JP2009131173A - Agricultural work vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an agricultural work vehicle which can be suitably used for keeping a definite tilling depth and achieving a highly accurate leveled surface necessary for the puddling work, etc., of a paddy field. <P>SOLUTION: Provided is a puddling machine 1 provided with a rotary working part 13 attached to a traveling machine body, moving by the traveling motion of the machine body and rotating by the power transmitted from the traveling machine body. A shield cover 15 is placed above the rotary working part 13, an apron 29 is attached to the rear end of the cover in a vertically tiltable manner, a leveler 31 is attached to the rear end of the apron 29 in a vertically tiltable manner, a leveling board 23 is extended at the front side of the rotary working part 13 from one end to the other end of the width of the machine body and supported in a vertically movable manner, and an unevenness detection sensor 25 to detect the height of the unevenness of the field by the vertical motion of the leveling board 23 is attached to a link member 19 to movably support the leveling board 23. The apron 29 can be rotated by a rotation cylinder 51, and the action of the rotation cylinder 51 is controlled by a rotation controlling device 60 based on the detection value obtained by the unevenness detection sensor 25 to adjust the inclination angle of the apron 29. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a farm work machine that is mounted on the rear side of a traveling machine body and proceeds with the traveling of the traveling machine body while rotating a rotary working unit by power transmitted from the traveling machine body to perform a tilling work on a farm field.

  Such a farm work machine 80 is described in Patent Document 1, and as shown in FIG. 11 (side view), the leveling body 82 is rotated in the vertical direction behind the cover part 81 that covers the upper part of the rotary work part 13. It is configured to be movable. The tractor that is the traveling machine body 90 is provided with a hydraulic case 91 incorporating a hydraulic operation mechanism, and the hydraulic case 91 is provided with a lift arm 92 that can be rotated in the vertical direction. The whole farm work machine 80 is moved up and down by the vertical rotation of the lift arm 92.

  In this conventional farm work machine 80, in order to make the working depth of the farm field constant, the vertical movement of the leveling body 82 is detected via the sensor rod 83, the sensor arm 84, etc. attached to the leveling body 82, and the leveling body In accordance with the vertical movement of 82, the lift arm 92 is rotated in the vertical direction to vertically adjust the position of the entire work implement. As described above, the technology for sensing the vertical movement of the leveling body and adjusting the vertical position of the entire work machine has been used for a long time, and is still widely used as a basic technology for adjusting the tilling depth.

Shokai 55-23017

  Moreover, the agricultural machine 100 which has arrange | positioned the sensor which detects the wave | undulation of an agricultural field ahead of a rotary working part is described in patent document 2, As shown in FIG. 12 (side view), it is the upper part of the rotary working part 13. An apron 102 is provided at the rear of the cover 101 that covers the upper and lower sides of the apron 102 so as to be rotatable in the vertical direction. The tractor that is the traveling machine body 90 is provided with a hydraulic cylinder 103, and the hydraulic cylinder 103 is provided with a lift arm 92 that can be rotated in the vertical direction. The whole farm work machine 100 is moved up and down by the vertical rotation of the lift arm 92.

  In this conventional agricultural working machine 100, the sensor 105 is arranged in front of the rotary working unit 13 and at a position where the rear wheel 93 of the traveling machine body 90 has passed. Then, the angle detector 106 provided at the pivotal support portion of the sensor 105 electrically detects the vertical displacement of the sensor 105, etc., so that the hydraulic cylinder 103 is expanded and contracted to automatically raise and lower the farm work machine 100 as a whole. We are trying to stabilize.

Shokai 55-149313

  The conventional farm work machine described in Patent Document 1 is controlled so that the vertical movement of the apron is detected after the tilling work, and the entire work machine is lifted and lowered so that the tilling work depth is constant. In the agricultural machine having such a structure, it is possible to keep the tilling depth of the working machine constant by following the swell of the field.

  However, in the conventional agricultural machine described in Patent Document 1, since the field height after the tilling work is sensed, the relatively small unevenness before the tilling work, for example, the surface of the field on which rice plants and tilled soil are gathered together The unevenness of the field caused by the climax of the tractor and the turning of the tractor at the end of the shore is cultivated to some extent by the rotary working unit before it is detected by the apron. Furthermore, since it is a detection method based on the rotation of a heavy object called an apron, it cannot be detected, or even if it can be detected, it must be detected with low sensitivity. Thus, in the prior art, the tilling depth can be made constant while following the swell of the field. However, even if the tillage depth is kept constant, there is no direct effect of making the field uniform. In other words, in the conventional technology, the entire working machine is moved up and down following the undulation detected by the apron, and the tilling depth is kept constant, and the convex soil, which is a high part of the field, is scraped off, and the scraped soil is removed. There is no effect of filling the concave portion, which is a low part of the field, to make the field flat. If rice is planted in paddy fields as it is, the water depth varies depending on the place where the seedlings are planted, and there is a problem that the quality and yield of rice become unstable due to differences in seedling growth conditions.

