JPH0213321A - Working machine of working type - Google Patents

Abstract

PURPOSE:To carry out adequate pitching control and rolling control and to stabilize rolling control by arranging ground points of a central sensor and left and right sensors and ground point of left and right driving wheels in a specific position relationship. CONSTITUTION:Ground points P1, P2 and P3 of a central sensor 31, light and left sensors 32 and 33 are placed more ahead a machine than ground points A1 and A3 of left and right drive wheels 12 and 13. Even when the machine is floated from mud surface, the ground points of the left and right sensors are not separated from mud surface. The distance between the point A1 and the point P3 is made longer than the distance between the point A1 and the point P1, the distance between the point A2 and the point P2 is longer than the distance between the point A2 and the point P1 and the interval between the light and right sensors 32 and 33 are set large.

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Field of Application] The present invention relates to a walk-behind working machine such as a walk-behind seedling transplanter or a walk-behind seeding machine.

[Prior art and its problems]

In a conventional example of this type, a float placed under the center of the aircraft was used as a sensor to control pitching by moving both the left and right drive wheels up and down by the same amount, and left and right leveling floats were used as sensors for left and right rolling control. There is a walking rice transplanter. The grounding points of the left and right leveling floats as sensors for left and right rolling control and the grounding point of the central leveling float as a pitching control sensor are as follows:
They were set quite far apart in the front and rear directions of the aircraft.

[Problems with conventional technology]

Normally, when turning a walk-behind rice transplanter at the edge of a ridge, the operator lifts the rear part of the machine and presses the front of the central soil leveling float against the mud surface to activate pitching control and forcibly move both the left and right drive wheels down. The front part of the central grading float is pressed against the mud surface and the aircraft turns with the aircraft floating above the mud surface. However, with conventional models, the grounding points of the left and right leveling floats and the grounding point of the center leveling float are set quite far apart in the longitudinal direction of the aircraft, so pitching control is used as described above to lift the aircraft off the mud surface. In this case, the grounding points of the left and right leveling floats will be quite far from the mud surface, and even if the machine tilts to the left or right due to unevenness on the plowing platform, the left and right leveling floats will not be able to detect the tilt of the machine and rolling control will not work. The drawback was that the aircraft had to turn while tilted.

[Means to solve the problem]

The present invention has taken the following technical measures in order to solve the problems of the prior art described above.

That is, the present invention provides for adjusting the left and right drive so that the ground pressure becomes appropriate due to a change in the ground pressure of the central sensor 31 disposed between the left and right drive wheels 12 and 13 provided on the aircraft body so as to be movable up and down. A control device is provided to move both the wheels 12 and 13 up and down, and the difference in ground pressure between the left and right sensors 32 and 33 disposed on the outside of the left and right drive wheels 12 and 13 is eliminated. In a walk-behind work machine, which is provided with a control device for changing the vertical positional relationship of the left and right drive wheels 12 and 13, the center sensor 31 and the left and right sensors 32 and 33
The grounding points P
Grounding point A of the left drive wheel 12 and grounding point P of the right sensor 33
, is made longer than the distance between the grounding point A1 of the left drive wheel 12 and the grounding point P of the central sensor 31, and the distance between the right drive wheel 1
A walk-behind work machine characterized in that the distance between the grounding point A2 of No. 3 and the grounding point P2 of the left sensor 32 is longer than the distance between the grounding point A of the right drive wheel 13 and the grounding point P4 of the central sensor 31. That is.

〔Effect of the invention〕

This invention provides for adjusting the left and right drive wheels 12 and 13 so that the ground pressure becomes appropriate due to a change in the ground pressure of a central sensor 31 disposed between the left and right drive wheels 12 and 13, which are provided on the aircraft body so as to be movable up and down.・13 are moved up and down together, and the left and right drive wheels 12・
The vertical positional relationship of the left and right drive wheels 12 and 13 is changed so that the difference in ground pressure between the left and right sensors 32 and 33 disposed on the outside of the wheel 13 disappears, and the center sensor 31 and the grounding point P of the left and right sensors 32 and 33
□・P2・P is the grounding point A1 of the left and right drive wheels 12 and 13
- Since it is located further forward than A2, the drawbacks of the conventional example when the aircraft turns are eliminated, and proper pitching and rolling control can be performed, resulting in good maneuverability.

