JPH0837875A - Rocking type working vehicle - Google Patents

Abstract

PURPOSE:To provide a rocking type working vehicle, having a low center of gravity in a car body, well balanced in left and right weight distribution, excellent in stability of the car body and good in maneuverability. CONSTITUTION:This rocking type working vehicle is obtained by supporting a rocking car body 36 on supporting shafts 30 and 39, having each axial line L thereof, passing along the front and rear directions of a mobile car body a and located in nearly the intermediate part in the left and right directions of the mobile car body a so as to freely rock about the axial line as the center relatively to the mobile car body 1 and respectively fixing a driving device 47 for driving at least a mobile device 2 and a working machine 11 and a carrying platform 62 for a driver to a rocking car body 36.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an oscillating work vehicle suitable for mowing work on slopes of riverbeds, sloping areas such as mountains, ski areas, and the like.

[0002]

2. Description of the Related Art Conventionally, as a rocking type work vehicle for performing grass cutting work on a sloping ground, one disclosed in US Pat. No. 3,402,536 is known. In this rocking type work vehicle, the front wheel axle housing and the front wheel side body frame are connected via a hydraulic cylinder, and the rear wheel axle housing and the rear wheel side body frame are connected via a hydraulic cylinder. The vehicle body swings left and right due to the expansion and contraction of each hydraulic cylinder, so that the operator is kept in a stable working posture.

[0003]

However, in the above-described conventional rocking type work vehicle, the working machine is arranged in the lower central part of the rocking vehicle body, and the drive device and the driving device are provided on the rocking vehicle body. It is equipped with a driver's seat. Therefore, the position of the center of gravity of the vehicle body becomes high, so that the vehicle is unstable and the maneuverability is poor. Also, since the working machine is arranged in the lower center of the swing body,
In order to transmit the power of the drive device to the working machine, it is necessary to specially provide a transmission member such as a chain and a sprocket, and accordingly, there is a problem that the structure becomes complicated and the weight also increases.

The present invention has been made in view of the above-mentioned problems of the above-mentioned prior art, and an object of the present invention is to improve the stability and maneuverability of the vehicle body and
It is an object of the present invention to provide an oscillating work vehicle that does not require a conventional transmission member and can smoothly achieve weight reduction.

[0005]

In order to achieve the above object, a rocking type work vehicle of the present invention is provided with a traveling device on the left and right portions of a traveling vehicle body, and a working machine on at least one of the front and rear portions of the traveling vehicle body. Is provided, and the swing vehicle body is supported so as to be capable of swinging in the left-right direction with respect to the traveling vehicle body about an axis located at a substantially middle portion in the left-right direction of the traveling vehicle body and along a front-rear direction of the traveling vehicle body. Then, a drive device that drives at least the traveling device and the working machine and an operator mounting table are fixed to the swing vehicle, and the swing vehicle body is provided between the traveling vehicle body and the swing vehicle body. It is characterized in that a swing angle adjusting device for adjusting the swing angle is provided.

In order to achieve the same purpose, it is desirable that the traveling device is of a crawler type, and the lower end surface of the swinging vehicle body is located below the upper end surface of the crawler of the traveling device.

In order to achieve the same purpose, the drive device includes a drive source and a transmission device for transmitting the power of the drive source to the traveling device and the working machine, and the drive source and the transmission device. The device is arranged so as to be laterally divided around the axis of the supporting shaft of the swinging vehicle, and further, the operator mounting table is
It is desirable to position it on the axis of the support shaft of the swing vehicle body.

In order to achieve the same object, the working machine is mounted on the traveling vehicle body through a member which can be raised and lowered, and the supporting shaft of the swinging vehicle is used as a drive shaft of the working machine. Is desirable.

In order to achieve the same object, an automatic posture control sensor for automatically controlling the swinging posture of the swinging body to always be positioned in the vertical direction of the center of gravity is provided in the swinging body. It is desirable to install it on the operation panel or the operator mounting table, which is the position where the influence of vibration is small.

[0010]

A working machine is provided on at least one of the front and rear portions of a traveling vehicle body having traveling devices provided on the left and right portions, and the axis is located substantially in the middle of the traveling vehicle body in the left-right direction and the traveling machine is operated. A swingable vehicle body is supported so as to be swingable in the left-right direction around a support shaft extending along the front-rear direction of the vehicle body, and a drive device and an operator mounting table for driving at least the traveling device and the working machine on the swingable vehicle body. Are fixed respectively, and a swing angle adjusting device for adjusting the swing angle of the swing vehicle is provided between the traveling vehicle body and the swing vehicle body. This improves the stability and maneuverability of the vehicle body, eliminates the need for a conventional transmission member, and facilitates weight reduction.

[0011]

Embodiments of the present invention will be described below with reference to the drawings.

(First Embodiment) First, a first embodiment of the present invention will be described with reference to FIGS. FIG. 1 is a side view showing the structure of a rocking type work vehicle according to a first embodiment of the present invention, FIG. 2 is a plan view showing the structure of the rocking type work vehicle, and FIG.
FIG. 3 is a partially cutaway plan view showing a main part of FIG. 2. 1 and 2
The reference numeral 1 denotes a traveling vehicle body having a planar rectangular frame shape, and traveling devices 2 are provided on the left and right portions thereof. These traveling devices 2 have the same configuration, and have a plurality of guide rollers 3 rotatably disposed on the lower surface of the left and right portions of the traveling vehicle body 1, and one guide roller 3 rotatably disposed on the front left and right portions of the traveling vehicle body 1. The tension roller 4, a single sprocket 5 rotatably arranged on the left and right of the rear portion of the traveling vehicle body 1, a guide roller 3, a tension roller 4, and a crawler 6 rotated by the sprocket 5. The tension roller 4 is attached to the traveling vehicle body 1 so as to be movable in the front-rear direction, is biased forward by a spring 7, and applies a predetermined tension to the crawler 6. Sprocket 5
Fixed to rotating shafts 10 of left and right hydraulic motors 9 mounted on brackets 8 protruding from the rear right and left of the traveling vehicle body 1, respectively. When the left and right hydraulic motors 9 rotate, the left and right crawlers 6 rotate via the left and right sprockets 5, whereby the traveling vehicle body 1 travels.