  Further, in a conventional agricultural machine as described in Patent Document 2, after a sensor is arranged in front of the rotary working unit to detect the swell of the farm field, similarly to Patent Document 1, the lifting control of the entire working machine is performed. It is carried out and controlled so that the tilling work depth is constant. The farm machine having such a structure is effective in maintaining a stable and constant tillage depth because it detects the swell of the field after stepping on the rear wheels.

  However, in the agricultural work machine described in Patent Document 2, as in the work machine described in Patent Document 1, the object to be lifted and lowered is the entire work machine. With this structure, it is possible to keep the plowing depth constant while following the swell of the field, while the entire work machine follows. As a result, even if the tillage depth is kept constant, there is no effect of leveling the field. That is, similarly to the agricultural machine described in Patent Document 1, the agricultural machine described in Patent Document 2 scrapes off the convex soil, which is a high part of the farm field, and the shaved soil into the concave part, which is a low part of the farm field. There is no effect of filling the field into a uniform plane. Furthermore, the agricultural machine described in Patent Document 2 is the basis for forming the swell of the field because the sensor is disposed in the deep part where the tractor wheel has passed, that is, not the surface of the field but the tractor wheel is solidified. The surface of the farm where the rice paddy and tilled soil are gathered together, and the unevenness of the field such as the unevenness of the field caused by turning back the tractor at the edge of the field (high and low) Therefore, it is not necessarily suitable for tillage work that requires the formation of a uniform flat surface with high accuracy, such as scraping work before rice planting in a paddy field as described above.

  An object of the present invention is to provide an agricultural machine that can maintain a constant tilling depth and can achieve formation of a uniform flat surface with high accuracy necessary for a plowing operation in a paddy field.

  In order to solve the above-described problems, the present invention has the following features. One of the features is that a rotary working part that rotates by power extracted from the traveling machine body is provided, a cover part (for example, the shield cover 15 in the embodiment) is provided above the rotary working part, and a leveling body is provided behind the cover part. Is a farm work machine (for example, a scraping work machine 1 in the embodiment) provided so as to be rotatable in the vertical direction with respect to the cover part, and is disposed in front of the rotary work part to detect the uneven height of the farm field. Based on the detection result detected by the unevenness detecting means (for example, the unevenness detecting sensor 25 in the embodiment), the rotating means for rotating the leveling body (for example, the rotating cylinder 51 in the embodiment), and the unevenness detecting means. It has a rotation control means (for example, rotation control device 60 in an embodiment) which controls the operation of the rotation means.

  According to this feature, the concave / convex detecting means is disposed in front of the rotary working unit in the traveling direction, and the operation of the rotating means is controlled based on the height of the concave / convex detected by the concave / convex detecting means. Before the tilling work by the rotary working unit, the height of the unevenness of the field is detected, and the operation of the turning means is controlled by the turning control means based on the detected value, thereby adjusting the inclination angle of the leveling body. For this reason, the angle of the leveling body can be adjusted in a state in which a variation in the inclination angle of the leveling body is anticipated in advance. That is, when the unevenness detecting means detects the convex part of the uncultivated land where the rotary working part is to perform the plowing work, the detected value is sent to the rotation control means, and the rotation control means determines the magnitude of the detected value. Accordingly, the control amount of the rotating means is adjusted, and the leveling body is set to an angle corresponding to the detected value. Since the amount of soil discharged from the bottom of the leveling body can be reduced by placing the leveling body in the standing state, it becomes possible to hold more of the soil on the convex part with the leveling body, and between the rotary working part and the leveling body While holding the soil in between, the soil is carried forward as the traveling aircraft progresses. When the unevenness detecting means detects a concave portion of uncultivated land, the detected value is sent to the rotation control means, and the rotation control means adjusts the control amount of the rotation means according to the magnitude of the detected value. Then, the leveling body is inclined at an angle corresponding to the detected value. Then, the soil that has been embraced and carried out is gradually discharged from the lower part of the inclined leveling body to fill the recess. The entire working machine is moving forward from the time when the unevenness is detected by the unevenness detecting means until the leveling body is controlled according to the detected amount. Therefore, instead of controlling the leveling body immediately after detection, the control reaction time corresponding to the traveling speed of the work implement is adjusted so that the timing at which the leveling body acts on the uneven part matches the progress speed of the entire work implement. It is well controlled by dynamic control means. Furthermore, the control reaction time is well controlled by the rotation control means even in accordance with the amount of soil that the leveling body has embraced. Thus, by rotating the leveling body in accordance with the detected amounts of the convex part and the concave part, it is possible to form a uniform flat surface on the field surface with excellent accuracy.

