JP2520177B2 - Rolling drive structure of paddy work machine - Google Patents

Description

The present invention relates to a rice paddy working machine such as a rice transplanter and a direct seeding machine, and more specifically, to a grounding machine equipped with a working machine connected to a traveling machine body such that the rolling machine can be freely rolled around a longitudinal axis. A paddy work in which an actuator for rolling drive is provided so as to maintain a predetermined posture based on the detection result of the inclination detection mechanism, and an operating portion of the actuator and left and right side portions of the working device are connected via an elastic body. The present invention relates to a rolling drive structure of a machine.

[Conventional technology]

Conventionally, as the paddy working machine described above, the one shown in Japanese Utility Model Publication No. 1-72015 is known.

In rice transplanters and the like, the planting device mainly performs rolling control so that the planting device is in a posture parallel to the planting surface or in a horizontal posture even when the body is tilted to the left or right. The planting condition of the seedlings can be kept as good as possible by performing them accurately, but if this is done, the control becomes irritable, so rolling such as fine unevenness on the mud surface and local softness difference may occur. Even in the case where it is better not to perform the control operation, the actuator may operate in small steps to unnecessarily perform the rolling operation of the planting device, which may rather deteriorate the planting state.

Therefore, conventionally, by interposing a coil spring as described above, the change in the behavior of the planting device with respect to the operation of the actuator is slowed down, and it is made difficult to convey a fine movement so that only the necessary rolling operation is transmitted. The strength of the coil spring was determined and set so as to achieve an optimum state in which unnecessary rolling is not performed, while increasing the response speed of rolling control.

[Problems to be Solved by the Invention]

However, while the rice planting work is in progress, the number of seedlings on the seedling table is constantly increasing and decreasing, and recently, the planting device is also often equipped with fertilizers and chemicals for fertilization performed at the same time as planting,
It means that the weight of the planting device is constantly changing during the work due to the consumption of seedlings.For example, if the strength of the coil spring is set according to the full load of seedlings, it will be lighter just before seedling supply. The rolling control state is influenced by the weight change of the planting device, such that the coil spring is strengthened for the planting device and the rolling control becomes too sensitive.

Therefore, it is difficult to always maintain the optimum rolling control even if the initial setting is made.

The present invention has been made in view of the above circumstances, and an object of the present invention is to make it possible to always perform optimum rolling control regardless of a change in weight of a working device such as a planting device.

[Means for solving the problem]

In order to achieve the above-mentioned object, the present invention provides an actuator for rolling-driving a working device connected to a traveling machine body so as to be able to roll around a longitudinal axis, based on a detection result of a ground inclination detection mechanism so as to maintain a predetermined posture. In the rolling drive structure of the paddy work machine in which the actuator operating portion and the left and right side parts of the working device are connected via an elastic body, a means for detecting the weight change of the working device is provided and the elastic body A mechanism for adjusting the strength of elasticity is provided.When the weight increase of the working device is detected, the elastic strength of the elastic body is strengthened, and when the weight decrease of the working device is detected, the elastic strength of the elastic body is weakened. It is characterized in that the means and the strength adjustment mechanism are linked.

Further, a means for detecting a change in the weight of the working device is provided, and a mechanism for increasing or decreasing the operating speed of the actuator is provided. When the increase in the weight of the working device is detected, the operating speed is increased, and the decrease in the weight of the working device is detected. The detecting means and the increase / decrease adjusting mechanism may be linked to each other in a state where the operating speed is reduced.

[Action]

According to the configuration of claim 1, since the elastic strength of the elastic body is automatically adjusted according to the change in the weight of the working device, the rolling behavior change of the working device is slow with respect to the operation of the actuator. It is possible to keep the degree of change constant regardless of the change in the weight of the working device.

In other words, as the weight of the work device becomes lighter, the moment of inertia of the rolling also becomes smaller.Therefore, if the elastic strength is also weakened accordingly, the degree to which the push-pull operation force applied to the elastic body by the actuator is slowly transmitted to the work device. Can be kept unchanged.

Further, in the configuration according to claim 2, since the operating speed of the actuator is changed according to the change in the weight of the work device, the degree of slowing is changed to the change in the weight of the work device as in the case of the structure according to the first aspect. It is possible to keep it constant regardless.