A working machine 11 is arranged at the front of the traveling vehicle body 1 so as to be movable up and down (rotatably in the vertical direction). This working machine 11 is for performing a mowing operation, and includes a cover 12
A first rotating shaft 13 rotatably supported inside the cover 12 with its axis oriented in the left-right direction, and the first rotating shaft 13
A plurality of hammer knives 14 for mowing radially mounted on the outer peripheral portion of the first rotating shaft 13 evenly to both ends of the first rotating shaft 13, and a front mounted on the front part of the cover 12 so as to be vertically rotatable. It has a protector 15. One ends of support arms 16 are respectively fixed to the left and right rear parts of the cover 12, and the other ends of the support arms 16 are rotatably attached to a bracket 17 projecting on the front upper surface of the traveling vehicle body 1 via a shaft 18. Has been. Then, the working machine 11 as a whole rotates in the vertical direction around the shaft 18.

The front protector 15 opens and closes the front opening of the cover 12, and the other end of the rotary arm 19 whose one end is rotatably attached to the left and right parts of the front protector 15 covers the cover 1.
It is rotatably attached to the cover 12 by being rotatably attached to the left and right portions of 2. One end of a coil spring 20 is rotatably attached to the left and right portions of the front protector 15, and the other end of the coil spring 20 is rotatably attached to the left and right portions of the cover 12. These coil springs 20 are located above the rotating arm 19 in FIG. 1, and the coil springs 20 urge the front protector 15 to rotate in the closing direction (counterclockwise direction in FIG. 1). Further, the front protector 15 has its upper end edge 15 a at the front upper end edge 1 of the cover 12.
By contacting the cover 2a, as shown in FIG.
The second front opening is held in the closing direction rotation limit position where the opening amount is minimum.

Then, the front protector 15 is rotated according to the height of the grass to be mowed, and the opening amount of the front opening of the cover 12 is controlled. That is, when the height of the grass is relatively low, the front protector 15 is in the state shown in the figure, and the opening amount of the front opening of the cover 12 is kept to a minimum, and stones or the like move forward from the front opening of the cover 12. Prevent jumping out. Further, when the height of the grass is high, the front protector 15 is pushed up by the grass, so that the front protector tilts around the fulcrums A, B, and C against the biasing force of the coil spring 20. By rotating so as to slide along the surface 12b, the opening amount of the front opening portion of the cover 12 increases, and a large amount of grass can be taken in from the front opening portion of the cover 12. It is possible to handle any height of grass, enabling a wide range of work. That is, the fulcrum A is only rotated, the fulcrum B is rotated and vertically rotated with respect to the fulcrum A, and the fulcrum C is slid along the inclined surface 12b.

A V-pulley 21 is fixed to one end of the rotary shaft 13. This V-pulley 21 is fixed to one end of a second rotary shaft 22 that is rotatably mounted on the upper rear side of the cover 12 in parallel with the first rotary shaft 13.
To an endless V-belt 24 so that power can be transmitted. The V pulley 25 is fixed to the other end of the second rotating shaft 22. The V-pulley 25 is connected to a V-pulley 28 fixed to an output shaft 27 of a gear reduction mechanism 26 fixed to the front center upper surface of the traveling vehicle body 1 via an endless V-belt 29 so that power can be transmitted. The axis L of the input shaft 30 of the gear reduction mechanism 26 is located substantially in the center of the traveling vehicle body 1 in the left-right direction. The input shaft 30 has a V pulley 5 to be described later.
It is connected to the drive source 48 via 8, 55, 56, 60 and the endless V levels 59, 61 so that power can be transmitted. The power of the drive source 48 is V pulleys 58, 55, 56,
Gear reduction mechanism 2 via 60 and endless V levels 59, 61
6 is transmitted to the input shaft 30, the rotation of the input shaft 30 is transmitted to the output shaft 27, and the rotation of the output shaft 27 is transmitted to the V pulley 2
8, endless V belt 29, V pulley 25, second rotary shaft 2
2, the V-pulley 23, the endless V-belt 24, and the V-pulley 21 are sequentially transmitted to the first rotating shaft 13, and the first rotating shaft 1
By rotating the hammer knife 14 together with 3,
Mowing work is performed.

The working machine 11 is moved up and down by a double-acting lift cylinder 31. The lift cylinder 31 is
A lower end portion of the cylinder body 31a is rotatably attached via a shaft 34 to a bracket 33 which is attached rotatably in a vertical direction to the front center portion of the traveling vehicle body 1 via an axle 32. Further, the piston rod 31b of the lift cylinder 31 is rotatably attached via a shaft 35 to a bracket 89 attached to a substantially central portion of the cover 12 in the left-right direction. Then, as shown in FIG. 1, when the piston rod 31b of the lift cylinder 31 is in the retracted state, the working machine 11 is in the lowest position, and at this time, the rear end portion 33a of the bracket 33 is in the traveling vehicle body. By contacting with the front part of 1, the downward rotation of the working machine 11 is prevented. When the piston rod 31b of the lift cylinder 31 is projected from this state, the working machine 11 rotates upward (clockwise in FIG. 1) about the shaft 18.

A swing body 36 is supported on the traveling body 1 so as to be swingable right and left. The swing vehicle body 36 has a rectangular box shape in plan view, and as shown in FIGS.
The bearing part 37 at the center on the lower front side is a plain bush 38.
It is rotatably supported by the input shaft 30 of the gear reduction mechanism 26 via. Therefore, the input shaft 30 of the gear reduction mechanism 26
Serves as both a drive shaft for rotationally driving the hammer knife 14 of the working machine 11 and a support shaft for swingably supporting the swing vehicle body 36 with respect to the traveling vehicle body 1. This reduced the number of parts that did not require an extra support shaft. As shown in FIGS. 1 and 3, a support shaft 39 is projectingly provided at the center of the lower rear side of the swing body 36. This support shaft 39
Is rotatably supported via a plain bush 42 by a bearing portion 41 attached to a bracket 40 provided on the upper surface of the rear center of the traveling vehicle body 1. The axis L of the support shaft 39 coincides with the axis L of the input shaft 30 of the gear reduction mechanism 26. The swinging vehicle body 36 is located at a substantially middle portion in the left-right direction of the traveling vehicle body 1 with respect to the traveling vehicle body 1, and is centered on the axis L of the input shaft 30 and the support shaft 39 along the front-back direction of the traveling vehicle body 1. It swings to the left and right. As shown in FIG. 1, the lower end surface 36 a of the swinging vehicle body 36 is set to be located below the upper end surface 6 a of the crawler 6 of the traveling device 2. As a result, the center of gravity of the entire vehicle body is further lowered, and stability is increased.

