JP3833065B2 - Walking type work machine - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
  The present invention relates to a walking work machine including a pair of left and right driveable axles.
[0002]
[Prior art]
  As the above-mentioned walking type work machine, there is one that performs a tilling work by connecting a rotary tiller to a self-propelled machine body.
  Conventionally, in a walk-type work machine equipped with a rotary tiller, tire wheels are mounted on the axle of the self-propelled machine body, and when the rotary tiller is driven so that the tillage claw rotates in the downcut direction, When the location is hard, the tilling claw does not plow and does not plow, so that the situation where the machine dashes easily occurs. For this reason, the rotary tilling device is driven so that the tilling claws rotate in the upper cut direction, and the tilling work can be performed while avoiding the dashing of the airframe even if the soil is hard.
[0003]
  In the above-described walking type work machine, conventionally, for example, as disclosed in Japanese Patent Laid-Open No. Hei 5-193531, a self-propelled machine body is provided with a pair of left and right crawler type traveling devices separately linked to a pair of left and right axles. A traveling machine body is driven by a crawler type traveling device. By attaching a hydraulic cylinder over the track frame of one crawler type traveling device and the self-propelled aircraft, and switching this hydraulic cylinder to the free state, the track frames of both crawler type traveling devices are located around the axle center with respect to the self-propelled aircraft. There are some that can swing while the self-propelled machine body swings around the axle and adjusts the height of the working device to the ground.
[0004]
[Problems to be solved by the invention]
  In the case of a conventional walking type work machine with a rotary tiller, in order to avoid dashing even when the soil is hard, the upper cut drive is adopted, so that the structure for driving the rotary tiller becomes complicated and It was necessary to equip the airframe with a high-power engine, which was expensive and heavy.
[0005]
  In the case of a conventional walk-type work machine with a crawler, since the range in which the swing of the self-propelled machine body can be adjusted is restricted by a hydraulic cylinder, the cost increases and the weight increases.
  The object of the present invention is to avoid the dashing of the airframe and to perform the tilling work while obtaining a good finish regardless of the unevenness of the ground. An object of the present invention is to provide a walking type working machine that can be moved on a crawler while allowing dynamic adjustment and can be obtained at a low cost and light weight.
[0006]
[Means for Solving the Problems]
  The configuration, operation, and effect of the invention according to claim 1 are as follows.
[0007]
  〔Constitution〕
  The walking type work machine of the invention of claim 1The self-propelled vehicle body is provided with a pair of left and right crawler type traveling devices that are individually linked to the pair of left and right driveable axles of the self-propelled vehicle body, and the pair of left and right crawler type traveling devices are independently arranged around the axle center. Configured to swing relative to the aircraft,When the distance between the driving axle and the wheel support shaft of the front grounding wheel is shorter than the distance between the driving axle and the wheel support shaft of the front grounding wheel in plan view, the front and rear And a rear part of the self-propelled aircraft in front of the steering handle extending rearward of the self-propelled aircraftIs connected to a rotary tiller.
[0008]
  [Action]
  Adopting a drive structure that drives the rotary tiller so that the tilling claw rotates in the down cut direction, even if the work location is hard and the body moving action by the tilling claw becomes stronger, the self-propelled machine body is grounded by the crawler type traveling device And do not do the dashing with strong movement resistance. Then, the tilling nail bites in and works even if the soil is hard. This allows the rotary tiller to be driven by a relatively simple drive structure that rotates the tillage claw in the down cut direction and a relatively small output engine, and the aircraft does not dash even if the soil is hard. The tillage device is allowed to perform tillage work.
[0009]
  When one of the crawler type traveling devices on the left and right rides on the protruding portion or enters the concave portion, the crawler traveling device swings around the axle center with respect to the self-propelled machine body independently of the other crawler traveling device, The self-propelled aircraft will maintain a posture close to or along the ground in the horizontal direction. As a result, even if there is unevenness on the running ground, the rotary tiller will maintain a horizontal orientation along the ground or close to it, and there will be no difference in the right and left tillage depths. The farming work will be carried out so that there will be less for that.
[0010]
  〔effect〕
  Therefore, even if the soil is hard, dashing of the airframe can be avoided and plowed. On the other hand, a drive structure for driving the rotary tiller and a relatively simple engine with a small output can be adopted as the engine and the engine can be obtained at low cost and can be reduced in weight so that it can be easily handled. In addition, even if the traveling ground is uneven, the rotary tiller maintains a posture in the horizontal direction along the ground or close to it, and a good finish with the left and right tilling depths equal or as close as possible is obtained.
[0011]
  The structure, operation, and effect of the invention according to claim 2 are as follows.
[0012]
  〔Constitution〕
  The invention of claim 2In the configuration of the invention according to claim 1, there is provided position adjusting means for changing the position of the pair of left and right crawler type traveling devices in the direction of the axle axis.
