JPH01211418A - Device returning the body of a paddy-working machine to parallel position - Google Patents

Abstract

PURPOSE:To automatically restore the wheels, while the machine body goes over the working area and is ascending, by operating the rolling control cylinder on the basis of the detection signals from a swing sensor of the balance mechanism so that the wheels are restored to the parallel position to the body. CONSTITUTION:The balance arm 24 is held horizontally swingable in its center on the top end of the main cylinder and both right and left ends of the first balance arm 24 are connected through rods to the running wheels. An operating piece 32b is projected from the second balance 32 so that it may interfere, when the cylinder moves to the backward limit of the first balance 24. When it contacts with the operating piece 32b, the first arm 24 swings back and forth around the fulcrum 32c to move the guide hole 31c backward, and the swing of the first balance arm 24 is detected, the valve is switched to operate the subcylinder 22 so that the first balance arm 24 becomes parallel and the wheels on both sides are automatically restored to the parallel position to the body.

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention relates to a device for returning the machine body to a parallel posture in rice field working machines such as rice transplanters, fertilizers, and seeding machines.

[Problems to be solved by the prior art and the invention] In general, this type of paddy field work machine is provided with a swingable balance mechanism connected to the left and right running wheels, and the swing control of this balance mechanism allows the work to be carried out. So-called rolling control is performed to prevent the machine body from tilting to the left or right due to the unevenness of the tiller while traveling.

There is a device in which this rolling control is actively performed using a dedicated rolling control cylinder mechanism connected to a balance mechanism. By the way, when the aircraft is turning, traveling on the road, or traveling backwards, the left and right wheels are simultaneously lowered to raise the aircraft higher than its working area.In this case, rolling detection is performed. Both the left and right sensing floats were suspended in the air, and as a result, if the left and right running wheels were not parallel to the aircraft, they would continue to rise in a non-parallel attitude without any correction. This poses a problem, as the aircraft tends to be unstable, and the operations to avoid this are complicated and troublesome.

[Means for solving the problem] In view of the above-mentioned circumstances, the present invention has been devised for the purpose of providing a device for returning the body of a paddy field working machine to a parallel posture, which can eliminate these drawbacks. . The present invention also provides a balance mechanism for attitude control in which the left and right running wheels are connected to corresponding end portions, and the intermediate portion is pivotally supported, so that the body can be moved up and down in parallel without rocking. A paddy field working machine configured to be connected to a control cylinder and also to a rolling control cylinder so as to be able to swing without parallel movement, thereby controlling the simultaneous lifting and lowering of left and right running wheels as well as the reverse lifting. In the above-mentioned balance mechanism, by the operation of a cylinder for lifting/lowering control,
A rocking sensing means is provided to detect the rocking state of the balance mechanism that is moved to raise the machine body to a height beyond the work area, and the rocking sensing means is used to control the operation of the rolling control cylinder. The present invention is characterized in that the rolling control cylinder is operatively connected to a rolling sensing control mechanism that controls the airframe, and operates a rolling control cylinder so that the left and right traveling wheels return to parallel to the aircraft body based on the vibration sensing result.

Furthermore, in this device, rolling sensing in the rolling sensing control mechanism is performed using left and right sensing floats that are provided to be able to swing up and down, and the sensing floats are such that the aircraft is raised to a height above the work area. death,
It may also be characterized in that a sensing float storage means is provided for raising the left and right traveling wheels to the storage position in response to the return of the left and right traveling wheels parallel to the fuselage.

With this configuration, the present invention is configured such that when the machine body is lifted beyond the work area, the left and right traveling wheels automatically return to parallel to the machine body.

[Example] Next, an embodiment of the present invention will be explained based on the drawings. In the drawing, 1 is a traveling body of a walking rice transplanter, and an engine 2 is installed in the front of the traveling body 1. The rear part is provided with a seedling stand 3, a driving handle 4, planting claws 5, and other members as before.

Reference numeral 6 denotes sensing floats disposed on the left and right sides of the front part of the aircraft body, and a bracket 6a to which the front part of the sensing float 6 is integrally fixed is attached to the side of the engine frame 7 provided to support the engine 2. The bracket 6a is pivotally supported at the edge via a support shaft 8 so as to be able to swing up and down, and the front end of an actuating rod 9 is pivotally connected to the lower end of the bracket 6a via a support shaft 9a.

On the other hand, a long hole 6c is formed in the upper part of the rod 6b whose lower end is supported on the upper surface of the rear end of the sensing float 6.