The swing angle of the swing body 36 is adjusted by the swing cylinder 43. This swing cylinder 4
3 is a bracket 4 provided so that the lower end of the cylinder body 43a is offset to the left side of the upper surface of the rear part of the traveling vehicle body 1.
4, it is attached rotatably in the vertical direction via a shaft 45 as shown in FIGS. The outer end of the piston rod 43b of the swing cylinder 43 is attached to the swing body 3
6 Bracket (not shown) fixed at a predetermined position on the rear part
It is rotatably attached to the shaft via a shaft 46. Then, as shown in FIG. 5, in response to the forward / backward movement of the piston rod 43b of the swing cylinder 43, the entire swing vehicle body 36 swings left and right around the input shaft 30 and the support shaft 39, and the swing angle is changed. Adjusted.

On the upper surface of the bottom of the swinging body 36, the drive unit 4
7 is fixed. This drive device 47 is used for the traveling device 2
The work machine 11 and the swinging vehicle body 36 are driven to move their positions. The drive device 47 is the engine 4 which is a drive source.
8 and the power of the engine 48 to drive the traveling device 2 and the working machine 11.
And a transmission device 49 for transmitting to the swing body 36.
As shown in FIG. 2, the engine 48 and the transmission 49 are arranged so as to be laterally distributed about the axis L of the support shaft 39 of the swing vehicle body 36. The engine 48 is arranged on the left side of the axis L, and the transmission 49 is Each is located on the right side of the axis L. This improves the balance of the rocking vehicle body 36 and stabilizes the entire vehicle. An electric motor is also considered as a drive source.

The transmission device 49 has a hydraulic pressure generator 50. The hydraulic pressure generating device 50 includes two traveling hydraulic pumps 51, 51 that are swash plate variable axial piston pumps that generate hydraulic pressure for driving the left and right traveling devices 2.
And one charge pump 52 and one work machine vertical / oscillating vehicle swing pump 53 composed of a gear pump. The rotary shafts of the pumps 51 to 53 are rotatably linked with each other. A power transmission shaft portion 54 is connected to a rotary shaft (not shown) of the traveling hydraulic pump 51 (on the front side in FIG. 2). Two (integrated with each other) transmission shafts (not shown) of the power transmission shaft portion 54.
V pulleys 55 and 56 are fixed. One V-pulley 55 is connected to a V-pulley 58 fixed to an output shaft 57 of the engine 48 via an endless V-belt 59 so that power can be transmitted. The other V pulley 56 is connected to a V pulley 60 fixed to the input shaft 30 of the gear reduction mechanism 26 via an endless V belt 61 so that power can be transmitted.

The rotational force of the output shaft 57 of the engine 48 is the V pulley 58, the endless V belt 59, and the V pulley 5.
5, one of the traveling hydraulic pumps 5 via the power transmission shaft 54
1, the other traveling hydraulic pump 51, the charge pump 52
And the work machine vertical / oscillating vehicle body swing pump 53, and these pumps 51 to 53 are rotationally driven to generate hydraulic pressure.

Further, the rotational force of the output shaft 57 of the engine 48 is generated by the V pulley 58, the endless V belt 59, the V pulley 55,
It is transmitted to the input shaft 30 of the gear reduction mechanism 26 via the power transmission shaft 54, the V pulley 56, the endless V belt 61, and the V pulley 60, and the input shaft 30 rotates.

An operator mounting table 62 is provided at a substantially middle position in the left-right direction and a substantially middle position in the up-down direction on the rear portion of the swing body 36. The operator mounting table 62 has a seat 62b on which the operator 63 sits, which is attached to the upper rear surface of the step plate 62a on which the feet of the operator (see FIG. 5) 63 are placed.
A fuel tank 86 for the engine 48 is provided below the seat 62b. An operation panel 64 is provided on the rear upper surface of the swing body 36. On the operation panel 64, as shown in FIG. 4, a working machine on / off lever 65 for turning on / off the rotation of the hammer knife 14 of the working machine 11, a switching operation for raising / lowering (up and down) the working machine 11, and a swinging body 36. Of the working machine up / down / swing body swing lever 66 for adjusting the swing angle to the left and right of the vehicle, the forward movement of the traveling device 2,
An HST (hydrostatic pressure continuously variable transmission) operating lever 67 for reversing and turning left and right and a throttle lever 68 for adjusting the throttle opening of the engine 48 are provided. The work implement on / off lever 65 and the throttle lever 68 are provided so as to be movable in the vertical direction (directions of arrows A and B in FIG. 4). Further, the working machine up / down / swing vehicle swing lever 66 is provided so as to be movable in the up-down direction (directions of arrows A and B in FIG. 4) and the left-right direction (directions of arrows C and D in FIG. 4) centered on the neutral position. ing. Further, the HST operation lever 67 is provided so as to be movable in the up-down direction (arrows A and B directions in FIG. 4) and the left-right direction (arrows C and D directions in FIG. 4).
The levers 65 to 68 are provided on the operator mounting table 6
2 is operated by the operator 63. Further, the operation panel 64 is provided with a starter switch (not shown) for starting the engine 48. A battery 85 is mounted on a support base 85a on the front side of the operation panel 64.

There is an advantage that the levers 65, 66 and 68 can be simultaneously operated with the other hand while operating the HST operation lever 67 with one hand, so that the driving performance is improved and the operator's fatigue is minimized.