Further, the distance between the ground point A of the right drive wheel 12 and the ground point P of the right sensor 33 is set to be longer than the distance between the ground point A1 of the right drive wheel 12 and the ground point P1 of the center sensor 31, Since the distance between the grounding point A2 of the axle 13 and the grounding point P2 of the left sensor 32 is made longer than the distance between the grounding point A2 of the right drive wheel 13 and the grounding point P of the central sensor 31, The interval can be set large and very stable rolling control can be performed.

〔Example〕

A walking rice transplanter which is an embodiment of the present invention will be described in detail below.

Reference numeral 1 denotes a traveling transmission case, and the front end of a cylindrical frame 4 extending rearward is fixed to the rear side surface with bolts.

2 is a planting transmission case constructed by connecting a central case body 2a and left and right case bodies 2b with a cylindrical case body 2c, and a recess 2a' formed in the lower part of the central case body 2a.
is fitted into the middle part of the frame 4 in a horse-riding manner, and is fixed with bolts to a mounting plate 4a which is welded and fixed to the frame 4. Seedlings are planted on both sides of the lower part of the central case body 2a and inside each of the left and right case bodies 2b, 2b, which move up and down to take out one seedling at a time from a seedling stand 5o (described later) and plant it in the field. The tool 9... is attached by a rotating crank and a swinging arm.

Reference numeral 10 denotes a control handle, the center portion of which is attached to the rear end portion of the frame 4 extending rearward and obliquely upward.

Reference numeral 3 denotes an upper connecting member, the front part of which is fixed with bolts to the rear side of the valve case 4o which is fixed with bolts to the upper surface of the traveling transmission case, and the rear part is fixed to the central case body 2a of the planted transmission case 2. It is fixed to the front side with bolts.

Reference numeral 11 denotes an engine, which is fixedly connected to the front part of the traveling transmission case 1 with bolts.

12 and 13 are left and right drive wheels, driving mission case 1
A boss 16 that surrounds the drive shafts 14 and 15 that protrudes from both left and right sides of the
・Left and right chain case 18 attached to 17 for free rotation
- It is pivotally supported at the rear tip of 19 and is swingable up and down while being rotated by transmission. The left and right drive axles 12 and 13 are in contact with the tiller G at respective ground points A2.

Reference numerals 2o and 21 denote left and right arms that are integrally provided with the bosses 16 and 17 that are provided integrally with the left and right chain cases 18 and 19, respectively.

Reference numeral 7 denotes a hydraulic device consisting of a hydraulic cylinder 5 and a piston 6 for vertically moving the left and right drive wheels 12 and 13, and the base of the hydraulic cylinder 5 is fixed to a hydraulic case 40 described below. The left and right center portions of a balance device 23, whose front ends are connected to the upper ends of the left and right arms 21 and 22, are rotatably mounted on the rear end of the piston 6 about a vertical axis 24, and the left and right drive axle 12 and 13 are configured to move up and down contrary to each other.

The balance device 23 includes a balance body 23a whose left and right center portions are rotatably supported on the tip of the piston 6 by a vertical shaft 24;
It is composed of left and right connecting rods 23d and 23e rotatably attached to the left and right sides of the balance body 23a by vertical shafts 23b and 23c, and each of the left and right rods 23d and 23e connects to the left and right arms 21 and 22. It is rotatably attached to the upper end of the . A rolling hydraulic device 1123h consisting of a hydraulic cylinder 23f and a piston 23g is provided in the middle of the left rod 23d.
The left rod 2 due to the crowd for the hydraulic cylinder 23f.
It is configured so that the length of 3d can be changed.