[0013]
  [Action]
  When the position of the crawler traveling device is changed by the position adjusting means, the distance between the left and right crawlers changes. As a result, when the intervals between the crop rows are different, the crawler interval is adjusted to the one adapted to the crop row interval, so that the crop can be run while keeping the crawler interval as wide as possible while preventing the crop from being stepped on by the crawler.
[0014]
  〔effect〕
  Therefore, even when the intervals between the crop rows are large or small, it is possible to work while stably running the machine with a crawler interval as wide as possible while avoiding damage or loss of crops caused by trampling by the crawler.
[0015]
  The structure, operation, and effect of the invention according to claim 3 are as follows.
[0016]
  〔Constitution〕
  The walking type work machine of the invention of claim 3A self-propelled aircraft is provided with a pair of left and right crawler-type traveling devices that are separately linked to a pair of left and right driveable axles of the self-propelled aircraft, and the pair of left and right crawler-type traveling devices are provided around the axle center. And configured to swing againstA lock mechanism for fixing the pair of left and right crawler type traveling devices to the self-propelled machine body so as not to swing, a switching lever for holding the lock mechanism at a locked position and an unlocked position, and operation of the switching lever By unlocking the lock mechanism, the crawler type traveling device is allowed to swing relative to the self-propelled machine body, and the crawler type traveling device exceeds the predetermined swing range with respect to the self-propelled machine body. It has a stopper that restricts relative swinging.
[0017]
  [Action]
  When the left and right crawler type traveling devices are fixed to the self-propelled machine body so as not to be swingable by the lock mechanism, the self-propelled machine body is allowed to travel in a stable state so as not to swing around the axle axis.
[0018]
  Also, the lock mechanismIf you release the and move the self-propelled aircraft,Until it comes into contact with the stopperThe self-propelled machine body swings over a large range, and as it swings, the stopper acts to reach the swing limit. As a result, when moving on a sloping ground such as when moving over a saddle, the self-propelled aircraft can be swung to a large extent by easily supporting the steering handle, and the traveling device and the vehicle can be swung too much relative to the crawler. Can be prevented from swinging too much with respect to the airframe.
[0019]
  〔effect〕
  Therefore,When the airframe is moved by self-propelling, the self-propelled airframe is made stable by a lock mechanism so as not to be inadvertently swung due to traveling vibration or the like, and can be operated while being easily operated.
[0020]
  Also, by releasing the lock mechanism,Even on sloping ground, the crawler can run while supporting the control handle easily by swinging the airframe more than when working, while preventing the crawler from swinging too much.
[0021]
  The configuration of the invention according to claim 4 is as follows.
[0022]
  According to a fourth aspect of the present invention, in the configuration of the third aspect of the present invention, the lock mechanism engages the restriction pin operated by the switching lever and the restriction pin, whereby the pair of left and right crawler type traveling devices are self-propelled. And a notch for locking to fix it so as not to swing.
[0023]
  The configuration, operation, and effect of the invention according to claim 5 are as follows.
[0024]
  According to a fifth aspect of the present invention, in the configuration of the invention according to the fourth aspect, in addition to the locking notch, an arc-shaped long hole or notch centered on the axle core is provided, and the restriction pin is operated by the switching lever. Then, from the unlocked state of the locking mechanism, the swinging range of the pair of left and right crawler type traveling devices with respect to the self-running machine body is set by fitting the restriction pin into the arc-shaped elongated hole or notch. A swing restricting mechanism is provided that restricts the set range narrower than the swing range restricted by the stopper.
[0025]
  [Action]
  When the swinging operation of the self-propelled vehicle body is performed, the self-propelled vehicle body swings with respect to the crawler traveling device around the axle center. At this time, when the long hole or notch of the rocking restriction mechanism and the restriction pin move relative to each other and the restriction pin reaches one end side or the other end side of the long hole or notch, the self-propelled airframe is swung. It will be. Accordingly, the ground height of the work device can be adjusted by adjusting the swing of the self-propelled machine body. At this time, the swing range of the self-propelled aircraft is controlled by the swing restriction mechanism.Narrower than the swing range regulated by the stopperIt is regulated by the set range, and it is possible to prevent the occurrence of a situation such as the aircraft swinging too much and the steering handle being raised too high or the working device being lowered too much.
[0026]
  〔effect〕
  Therefore, while the self-propelled aircraft can be advantageously traveled by the crawler-type traveling device, such as being difficult to slip and slip, the steering handle is too high and difficult to operate, or the working device is too lowered and hits the ground strongly. It is possible to work while preventing the above situation and adjusting the height of the working device to the ground.
  In addition, the swing range of the self-propelled machine body is controlled by a swing control mechanism having a simple structure including a long hole or notch and a control pin, which can be obtained at low cost and can be reduced in weight so that it can be easily handled.
[0027]
  Claim 6The configuration, operation, and effect of the invention according to the present invention are as follows.