When the work implement on / off lever 65 is operated to move in the on direction, the tension roller 69 shown in FIGS. 1 and 2 moves the V pulley 25 at the other end of the second rotary shaft 22 and the output shaft 27 of the gear reduction mechanism 26. By pushing upward the endless V-belt 29 between the V-pulley 28 and the endless V-belt 29, tension is applied to the endless V-belt 29 and power is transmitted (ON), and the hammer knife 14 rotates. Further, when the work implement on / off lever 65 is moved to the off direction, the upward pressing of the endless V-belt 29 by the tension roller 69 is released, and the tension on the endless V-belt 29 is released. 29 is slipped to a state where power is not transmitted (OFF), and the hammer knife 14 does not rotate.

The HST operating lever 67 is locked in its position when in the neutral state, and the lock state is released by pulling the lock release lever 67a upward in FIG. 4 from this locked state to operate the HST operating lever 67. Although the vehicle can be moved forward and backward, it has the advantage of being able to turn left and right in the locked state and being able to turn left and right super-centered around the center of the entire vehicle.

As shown in FIGS. 1 and 2, an oil tank 70 is fixed to the upper surface of the swinging vehicle body 36 side by side with the engine 48. This oil tank 70 is used for the swinging body 36.
Centering around the axis L of the support shafts 30, 39 of the engine 48
It is located on the same side as and behind the engine 48. As a result, the space of the swing body 36 is effectively used.

FIG. 6 is a hydraulic circuit diagram of the rocking type work vehicle of the present invention. In the figure, reference numeral 71 is a first switching valve for switching the working machine up and down, and 72 is a second switching valve for switching the left and right swing of the swing vehicle body 36. Both of these switching valves 71, 72 consist of a manual switching type 6-port 3-position spool valve, and a working machine up / down / swing vehicle swing lever 66 on an operation panel 64.
Can be switched by the operation. The first port 71a of the first switching valve 71 and the first port 72a of the second switching valve 72 are
It is connected to the discharge port of the work machine vertical / oscillating vehicle body swing pump 53. The second port 71b of the first switching valve 71 and the second port 72b of the second switching valve 72 are connected to the inflow port (return port) of the oil tank 70. The third and fourth ports 71c, 71d of the first switching valve 71 are connected to the hydraulic chamber 73a in the cylinder body 31a of the lift cylinder 31,
It is connected to 73b. The third and fourth ports 72c, 72d of the second switching valve 72 are connected to the hydraulic chambers 74a, 74b in the cylinder body 43a of the swing cylinder 43.

Further, each traveling hydraulic pump 51 can be set to each mode of neutral, forward movement, backward movement, and left / right turning by controlling the swash plate by operating the HST operation lever 67 on the operation panel 64.

The oil flow ports 51a and 51b of the traveling hydraulic pump 51 are connected to the oil flow ports 9b and 9a of the left hydraulic motor 9 via flexible pipes 75a and 75b. In addition, the oil circulation ports 51a and 51b of the other traveling hydraulic pump 51 have flexible pipes 76a and 7b.
6b, through the oil passage 9a of the hydraulic motor 9 on the right side,
It is connected to 9b. Further, the discharge port of the charge pump 52 is the oil flow port 5 of both traveling hydraulic pumps 51.
It is connected to 1a and 51b. Further, the suction port of the work machine vertical / oscillating vehicle body swing pump 53 and the suction port of the charge pump 52 are connected to the outflow port of the oil tank 70 via a flexible pipe 77a.

In FIG. 6, 78 is a check valve installed in a predetermined pipeline, 79 is a relief valve installed in a predetermined pipeline,
Reference numeral 80 denotes the fourth port 71d of the first switching valve 71 and the other hydraulic chamber 73 in the cylinder body 31a of the lift cylinder 31.
An orifice 81 provided in a pipe line between the oil tank 70 and b is a filter provided at the inflow port and the outflow port of the oil tank 70, respectively.

Next, the operation of the rocking type work vehicle of the present embodiment having the above-mentioned structure will be described.

"Running operation" The engine 48 is started by operating the starter switch, and the throttle lever 68 is operated to adjust the rotational speed of the engine 48. Then, the pumps 51 to 53 are rotationally driven by the drive of the engine 48, and hydraulic pressure is generated. In this state, the lock release lever 67a is pulled up to release the locked state of the HST operation lever 67 at the neutral position.
When the HST operating lever 67 is moved in the direction of arrow A in FIG. 4, the discharge pressures of the traveling pumps 51 of the left and right traveling devices 2 are sent to the hydraulic motor 9 in a state where they are equal to each other. By forward rotation (counterclockwise direction in FIG. 1), the left and right crawlers 6 rotate forward,
The entire swing-type work vehicle moves forward. When the lock release lever 67a is pulled up and the HST operation lever 67 is moved in the direction of arrow B in FIG. 4, the discharge pressures of the traveling pumps 51 of the left and right traveling devices 2 are sent to the hydraulic motor 9 in a mutually equal state, The left and right hydraulic motors 9 rotate reversely at equal rotational speeds (clockwise direction in FIG. 1), and the left and right crawlers 6 reversely rotate at equal rotational speeds, whereby the entire swing work vehicle moves backward. To do.

When the HST operating lever 67 moving in the direction of arrow A in FIG. 4 is rotated to the left (direction of arrow C in FIG. 4), the discharge pressure of the left traveling pump 51 is changed to the right traveling pump 5.
Since the discharge pressure becomes lower than the discharge pressure of 1, the rotation speed of the left hydraulic motor 9 becomes lower than the rotation speed of the right hydraulic motor 9 or becomes a reverse rotation low speed, and the left crawler 6 becomes the right crawler 6
Since it rotates (or stops or reverses) at a lower rotation speed, the entire swing-type work vehicle turns forward to the left. Also, FIG.
When the HST operation lever 67 moving in the direction of arrow A is rotated to the right (direction of arrow D in FIG. 4), does the discharge pressure of the right traveling pump 51 become lower than the discharge pressure of the left traveling pump 51? The rotation speed of the right hydraulic motor 9 becomes lower than the rotation speed of the left hydraulic motor 9, and the right crawler 6 rotates (or stops or reverses) at a lower rotation speed than the left crawler 6, so that the sway is reduced. The entire moving work vehicle turns forward and turns right.