Here, to explain the configuration of the rear part of the piston 6 in more detail, the diameter of the rear part of the piston 6 is made slightly thinner to form a cut-off part 6a in the middle part, and a stopper washer 41 is applied to the cut-off part 6a. A spring 42 is installed between the washer 41 and the receiving member 8, and a stopper washer 44 is fixed to the rear end of the piston 6 with a bolt 43. The receiving member 8 is fitted into the piston 6 so as to be slidable in the longitudinal direction of the piston 6, and a fitting hole 8a formed at the lower part thereof is inserted into the upper connecting member 3.
The piston 6 is fitted externally to prevent rotation around the piston 6. However, since the balance body 23a is rotatably attached to the receiving member 8 about the vertical shaft 24, the balance device 23 can move in the longitudinal direction of the machine and rotate around the vertical shaft 24. , is configured so as not to rotate around the piston 6.

The seedling platform 5o is connected via left and right connectors 26 and 27 to a moving rod 25 that reciprocates left and right by a left and right reciprocating mechanism in the planting transmission case 2, and connects to the rear inclined rear part of the frame 4 and the control handle. It is supported by vertical support devices 28 and 29 in order to reciprocate from side to side above 10. Note that the lower support device 29 is integrally formed with a seedling support frame 29a that receives and slides on the lower side of the seedlings placed on the seedling stand 50, and has a crescent shape when viewed from the side. The support frame 29a has four seedling dividing openings 29b.
... are provided, and the seedling dividing claw 9a of the seedling planting tool 9 is configured to intervene from above into the seedling dividing opening 29b and take out the seedlings accommodated in the seedling platform 50 one by one.

30 is a bumper that is fixed to both the engine 11 and the traveling transmission case 1 and is U-shaped in plan view.

31 is a central leveling float as a central sensor, 32.3
Reference numeral 3 denotes left and right leveling floats as left and right sensors, each of which has its rear part supported by a shaft 34 and its front part supported by a floating mechanism 35 so as to be vertically movable.

Then, the central leveling float 31 and the left and right leveling floats 3
2 and 33, the front bottom is the grounding point P□, P2, and P, respectively.
It is set so that it touches the mud surface at ,.

36 is a pitching hydraulic valve that sends the pressure oil pumped out from inside the traveling transmission case 1 by the hydraulic pump 37 to the hydraulic cylinder 5 and returns the pressure oil from the hydraulic cylinder 5 to the inside of the traveling mission case 1; The switching lever 36a is connected to the front upper surface of the central earth leveling float 31 by a rod 36b, and the hydraulic valve 36 is switched when the front part of the central earth leveling float 31 moves up and down beyond the appropriate range. It is configured so that

38 is a hydraulic valve for rolling, and the hydraulic case 4
0, and feeds pressure oil from the hydraulic pump 37 to the rolling hydraulic cylinder 23f of the balance device 23, and returns pressure oil from the hydraulic cylinder 23f into the traveling transmission case 1. Switching mechanism 3
The hydraulic valve 38 is connected to the front portions of the left and right soil leveling floats 32 and 33 via a hydraulic valve 38, and is configured to be switched when the difference in the vertical movement of the front portions of the left and right soil leveling floats 32 and 33 exceeds an appropriate range. There is. The configuration of the linkage switching mechanism 39 will be described based on FIGS. 5 and 8. The bases of left and right pipe members 48 and 49 are fixed to the left and right sides of the traveling transmission case 1, and left and right support rods 51 and 52 are provided through the insides of the pipe members 48 and 49, respectively. The floating mechanism 35 is located at the tip of the left and right support rods 51 and 52.
The base of 35 is rotatably supported. Reference numerals 53 and 54 are abutment pieces that are integrally provided on the left and right support rods 51 and 52, respectively, and when the left and right leveling floats 32 and 33 move upward by a certain level, each of the floating mechanisms 35 and 35 comes into contact with the abutment pieces. Piece 53・
The left and right support rods 51 and 52 are provided so as to be in contact with the support rod 54 and rotate in the A direction. Reference numerals 55 and 56 denote left and right interlocking arms, the bases of which are fixed to the bases of left and right support rods 51 and 52, respectively, and are connected to the notch 1a of the traveling transmission case 1, respectively.
- Provided to protrude from 1a. Reference numerals 57 and 58 denote left and right rods whose lower ends are pivotally connected to left and right interlocking arms 55 and 56, respectively, and are slidably inserted into left and right cylinder bodies 60 and 61 fixed to both left and right ends of the balance body 59, respectively. ing.

