet is used between the intermediate member and the working unit. It is characterized in that a free rolling control mechanism for independently controlling the rolling of the working unit is provided. Further, according to the present invention, the accuracy of rolling control can be dramatically improved by this configuration.

[0004]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Next, one embodiment of the present invention will be described with reference to the drawings. In the drawings, reference numeral 1 denotes a traveling machine body of a riding type rice transplanter, and a planting work section 3 is movably connected to a rear portion of the traveling machine body 1 through an elevating link mechanism 2. The working unit 3 is vertically moved up and down based on the up-and-down swing of the up-and-down link mechanism 2 accompanying the expansion and contraction operation of the hydraulic cylinder 4.

The planting work section 3 has a planter case 5 formed in a substantially V-shape in a plan view, a planter arm 6 provided at each rear end of the planter case 5, and a planter case 5.
A seedling stand 7, which is slidably supported upward in the left-right direction and is forcibly reciprocally moved left and right based on the lateral feed action of the lateral feed mechanism installed in the planter case 5, the center of the bottom of the planter case 5, and both left and right sides. It is composed of a center float 8 and a side float 9 and the like which are vertically swingably provided in the section. Then, the planting work section 3 receives the buoyancy of the center float 8 and the side floats 9 and slides on the rice field, and is fed laterally by a predetermined pitch in accordance with the timing of planting from the seedling table 7 to the planter arm 6.
Will scrape the united seedlings and plant them on the rice field, but the above configurations are all the same as before.

Reference numeral 10 denotes a rolling support shaft projecting forward and upward at the center of the front end of the planter case 5, the base end of the rolling support shaft 10 having the center of the front end of the planter case 5. A boss portion 5a formed at the lower end of the link holder 12 is rotatably supported by a boss portion 5a protrudingly formed via a bearing 11, and a boss portion 12a formed at a lower end portion of the link holder 12 is rotated at an intermediate portion of the rolling support shaft 10. Since it is movably fitted to the outside, the planting work part 3 can be freely rolled on the link holder 12.

Furthermore, 13 is a pair of left and right rolling bullets, one end of each of the rolling bullets 13 is locked to each of the left and right end portions of the seedling stand 7 while the other end portion is , Is fixed to the upper end of an ammunition bracket 14 installed upright on the link holder 12. For this reason,
The left and right rolling ammunition machines 13 balance the left and right one-side loads generated by the lateral feeding of the seedling placing table 7 based on the fact that they are reciprocally expanded and contracted with each other. The voluntary rolling of No. 3 is allowed based on the contradictory expansion and contraction. That is, a so-called free rolling control mechanism is constructed by interposing the rolling ammunition 13 between the planting work unit 3 and the link holder 12 which are relatively rolling freely. Reference numeral 15 denotes an adjusting plate provided between the bullet bullet 14 and the rolling bullet 13. The adjusting plate 15 changes the left and right rolling bullets based on changing the left and right mounting positions with respect to the bullet bullet 14. This is for adjusting the urging force of the machine 13.

On the other hand, the elevating link mechanism 2 is composed of a pair of upper links 2a and lower links 2b, and a connecting link 16 for connecting the upper and lower links 2a, 2b is provided at the tip end. A boss portion 16a formed integrally with the lower end portion of the connecting link 16 is rotatably fitted onto the rolling support shaft 10. That is, a first rolling fulcrum that allows the link holder 12 to roll with respect to the elevating link mechanism 2 between the elevating link mechanism 2 and the planting working section 3, and a planting working section with respect to the link holder 12. A second rolling fulcrum that allows 3 to be freely rolled is formed in series on the same axis.

Further, 17 is a hydraulic cylinder interposed between the connecting link 16 and the bullet bracket 14, the hydraulic cylinder 17 being constituted by a so-called double-acting cylinder, but at the time of extension operation. The link holder 12 integrated with the ammunition bracket 14 is forcibly rolled in the upward right direction, while the link bracket 12 is forcibly rolled in the upward left direction during the contraction operation.

Reference numeral 18 denotes a hydraulic valve unit integrally attached to the rear surface of the link holder 12,
The hydraulic valve unit 18 incorporates a directional control valve capable of switching between three positions of extension, stop and contraction to control the expansion and contraction of the hydraulic cylinder 17, but the hydraulic switching in the hydraulic valve unit 18 is provided on the side. This is performed based on the swing of the pendulum body 19 (horizontal detection sensor). That is, so-called forcible rolling control for forcibly returning the planting work unit 3 (link holder 12) to the horizontal posture based on the operation of the hydraulic cylinder 14 in the diametrical direction when the planting work unit 3 rolls along with the tilt of the machine body. A mechanism is configured between the lifting link mechanism 2 and the link holder 12.