When the HST operating lever 67 moving in the direction of arrow B in FIG. 4 is rotated to the left (in the direction of arrow C in the figure), the oil discharge pressure is opposite to that in the forward turning, and the crawler 6 on the left side is rotated.
The rotation speed of the vehicle becomes high and the rotation speed of the crawler 6 on the right side becomes low (or stops or rotates in the forward direction), so that the entire vehicle turns backward and turns right. When the HST operation lever 67 moving in the direction of arrow B in FIG. 4 is rotated to the right (in the direction of arrow D in FIG. 4),
The oil discharge pressure is opposite to that in the case of forward turning, the rotation speed of the crawler 6 on the right side becomes high, and the rotation speed of the crawler 6 on the left side becomes low (or stopped, forward rotation), so the entire vehicle moves backward left Turn.

When the HST operating lever 67 is set to the neutral position, the discharge pressure of the left and right traveling pumps 51 becomes zero, so that the left and right hydraulic motors 9 do not rotate, and the left and right crawlers 6 also do not rotate. The entire swing-type work vehicle is stopped. When the HST operating lever 67 is rotated to the left and right in this neutral position, the HST operating lever 67 turns in the same direction as the turning direction with the center of the entire vehicle as the turning center. That is, in the case of turning left, the right hydraulic motor 9 rotates in the reverse direction, and the left hydraulic motor 9 rotates in the normal direction.

Since such an operation can be performed, smooth straight running, turning, and sharp turning are possible, and since one lever can be operated with one hand, the operator is not tired.
Also, the other hand can be used for another operation.

"Working machine on / off operation" Working machine on /
When the off lever 65 is turned on, the tension roller 69
Pushes upward the endless V-belt 29 between the V-pulley 25 at the other end of the second rotating shaft 22 and the V-pulley 28 of the output shaft 27 of the gear reduction mechanism 26, whereby the endless V-belt 29
Tension is applied and power is transmitted (ON)
Then, the hammer knife 14 rotates. Grass is mowed by the rotating hammer knife 14. When the work implement on / off lever 65 is moved to the off direction,
Since the upward pressing of the endless V-belt 29 by the tension roller 69 is released and the tension on the endless V-belt 29 is released, the endless V-belt 29 slips and the power is not transmitted (OFF), and the hammer is released. The knife 14 does not rotate.

"Elevating / lowering operation of working machine" When the working machine up / down / swing body swing lever 66 is moved upward (direction of arrow A in FIG. 4), the first switching valve 71 is switched to the first position,
One hydraulic chamber 73a of the cylinder body 31a of the lift cylinder 31 is connected to the inlet of the oil tank 70 via the third port 71c and the second port 71b of the first switching valve 71, and the other hydraulic chamber 73b is , Through the first port 71a and the fourth port 71d of the first switching valve 71 to the discharge port of the work machine vertical / swing vehicle swing pump 53. Therefore, oil flows into the other hydraulic chamber 73b, and the piston rod 31b of the lift cylinder 31 moves to the right side in FIG. 6, so that the working machine 11 moves up. When the working machine up / down / swing vehicle swing lever 66 is moved downward (direction of arrow B in FIG. 4), the first switching valve 71 is switched to the second position, and one of the cylinder bodies 31a of the lift cylinder 31 is moved. The hydraulic chamber 73a of the first switching valve 71
Through the first port 71a and the third port 71c of the working machine up / down and swing body swing pump 53, the other hydraulic chamber 73b, the fourth port 71d of the first switching valve 71 and the third port 71d. It communicates with the inflow port of the oil tank 70 via the 2 port 71b. Therefore, the piston rod 31b of the lift cylinder 31 moves to the left side in FIG. 6, and the working machine 11 descends. And the working machine 1
When 1 contacts the ground and receives a reaction force upward from the ground, both the bracket 33 and the lift cylinder 31 rotate upward about the shaft 32.

"Rolling motion of rocking car body" When mowing flat ground, the work machine up / down / rocking car body swing lever 66
Is set to the neutral position, as shown in FIG.
As shown in, the swinging vehicle body 36 and the traveling vehicle body 1 are in parallel with each other.

When mowing an inclined ground, the working machine up / down / swing vehicle swing lever 66 is moved in the left / right direction according to the inclination direction and inclination angle. For example, as shown in FIG. 5B, in the case of a sloping ground that rises to the right with respect to the traveling direction of the traveling vehicle body 1, when the working machine up / down / swing vehicle body swing lever 66 is moved to the right direction, the second switching valve 72 Switches to the second position, and the cylinder body 43a of the swing cylinder 43
The other hydraulic chamber 74b of the oil tank 70 via the fourth port 72d and the second port 72b of the second switching valve 72.
Oil is returned to the oil tank 70, and the one hydraulic chamber 74a is for the working machine up / down / swing vehicle body swing through the first port 72a and the third port 72c of the second switching valve 72. The discharge oil of the pump 53 is communicated with the discharge port of the pump 53 and flows into the hydraulic chamber 74 a of the swing cylinder 43. Therefore, the piston rod 43b of the swing cylinder 43 moves to the right (in the extending direction) in FIG. 6, so that the swinging vehicle body 36 rotates clockwise in FIG. 5 when viewed from the rear around the input shaft 30 and the support shaft 39. Turn to. Further, contrary to FIG. 5 (b),
In the case of a sloping ground rising to the left with respect to the traveling direction of the traveling vehicle body 1, when the working machine up / down / swing vehicle body swing lever 66 is moved leftward, the second switching valve 72 switches to the first position, and the swing cylinder. The other hydraulic chamber 74b of the cylinder body 43a of the second cylinder 43 is formed in the first port 72 of the second switching valve 72.
a and the fourth port 72d, and is communicated with the discharge port of the work machine vertical / oscillating vehicle body swing pump 53.
The oil discharged from No. 3 flows into the other hydraulic chamber 74b of the swing cylinder 43, and the one hydraulic chamber 74a flows into the oil tank 70 via the third port 72c and the second port 72b of the second switching valve 72. Oil communicated to the inlet
Are returned to the oil tank 70. Therefore, since the piston rod 43b of the swing cylinder 43 moves to the left side in FIG. 6, the swing vehicle body 36 rotates counterclockwise around the input shaft 30 and the support shaft 39 in FIG. To do. In this way, the working machine up / down / swing body swing lever 6 is moved according to the inclination direction and inclination angle of the sloping ground.
By moving 6 in the left-right direction, the operator mounting table 62
The rocking body 36 is rocked so that the rocking body 36 is always substantially horizontal.