[0028]
  〔Constitution〕
  The invention of claim 6 is the invention of claim 4 or 5.In the configuration of the invention according to the present invention, position adjusting means for changing the position of the pair of left and right crawler type traveling devices in the direction of the axle center is provided, and the restriction pin is arranged in a direction along the axle axis.
[0029]
  [Action]
  When the position of the crawler traveling device is changed by the position adjusting means, the distance between the left and right crawlers changes. As a result, when the intervals between the crop rows are different, the crawler interval is adjusted to the one adapted to the crop row interval, so that the crop can be run while keeping the crawler interval as wide as possible while preventing the crop from being stepped on by the crawler.
[0030]
  If the mounting position of the crawler type traveling device is changed, the long hole or notch of the rocking regulation mechanism and the regulating pin move relative to each other in the lateral direction due to the change in the position of the crawler traveling device. Even if the restriction pin is provided on either the traveling device side or the fuselage side, and the mounting position of the crawler traveling device is changed, the restriction pin is oblong or cut. Regardless of the effort to adjust to enter the inside of the notch, the regulating pin is in the state of entering the inside of the long hole or notch, and the swing regulation mechanism works as desired as the self-propelled aircraft swings You can do that.
[0031]
  〔effect〕
  Therefore, regardless of whether the intervals between the crop rows are large or small, it is possible to travel while stabilizing the airframe at the widest crawler interval while avoiding damage or loss of crops caused by trampling by the crawler. In addition, it is possible to travel while making the swinging regulation mechanism act as desired without any special adjustment to make the regulation pin enter the inside of the long hole or notch.
[0032]
  Claim 7The configuration, operation, and effect of the invention according to the present invention are as follows.
[0033]
  〔Constitution〕
  The invention of claim 7 is the invention of claims 4-6.In the configuration of the invention according to any one of the above, the elongated hole or notch is provided in each of the pair of left and right crawler type traveling devices, and the restriction pin is a pin formed by connecting a pair of left and right divided pins.
[0034]
  [Action]
  Regardless of whether the left and right crawler type traveling devices swing separately or the left and right crawler traveling devices swing together, the regulating pins act on both traveling devices to ensure the regulation of the swing range of both traveling devices. To be done or to be done firmly.
[0035]
  At this time, it adopts a regulation pin consisting of a pair of left and right pin bodies that act separately on the left and right traveling devices, and a connecting shaft that is eccentric to the left and right pin bodies and connects both pin bodies However, even if a pin support structure in which the mounting shaft of the restriction pin is inserted through a pair of left and right support portions is adopted, each split pin is inserted into the support portion from the outside, and thereafter, the split pins are arranged between the support portions. By adopting the assembling method of connecting the two, the restriction pin can be supported by the pin support structure.
[0036]
  〔effect〕
  Therefore, the control pin is applied to both the pair of left and right crawler traveling devices, and the pin structure and the pin support structure are adopted, so that the swing range of the left and right traveling devices can be reliably regulated or firmly regulated. Things are obtained.
[0037]
  Claim 8The configuration, operation, and effect of the invention according to the present invention are as follows.
[0038]
  〔Constitution〕
  The invention of claim 8 provides claims 4-7.In the configuration of the invention according to any one of the above, the restriction pin is attached to a hitch support member provided so that the self-propelled aircraft body supports the hitch.
[0039]
  [Action]
  The hitch support member is also used as an attachment member for the restriction pin, so that a special attachment member for attaching the restriction pin is unnecessary, and a work space can be easily secured when the restriction pin is assembled. Is attached to the self-propelled aircraft.
[0040]
  〔effect〕
  A mounting member dedicated to the regulation pin is omitted, and the regulation pin can be easily assembled to obtain a simple structure, a light weight, and a low cost.
[0041]
  Claim 9The configuration, operation, and effect of the invention according to the present invention are as follows.
[0042]
  〔Constitution〕
  The invention of claim 9 is the invention of claims 4-8.In the configuration of the invention according to the invention, the long hole or the notch is provided in a member forming a track frame of the crawler type traveling device.
[0043]
  [Action]
  A member for providing a long hole or notch and a member for forming a track frame are created at a time to obtain a crawler traveling device having a long hole or notch.
[0044]
  〔effect〕
  A member for providing a long hole or a notch and a member for forming a track frame are formed at a time and can be obtained at a low cost.