62 and 63 are springs that are fitted onto the left and right rods 57 and 58, respectively, and their lower ends abut against seats 57a and 58a fixed to the left and right rods 57 and 58, respectively, and their upper ends contact the balance body. The left and right linking arms 55 and 59 are provided in contact with the left and right cylindrical bodies 60 and 61 of the left and right cylinders 60 and 61, respectively, and the left and right interlocking arms 55 and
It is configured such that the upward movement of 56 is transmitted to the balance body 59. The balance body 59 has a rotation shaft 64 fixed to its center, and the rotation shaft 64 is inserted into a cylinder 65 fixed to the valve case 40, and the lower end of a swing arm 66 is fixed to the tip thereof. . The upper end of the swing arm 66 is engaged with the tip of the spool 38a of the rolling hydraulic valve 38, and when the balance body 59 rotates around the rotation shaft 64, the spool 38a
is configured to be switched in the lower direction.

However, due to the upward movement of the left and right leveling floats 32 and 33, the rolling hydraulic valve 38 is switched by the above-mentioned members, but when both the left and right leveling floats 32 and 33 move upward by the same amount, the balance Since the same force acts on both left and right sides of the body 59 via the left and right springs 62 and 63, the balance body 59 does not rotate and the rolling hydraulic valve 38 cannot be switched. If there is a difference in the amount of upward movement of the left and right soil leveling floats 32 and 33, for example, if the left leveling float 32 has a larger amount of upward movement, the force pushing up the left side of the balance body 59 will be large, and the rolling hydraulic valve 38 will be activated by the rolling hydraulic pressure. Remove the pressure oil in the cylinder 23f and connect the left connecting rod 23d.
The length of the left drive wheel 12 is shortened so that the left drive wheel 12 can be switched to the side where it is moved downward. On the contrary, right leveling float 33
When the amount of upward movement is larger, the force pushing up the right side of the balance body 59 becomes larger, and the rolling hydraulic valve 38 sends pressure oil into the rolling hydraulic cylinder 23f, lengthens the length of the left connecting rod 23d, and drives the left side. It is configured so that the wheel 12 can be switched to the side where it is moved upward.

Reference numeral 45 denotes a transmission shaft, which is provided to transmit power from the traveling transmission case 1 to the planting transmission case 2. The transmission shaft 45 is parallel to the connecting member 3 when viewed from the top of the fuselage, and is disposed near the connecting member 3 when viewed from the side of the fuselage.

46 is a bonnet that covers the upper part of the aircraft, and 47 is a spare seedling stand.

After placing the walk-behind rice transplanter with the configuration shown above in a paddy field, seedlings are placed on the preliminary seedling stand 47 and the seedling stand 50, and when the engine 11 drives each rotating part, the drive wheels 12 and 13 rotate. The rotation propels the aircraft with the central leveling float 31 and left and right leveling floats 32 and 33 in contact with the soil surface of the paddy field.

The seedling planting tools 5, which are arranged in parallel in the left and right direction, move vertically in an elliptical planting trajectory, and the seedlings on the seedling platform 50, which is being reciprocated from side to side, are transferred one plant at a time. Split port 29b...
- Divide it into smaller pieces and plant them one after another on the soil surface leveled by each leveling float 31, 32, and 33.

During such seedling planting work, if the tiller G changes such as becoming shallower or deeper, the left and right drive wheels 12 and 1
3 is automatically moved up and down as follows.