  One of the characteristics is that the rotation control means controls the rotation means to regulate the upward rotation of the leveling body when the value detected by the unevenness detection means exceeds the reference value, and is below the reference value. Then, the rotation restriction of the leveling body is released.

  According to this feature, when the value detected by the unevenness detecting means exceeds the reference value, the upward movement of the leveling body is restricted. That is, the rotation control means does not recognize the unevenness on the field surface until the value detected by the unevenness detection means exceeds the reference value. In this way, the rotation control means has a dead zone that does not recognize slight unevenness, or a structure like a limit switch that recognizes unevenness only when an unevenness amount of a predetermined size occurs in the unevenness detecting means is adopted. Therefore, when a convex part is detected for a large unevenness exceeding the reference value, the upward movement of the leveling body provided so as to be rotatable with respect to the cover part is restricted. Even if it tries to get on, the leveling body does not rotate upward against it, so that the leveling body scrapes off the soil of the convex part. And the soil cut off in front of the leveling body is gathered together, and the entire working machine moves forward together with the traveling machine body while embracing the soil, so that the convex part on the surface of the field disappears. And after that, when the value detected by the unevenness detecting means becomes equal to or less than the reference value, for example, when the work implement passes through the convex part while gathering the soil and detects that the field surface is a concave part, Release the rotation restriction. By doing so, the leveling body becomes freely rotatable upward, and as the work implement advances, the soil held by the work implement is gradually discharged from the lower part while resisting downward rotation due to the weight of the leveling implement. By doing so, the soil of the convex portion is leveled over the entire field. In this case as well, the control reaction time according to the traveling speed of the entire work implement is controlled well by the rotation control means, and further the control reaction time rotates depending on the amount of soil that the leveling body has embraced. By being controlled well by the control means, uniform plane formation of the field surface can be performed with excellent accuracy.

  According to the present invention, by having the above features, it is possible to provide an agricultural machine capable of maintaining a constant tilling depth and capable of a tilling operation that requires formation of a uniform plane with high accuracy, such as a scraping operation in a paddy field. .

  Hereinafter, a preferred embodiment of the present invention will be described with reference to FIGS. As shown in FIG. 1 (side view), FIG. 2 (plan view), and FIG. 3 (rear view), the scraping work machine 1 has a traveling machine body at the front of a machine body 5 having a main frame 3 extending in the left-right direction. A top mast and a lower link connecting portion connected to a three-point link connecting mechanism (not shown) provided at the rear portion of the 90 are provided, and are attached to the rear portion of the traveling machine body 90 so as to be movable up and down. A gear box 9 having an input shaft 9a projecting forward is provided at the central portion in the left-right direction of the main frame 3, and power is input from the PTO shaft of the traveling machine body 90 through a power transmission means such as a universal joint to the input shaft 9a. To be communicated to.

  A chain transmission case 11 is suspended from the left end portion of the main frame 3, and a side frame 12 is suspended from the right end portion of the main frame 3 so as to face the chain transmission case 11. A rotary mechanism in which a transmission mechanism is provided in the left side portion of the main frame 3 connected to the chain transmission case 11 and in the chain transmission case 11, and a plurality of tilling claws are attached between the lower ends of the chain transmission case 11 and the side frame 12. A working unit 13 is rotatably provided. Then, the power transmitted to the input shaft 9a is transmitted to the transmission mechanism in the main frame 3 and the chain transmission case 11 through the gear box 9 to rotate the rotary working unit 13 in a predetermined direction.

  The upper side of the rotary working unit 13 is covered with a shield cover 15, and a pair of side covers 17 are provided at both ends of the shield cover 15 in the left-right direction. A side cover 20 is provided at the front end portion of each side cover 17 via a pair of link members 19 arranged in the vertical direction. One side of the side cover 20 is provided with an unevenness detection means via a mounting member 22. The leveling board 23 which comprises a part is attached.

  The leveling plate 23 extends between one end and the other end in the machine width direction of the scraping work machine 1, and is supported so as to be movable in the vertical direction via a pair of side covers 20 on the left and right. The pair of link members 19 arranged vertically are arranged so as to form a parallel link between the side cover 17 and the side cover 20, and the leveling plate 23 moves in the vertical direction while maintaining a substantially horizontal state. Is possible. The attachment member 22 includes a pair of support members 22a attached to the inner side surface of the side cover 20 and extending inward in the left-right direction. The upper surface of the leveling plate 23 is joined to the lower surface of the support member 22a, and the mounting member 22 and the leveling plate 23 are integrated. The leveling plate 23 has a rectangular shape in plan view, and the front end is bent upward and extends obliquely upward.