That is, in general, when moving an object through an elastic body with an actuator, if the elastic body is displaced at a certain driving speed, the object starts moving at a speed slower than the driving speed due to the effect of elastic deformation of the elastic body. Eventually, the time required for the object to move is delayed by the same amount as the actuator displacement.

Then, the delay time depends on two factors, that is, the elastic strength of the elastic body and the inertial weight of the object if the driving speed of the actuator is the same. If the weight, that is, the weight of the working device is increased, the driving speed of the actuator is increased, and if the weight of the working device is decreased, the driving speed of the actuator is decreased, so that the delay time, that is, the degree of slowing described above becomes constant. It becomes possible to keep.

Incidentally, in the structure according to claim 1, the drive speed of the actuator is constant, and therefore, the delay time is changed by changing the elastic strength of the elastic body in response to the weight change of the working device. It is constant.

〔The invention's effect〕

As a result, in the rolling drive structure according to any one of claims 1 and 2, even if the weight of the working device changes, the slowing of the rolling control for maintaining the predetermined posture can be kept constant, so that the optimum state is achieved. The rolling control state set to 2 can be always maintained regardless of the weight change of the planting device, and the work accuracy can be improved such that the seedling planting posture is more stable.

〔Example〕

An embodiment of the present invention will be described below with reference to the drawings when applied to a riding type rice transplanter.

As shown in FIG. 5, a planting device (3) is provided at the rear of the riding type vehicle (V) so as to be able to move up and down through a link mechanism (2) which is vertically rocked by a first hydraulic cylinder (1).
And the power transmission from the machine body (V) to the planted transmission case (3a) via the rotary shaft (4), the riding type rice transplanter is constructed.

The planting device (3) is a link (2a) of the link mechanism (2).
A second hydraulic cylinder, which is pivotally mounted around the front-rear axis (P ₁ ) and is an example of an actuator based on detection of a left-right ground inclination state by a ground inclination detection mechanism (A) as described later. By (5), rolling drive is performed around the axis (P ₁ ).

That is, as shown in FIG. 4, the left side float of the plurality of ground floats (6a), (6b), (6c) which are attached to the lower part of the planting device (3) side by side in the lateral direction of the airframe. As shown in FIG. 3, the float (6a) and the right side float (6b) are respectively attached to the front end of the float and the planted transmission case (3a).
By the action of the link (8a or 8b) with the long hole and the swing link (9a or 9b) that connects the rear end side of the float and the planting device body (3a). ), The ground inclination detecting mechanism (A) is constructed.

Then, the forward left swing arm (12a) linked to the swing link (9a) for the left side float via the push-pull rod (10a) and the rotation shaft (11b), the swing link for the right side float. A rearward facing right swing arm (12) linked to (9b) via a push-pull rod (10b) and a rotary shaft (11b).
b), this right swing arm (12b) and left swing arm (12b)
And a push-pull release wire (15) connecting the detection link (13) and the control valve (14) of the second hydraulic cylinder (5) in an interlocking manner. Left and right side floats (6a), (6b) and control valve (14) for automatically operating the second hydraulic cylinder (5) so that the left and right inclination angle of the attachment device (3) with respect to the mud surface becomes a set value. The interlocking mechanism (16) with is constructed.

That is, the mounting heights of the left and right side floats (6a) and (6b) with respect to the planted transmission case (3a) are determined based on the positions of the release wire connection portions of the detection link (13) with respect to the planted transmission case (3a). The left and right side floats (6a), (6b) so as to detect the left and right inclination angles of the planting device (3) with respect to the mud surface and the inclination direction thereof, and to make the detected inclination surface within the set range. The control valve (14) is operated by the lifting force of (1).

In other words, regardless of the left / right inclination of the traveling machine body, it is possible to maintain the predetermined posture in which the horizontal inclination angle of the planting device (3) with respect to the mud surface becomes the set value by the automatic rolling control of the planting device by the interlocking mechanism (16). Yes, it is possible to work while maintaining the same or almost the same depth of seedling planting on the left and right.