When the swing body 36 is seen to be substantially horizontal on this sloping ground, and when the operator releases the swing lever 66 from the working machine up / down / swing body, the spring (shown in the drawing) near the base of the lever 66 is shown. The work machine up / down / rocking body swing lever 66 is controlled to a neutral position by (omitted). That is, the second switching valve 72 is switched to the third position between the first and second positions, and the first, second, third and fourth ports 72a, 72 are provided.
b, 72c, 72d are closed, the fifth port 72e and the sixth port 72f communicate with each other, and the discharge oil of the work machine vertical / swinging body swing pump 53 is supplied to the fifth and sixth ports 72.
It is returned to the oil tank 70 through e and 72f. In this state, the swing cylinder 43 is stopped.

In this way, since the swing body 36 is controlled to swing so as to always keep substantially horizontal, the swing body 3
The motor mounted on the engine 6, that is, the oil surfaces of the fuel tank 86 of the engine 48 and the oil tank 70 for the hydraulic device can be kept substantially horizontal at all times, so that the drive system operates stably and the durability is improved.

"Operation of the front protector" The front protector 15 rotates according to the height of the grass to be mowed, and the opening amount of the front opening of the cover 12 is controlled. That is, when the height of the grass is relatively low, the front protector 1
5 is in the state of FIG. 1, the opening amount of the front opening portion of the cover 12 is kept to a minimum state, and stones and the like are prevented from jumping forward from the front opening portion of the cover 12. When the height of the grass to be mowed is high, the front protector 1
Since the grass 5 is pushed up by the grass, it rotates around the fulcrums A, B, C against the biasing force of the coil spring 20 so as to slide along the inclined surface 12b at the front part of the cover 12. Therefore, the opening amount of the front opening of the cover 12 becomes large, and it becomes possible to take in multiple grass from the front opening of the cover 12.

By providing the front protector 15 as described above, the cover 1 for cutting grass having a short length is provided.
It is safe because stones can be prevented from jumping from the front opening of No.2.

Further, since the support shaft at the front part of the swinging vehicle body 36 is the drive shaft 30 of the working machine 11, it is not necessary to provide them separately, and it is possible to save the components and reduce the weight.

(Second Embodiment) Next, a second embodiment of the present invention will be described with reference to FIGS. 7 and 8. In addition, in this embodiment, the basic structure of the rocking type work vehicle is the above-mentioned first embodiment.
Since the configuration is the same as that of the embodiment, description will be given by diverting FIGS. 1 to 5. FIG. 7 is a hydraulic circuit diagram of an oscillating work vehicle according to a second embodiment of the present invention. In the figure, the same parts as those in FIG. 6 in the above-described first embodiment are designated by the same reference numerals. is there. 7 is different from FIG. 6 in that the first and second manual switching type first and second switching valves 71 and 72 of FIG. 6 are replaced by first and second electromagnetic switching type 6-port three-position spool valves. A mercury sensor (angle sensor) 8 for detecting the rocking angle of the rocking car body 36 while providing the switching valves 71 'and 72'.
2 and 83 are provided. The first switching valve 71 'is switched by a switching (ON / OFF) switch 84, and the switching switch 84 replaces the working machine up / down / swing vehicle swing lever 66 in the first embodiment and an operation panel 64. Is provided at a predetermined position.

The first terminal 82a of one mercury sensor 82
Is connected to the connection terminal of the electromagnetic solenoid on one end side of the second switching valve 72 ', and the first terminal 83a of the other mercury sensor 83 is connected to the connection terminal of the electromagnetic solenoid on the other end side of the second switching valve 72'. Has been done. In addition, the mercury sensors 82 and 83
The second terminals 82b and 83b of the
The (-) terminal 85b of the battery 85 is connected to the terminals 85a and is grounded. Mercury sensor 8
2 and 83 are positions where the influence of the vibration of the rocking body 36 is small,
That is, as shown in FIG. 8A, the top plate 6 of the operation panel 64 is
4a, and as shown in FIG. 8 (b), the swing body 36
Are located on the swing axis L of and are arranged side by side in front of each other. One mercury sensor 82 is located in front of the other mercury sensor 83. By arranging the mercury sensors 82 and 83 in this manner, the mercury sensor 8
Since 2 and 83 are not affected by vibration, the detection operation is reliably performed.

When the mercury sensors 82 and 83 are both turned on for some reason, the signal from the mercury sensor that turned on first is given priority, and the mercury that turns on later is given priority. A safety circuit (not shown) is incorporated so that the signal from the sensor is canceled. In this way, malfunction is prevented.

Next, the operation of the rocking type work vehicle having the above-described structure according to this embodiment will be described.