  Between the link member 19 and the side cover 17, an unevenness detection sensor 25 is provided that detects the unevenness height of the field from the rotation angle of the link member 19 connected to the leveling plate 23 that moves up and down by the unevenness of the field. It has been. The unevenness detection sensor 25 is a potentiometer and converts the rotation angle of the link member 19 into a voltage signal. The unevenness detection sensor 25 is electrically connected to a rotation control device 60 that controls an inclination angle of an apron 29 described later.

  An apron 29 is attached to the rear end portion of the shield cover 15. The apron 29 is attached to the front end portion so as to be rotatable in the vertical direction and the rear end side extends obliquely downward. The rear end portion 29a of the apron 29 is formed in a substantially linear shape in the left-right direction, and leveles the cultivated soil surface flatly. A leveler 31, which is another leveling body, is attached to the rear end of the apron 29 so as to be rotatable in the vertical direction, and the lower surface of the leveler 31 is grounded to level the cultivated soil surface. At the left and right end portions of the leveler 31, there are provided extension levelers 32 that are foldably turnably attached and extend the leveling work. A leveler angle adjustment mechanism 33 that is disposed between the leveler 31 and the shield cover 15 and adjusts the support angle of the leveler 31 is provided at the center in the width direction of the scraping work machine 1.

  An angle adjusting device 40 that adjusts the inclination angle of the apron 29 is provided between the rear surface of the apron 29 and the upper surface of the shield cover 15 on the center side of the left and right ends of the body 5. This angle adjusting device 40 will be further described with reference to FIG. 4 (plan view). The angle adjustment device 40 extends in the front-rear direction and is arranged on the back side of the apron, and the front end of the rod portion 41 is moved to the front side. A position adjusting unit 45 that adjusts the position to be regulated is provided. The rod part 41 has a rear end attached to the support member 35 attached to the back surface of the apron 29 so as to be rotatable and slidable, and a pin member 42 provided at the front end is provided at the position adjusting part 45. It is attached so as to be movable along the long hole 46.

  The support member 35 includes a pair of support plates 35a disposed to face in the left-right direction, and is configured by rotatably attaching a columnar rotation portion 36 between the support plates 35a. The rear end portion of the rod portion 41 is slidably inserted into the rotating portion 36, and a coil spring 44 is attached to the rod portion 41 between the pin 43 attached to the intermediate portion of the rod portion 41 and the rotating portion 36. When the apron 29 is mounted and rotated to the back side, the coil spring 44 is compressed to prevent the apron 29 from rotating to the back side. A plurality of insertion holes for inserting the pins 43 are provided in the intermediate portion of the rod portion 41 with a predetermined interval in the axial direction of the rod portion 41. If the insertion position of the pin 43 is changed, The size of the gap between the long coil spring 44 and the pin 43 can be adjusted, and the range in which the apron 29 can rotate freely can be adjusted. In this example, the rod portion 41 having the coil spring 44 attached thereto is illustrated. However, even when the rod portion 41 without the coil spring 44 is employed, the flat finishing of the field, which is the essence of the present invention, is not performed. There is no loss.

  The above-described pin member 42 provided at the front end portion of the rod portion 41 is attached in a state where the left and right end portions protrude from the rod portion 41, and the protruding pair of left and right pin members 42 are disposed opposite to the position adjusting portion 45. The front end portion of the rod portion 41 is supported so as to be movable in the front-rear direction.

  The position adjustment unit 45 is attached to the main body portion 47 attached to the shield cover 15, and is pivotally attached to the main body portion 47 in the front-rear direction so as to contact the pin member 42 of the rod portion 41. Arm 49 that adjusts the position for restricting the frontward movement of the arm and a rotating cylinder 51 that is attached to the upper portion of the main body 47 and rotates the arm 49. The main body portion 47 includes a pair of main body side support plates 47a arranged to face in the left-right direction, and the long hole portions 46 described above are provided in the main body side support plates 47a in a state of extending in the front-rear direction. The front end portion of the rod portion 41 described above is disposed between the pair of main body side support plates 47a.

