JP2625428B2 - Walking paddy working machine - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention relates to a walking type paddy working machine used in a paddy field, and more specifically, to control the vertical movement of a body by changing the relative height of right and left wheels with respect to a traveling body. The present invention relates to a walking type paddy field working machine provided with a mechanism for performing the operation and a rolling control device for changing a difference in height between right and left wheels with respect to the body to maintain the machine body parallel to a rice field surface.

[Conventional technology]

A walk-behind rice transplanter, which is a representative of a walk-behind paddy field working machine, is equipped with an elevating control device that keeps the height from the rice field surface to the body constant in order to keep the planting depth of seedlings constant. It has been studied to provide a rolling control function to keep the aircraft parallel to the rice field. As an example, the left and right wheels are configured to independently raise and lower hydraulically, and at the front end of a center position in the left and right width direction, the front end side is configured to swing around the horizontal axis and to be able to move up and down. A pair of ground sensors are provided.Aside from this, side ground sensors that are configured to be able to move up and down on the front side around the horizontal axis at the rear are separately provided at the left and right side positions of the fuselage. It is known that rolling control is performed by independently switching a hydraulic switching valve for raising and lowering a corresponding wheel of each garment (for example, see Japanese Patent Application Laid-Open No. 61-56010).

[Problems to be solved by the invention]

Generally, in a walk-type rice transplanter, once one planting process is completed, the planter turns around at the ridge and shifts to the next planting process. Lift and perform a turning maneuver. Therefore, in the case of the structure in which the inclination of the body is detected only by the difference in the relative height of the side contact sensors, the side contact sensors are lifted from the rice field, and the rolling control cannot be performed.

In addition, in the rice transplanting operation, the headland used for turning the airframe is planted after the reciprocating traveling repeatedly to finish planting most of the fields, but this headland is rough due to the turning of the airframe. In many cases, in the case of a structure in which rolling detection is performed with high sensitivity using a pair of left and right side grounding sensors, the rolling detection is too sensitive, so that the steering becomes difficult.

In the above-described conventional structure, a mechanism capable of blocking transmission of the rolling detection result is provided, so that it is possible to intentionally stop the rolling control by the side contact sensor at the time of turning on the ridge or at the time of traveling on the headland. Although the above-mentioned technical problems have been solved, both the side contact sensor and the contact sensor at the center of the front of the fuselage can be operated by swinging around the horizontal axis in the lateral direction of the fuselage. The configuration has the following new problems.

In other words, in the field where this kind of paddy field working machine is used, in the scraping work before planting seedlings, the scraping is carried out by reciprocating the cultivating rotor, so that the rotor traces on the cultivator with this work. It is inevitable that uneven stripes occur. And it is impossible to run the aircraft completely along the invisible irregularities under this mud surface,
If the aircraft travels in a state close to the direction perpendicular to the ridges, the aircraft will vibrate in the vertical direction as the aircraft advances, and if it crosses diagonally in a direction close to the direction of the ridges, it will shake in the left and right direction Prone.

When the aircraft is driven under such conditions, the above-mentioned respective grounding sensors detect the left-right inclination by swinging around the horizontal axis along the left-right direction of the aircraft. When the fuselage advances in the direction, it is inevitable that periodic vertical vibrations occur, and when the ground contact sensor is composed only of a sensor that detects the left-right inclination with respect to the advancing direction axis of the fuselage, When the vehicle travels obliquely in a direction close to the direction, it is inevitable that the vehicle will shake in the left-right direction. In addition, there is a problem that the swing and the vertical vibration are further amplified and sensed by periodic repetition.

The present invention has been made in view of such a situation, and makes it possible to perform suitable rolling control in normal work traveling, direction change at a ridge, traveling along a headland, etc. The purpose is to:

[Means for solving the problem]

The first aspect of the present invention is characterized in that it includes an elevating operation mechanism that detects the up and down of a center float provided between the left and right wheels, and switches an elevating control valve to operate an elevating cylinder to integrally elevate the left and right wheels. In a walking paddy working machine having a rolling control mechanism that corrects the body left-right attitude by changing the difference in relative height between the left and right wheels based on the detection result of the left-right inclination of the body, the rolling control mechanism includes: The first rolling detection mechanism includes first and second rolling detection mechanisms for detecting the left-right inclination, and the first rolling detection mechanism is constituted by one sensor that detects the left-right inclination by swinging around an axis in a direction along the body traveling direction. And a second rolling detection mechanism, which is provided at a rear portion of a pair of side floats provided on outer sides of the left and right wheels, at a floating point around a horizontal axis along the body left-right direction. And a mechanism for detecting a relative difference in height due to the elevation of the part, and further detecting the left-right inclination by the first and second rolling detection mechanisms based on a hydraulic pressure that gives only the difference in height to the left and right wheels. Transmission means for transmitting to a single rolling control valve for the means, wherein the transmission means outputs the detection result of the left-right inclination while the other rolling detection mechanism outputs the one rolling detection result. When the same detection result as the detection result by the detection mechanism is output, the rolling control valve is operated with the same operating force by the two rolling detection mechanisms, and the same detection result as the detection result of the left-right inclination is output. In the absence state, the other rolling detection mechanism acts as an operation resistance to the operation of the one rolling detection mechanism. In that it is configured to set an association state of a rolling detection mechanism and the rolling control valve.