[0045]
DETAILED DESCRIPTION OF THE INVENTION
  As shown in FIG. 1, a fuselage frame includes a transmission case 1 provided with a pair of left and right crawler type traveling devices 10 on both lateral sides of the lower part, and an engine support frame 2 extending forward from the lower part of the transmission case 1. And the rotational force of the output shaft of the engine 3 mounted on the engine support frame 2 is transmitted to the input shaft located above the transmission case 1 by a belt-type transmission mechanism located inside the transmission case 4. Then, the rotational force of the input shaft is transmitted to the axle 5 protruding laterally from both sides of the lower end portion of the mission case 1 inside the mission case 1, and the left crawler traveling device 10 is transmitted by the left axle 5. Drive the right crawler travel device 10 by the right axle 5 so as to be self-propelled and From the top of the scan 1 operates while walking a pair of left and right steering handle 6 which extends rearwardly facing have configured the self aircraft to steer. A rotary tiller 8 is detachably connected to a hitch 7 connected to the rear portion of the transmission case 1 and a rotating force of a power take-off shaft protruding laterally from the upper portion of the transmission case 1 is shown as a chain transmission mechanism (see FIG. Are transmitted to the rotary drive case 8a forming the machine frame of the rotary tiller 8 by a plurality of tilling claws 8b arranged in the transverse and circumferential directions of the tiller rotor of the rotary tiller 8 Is configured to drive the tilling rotor in a state of rotating in the down cut direction. A pair of left and right fertilizer tanks 22 is attached to the upper end side of the fertilizer application frame 21 supported by the base end side of the engine support frame 2 of the self-propelled machine body, and a feeding device 23 is provided at the discharge port at the bottom of each fertilizer tank 22. When the fertilizer hose 24 is connected to the discharge part of each feeding device 23 and the granular fertilizer is put into each fertilizer tank 22, each feeding device 23 is connected to the drive part of both feeding devices 23 via one interlocking shaft. The fertilizer is driven by one electric fertilizer motor 25 that is linked to the fertilizer tank 22 and fed to the fertilizer hose 24 by a set amount. Each fertilizer hose 24 feeds the fertilizer from the feed device 23 to the rotary tiller 8. The fertilizer application device 20 is configured to drop onto the field near the front of the tilling rotor. Thus, the fertilization work in which the self-propelled machine body is driven so that it can be cultivated by the rotary cultivating device 8 and the granular fertilizer is supplied by the fertilizer application device 20 to both sides of the cultivated place is simultaneously with the cultivating work. A walk-type work machine is configured to do this.
[0046]
  As shown in FIGS. 2 and 3 and the like, each of the pair of left and right crawler type traveling devices 10 is externally fitted to the axle 5 whose outer shape is a hexagonal solid shaft and the inner shape is hexagonal. Thus, the axle 5 is constituted by an axle pin 12 inserted between the attachment cylinder shaft 11 and the axle 5 so as to be integrally attached to the axle 5 by the attachment barrel shaft 11 engaged with the axle 5 so as to be integrally rotatable. The crawler drive wheel body 13 is configured to be positioned with respect to the axle 5 and prevented from coming off from the axle 5, and the crawler drive wheel body 13 is attached to a portion located on the inner side of the crawler drive wheel body 13 of the mounting cylinder shaft 11. The cylindrical portion 14a is fitted around the bearing 15 so as to be relatively rotatable, and the retaining ring positions the mounting cylindrical portion 14a with respect to the mounting cylindrical shaft 11, so that The track frame 14 is configured to be supported by the housing case 1 so as to be swingable about the axis of the axle 5 via the mounting cylinder shaft 11 and the axle 5, and both front and rear ends of the track frame 14. Is wound around the ground ring bodies 16 and 17 which are attached to the ring body support shafts 16a and 17a extending laterally outward from the ground ring body 16 and 17 and the pair of front and rear ground ring bodies 16 and 17 and the crawler driving wheel body 13. The rotating rubber endless crawler 18 is constituted.
[0047]
  As a result, both the left and right traveling devices 10 are driven by an axle so that the crawler 18 is driven by the axle 5 when the axle 5 is driven. It is of a swinging type that swings freely with respect to the self-propelled machine body about the axis of the axle 5 so that the traveling device 10 can be swung around the axis. The left traveling device 10 and the right traveling device 10 swing independently of the self-propelled machine body independently of the other traveling device 10.
[0048]
  As shown in FIG. 2, FIG. 3, etc., among the outer sheet metal member 14b and the inner sheet metal member 14c forming the track frame 14 of the left traveling apparatus 10, the rear sheet frame member 14b of the inner sheet metal member 14c is behind the track frame. The outer sheet metal member 14b which forms the notch 31 formed in the circular arc shape centering on the axial center of the axle shaft 5 and the track frame 14 of the right traveling device 10 is formed in the rear end portion of the portion protruding to the side. And the inner sheet metal member 14c, a notch formed in a circular arc shape centering on the axis of the axle 5 at the rear end portion of the inner sheet metal member 14c protruding from the outer sheet metal member 14b to the track frame rear side. 31 and the rear end portion of the transmission case 1 of the self-propelled aircraft are connected to the front end by a connecting bolt, and the hitch 7 is fixed to the rear end side to support the hitch 7 on the self-propelled aircraft. A restriction pin 32 that is attached over a pair of left and right pin support portions 9 a provided on the hitch support member 9, and whose longitudinal direction is in a direction along the axis of the axle 5, and one end side of the restriction pin 32 A lock spring 35 attached over the attached spring hanging body 33 and the spring hanging pin 34 attached to the hitch support member 6 regulates the range in which the left and right traveling devices 10 swing with respect to the self-running machine body. A swing restriction mechanism 30 is configured.