  On the upper part between the pair of main body side support plates 47a, a rotating cylinder 51 having a rod side disposed on the rear side and a bottom side disposed on the front side is fixed. A U-shaped connecting member 52 is attached to the rod-side tip of the rotating cylinder 51 in plan view. The distal end portion of the connecting member 52 is pivotally attached to an intermediate portion of an arm 49 that is pivotably attached in the front-rear direction to each outer upper end portion of the pair of main body side support plates 47a. For this reason, when the rotation cylinder 51 is extended, the lower side of the arm 49 is rotated backward, and when the rotation cylinder 51 is contracted, the lower side of the arm 49 is rotated forward. The rotating cylinder 51 may be either a hydraulic type or an electric type.

  The arm 49 has a contact portion 49 a that extends to a position below the long hole portion 46 at the lower side thereof and contacts the pin member 42 of the rod portion 41. When the expansion and contraction of the rotating cylinder 51 is locked while the contact portion 49a is in contact with the pin member 42, the arm 49 is in a locked state, and the movement of the pin member 42 to the front side can be restricted.

  In the arm 49, when the rotating cylinder 51 is substantially fully extended, the contact portion 49 a moves to the vicinity of the rear end position of the long hole portion 46 to move the pin member 42 to the rear end position of the long hole portion 46. The contact portion 49a is formed so as to move in the vicinity of the front end position of the long hole portion 46 when the rotating cylinder 51 is substantially fully reduced. Expansion and contraction of the rotation cylinder 51 is controlled by a rotation control device 60 described later.

  The rotation control device 60 is electrically connected to the operation switch 61 and is operated by the operation of the operation switch 61. The rotation control device 60 is electrically connected to the unevenness detection sensor 25, and when the operation switch 61 is turned on, the rotation control device 60 rotates according to the detection value from the unevenness detection sensor 25, as will be described in detail later. The expansion and contraction of the cylinder 51 is controlled. The operation switch 61 may be disposed within a range that can be operated by an operator who has boarded the traveling machine body 90, and may be a driver seat of the traveling machine body 90 or a front side portion of the skimming work machine 1.

  When the rotation control device 60 receives the detection value from the unevenness detection sensor 25, the rotation control device 60 determines whether or not the detection value exceeds a reference value having a preset allowable range, and the detection value exceeds the upper limit of the reference value. If it exceeds, the rotation cylinder 51 is extended to rotate the arm 49 rearward so that the pin member 42 is positioned on the rear end side of the long hole portion 46, and the pin member 42 is connected to the long hole portion 46. Expansion and contraction of the rotating cylinder 51 is restricted so that it is held at a predetermined position. As a result, the apron 29 is held in a state tilted at a large tilt angle θ with respect to the field surface. On the other hand, when the detected value is equal to or less than the reference value, as shown in FIG. 5 (side view), the rotating cylinder 51 is contracted and the arm 49 is rotated forward, so that the tip of the rod 41 does not move at all. The apron 29 is set in a free state in a non-regulated state. Accordingly, the apron 29 is in a posture capable of forming the field surface in a uniform plane as the substitute working machine 1 moves forward.

  Next, the operation of the scraping work machine 1 in the case where the unevenness existing in the field is leveled by the scraping work machine 1 configured as described above will be described. First, the scraper working machine 1 is connected to the traveling machine body 90, and the input shaft 9a is connected to the PTO shaft of the traveling machine body 90 via a power transmission shaft (not shown). And the leveling board 23 is moved below and the lower surface of the leveling board 23 is made to contact the field surface. Then, as shown in FIG. 1, the operation switch 61 is turned on so that the rotation of the apron 29 can be adjusted. Then, the traveling machine body 90 is advanced, and the power from the traveling machine body 90 is transmitted to the working machine 1 instead of the rotating machine body 90 to rotate the rotary working unit 13 in a predetermined direction.

  When the leveling plate 23 comes into contact with the convex portion while the substitute scraper 1 is traveling forward, the leveling plate 23 moves upward via the side cover 20 and the link member 19, and the unevenness detection sensor 25 causes the link member 19 to move upward. The height of the convex portion is detected from the rotation angle. When the detected height of the convex portion exceeds the upper limit value of the reference value having an allowable range, the rotation control device 60 extends the rotation cylinder 51 to pin the rod portion 41 via the arm 49. The member 42 is moved to the rear end portion of the long hole portion 46, and the expansion and contraction of the rotating cylinder 51 is restricted to hold the position of the pin member 42. As a result, the apron 29 is maintained in a state with a larger inclination. Accordingly, the convex portion present on the front side in the traveling direction of the rotary working portion 13 is broken by the tilling claws of the rotary working portion 13, and then is horizontally scraped and leveled by the rear end portion of the apron 29, and the leveler 31. As a result, the field surface is made smooth and uniform.