"Rolling motion of rocking car body" Rocking car body 3
When the 6 is horizontal, both mercury sensors 82, 83
Are both off. And, for example,
As shown in FIG. 5B, in the case of a sloping ground that is inclined to the right with respect to the traveling direction of the traveling vehicle body 1, the rocking vehicle body 36 is inclined to the upward direction, so that only one mercury sensor 82 is turned on. The second switching valve 72 'is switched to the second position, and the other hydraulic chamber 74b of the cylinder body 43a of the swing cylinder 43 is moved to the oil tank via the fourth port 72d and the second port 72b of the second switching valve 72'. The oil is returned to the oil tank 70 by communicating with the inflow port of 70, and one hydraulic chamber 74a is connected to the working machine up / down / rocking vehicle body via the first port 72a and the third port 72c of the second switching valve 72 '. The discharge oil of the swing pump 53 is communicated with the discharge port of the swing pump 53, and the discharge oil from the pump 53 is supplied to one hydraulic chamber 7 of the swing cylinder 43.
4a. Therefore, since the piston rod 43b of the swing cylinder 43 moves to the right side (extending direction) in FIG. 7, the swinging vehicle body 36 rotates clockwise in FIG. 5 when viewed from the rear around the input shaft 30 and the support shaft 39. When the other mercury sensor 83 is turned off while one mercury sensor 82 is turned off, the current is interrupted for the first time, and the second switching valve 72 'is set to the first and second positions. The neutral bias springs 87 and 88 attached to the left and right solenoids return the intermediate position to the third position.
The swing cylinder 4 is connected to the inlet of the oil tank 70 through the fifth port 72e and the sixth port 72f.
3 is stopped and the horizontal state is maintained. On the contrary to the case of FIG. 5B, in the case of a sloping ground rising to the left with respect to the traveling direction of the traveling vehicle body 1, only the other mercury sensor 83 is turned on and the second switching valve 72 ′ is in the first position. Switch to
The other hydraulic chamber 74b of the cylinder body 43a of the swing cylinder 43 is provided in the first port 72a of the second switching valve 72 '.
And the discharge port of the work machine vertical / oscillating vehicle body swing pump 53 through the fourth port 72d.
From the oil is flowed into the other hydraulic chamber 74b of the swing cylinder 43, and the one hydraulic chamber 74a flows through the third port 72c and the second port 72b of the second switching valve 72 'into the oil tank 70. The oil is returned to the oil tank 70 by communicating with the inlet. Therefore, since the piston rod 43b of the swing cylinder 43 moves to the left side in FIG. 7, the swinging body 36 rotates counterclockwise around the input shaft 30 and the support shaft 39 in FIG. However, while one mercury sensor 82 maintains the off state,
When the other mercury sensor 83 is turned off, the electric current is interrupted for the first time, and the second switching valve 72 'is attached to the left and right solenoids at the third position which is located between the first and second positions. The swing cylinders 43 are returned by the biasing springs 87 and 88, communicated with the inlet of the oil tank 70 via the fifth port 72e and the sixth port 72f, and the swing cylinder 43 is stopped and the horizontal state is maintained. In this way, the mercury sensors 82 and 83 are turned on / off in accordance with the inclination direction and inclination angle of the sloping ground, so that the rocking vehicle body 36 is automatically moved so that the operator mounting table 62 is always substantially horizontal. The swing is controlled.

As described above, since the rocking body 36 is automatically rocked so that the rocking car body 36 always maintains a substantially horizontal state, compared to the first embodiment in which the operator manually controls the rocking. As a result, the number of manipulating operations by the operator can be simplified and the work stability can be further improved.

When the "lifting / lowering operation of the working machine" selector switch 84 is switched to the descending side, the first selector valve 71 'switches to the second position, and the cylinder body 31 of the lift cylinder 31.
The one hydraulic chamber 73a of a is communicated with the inlet of the oil tank 70 via the third port 71c and the second port 71b of the first switching valve 71 ', and the other hydraulic chamber 73b is the first hydraulic chamber 73b.
First port 71a and fourth port 71d of switching valve 71 '
Through the discharge port of the work machine vertical / swinging body swing pump 53. Therefore, the piston rod 31b of the lift cylinder 31 moves to the right in FIG. 7, and the working machine 11 descends. In addition, the changeover switch 84
When the valve is switched to the up side, the first switching valve 71 'switches to the first position, and the cylinder body 3 of the lift cylinder 31.
The one hydraulic chamber 73a of 1a is connected to the third hydraulic chamber 73a of the first switching valve 71 '.
It communicates with the inflow port of the oil tank 70 through the port 71c and the second port 71b. The other hydraulic chamber 73b includes the fourth port 71d and the first port 71d of the first switching valve 71 '.
Pump 53 for working machine up / down / swing vehicle swing via a
Is connected to the discharge port of. Therefore, the lift cylinder 31
7, the piston rod 31b moves to the left side in FIG. 7, so that the working machine 11 moves up.

(Third Embodiment) In the second embodiment,
Although the mercury sensors 82 and 83 are provided inside the top plate 64a of the operation panel 64, the present invention is not limited to this, and FIG.
As shown in (a), the step plate 62 of the operator mounting table 62
Alternatively, they may be disposed inside the substantially middle portion of the front-rear direction and on the swing axis L of the swing vehicle body 36 as shown in FIG. Also in this case, one mercury sensor 82 is located in front of the other mercury sensor 83. Even when the mercury sensors 82 and 83 are arranged in this manner, the mercury sensors 82 and 83 are not affected by vibrations, so that the detection operation is reliably performed.

(Other Embodiments) In each of the above embodiments, the lower end of the lift cylinder 31 of the working machine 11 is attached to the bracket 33 which is rotatably attached to the traveling vehicle body 1 via the axle 32. Although it is rotatably attached via 34, it is not limited to this, and the bracket 33
May be rigidly fixed to the traveling vehicle body 1. With this configuration, for example, when the working machine 11 rides on an uneven portion such as a ridge, the piston rod 31b of the lift cylinder 31 is
By making the projecting operation, the ridges and the like of the working machine 11 can be easily performed.

Further, in each of the above-described embodiments, the front support shaft of the swinging vehicle body 36 is the drive shaft of the working machine 11. However, the invention is not limited to this. In the case where the above is attached, the rear support shaft of the swing body 36 may be used as the drive shaft of the rear working machine. In this case, it is necessary to prevent the rear working machine and the operator mounting table 62 from interfering with each other.

In each of the above embodiments, the operator mounting table 6
2 is arranged on the rocking axis L of the rocking car body 36, but the invention is not limited to this.
It may be arranged with a slight offset in the left-right direction from the swing axis L line of 6.