[0049]
  The restriction pin 32 is connected to the notch 31 of the left traveling device 10 and the notch 31 of the right traveling device 10, and a pair of left and right pin bodies 32a, and both the pin bodies 32a. In this state, the mounting shaft 32b is connected to one end side of both the pin main bodies 32a and is also used as a connecting shaft for connecting both the pin main bodies 32a. Since the mounting shaft 32b is rotatably inserted over the pair of pin support portions 9a, the restriction pin 32 is swingably supported by the hitch support member 9 at the portion of the mounting shaft 32b. The pair of left and right pin bodies 32a swings so as to move up and down around the axis of the mounting shaft 32b facing the machine body.
[0050]
  As shown in FIG. 4B, when the regulating pin 32 is swung downward by the lock spring 35 and the distal end side of the left and right pin main bodies 32a is in the working posture in which the cutout 31 of the track frame 14 enters. Both the track frame 14 of the left traveling device 10 and the track frame 14 of the right traveling device 10 are self-propelled until the pin body 32a of the restriction pin 32 is located at the lower end of the notch 31 and stops on the track frame 14. The rear end of the regulation pin 32 swings freely toward the ascending side with respect to the airframe, and the rear side of the self-propelled airframe is stopped until the pin body 32a of the restriction pin 32 is located at the upper end of the notch 31 and stops on the track frame 14. The end side freely swings to the descending side. When the restriction pin 32 is swung upward against the lock spring 35 and the left and right pin bodies 32a are released from the notches 31 of the track frame 14 as shown in FIG. Both the track frame 14 of the traveling device 10 and the track frame 14 of the right traveling device 10 extend from the inner surface of the rear end side of the track frame 14 toward the inside of the body as shown in FIG. A front stopper 37 that freely swings to the side where the rear end rises with respect to the self-propelled aircraft until it abuts the lower surface of the support member 9 and extends inward from the inner surface of the front end of the track frame 14. The rear end of the self-propelled machine body freely swings toward the lower side until it comes into contact with the lower surface of the engine support frame 2.
[0051]
  Accordingly, by operating the restriction pin 32 to the action posture, the rocking restriction mechanism 30 cuts the rocking range of the left and right traveling devices 10 with respect to the self-running machine body by the notch 31 and the restriction pin 32. The left traveling device 10 and the right traveling device 10 are allowed to swing independently in the setting range independently of the other traveling device 10 so as to be restricted to a setting range determined by the length of 31. It will be in the working state. By operating the restriction pin 32 to the release posture, the swing restriction mechanism 30 enters a release state so as to release the swing restriction of the left and right traveling devices 10. As the setting range, the tilling device 8 is raised and lowered to the ground to adjust the tilling depth during work, and the self-propelled vehicle body is swung around the axis of the axle 5 to float the tilling device 8 to the ground when the body turns. The necessary range is set.
[0052]
  When the left and right traveling devices 10 are swung beyond a set range regulated by the rocking restriction mechanism 30, the front stopper 37 and the rear stopper 36 are associated with the hitch support member 9 and the engine support frame. 2 is attached to the track frame 14 so as to act on the track frame 2. Therefore, the front stopper 37 and the rear stopper 36 restrict the range in which the left and right traveling devices 10 swing with respect to the self-running machine body to a range larger than the range restricted by the swing restriction mechanism 30.
[0053]
  As shown in FIG. 2 and the like, a semicircular notch 41 provided in a portion located slightly higher than the notch 31 of the inner sheet metal member 14c of the track frame 14 in the left traveling device 10, and a right traveling device. 10 on the inner side sheet metal member 14c of the track frame 14 at a position slightly higher than the notch 31 in the track frame 14, the regulation pin 32, and the lock spring 35. A lock mechanism 40 is configured to fix the device 10 to the self-propelled machine body so as not to swing.
[0054]
  As shown in FIG. 4 (a), the regulating pin 32 is swung downward by the lock spring 35, so that the distal end side of the left and right pin bodies 32a enters the semicircular cutout 41 of the track frame 14 so that the working posture is reached. Then, the track frame 14 of the left traveling device 10 and the track frame 14 of the right traveling device 10 are fixed by the regulation pin 32 so as not to swing. When the restriction pin 32 is swung upward against the lock spring 35 and the left and right pin bodies 32a are released from the semicircular cutout 41 of the track frame 14, the track frame in the left traveling device 10 is moved. 14 and the lock by the restriction pin 32 of the track frame 14 in the right traveling device 10 is released.
[0055]
  Accordingly, by operating the restriction pin 32 to the action posture, the lock mechanism 40 is in a locked state so that the left and right traveling devices 10 are fixed by the restriction pin 32 so as not to swing. By operating the restriction pin 32 to the release posture, the lock mechanism 40 is released so as to allow the left and right traveling devices 10 to swing with respect to the self-propelled machine body.