  On the other hand, when the height of the concave portion detected by the concave / convex detection sensor 25 is equal to or lower than the lower limit value of the reference value having an allowable range, the rotation control device 60 reduces the rotation cylinder 51 and rotates the arm 49 forward. To move the upper end portion of the rod portion 41 into a free state. As a result, the apron 29 moves in a state where the inclination angle θ with respect to the field surface is small as the substitute working machine 1 advances. For this reason, the soil drawn up to just before the concave portion by the apron 29 is supplied to the concave portion, and the concave portion is leveled.

  Incidentally, FIG. 6A is an image diagram showing an outline of the prior art in a side view, and the entire work implement is caused to follow the swell of the field F by vertically adjusting the entire work implement. By doing so, the work implement moves forward while maintaining a constant tilling depth h. That is, the field after passing through the work machine is not necessarily a uniform plane. On the other hand, FIG. 6B is an image diagram showing the outline of the present invention in a side view, and immediately after plowing the convex portion with the rotary working unit 13, the apron 29 with the inclination angle θ adjusted is used to adjust the surface of the field. This shows how to remove the soil and fill it back into the recess. That is, after passing through the work implement, the field F becomes a uniform plane, and a uniform plane with high accuracy that cannot be achieved by the prior art is realized.

  As described above, the scraping work machine 1 according to the present invention is provided with the unevenness detection sensor 25 for detecting the height of the unevenness in the field in front of the rotary working unit 13 in the traveling direction, and the detected value of the unevenness detection sensor 25 is used as the detection value. Based on the expansion and contraction of the rotating cylinder 51 and adjusting the inclination angle of the apron 29, the unevenness on the field surface can be made uniform. Further, since the leveling plate 23 extends from one end side to the other end side of the machine body 5, the unevenness of the field can be detected over the entire tillage width, and the accuracy of the work for leveling the field surface is increased. be able to.

  In the above-described embodiment, when the detection value detected by the unevenness detection sensor 25 is equal to or lower than the lower limit value of the reference value, the rotation cylinder 51 is controlled to reduce so that the apron 29 becomes free. Although the apron 29 is in a state where the inclination angle θ with respect to the field surface is small, the rotation of the apron 29 may be restricted with the small inclination angle θ.

  In this case, a hole (not shown) is provided at the tip of the arm 49 shown in FIG. 1, and the pin member 42 is rotatably inserted into the hole, so that the arm 49 and the pin member 42 are rotatably connected. To the state. When the detected value detected by the unevenness detection sensor 25 is less than or equal to the lower limit value of the reference value, the rotating cylinder 51 is reduced so that the apron 29 has a small inclination angle θ with respect to the field surface and is rotated in that state. The expansion / contraction operation of the moving cylinder 51 is restricted. As a result, compared to when the apron 29 is in a free state, the soil held by the apron 29 is not expelled all at once in the recess, but the rotation of the apron 29 backward is restricted. Therefore, it is discharged little by little as the traveling machine body 90 moves forward, not from the bottom of the apron 29 at once. For this reason, the leveling finish of the whole field can be made more reliable.

  Further, when the front end portion of the rod portion 41 is rotatably connected to the distal end portion of the arm 49 via the pin member 42, the expansion / contraction amount of the rotation cylinder 51 is set according to the detection value detected by the unevenness detection sensor 25. The inclination angle of the apron 29 may be adjusted by changing the angle. In this case, the extension amount of the rotating cylinder 51 corresponding to the detection value detected by the unevenness detection sensor 25 is stored in advance, the cylinder extension amount corresponding to the detection value is selected, and the selected cylinder extension amount is set. The expansion and contraction of the rotating cylinder 51 is controlled so as to be. In this way, by controlling the amount of expansion / contraction of the rotating cylinder 51 according to the detected value, the fluctuation of the inclination angle of the apron 29 is adjusted in a state expected in advance for each unevenness according to the detected height of the unevenness. It is possible to increase the accuracy of leveling the field surface.

  In the above-described embodiment, the leveling plate 23 provided with the unevenness detection sensor 25 for detecting unevenness is shown extending over the entire width direction of the rotary working unit 13, but FIG. 7 (plan view) and As shown in FIG. 8 (plan view), the leveling plates 23 ′ and 23 ″ may be provided at the center in the machine width direction of the rotary working unit 13 or at the outside in the machine width direction.