Further, the lower end of the operating link 10 is pivotally connected to the rear end of the operating rod 9 via a support shaft 9b, and the upper end of the operating link 10, which is formed in a substantially mouth shape, is connected to the engine frame 7 side. A supported spindle 10a passes through it. A boss portion 11a of an actuation arm 11 is rotatably supported on this support shaft 10a, while the support shaft 10a is movably fitted loosely into the long hole 6c. Further, the arm piece lOb protruding from the operating link lO is interlocked and connected to the end of the swing arm 13 via the connecting rod 12 and the link 12a. The central part of the bracket 13a, on which the swing arm 13 is rotatably supported around its axis, is pivoted to the support member 14a of the rolling control valve 14 via a support shaft 14c so as to be swingable up and down. A valve rod 14b is attached to the bracket 13a.
are connected. When the left and right sensing floats 6 simultaneously swing up and down in the same direction beyond the range of flexibility provided by the elongated holes 6c, the swing arm 13 only rotates around its axis relative to the bracket 13a, and this movement occurs. is absorbed, but when the left and right sensing floats 6 reversely swing up and down, the swinging arm 13 swings together with the bracket 13a about the support shaft 14c, thereby controlling the rolling. The sub-cylinder 22, which will be described later, is controlled by switching the valve 14.

On the other hand, 15 is a bracket integrally supported by the engine frame 7, and the bracket 15 has an ammunition 1
6 is locked, while an actuating wire 18 (described later)
An outer receiver 17 is provided.

The other end of the bullet 16 is locked to the actuating arm 11, and is constantly biased in the direction of pulling the actuating wire 18 connected to the arm piece 11b of the actuating arm 11. . Note that the actuating arm 11 is in contact with the engine frame 7 from below, so that further swinging due to the biasing force of the ammunition 16 is restricted. Furthermore, an actuation piece 11c is provided protruding from the actuation arm 11,
This actuating piece 11c faces the lower surface of the ceiling portion 10c at the opening of the actuating link IO, and as described above, the actuating piece 11c moves when the sensing float 6 senses the actuating link 1.
0 swings to move the connecting rod 12 upward, the ceiling portion 10c separates from the actuating piece 11b and swings independently, but as will be described later, the actuating wire 18 is pulled and the actuating arm 11 When the arm swings against the ammunition 16, the actuating piece 11b contacts the ceiling surface 10c of the actuating arm from below, forcing it in the same direction as when the sensing float 6 is lifted. It is set to swing.

Reference numeral 19 denotes a main cylinder that is installed in the center of the aircraft body facing in the longitudinal direction and serves as a cylinder for controlling the elevation of the aircraft body, and guide rods 20 are provided on both left and right sides of the main cylinder 19 in the longitudinal direction. However, a bracket 21 is provided on this guide rod 20 so as to be movable in the front and rear directions. Both ends of a cylinder rod 22a of a sub cylinder 22 serving as a rolling control cylinder are integrally fixed to both left and right ends of the bracket 21. On the other hand, a double-acting cylinder cylinder 22b connected to the rolling control valve 14 via an oil vibrator 23 is provided on the cylinder rod 22a so as to be movable in the left and right direction, and the tip of the cylinder rod 19a of the main cylinder 19 In the section, the center part of a first balance arm 24 constituting a balance mechanism for attitude control facing in the left-right direction is pivotally supported via a support shaft 25 so as to be swingable in the horizontal direction. Both ends are interlocked and connected to running wheels 27 via members such as a connecting rod 26 and a swing case 26a. Furthermore, an actuating arm 28 is provided at the upper center of the balance arm 24 and extends toward the sub-cylinder 22, and is provided in an elongated locking hole 28a formed at the distal end of the actuating arm 28 so as to protrude from the cylinder tube 22b. Pin 22c is engaged. For example, when the main cylinder 19 expands and contracts in the front-rear direction by sensing the vertical swing of the center float 29 or by switching the horizontal control valve 30 based on lever operation, the first balance arm 24 moves without swinging. While maintaining that posture, move back and forth in parallel,
As a result, the height of the aircraft body is controlled by simultaneously controlling the vertical movement of the left and right running wheels 27.

On the other hand, when one of the machines rolls from side to side due to unevenness of the tiller, etc., and this is detected by the contradictory vertical sensing operation of the sensing float 6, the rolling control valve 14 is switched as described above, and the sub-cylinder 22, the connecting rod 26 on the side where the fuselage is tilted lower (that is, the side on which the sensing float 6 has risen) is moved rearward to cause the first balance arm 24 to swing so that the running wheels on that side are lowered; The lateral attitude of the aircraft is set to remain approximately constant relative to the field scene.