[0056]
  As shown in FIG. 3, FIG. 6, etc., the base end portion of the switching lever 46 that is interlocked by the operation cable 45 to the operation arm 44 that the one pin main body 32a of the restriction pin 32 is provided so as to be swingable integrally is provided. One control handle 6 is rotatably supported, and the switching lever 46 can be used to switch the holding pin 32 between the action posture and the release posture, or to hold the release pin in the release posture.
  That is, when the switching lever 46 is swung around the axis of the lever support shaft 48 along the guide groove 47a of the lever guide 47 as shown in FIG. 7, and is operated to the lock position L on one end side of the guide groove 47a, The operation cable 45 is loosened and the restriction pin 32 is allowed to be switched to the operating posture by the lock spring 35. By operating the switching lever 46 to the other end side of the guide groove 37a and using the backlash between the switching lever 46 and the lever support shaft 38, the switching lever 46 is moved to the release position F that is inserted into the notch communicating with the guide groove 37a. When operated, the operation cable 45 is pulled and the restriction pin 32 is switched to the release posture against the lock spring 35. Then, when the switching lever 46 is received and supported at the release position F by the stopper portion 47b of the lever guide 47, the operation cable 45 is held in a pulled state, and the restriction pin 32 is held in the release posture.
[0057]
  That is, when the work is performed, the control lever 46 is operated to the release position F, the control pin 32 is held in the release posture, and the swinging control mechanism 30 and the lock mechanism 40 are in the release state. The switching lever 46 is switched to the lock position L while adjusting the notch 31 of the left and right traveling devices 10 so as to face the regulation pin 32 by adjusting the swing of the self-propelled vehicle body around the axle center by the operation. . Then, the restriction pin 32 enters the notch 31 of the left and right traveling devices 10 and the swing restriction mechanism 30 is activated, and the swing adjustment around the axle center of the self-propelled machine body by the raising and lowering operation of the steering handle 6 is performed. By adjusting the height of the tillage device 8 with respect to the ground, the tiller depth can be adjusted or the tillage device 8 can be lifted from the ground.
[0058]
  When the airframe is moved, the control handle 6 is operated in a state where the switching lever 46 is operated to the release position F, the restriction pin 32 is held in the release posture, and the swing restriction mechanism 30 and the lock mechanism 40 are in the release state. The switching lever 46 is locked to the lock position L while adjusting the swinging movement of the self-propelled vehicle body about the axle center by adjusting the lifting / lowering operation so that the semicircular notches 41 of the left and right traveling devices 10 face the restriction pins 32. Switch to. Then, the regulation pin 32 enters the semicircular cutouts 41 of the left and right traveling devices 10 and the lock mechanism 40 is activated, and the vehicle travels with the self-propelled body locked so as not to swing around the axle. it can.
[0059]
  The switching lever 46 is operated to the release position F when the machine body is moved beyond the heel. Then, even when the regulation pin 32 is held in the release posture, the rocking restriction mechanism 30 and the lock mechanism 40 are held in the released state, and the traveling device 10 moves on the sloping ground, the self-propelled vehicle body is greatly swung to control the steering handle. 6 can be run while being easily supported by being positioned at an appropriate level. At this time, the front stopper 37 and the rear stopper 36 can prevent the traveling device 10 from swinging too much with respect to the airframe.
[0060]
  As shown in FIG. 8, the left steering clutch 53 and the left are disposed on one side of the branch transmission gear 51 that meshes with the output gear 50a of the traveling transmission 50 that changes the rotational force from the input shaft of the mission case 1. A steering brake 57 is provided, and a right steering clutch 53 and a right steering brake 57 are provided on the other lateral side of the branch transmission gear 51.
[0061]
  In both the left steering clutch 53 and the right steering clutch 53, a transmission-side clutch pawl 54 provided on the side of the branch transmission gear 51 and a passive-side clutch pawl 55a that engages and disengages with the clutch pawl 54 are attached to one end. The steering gear 55 is pivotally operated from the outside of the transmission case 1, and the steering gear 55 is rotated by the shifter 56. , The clutch pawl 55a of the steering gear 55 is engaged with the clutch pawl 54 of the branch transmission gear 51, and the clutch pawl 55a of the steering gear 55 is engaged. The branch transmission gear 51 is separated from the clutch pawl 54 and cut off.
[0062]
  Both the left steering brake 57 and the right steering brake 57 are composed of the steering gear 55 and a sheet metal brake body 59 fixed to the side wall of the transmission case 1 by mounting bolts 58, and are steered by the shifter 56. The gear 55 is turned on and off by sliding operation along the support shaft 60.