  In the scraping work machine 1 shown in FIG. 7, a leveling plate 23 ′ is provided at the center in the width direction of the rotary working unit 13, and leveling plates 23 ″ are provided on both sides of the rotary working unit 13 in the machine width direction. The leveling plate 23 ′ provided in the center in the width direction is configured such that the width direction length Ws is shorter than the width Wo of the airframe 5 (Ws = about 1/7 Wo in the drawing), and the leveling plate shown in FIG. Similarly to the case 23, it is supported so as to be movable in the vertical direction via the side plate 64 and the link member 19 corresponding to the side cover 20. The rear end portion of the link member 19 is pivotally connected to the front end portion of the shield cover 15. An unevenness detection sensor 25 is attached between the rear end portion of the link member 19 and the shield cover 15, and the unevenness height of the field is detected from the rotation angle of the link member 19 by the unevenness detection sensor 25. Since the attachment structure of the link member 19 and the side plate 64 conforms to the case of the leveling plate 23 shown in FIG.

  Leveling plates 23 ″ provided on both sides of the machine body width direction are attached to the side cover 20 via link members 19 which are attached to the side cover 17 and form parallel links, and are vertically moved in a substantially horizontal state. It is provided to be movable in the direction.

  The leveling plate 23 ″ is attached to the side cover 20 via the hinge portion 21. The hinge portion 21 includes a shaft member 21a attached along the outer surface of the side cover 20, and a pair of support members 21b attached to both end portions of the shaft member 21a so as to be freely pivotable and extending outward in the left-right direction. The upper surface of the leveling plate 23 ″ is joined to the lower surface of the support member 21b, and the support member 21b and the leveling plate 23 ″ are integrated.

  Then, when the leveling plate 23 ″ rotates downward about the shaft member 21a, the inner end of the leveling plate 23 ″ contacts the bottom surface of the side cover 20, and the downward rotation is restricted. When the ground leveling plate 23 ″ is held in a substantially horizontal state and can be leveled (hereinafter referred to as “workable position”), and the leveling plate 23 ″ rotates upward, Stored as posture. The shaft member 21a of the hinge portion 21 is provided with a biasing means such as a torsion coil spring (not shown), and the leveling plate 23 ″ is maintained in a workable posture by the biasing means.

  Further, the leveling plate 23 ″ has a rectangular shape in a plan view, the front end portion is bent upward and extends obliquely upward, and forms a guide surface 23a inclined toward the rotary working portion 13 side. That is, when the leveling plate 23 ″ is maintained in the workable posture, the guide surface 23a extends obliquely forward and linearly so as to gradually incline toward the rear as it progresses inward. For this reason, when the straw W lies in front of the guide surface 23a and the guide surface 23a advances in the front direction, the straw W can be forcibly moved along the guide surface 23a to the rotary working unit 13 side. it can.

  As a result, when the straw W is present on the field surface around the widthwise end of the rotary working unit 13, the straw W is forcibly together with the muddy water flowing toward the rotary working unit 13 along the guide surface 23a of the leveling plate 23. It moves to the rotary working part 13 side and is squeezed into the cultivated soil by the tilling claws of the rotary working part 13.

  The guide surface 23a may be formed in a curved shape. Further, the leveling plate 23 ″ may be fixed to the side cover 20 by fastening the leveling plate 23 ″ to the side cover 20 by fastening means such as bolts and nuts.

  In this way, by arranging the leveling plates 23 ′ and 23 ″ having the unevenness detection sensor 25 on both outer sides in the width direction of the machine body 5 and at the center in the width direction, the straw W existing in the farm field can be obtained. While being able to guide to the rotary working part 13 side, the precision which leveles the field surface can be raised.

  As shown in FIG. 8 (plan view), the leveling plate 23 ′ provided at the center in the width direction is removed, and the leveling plate 23 ′ having the unevenness detection sensor 25 only on both outer sides in the width direction of the machine body 5. May be provided. If it does in this way, while being able to guide the straw W which exists in the field to the rotary working part 13, the unevenness detection sensor and the number of parts can be reduced and cost reduction can be aimed at.

  Further, in the above-described embodiment, the plate-shaped member having the unevenness detection sensor 25 as a leveling plate has been described, but of course it is not limited to such a plate-shaped member, a cylindrical roller, Other forms such as wheels may be used. Furthermore, until now, the method for detecting irregularities has been described a method in which the field surface and the leveling plate are in contact with each other and the vertical movement of the leveling plate is detected, but the unevenness detection sensor is not limited to such a contact type sensor, Even if a non-contact type sensor that detects the height of the unevenness of the field by irradiating the surface of the field with the laser and detecting the reflected wave, the same effect can be obtained.

  In the above-described embodiment, the rotation control device 60 receives the detection value from the unevenness detection sensor 25 and then adjusts the inclination angle of the apron 29 by expanding and contracting the rotation cylinder 51. 9 (side view) and FIG. 10 (side view), the rotation control device 60 may adjust the inclination angle of the leveler 31.