Further, although the mercury sensor is used as the angle sensor in the second and third embodiments, the angle sensor is not limited to this, and may be a pendulum sensor, for example.
In short, any configuration may be used as long as it can detect the swing angle of the swing vehicle body 36.

In the second embodiment, the mercury sensor 8
Although the reference numerals 2 and 83 are located inside the top plate 664a of the operation panel 64 and arranged side by side in front of and behind each other, the present invention is not limited to this, and the mercury sensors 82 and 83 may be arranged along the swing axis L of the swing body 36. It may be disposed inside the top plate 64a of the operation panel 64 so as to be located on the left and right with respect to each other and aligned with each other.

In the third embodiment, the mercury sensor 8
2, 83 are arranged inside the step plate 62a and are arranged side by side in front of and behind each other, but the invention is not limited to this.
The mercury sensors 82, 83 may be disposed inside the step plate 62a so as to be positioned on the left and right sides of the swing axis line L of the swing vehicle body 36 and aligned with each other.

With this arrangement, the sensing error of the two mercury sensors 82 and 83 is the smallest.

Further, in the above-mentioned embodiment, the work vehicle for mowing work is illustrated, but the work vehicle is not limited to this, and other work vehicles such as lawn mowers, tillers, and snow plows may be used. Needless to say. The work area is almighty and can be used on flat or sloping ground.

[0064]

As described above in detail, according to the rocking type work vehicle of the present invention, the axis of the rocking vehicle is located substantially in the middle of the running vehicle with respect to the traveling vehicle and the traveling vehicle is driven. The vehicle is supported so as to be swingable in the left-right direction around a support shaft extending along the front-rear direction of the vehicle body, and the drive device and the operator mounting table for driving the traveling device, the working machine, and the swing vehicle body are the swinging devices. Since each is fixed to the vehicle body, the vehicle body has a low center of gravity, the weight distribution on the left and right is well balanced, and the stability of the vehicle body is very good and the maneuverability is good. In addition, since the posture of the operator is maintained in a stable state by the swing control of the oscillating body, the operator's work is less tired, and the operator's visibility is good, making it easy to mow the slope. In addition to being able to perform, it is possible to work stably and easily even on steep slopes (about 30 to 35 degrees).

The number of parts can be reduced by mounting the working machine on the traveling vehicle body through a member that can be raised and lowered, or by using the support shaft of the swinging vehicle body as the drive shaft of the working machine. Can be reduced.

Further, by providing the automatic attitude control sensor at a position where there is little influence of the swing of the swing vehicle body, the horizontal accuracy is improved and the maneuvering can be performed easily.

Further, by providing the automatic attitude control sensor on the operation panel or the operator's mount, the horizontal maintenance error is small and the proper level can always be obtained.

[Brief description of drawings]

FIG. 1 is a side view showing a configuration of a rocking type work vehicle according to a first embodiment of the present invention.

FIG. 2 is a plan view showing a configuration of the rocking type work vehicle.

3 is a partially cutaway plan view showing a main part of FIG. 2. FIG.

FIG. 4 is a plan view showing a configuration of an operation panel of the swing type work vehicle.

FIG. 5 is an operation explanatory view of the swing type work vehicle.

FIG. 6 is a hydraulic circuit diagram of the rocking type work vehicle.

FIG. 7 is a hydraulic circuit diagram of an oscillating work vehicle according to a second embodiment of the present invention.

FIG. 8 is an explanatory view showing a mounting position of a mercury sensor in the rocking type work vehicle.

FIG. 9 is an explanatory diagram showing a mounting position of a mercury sensor in a rocking type work vehicle according to a third embodiment of the present invention.

[Explanation of reference symbols] L axis of support shaft 1 traveling vehicle 2 traveling device 6 crawler 6a upper surface of crawler 11 working machine 30 support shaft 31 lifting cylinder (a vertically movable member) 36 swinging vehicle body 36a lower end surface of swinging vehicle body 39 Support shaft 43 Rolling cylinder (oscillation angle adjusting device) 47 Drive device 48 Engine (drive source) 49 Transmission device 62 Pilot mounting table 64 Operation panel 82 Mercury sensor (automatic attitude control sensor) 83 Mercury sensor (automatic attitude control sensor) )

Claims (8)

[Claims] 1. A traveling device is provided on left and right portions of a traveling vehicle body, and a working machine is provided on at least one of front and rear portions of the traveling vehicle body. A drive for supporting at least the traveling device and the working machine on the swingable vehicle body so as to be swingable in the left-right direction around a support shaft extending in the front-rear direction of the traveling vehicle body. A swinging angle adjusting device that adjusts a swinging angle of the swinging vehicle body is provided between the traveling vehicle body and the swinging vehicle body by fixing the device and the operator mounting table, respectively. Type work vehicle. 2. The rocking type work vehicle according to claim 1, wherein the traveling device is a crawler type, and the lower end surface of the rocking vehicle body is located below the upper end surface of the crawler of the traveling device. 3. The drive device comprises a drive source and a transmission device for transmitting the power of the drive source to the traveling device and the working machine, and the drive source and the transmission device are provided in the swing vehicle body. The swing according to claim 1 or 2, wherein the support shaft is arranged so as to be laterally distributed about the axis of the support shaft, and the operator mounting table is located on the axis of the support shaft of the swing vehicle body. Mobile work vehicle. 4. The swing type work vehicle according to claim 1, wherein the working machine is mounted on the traveling vehicle body through a member that can be raised and lowered. 5. The rocking type work vehicle according to claim 1, wherein a supporting shaft of the rocking vehicle body is a drive shaft of the working machine. 6. An automatic attitude control sensor for automatically controlling the rocking attitude of the rocking vehicle body so that the rocking attitude of the rocking vehicle body is always positioned in the vertical direction of the center of gravity at a position where the vibration of the rocking vehicle body is less affected by vibration. The rocking type work vehicle according to claim 1, characterized in that. 7. The rocking type work vehicle according to claim 6, wherein the position where the vibration of the rocking vehicle body is less affected by the vibration is an operation panel. 8. The position where the vibration of the swinging vehicle body is less affected by the vibration is the operator mounting table.
The rocking work vehicle described.