First, when the tiller G becomes deeper in the front-rear direction, the left and right drive wheels 12 and 13 sink deeply from the soil surface, so that the soil leveling floats 31, 32, and 33 are all pushed upward. Then, when the central leveling float 31 reaches a certain level (when it is pushed up toward the machine body beyond the appropriate range for seedling planting work), the switching lever 36a of the hydraulic switching valve 36 changes from the central leveling float 31 to the rod 36b. via the piston 6 of the hydraulic bag @7 is switched to the protruding side, so that the piston 9. Balance device 23° left and right arms 21, 22. The left and right drive wheels 12 and 13 are moved down via the chain cases 18 and 19.

When the drive wheels 12 and 13 gradually come into strong contact with the tiller G and the machine floats up, the ground pressure of each soil leveling float 31, 32, and 33 decreases, and when the appropriate state is reached, the hydraulic switching valve 36 is in the neutral state, and the drive wheel 1
The downward movement of 2.13 is stopped.

If the tiller G becomes shallower in the front-rear direction, the above is the opposite;
Since each of the ground leveling floats 31, 32, and 33 float slightly and move downward from the machine body, the switching lever 36a is switched, the piston 6 is retracted into the hydraulic cylinder 5, and the drive wheels 12, 13 move upward. Then, when a proper grounding condition is achieved, the hydraulic switching valve 36 returns to neutral. Therefore, the left and right drive wheels 12 and 13 move up and down in response to changes in the depth of the tiller G, so that the seedlings are always planted at the appropriate depth.

In addition, when the difference in the depth of the tiller G in the longitudinal direction of the machine body is small, the left and right drive wheels 12 and 13 move up and down at the same time by the action of the buffer spring 42 attached to the piston 6, and the machine body is maintained in a proper state. be done. That is, when the depth of the tiller G changes in the longitudinal direction of the machine body to an extent that cannot be corrected by the buffer spring 42, the pitching control device is activated.

Next, to explain the case where the depth of the tiller G is different on the left and right sides, first of all, when the left side is deeper and the right side is shallower, the machine body naturally tilts to the left with the grounding point of the right drive wheel 13 as the origin. It will be peeled. Then, the ground pressure of the - left leveling float 32 becomes greater than the grounding pressure of the right leveling float 33, causing it to move upward, and conversely, the right leveling float 33 moves downward. For this reason,
The rolling hydraulic valve 38 is switched and the pressure oil in the rolling hydraulic cylinder 23f is removed and returned to the traveling transmission case 1, and the length of the left connecting rod 23d is shortened, so the left drive wheel 12 moves downward. be done.

Then, when the machine body is in a proper state with respect to the mud surface, the rolling hydraulic valve 38 becomes neutral.

Also, when the left tiller G is shallow and the right tiller G is deep,
The aircraft body leans to the right with the grounding point of the left drive wheel 12 as the origin. Then, the ground pressure of the right leveling float 33 becomes greater than the grounding pressure of the left leveling float 32 and moves upward.
Conversely, the left leveling float 32 moves downward. Therefore, the rolling hydraulic valve 38 is switched and pressure oil is sent into the rolling hydraulic cylinder 23f, and the left connecting rod 23d
The left drive wheel 12 is moved upward because the length of the left drive wheel 12 is increased.

Then, when the machine body is in a proper state with respect to the mud surface, the rolling hydraulic valve 38 becomes neutral. Therefore, the left drive wheel 12
moves up and down to ensure that the seedlings are always planted at the appropriate depth.

In this way, since the left and right leveling floats 32 and 33 located on the outside of the left and right drive wheels 12 and 13 detect the horizontal tilt of the aircraft, the left and right tilt of the aircraft can be accurately detected.
Good rolling control is achieved.

In addition, when the difference in the depth of the tiller G in the left-right direction of the machine body is small, the left and right drive wheels 12 and 13 move up and down contrary to each other by the action of the balance device 23, and the machine body is maintained in a proper state. That is, when there is a difference in the depth of the tiller G in the left-right direction of the machine to an extent that cannot be corrected by the balance device 23, the rolling control device is activated.