As shown in FIG. 2, the second hydraulic cylinder (5) is fixed to the upper part of the link (2a), and the cylinder rod (17) as its operating part is reciprocally driven in the lateral direction of the machine body. In addition, both ends of the cylinder rod (17) and the left and right side portions of the planting device (3) are linked through a pair of coil springs (18), (18). That is, the upper part of the seedling mounting table (19) of the planting device (3) is laterally fixed to the support frame (20) above the planting transmission case (3a) so as to laterally guide it from the back. The coil springs (18) and (18) are arranged laterally along the coil spring (1
The motors (21), (2), whose left and right ends of (8), (18) are pivotally supported by the shaft core (P ₂ ) on both the left and right sides of the support frame (20).
It is connected to 1) so that the planting device (3) can be freely rolled within a suitable small range with respect to the second hydraulic cylinder (5) and can be neutrally restored.

Next, the rolling drive structure will be described in detail. As shown in FIG. 1, the motor (21) is
The rod portion (21a) can be moved back and forth in the longitudinal direction of the coil spring (18), and the coil spring (18) is locked to a pin (22) fixed to the tip of the rod portion (21a) and the pin ( The arm (23) engaging with the pin (22) is attached to the rotary shaft (24a) of the passive potentiometer (24).
It is configured to be able to detect the slide amount of.

The seedling mount (19) has a switch (2
5) is attached to the upper and lower positions, and the control section (B) is provided with a sensitivity adjusting lever (27) for rotating the drive potentiometer (26). The drive potentiometer (26) Switch (25a), (25
b), the passive potentiometers (24) and (24), and the motors (21) and (21) are electrically connected and linked by the control device (28).

The upper and lower switches (25a), (25b) correspond to the means (C) for detecting the weight change of the planting device (3), and the upper and lower switches (25a), (25b) do not operate in the first state (eg seedlings). , Etc.), a second state in which only the upper switch (25a) operates (for example, a state in which the seedlings are reduced in half), and a third in which both the up and down switches (25a) and (25b) operate.
It is a means for detecting the weight change of the planting device (3) by detecting the state (for example, the state where the seedling is reduced to 1/4).

 Next, the operation of the rolling drive structure will be described.

When the seedling is in the first state, the coil springs (18) and (18) of both the motors (21) and (21) are pulled out to the outermost side, and the rod portions (21a) and (21) ( twenty one
While a) is driven and slid, the state is maintained. When the rice planting work progresses and the seedlings are reduced, and the second state is reached, the motor (21) is driven by the action of the control device (28) and the rod portion ( 21a) slides a certain amount in the protruding direction, and the total length of each coil spring (18), (18) is shortened by a small amount, and the initial load of the coil spring (18) is lightened. Then, when the seedlings are further reduced and the state becomes the third state, the motor (21) is driven again by the operation of the control device (28),
Since the total length of each coil spring (18), (18) is shortened by a smaller amount, the initial set load is further reduced. Conversely, if seedlings are replenished from this state to return to the second state, the control device (28 The coil springs (18), (1
In 8), the total length is extended by a small amount, and the initial load becomes heavy.

That is, the motor (21) constitutes a mechanism (D) that adjusts the elastic strength by changing the initially set load of the coil spring (18) as an elastic body, and the control device (28) of the working device (3). When the weight increase is detected, the elastic strength of the elastic body (18) is strengthened, and when the weight decrease of the working device (3) is detected, the elastic strength of the elastic body (18) is weakened.
And the strength adjustment mechanism (D) are linked.

The control device (28) also has a function of adjusting the set length of the coil spring (18) in accordance with the operation of the sensitivity adjusting lever (27) regardless of the linkage. That is, the adjustment lever (2
When 7) is operated toward "quickness", feedback control by both drive and passive potentiometers (26), (24) causes each coil spring (18), (18) to move laterally for a length corresponding to the amount of operation. By pulling and displacing outward, the initial set load is strengthened.

Then, if the adjustment lever (27) is operated toward "slow", the coil springs (18), (18) are displaced so that the total length thereof is shortened to lighten the initial set load. Independent of the sensitivity adjustment control and the above-mentioned linked control,
That is, if the sensitivity adjustment control is performed during the operation of the linkage control,
In the subsequent linkage control, the length of the coil spring (18) is displaced and displaced by the length displaced by the sensitivity adjustment.
The feedback control of the passive potentiometer (24) allows the linked control to always operate normally.