  That is, when the steering gear 55 is further slid toward the brake body 59 from the position where the steering clutch 53 is disengaged, the steering gear 55 is moved to the end opposite to the side where the clutch pawl 55a is provided. The provided brake claw 55 b is engaged with the brake claw 59 a of the brake body 59. Then, for this engagement, the brake body 59 locks the steering gear 55 so as not to rotate, and the steering gear 55 is engaged with the intermediate transmission gear 61 and The transmission gear 62 meshed with the inner peripheral teeth of the intermediate transmission gear 61 and the axle drive gear 63 meshed with the transmission gear 62 are linked to the axle 5 so as to be operated. The direction brake 57 enters to brake the traveling device 10. When the steering gear 55 is slid toward the branch transmission gear 51 from this state and the brake claw 55b of the steering gear 55 is disengaged from the brake claw 59a of the brake body 59, the steering gear 55 is locked by the brake body 59. Is released, and the steering brake 57 is cut to release the braking action on the traveling device 10.
[0063]
  That is, in FIG. 1, the left steering clutch brake shifter 56 and the right steering clutch brake shifter 56 are separately attached to the vicinity of the grip of the left and right steering handles 6 in conjunction with each other via an operation cable. By turning one of the pair of left and right steering levers 65 as shown, operating one of the left and right steering clutch 53 to the cut side, or operating one of the left and right steering brakes 57 to the turning side, The inner traveling device 10 stops driving and the brake is not applied, and the self-propelled vehicle body makes a clutch turn, or the inner traveling device 10 turns the brake and the self-propelled vehicle body makes a brake turn.
[0064]
  As shown in FIG. 3, in the left and right traveling devices 10, the traveling device 10 includes the mounting cylinder shaft 11 of the crawler driving wheel body 13, the axle pin 12, and a plurality of pin holes 5 a provided in the axle 5. The position adjustment means 70 which changes the attachment position with respect to the self-propelled machine body in the direction along the axle axis is configured.
[0065]
  That is, for example, when the intervals between the crop rows are different, in the left and right traveling devices 10, the mounting cylinder shaft 11 is slidably adjusted with respect to the axle 5, and the plurality of pin holes 5 a of the axle 5 are adjusted according to the crop row interval. One pin hole 5a is selected, and the axle pin 12 is attached to the pin hole 5a. Then, since the plurality of pin holes 5a of the axle 5 are arranged in the direction of the axle, the attachment positions of the left and right traveling devices 10 change in the direction along the axle, and the distance between the left and right crawlers 18 is increased. It becomes suitable for the row interval, and it is possible to run while stabilizing the machine body with a wide crawler interval as much as possible while avoiding stepping on the crop by the left crawler 18 and the right crawler 18.
[0066]
  Thus, even if the mounting position of the left and right traveling devices 10 is changed to any position and the position of each traveling device 10 with respect to the regulation pin 32 of the track frame 14 is changed, the left and right pins of the regulation pin 32 are changed. The regulation pin 32 is provided with a predetermined length so that the main body 32a enters the notch 31 and the semicircular notch 41.
[0067]
  As shown in FIG. 3, the restriction pin 32 is constituted by a pair of left and right divided pins 32c created in separate parts.
  That is, one split pin 32c is formed to include one pin body 32a, a portion on one end side of the mounting shaft 32b, and a connecting shaft portion 32d provided at the end of the mounting shaft portion. . The other split pin 32c is formed to include the other pin main body 32a, a portion on the other end side of the mounting shaft 32b, and a connecting cylinder portion 32e provided at the end of the mounting shaft portion. The mounting shaft portion of one split pin 32c is inserted into one pin support portion 9a from the outside of the machine body, the mounting shaft portion of the other split pin 32c is inserted into the other pin support portion 9a from the outside of the machine body, and one split pin The connecting shaft portion 32d protruding inward of the hitch support member 9 from the pin support portion 9a of 32c, and the connecting cylinder portion 32e protruding inward of the hitch support member 9 from the pin support portion 9a of the other split pin 32c. The pair of left and right split pins 32c are connected so as to rotate integrally by connecting pins 38 attached to these pin holes so as to rotate integrally, and the right and left pin supports of the restriction pin 32 are supported. Assembly to the part 9a is performed.
[0068]
  As shown in FIG. 2 and the like, the track frame 14 of the traveling device 10 on either the left or right side also has a track frame main body provided with each of the mounting cylinder portion 14a, the rear grounding wheel body 17, and a crawler slip prevention rod 71. One end of the track frame main body is slidably inserted into the cylindrical portion of the track frame main body, and the other end is constituted by a tension frame 14d having a front ground ring 16 and a tension bolt 72. In other words, the tension bolt 72 is rotated and adjusted, and the tension frame 14d is pulled out of the track frame body by the pulling operation force of the tension bolt 72, whereby the front ground ring body 16 is pressed against the inner peripheral side of the crawler 18. Thus, tension is applied to the crawler 18.
[0069]
  As shown in FIG. 3, the crawler disengagement stopper 71 prevents the crawler 18 from coming off the ground ring bodies 16 and 17 by entering between the pair of left and right guide protrusions 19 a in each core 19 of the crawler 18. .