In the embodiment of the present invention constructed as described above, the planting work section 3 is connected to the lifting link mechanism 2 via the first and second rolling fulcrums, and is carried out via each fulcrum. The rolling control will be combined based on the forced rolling control and the free rolling control. That is, since the rolling control range can be sufficiently secured as compared with the case where the free rolling control or the forced rolling control is independently performed, the problem of being out of control in a field with severe unevenness is solved and the accuracy of the rolling control is significantly improved. Can be improved.

Moreover, since the forced rolling control by the hydraulic cylinder 17 acts to displace the control range of the free rolling control according to the rolling amount, the free rolling control is made effective regardless of the state of the field. However, if it is within the control range of free rolling control, it is possible to reduce the sensitivity of forced rolling control without lowering the control accuracy, and as a result, the hunting phenomenon in forced rolling control is achieved. It is possible to eliminate the malfunction caused by the false detection and further improve the control accuracy in the rolling control.

Further, since each rolling fulcrum is formed on a single rolling fulcrum 10, the planting work unit 3 is moved to the left or right based on the relative displacement of the rolling fulcrums as in the case where the fulcrums do not coincide. As a result, it is possible to eliminate the inconvenience that the planting work unit 3 meanders in accordance with the lateral deflection of the planting work unit 3 and further improve the working accuracy.

The present invention is not limited to the above-mentioned embodiment, and the working unit is not limited to the planting working unit of the above-mentioned embodiment, but various working units are possible. Needless to say, it can be implemented in. Also,
The rolling control member provided between the members that relatively roll is not limited to a hydraulic cylinder or rolling ammunition, and various actuators such as an electric cylinder and an electric motor can be used. In addition to the combination of other members, it is possible to combine the same members such as rolling ammunition having different biasing forces.

[0015]

In summary, since the present invention is constructed as described above, a plurality of rolling fulcrums are provided between the working unit and the traveling machine body while performing the rolling control of the working unit. At the same time, a plurality of rolling control members are provided so as to sandwich each rolling fulcrum. That is, the rolling control of the present invention is carried out in a complex manner by using a plurality of rolling control members such as a rolling ammunition and an actuator which are selectively combined as appropriate. Therefore, it is possible to secure a large rolling control range as compared with the case where the free rolling control and the forced rolling control are independently performed, and as a result, the working unit posture can be controlled to be constant even in a field with severe unevenness. Significant improvement in accuracy can be achieved.

Further, when the respective rolling fulcrums are provided on substantially the same axis, it is possible to eliminate the inconvenience that the working portion is swung to the left or right based on the relative displacement of the rolling fulcrums. Therefore, it is possible to perform rolling control with extremely high accuracy without the problem that the working unit meanders as the working unit swings left and right.

Furthermore, when forced rolling control is performed between the traveling machine body and the intermediate member and free rolling control is performed between the intermediate member and the working portion, extremely precise rolling control can be performed. That is, when the rolling amount of the working unit is small, the working unit posture is constantly controlled based on the free rolling control, while when the rolling amount of the working unit is large, the control range is freely changed by displacing the control range by the forced rolling control. By simultaneously executing rolling control, the posture of the working part can be controlled to a constant level. Therefore, it is possible to perform highly accurate rolling control by significantly improving the followability to unevenness in the field. By reducing the sensitivity of the forced rolling control within the range, it is possible to reliably prevent a hunting phenomenon and a malfunction due to a false detection without lowering the control accuracy.

[Brief description of drawings]

FIG. 1 is a side view of a riding-type rice transplanter.

FIG. 2 is a side view of a planting work unit.

FIG. 3 is a front view of a main part of the same.

FIG. 4 is an enlarged sectional view of a main part of the same.

[Explanation of symbols]

 1 Traveling Aircraft 2 Lifting Link Mechanism 3 Planting Working Section 10 Rolling Spindle 12 Link Holder 13 Rolling Ammo 17 Hydraulic Cylinder

Claims (3)

[Claims] 1. A working traveling vehicle in which working units are connected in a rolling manner so that the working unit and a traveling machine body are connected via a plurality of rolling fulcrums, and rolling is relatively performed via each rolling fulcrum. The rolling structure of the working unit in the working vehicle is characterized in that a rolling control member that controls the rolling of the working unit according to the posture of the working unit is interposed between the members. 2. A working traveling vehicle in which working units are connected in a rolling manner, the working unit and the traveling machine body are connected via a plurality of rolling fulcrums, and the rolling is relatively performed via each rolling fulcrum. A rolling control member for controlling the rolling of the working unit according to the posture of the working unit is interposed between the members, and the rolling fulcrums are located on substantially the same axis. Rolling structure of the working part of a car. 3. A work traveling vehicle in which working units are connected in a freely rolling manner, and intermediate members that are rollable with respect to the working unit and the traveling machine body are provided between the working unit and the traveling machine body. At the same time, a forced rolling control mechanism for forcibly rolling-controlling the working part by an actuator is provided between the intermediate member and the traveling machine body, and a rolling ammunition is provided between the intermediate member and the working part. The rolling structure of the working unit in the working vehicle is characterized in that a free rolling control mechanism for independently controlling the rolling of the working unit is provided.