  In this case, the lower part of the connecting member 70 extending in the vertical direction is rotatably connected to the upper part of the leveler 31, and the upper end of the connecting member 70 and the rear end part of the support bracket 71 fixed to the main frame 3 and extending rearward. The link member 72 is rotatably provided between them, and a locking projection piece 73 projecting in the lateral direction is attached to the tip of the projection 72 a projecting downward from the middle portion of the link member 72, and the support bracket 71. An engaging member 75 that can engage with the locking projection piece 73 is rotatably attached to the front end of the engaging member 75, and the tip of the rod of the rotating cylinder 51 ′ supported by the main frame 3 or the like is rotated. Install freely. A notch 75 a that can engage with the locking projection piece 73 is provided on the rear end side of the engaging member 75.

  Then, the rotating cylinder 51 ′ extends in the front-rear direction with the bottom side disposed on the front side and the rod side disposed on the rear side, and when the rotating cylinder 51 ′ is in a fully contracted state (the state shown in FIG. 10), The engaging member 75 rotates upward, the locking projection piece 73 moves upward via the notch 75a, and the locking projection piece 73 is brought into a non-engaged state with respect to the notch 75a. Thus, the leveler 31 can be freely rotated up and down via the link member 72 and the connecting member 70. On the other hand, when the rotating cylinder 51 ′ is in the fully extended state (the state shown in FIG. 9), the engaging member 75 is rotated downward, and the locking protruding piece 73 is engaged with the cutout portion 75a. The upward rotation of 31 is restricted, and the leveler 31 is locked in a state of extending downward via the link member 72 and the connecting member 70.

  Thus, when a convex part is detected in a farm field, rotation cylinder 51 'will expand | extend, the leveler 31 will extend below and will be in a locked state, and the soil of a convex part will be scraped off by the bottom face of the leveler 31. FIG. Therefore, the entire working machine moves forward together with the traveling machine body while holding the shaved soil, so that the convex part on the surface of the field can be leveled. And when the value detected by the unevenness detecting means becomes equal to or less than the reference value, the rotation restriction of the leveler 31 is released by reducing the rotation cylinder 51 ′. By doing so, the leveler 31 can freely rotate upward, and the soil held by the work implement is discharged from the bottom of the leveler 31 as the work implement advances. By doing so, the soil of the convex portion is supplied to the concave portion, and the entire surface of the field can be leveled. Therefore, even if the inclination angle of the leveler 31 is adjusted in this way, the same effect as in the case where the inclination angle of the apron 29 is adjustable can be obtained.

The side view of the scraping work machine concerning one embodiment of the present invention is shown. The top view of the scraping work machine concerning one embodiment of the present invention is shown. The rear view of the scraping work machine concerning one embodiment of the present invention is shown. The top view for demonstrating the angle adjustment apparatus of this scraping work machine is shown. The side view for demonstrating operation | movement of this scraping work machine is shown. (A) The image figure which represented the outline of the prior art by the side view is shown. (B) The image figure which represented the outline of this invention by the side view is shown. The top view of the scraping work machine concerning other embodiment of this invention is shown. The top view of the scraping work machine concerning other embodiment of this invention is shown. The side view of the scraping work machine concerning other embodiment of this invention is shown. The side view of the scraping work machine concerning other embodiment of this invention is shown. The side view of the conventional rotary working machine with which the traveling body was mounted | worn is shown. The side view of the conventional rotary working machine with which the traveling body was mounted | worn is shown.

Explanation of symbols

1st scratching machine (agricultural machine)
13 Rotary working part 15 Shield cover (cover part)
25 Concavity and convexity detection sensor (Concavity and convexity detection means)
29 Apron
31 Leveler
51 Rotating cylinder (Rotating means)
60 Rotation control device (rotation control means)
90 Airframe

Claims (2)

A rotary working part that rotates by power extracted from the traveling machine body is provided, a cover part is provided above the rotary working part, and a ground leveling body is provided behind the cover part so as to be rotatable in the vertical direction with respect to the cover part. An agricultural machine,
Concavity and convexity detection means that is disposed in front of the rotary working unit and detects the concavo-convex height of the field,
Rotating means for rotating the leveling body;
A rotation control means for controlling the operation of the rotation means based on the detection result detected by the unevenness detection means;
An agricultural machine characterized by comprising:   The rotation control means controls the rotation means when the value detected by the unevenness detection means exceeds a reference value, and regulates the upward rotation of the leveling body, and when the value becomes below the reference value, 2. The agricultural machine according to claim 1, wherein the regulation of the leveling body is released.

Images