[0070]
    [Another embodiment]
  A connecting member that connects the left traveling device 10 and the track frame 14 of the right traveling device 10 is provided so as to be switchable between a connected state and a disconnected state, and by switching the connecting member to the connecting side, The traveling device 10 may be configured and implemented so as to obtain a state in which the traveling device 10 is integrated and swings with respect to the self-propelled aircraft.
[0071]
  The rocking restriction mechanism 30 and the lock mechanism 40 may be configured using not only the notches 31 and 41 as in the above embodiment, but also a through-type long hole or a round hole.
[Brief description of the drawings]
FIG. 1 is a side view of an entire walking work machine.
FIG. 2 is a side view of a crawler traveling device, a swing restriction mechanism, and a lock mechanism.
FIG. 3 is a cross-sectional view of a crawler traveling device.
FIG. 4 is an explanatory view showing the operation state of the swing restricting mechanism and the lock mechanism.
FIG. 5 is an explanatory view showing a release state of the swing restricting mechanism and the lock mechanism.
FIG. 6 is a side view showing an arrangement portion of a stopper and a regulation pin.
FIG. 7 is an explanatory diagram showing the operation position of the switching lever.
FIG. 8 is a sectional view showing a steering clutch brake.
[Explanation of symbols]
  5 axles
  7 Hitch
  8 Rotary tillage device
  9 Hitch support member
  10 Crawler type traveling device
  14 Track frame
  14c Track frame forming member
  30 Swing restriction mechanism
  31 Notch
  32 Restriction pin
  32c Dividing pin
  36, 37 Stopper
  40 Locking mechanism
  70 Position adjustment means

Claims (9)

The self-propelled airframe is provided with a pair of left and right crawler type traveling devices (10) separately linked to the pair of left and right driveable axles (5) of the self-propelled airframe, and the pair of left and right crawler type traveling devices (10 ) Swings around the axle center with respect to the self-propelled machine body, and between the driving axle (5) and the wheel support shaft (16a) of the front grounding wheel body (16) in plan view. The front and rear grounding wheels (16) are placed on the track frame (14) in a state where the distance between the drive axle (5) and the rear shaft (17a) of the rear grounding wheel (17) is shorter than the distance between the front and rear grounding wheels (16). (17) A walking work machine having a rotary tiller (8) connected to a rear portion of the self-propelled aircraft in front of a steering handle (6) extending rearward of the self-propelled aircraft while being attached .   The walking type work machine according to claim 1, further comprising position adjusting means (70) for changing the position of the pair of left and right crawler type traveling devices (10) in the direction of the axle axis. A self-propelled aircraft body is provided with a pair of left and right crawler type traveling devices (10) separately linked to a pair of left and right driveable axles (5) of the self-propelled aircraft body, and the pair of left and right crawler type traveling devices (10). And a lock mechanism (40) for fixing the pair of left and right crawler type traveling devices (10) to the self-propelled vehicle body so as not to swing. A switching lever (46) that holds the locking mechanism (40) at the locked position and the unlocking position, and the locking mechanism (40) is unlocked by operating the switching lever (46), thereby crawling. The traveling device (10) is allowed to swing relative to the self-propelled machine body, and the crawler type traveling device (10) is largely swung relative to the self-propelled machine body beyond a predetermined swinging range. Regulating the stopper (36) walk-behind working machine that is equipped with a (37). The locking mechanism (40) self-propels the pair of left and right crawler type traveling devices (10) by engaging the restriction pin (32) operated by the switching lever (46) and the restriction pin (32). The walking work machine according to claim 3, further comprising a locking notch (41) for fixing the machine body so as not to swing. In addition to the locking notch (41), an arc-shaped elongated hole or notch (31) centered on the axle center is provided, and the locking pin (32) is operated by the switching lever (46) to operate the lock. From the state in which the mechanism (40) is unlocked, the restriction pin (32) is fitted into the arc-shaped elongated hole or notch (31), thereby allowing the pair of left and right crawler type traveling devices (10) to move. The walking type work machine according to claim 4, further comprising a rocking restriction mechanism (30) for restricting a rocking range with respect to the traveling machine body to a setting range narrower than a rocking range regulated by the stopper (36) (37). . Position adjusting means (70) for changing the position of the pair of left and right crawler type traveling devices (10) in the direction of the axle center is provided, and the restriction pin (32) is arranged in a direction along the axle axis. The walking work machine according to claim 4 or 5 . The arc-shaped elongated hole or notch (31) is provided in each of the pair of left and right crawler type traveling devices (10), and the restriction pin (32) is a pin formed by connecting a pair of left and right divided pins (32c). The walking work machine according to any one of claims 4 to 6 . The walking type work machine according to any one of claims 4 to 7, wherein the restriction pin (32) is attached to a hitch support member (9) provided to support the hitch (7) by a self-propelled machine body. . The walking according to any one of claims 4 to 8 , wherein the arc-shaped elongated hole or notch (31) is provided in a member forming a track frame (14) of the crawler type traveling device (10). Mold work machine.

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