Reference numeral 31 denotes a support member that is integrally assembled to the fuselage frame side together with the stay 20a provided to support the rear end of the guide rod 20, and the front end of the support member 31 is provided with the actuating wire 18. Although the outer receiver 31a is integrally formed, a guide portion 31b bent into a substantially U-shape is provided at the rear end portion. Reference numeral 32 denotes a second balance arm for return, and a central portion 32c of the second balance arm 32 is slidably fitted into the guide portion 31b, and a pin shaft 32a protruding from the center in the left and right direction. is rotatably engaged with a guide hole 31c formed in the guide portion 31b and facing in the front-rear direction.

Further, both left and right ends of the second balance arm 32 are connected with the left and right actuating wires 18 crossed in the middle, and the first balance arm 24 is at approximately the limit position of rearward movement, that is, the main cylinder 19 is The actuating piece 3 is designed to interfere when the machine is extended significantly and the height of the machine sufficiently exceeds the working area and moves to a position corresponding to the non-working area position lifted from the field.
2b is provided protrudingly. Now, the first balance arm 24 is swinging back and forth about the support shaft 25, that is, the body is tilted (not parallel) to the left and right traveling wheels 27 (in this case, the first balance arm 24 When the main cylinder 19 is extended and the body posture rises to the non-working area, the first balance arm 24 The rear swing end side of the second balance arm 32 contacts the operating piece 32b of the second balance arm on that side and pushes it backward, whereby the second balance arm 32 moves in the same manner as the first balance arm 24 with the pin shaft 32c as a fulcrum. As the first balance arm 24 moves backward through the guide hole 31c while swinging back and forth in the direction, the swing of the first balance arm 24 is sensed, and the actuating wire 18 on that side is pulled. As a result, the actuating link 11 on the opposite side to the pulled side swings in the direction of the arrow, and as a result, as described above, the actuating arm 10 on the opposite side also swings together to connect the corresponding side. The rod 12 is lifted to bring the running wheel 27 into the same state as if it had detected an upward motion on the higher side, thereby causing the rolling control valve 14 to lower the running wheel 27 on the higher side. As a result, the sub-cylinder 22 is operated to control the swinging of the first balance arm 24 so that it is parallel to the left and right directions, and the left and right running wheels 27 are automatically returned to a state parallel to the aircraft body. do. Moreover, in this case, the second balance arm 32 is moved in time with the return of the first balance arm 24 to the horizontal parallel state
automatically pulls the left and right actuating wires 18 backward by the guide hole 31c. When the actuating wire 18 is pulled, the actuating arm 10 swings to lift the connecting rod 12 as described above, but at this time, the actuating rod 9 is also forced to move rearward, and as a result, the sensing float 6 The first balance arm 2 is set in a storage position that is raised by the amount of movement.
4 are in a left-right parallel state and both operating wires 18 are pulled at the same time, the rain sensing float 6 can be automatically set upward to the storage position.

In the embodiment of the present invention configured as described above, when traveling in rice field work, the left and right rolling control of the machine body is performed by the operation of the sub-cylinder 22 (accompanied by the vertical sensing rocking of the left and right sensing float 6), and the longitudinal pitching control of the machine body. , and when the aircraft is rolling, the elevation control of the aircraft is performed by the sensing operation of the center float 29 or the expansion and contraction of the main float 19 in conjunction with the switching operation of the control lever. With the balance arm 24 swinging back and forth about the support shaft 25,
When the main cylinder 19 is extended to a large extent to cause the machine to turn around or go backwards, and the machine is to be lifted out of the field, the left and right running wheels 27 automatically return to a parallel attitude with respect to the machine.

That is, as described above, the main cylinder 19 is extended while the first balance arm 24 is swinging back and forth about the support shaft 25, and the traveling wheels 27 are lowered relative to the machine body to lift the machine body out of the field. When you want to position it in a non-working area, the rearwardly swinging end of the first balance arm 24 comes into contact with the corresponding actuating piece 32b of the second balance arm 32 and pushes it backward. Following this, the second balance arm 32 swings about the pin shaft 32c, and the swing of the first balance arm is sensed, and accordingly, the rolling control valve 14 switches, The sub cylinder 22 is connected to the first balance arm 24
The wheels operate so that the left and right wheels are parallel to each other, and the left and right running wheels 2
7 will automatically return to a parallel attitude to the aircraft.

In this way, in the present invention, when the machine body is lifted high beyond the work area for rotating the machine body, the left and right running wheels 27 automatically take a parallel attitude with respect to the machine body, thus stabilizing the machine body. Moreover, the troublesome and complicated operation of returning to parallel each time is completely unnecessary, resulting in a significant improvement in work efficiency.