The receiving member 8 attached to the tip of the piston 6 of the hydraulic device 7 is moved in the longitudinal direction of the aircraft by the movement of the piston 6 with its lower part fitted onto the upper connecting member 3. Forces (body support reaction force, drive reaction force, etc.) are also received by this upper connecting member 3. Therefore, the diameter of the hydraulic cylinder 5 and piston 6 can be reduced to reduce the weight of the aircraft body. In addition, since the traveling mission case 1 and the planting transmission case 2 provided at the front and rear of the aircraft are connected by the upper connecting member 3 and the frame 4 to make the aircraft a rigid frame structure, the traveling mission case and the planting transmission case It is possible to obtain a strong aircraft body as a whole without increasing the strength of each of the case 2, the upper connecting member 3, and the frame 4 as in the conventional case. Therefore, a lightweight walking-type rice transplanter can be obtained, which has very good seedling planting performance and maneuverability.

In particular, when turning the aircraft at the edge of a ridge, the operator lifts the control handle 10 upward and presses the front part of the central grading float 31 against the mud surface to activate the pitching control and control the left and right drive wheels 12.・Forcibly move both floats 13 down to press the front part of the central leveling float 31 against the mud surface, and turn with the aircraft floating above the mud surface. At this time, even if the pitching control is activated to lift the aircraft off the mud surface, the grounding points P2 and P3 of the left and right leveling floats 32 and 33 are not far apart from the grounding point P of the central leveling float 31 in the longitudinal direction of the aircraft. Even if the machine body is tilted to the left or right due to unevenness on the plowing platform, the left and right leveling floats 32 and 33 can detect the tilt of the machine body, and proper rolling control can be performed to perform a good turning operation.

In the above embodiment, the central leveling float 31 serving as the central sensor is a long float protruding from the front and rear of the left and right drive wheels 12 and 13. It is also possible to use a sensor that only exists. Furthermore, two or more ground leveling floats may be arranged in parallel and used as a central sensor.

[Brief explanation of the drawing]

The figures show a walk-behind rice transplanter which is an embodiment of the present invention. Figure 1 is a side view, Figure 2 is a plan view showing only the main parts, and Figures 3 and 4.・Figure 5 is a side view of the main part, and Figures 6, 7, and 8 are plan views of the main part. Symbols in the diagram: 1 is the driving transmission case (case body), 2
is a planted transmission case (case body), 3 is an upper connecting member (connecting member), 4 is a frame (connecting member), 5 is a hydraulic cylinder, 6 is a piston, 7 is a hydraulic device, 8 is a receiving member, 12
・13 is the left and right drive wheel, 31 is the center sensor (center leveling float), 32 and 33 are the left and right sensors (left and right leveling float), P work・P2・P is the grounding point of the center sensor and left and right sensors with the mud surface , A□・A2 is a tiller G with left and right drive wheels.
This is the grounding point for the connection.

Claims (1)

[Claims] Left and right drive wheels 12 and 13 are provided on the fuselage so that they can move up and down.
Due to changes in the ground pressure of the central sensor 31 disposed between the left and right drive wheels 12 and 13, the ground pressure is adjusted to be appropriate.
The left and right sensors 32 and 32 are provided on the outside of the left and right drive wheels 12 and 13, respectively.
In the walk-behind working machine, which is provided with a control device that changes the vertical positional relationship between the left and right drive axles 12 and 13 so that the difference in ground pressure between the central sensor 31 and the left and right drive axles is eliminated. Grounding points P_1 and P of sensors 32 and 33
_2 and P_3 are the grounding points A_1 of the left and right drive axles 12 and 13
・The distance between the grounding point A_1 of the left drive wheel 12 and the grounding point P_3 of the right sensor 33 is set to be the same as the grounding point A_1 of the left drive wheel 12 and the center sensor 3.
1 and the right drive wheel 1.
The walking type work machine is characterized in that the distance between the grounding point A_2 of the left sensor 32 and the grounding point P_2 of the left sensor 32 is longer than the distance between the grounding point A_2 of the right drive wheel 13 and the grounding point P_1 of the central sensor 31.