[Another embodiment]

As shown in FIG. 6, a mechanism (E) for increasing or decreasing the operating speed of the second hydraulic cylinder (5) is provided, and the working device (3) is provided.
When the weight increase is detected, the operating speed is increased, and when the weight decrease of the working device (3) is detected, the operating speed is reduced, and the detecting means (C) and the increase / decrease adjusting mechanism (E) are linked together. Is also good.

That is, an electromagnetic flow control valve (29) is provided in the pressure oil supply path of the second hydraulic cylinder (5), and pressure oil to the second hydraulic cylinder (5) is reduced as the seedling amount of the seedling stand (19) decreases. The flow rate is controlled so that the flow rate is reduced or the flow rate of pressure oil is increased when the seedling amount is increased by supplementation. Control accuracy can be improved by providing a large number of switches (25) mounted on the seedling mounting table (19) in the vertical direction.

In this embodiment, a coil spring is used as the elastic body (18), but a rubber rod may be used instead. Further, in the present embodiment, the elastic strength is adjusted by changing the initial setting load of the coil spring (18), but the means for changing the spring constant constitutes the strength adjusting mechanism (D). But good.

Further, the actuator (5) may be an electric cylinder, and in order to detect the weight change of the planting device (3), the fertilizer amount may be detected in addition to the seedling amount to make a comprehensive judgment.

It should be noted that reference numerals are added to the claims for convenience of comparison with the drawings, but the present invention is not limited to the structures of the accompanying drawings by the entry.

[Brief description of drawings]

The drawings show an embodiment of a rolling drive structure of a paddy work machine according to the present invention, and FIG. 1 is a mechanism diagram showing an operation system of the structure,
2 is a rear view showing the main part of the structure, FIG. 3 is a side view showing the ground inclination detection mechanism, FIG. 4 is a plan view showing the ground inclination detection mechanism, and FIG. 5 is a side view of the rear part of the rice transplanter. FIG. 6 is a mechanism diagram showing another embodiment of the rolling drive structure. (3) …… Working device, (5) …… Actuator, (1
7) …… Actuator, (18) …… Elastic body, (P ₁ ) …… Front and rear axis, (C) …… Weight change detection means, (D) …… Strength adjustment mechanism, (E) …… Increase / decrease Adjustment mechanism.

Claims (2)

(57) [Claims] 1. An actuator for driving a working device (3), which is connected to a traveling machine body so as to roll freely around a longitudinal axis (P ₁ ), to maintain a predetermined posture based on a detection result of a ground inclination detection mechanism. With (5),
A rolling drive structure for a paddy working machine, in which an operating portion (17) of the actuator (5) and left and right side portions of the working device (3) are connected to each other via an elastic body (18). When the means (C) for detecting the change in weight of (3) is provided and the mechanism (D) for adjusting the elastic strength of the elastic body (18) is provided to detect an increase in weight of the working device (3). Increase the elastic strength of the elastic body (18),
Paddy work in which the detection means (C) and the strength adjustment mechanism (D) are linked in a state in which the elastic strength of the elastic body (18) is weakened when a decrease in weight of the working device (3) is detected. Rolling drive structure of the machine. 2. An actuator for rolling-driving a working device (3), which is connected to a traveling machine body so as to roll freely around a longitudinal axis (P ₁ ), so as to maintain a predetermined posture based on a detection result of a ground inclination detection mechanism. With (5),
A rolling drive structure for a paddy working machine, in which an operating portion (17) of the actuator (5) and left and right side portions of the working device (3) are connected to each other via an elastic body (18). Means (C) for detecting the change in weight of (3) is provided, and a mechanism (E) for adjusting the operating speed of the actuator (5) is provided.
When the weight increase of the working device (3) is detected, the operating speed is increased, and when the weight decrease of the working device (3) is detected, the operating speed is decelerated, and the detecting means (C) and the increase / decrease adjusting mechanism (E) are set. Rolling drive structure for paddy work machines.