In addition, this device lifts the sensing float 6 from an unstable suspended state and maintains it in the stowed position in response to the automatic parallel return operation described above when the aircraft is lifted high beyond the work area. As a result, the sensing float 6 can be effectively protected, and the advantage is that it can effectively prevent it from being deformed or damaged due to being immersed in the field or hitting an obstacle when traveling backwards. There is.

The operation of lifting the sensing float 6 to the storage position is such that the second balance arm 32, which senses whether or not the first balance arm 24 is oscillating, moves as much as possible to correspond to the parallel return and the guide hole 31c. By moving backward, both the rain sensing floats 6 are lifted into the storage position, so there is no need to separately provide storage means for the sensing floats 6, which is convenient as it not only simplifies the structure but also allows effective dual use of members. .

[Operations and Effects] In summary, since the present invention is constructed as described above, when the balance mechanism for attitude control is oscillating, the lift control cylinder is actuated for turning the aircraft, etc. When the machine is raised beyond the working area, the swing sensing means senses the swing of the balance mechanism, and based on this sensing result, the rolling sensing control mechanism moves the left and right traveling wheels of the aircraft relative to the rolling control cylinder. Therefore, the left and right traveling wheels are automatically returned to parallel to the aircraft body as the aircraft body is raised higher.

As a result, the machine body is stabilized, and the troublesome and complicated parallel return operation that was conventionally required is completely eliminated, resulting in a significant improvement in workability.

Furthermore, in this device, rolling sensing in the rolling sensing control mechanism is performed using left and right sensing floats that are provided to be able to swing up and down, and one of the sensing floats has one machine at a height above the work area. If a sensing float storage means is provided to raise the sensing float to the stowed position in response to the return of the left and right traveling wheels parallel to the aircraft, the sensing float will It is automatically set to a high storage position without being suspended in the air and becoming unstable. Therefore, not only does it not require any effort to store the sensing float, but the sensing float can be reliably protected and protected from being deformed or damaged by hitting an obstacle.

[Brief explanation of the drawing]

The drawings show an embodiment of the device for returning the machine body to a parallel posture in a paddy field working machine according to the present invention, in which Fig. 1 is a side view of the walking rice transplanter, Fig. 2 is a perspective view of the same essential parts, 3 and 4 are side views showing the operating posture of the sensing float section, FIG. 5 is a front view of the rolling control valve section, FIG. 6 is a side view of the same, FIG. 7 is a plan view of the same, and FIG. The figure is a plan view of the control cylinder section, FIG. 9 is a side view of the same as above, FIG. 10 is a back view of same as above, FIGS. , C is a plan view of the second balance arm,
14A, B, and C are plan views, front views, and side views of the operating link; FIGS. 15A and B are plan views and side views of the operating arm; FIGS. 16A, B; C is a plan view, front view, and side view of the support member, and No. 17 is a schematic perspective view of the sensing float section. In the figure, 1 is a traveling aircraft body, 6 is a sensing float, 10 is an operating link, 11 is an operating arm, 18 is an operating wire, 19 is a main cylinder, 22 is a sub cylinder, 24 is a first balance arm, 27 is a running wheel, 31 is a support member, and 32 is a second balance arm. Figure 12 Figure 14 Figure 8 Figure 15 Figure 131 □3 ＼ Figure b Figure 16 B 31 / Figure 17

Claims (1)

[Scope of Claims] 1) A balance mechanism for posture control, in which the left and right running wheels are respectively connected to the corresponding end portions and the intermediate portion is pivotably supported, can be moved in parallel without rocking. It is connected in conjunction with a cylinder for controlling the elevation of the aircraft body, and also connected in conjunction with a cylinder for rolling control so as to enable rocking without parallel movement, and is configured to control simultaneous elevation and descent of the left and right running wheels as well as contralateral elevation. In the paddy field work machine, the scale mechanism includes a swing sensing means for sensing the swing state of the scale mechanism, which is moved to raise the machine to a height beyond the working area by the operation of the lift control cylinder. On the other hand, the rocking sensing means is interlocked and connected to a rolling sensing control mechanism that controls the operation of the rolling control cylinder, so that the left and right traveling wheels return to parallel to the aircraft body based on the rocking sensing results. A device for returning a machine body to a parallel posture in a paddy field working machine, characterized in that it is configured to operate a control cylinder. 2) In the first claim, the rolling sensing in the rolling sensing control mechanism is performed using left and right sensing floats that are provided to be able to swing up and down, and the sensing floats include Parallelism of the machine body in a paddy field working machine characterized by being provided with a sensing float storage means for raising the machine body to a stowed position in response to the return of the left and right running wheels parallel to the machine body. Posture return device.