Further, a feature of the second aspect of the present invention is that an up / down operation mechanism that detects the up / down of a center float provided between the left and right wheels, and switches the up / down control valve to operate the up / down cylinder, thereby integrally raising and lowering the left and right wheels. In addition, in a walking paddy field working machine equipped with a rolling control mechanism that corrects the aircraft left-right attitude by changing the difference between the relative heights of the left and right wheels based on the detection result of the left-right inclination of the aircraft, the rolling control mechanism includes: A first and a second rolling detection mechanism for detecting the left-right inclination of the fuselage are provided, and the first rolling detection mechanism is a single sensor that detects the left-right inclination by swinging around an axis in a direction along the body traveling direction. The second rolling detection mechanism is configured to control the flow around the horizontal axis along the lateral direction of the body at the rear of a pair of side floats provided outside the left and right wheels. And a mechanism for detecting a relative difference in height due to lifting and lowering of the tip end portion. Further, the left and right inclination detection results obtained by the first and second rolling detection mechanisms are used to determine only the difference in height between the left and right wheels. A transmission means for transmitting to a single rolling control valve for the hydraulic pressure means to be applied, the transmission means being provided with one of the rolling detection mechanisms outputting the detection result of the left and right inclination, and the other rolling detection mechanism being provided with the one When the same detection result as the detection result by the rolling detection mechanism is output, the rolling control valve is operated by the operating force in the same direction by the two rolling detection mechanisms, and the same detection result as the detection result of the left-right inclination is output. In the non-operation state, the other rolling detection mechanism acts as an operation resistance to the operation of the one rolling detection mechanism. A linking state between the two rolling detection mechanisms and the rolling control valve is set and configured, and a transmission system from the second rolling detection mechanism to the rolling control valve among the transmission means transmits the detection result of the left-right inclination. The point is that a switching means is provided which can be switched between a transmission state in which transmission is possible and a non-transmission state in which transmission of a detection result is interrupted.

[Operation] The operation of the above-mentioned characteristic configuration is as follows.

a. The rolling detection mechanism is provided in two systems with different sensing modes: left and right tilt by swinging around the axis in the direction along the fuselage advancing direction, and left and right tilt by difference in relative height of left and right side floats. Since it is configured to be able to detect the left-right inclination from, compared to the configuration that performs rolling control only with the detection result of one system, more accurate rolling while suppressing unnecessary rolling control operation Control is easy to perform.

That is, the rolling sensing system is constituted by two systems having different sensing conditions, and each of the two sensing systems is linked to a common rolling control valve. For this reason, for example, if one of the sensing systems detects a mud surface or partial unevenness of a tillage and attempts to operate the rolling control valve in one direction, the other sensing system does not sense the unevenness. Therefore, the rolling control valve does not operate in the same direction as the direction by the one of the sensing systems, which is a resistance. As a result, under such conditions, the two sensing systems restrain the sensing operation with each other, and it is possible to suppress erroneous sensing such as recognizing a partial mud surface or unevenness of a tillage as a rolling state.

b. In addition, the rolling detection mechanism is provided with two different sensing modes: left and right inclination with respect to the axis in the direction along the fuselage advancing direction, and left and right inclination by the difference in relative height of the left and right side floats.
The system is configured so that the left and right tilt can be detected from each of the two systems, so that periodic vertical vibrations caused by the movement of the aircraft during work and erroneous sensing due to shaking in the left and right direction are suppressed, and more accurate High control. In other words, in the field where this kind of paddy field working machine is used, even if there are uneven lines due to the rotor traces on the cultivator formed during the scraping work before seedling planting, the rolling detection of the two sensing systems is performed. Since the mechanism is configured to be detected by the movement around the axis in the direction intersecting with each other, the horizontal axis of the side float and the left and right inclination around the axis along the fuselage traveling direction, To avoid erroneous sensing due to the periodic shaking and vibration.

c. And, as in the second aspect of the present invention, in the apparatus provided with the switching means capable of switching between the state in which the transmission of the inclination detection result of the second rolling detection mechanism is permitted and the state in which the transmission is blocked, By keeping the switching means in the transmission state,
Rolling control is performed based on the detection result of the sensitive second rolling detection mechanism consisting of the left and right side floats. Thus, it is possible to perform the rolling control based on the detection result of the first rolling detection mechanism, which is relatively insensitive.

〔The invention's effect〕

As described above, according to the first aspect of the present invention, the rolling sensing system is provided with a left-right inclination caused by a swing around the axis in a direction along the body traveling direction and a left-right inclination caused by a difference in relative height between the left and right side floats. By having two systems with different sensing conditions and linking each of the two sensing systems to a common rolling control valve, one of the sensing systems is partially uneven on a mud surface or a tillage machine. When the control valve is operated and the rolling control valve is operated in one direction, the other sensing system acts to check it and recognizes the partial mud surface and unevenness of the tillage as a rolling state. This is advantageous in that an erroneous sensing can be easily suppressed.

Further, since the rolling detection mechanism is configured so that it can be detected from two systems having different sensing forms, that is, the left and right inclination with respect to the traveling direction axis of the aircraft and the inclination due to the difference in the relative height of the left and right side floats, Periodic vertical vibrations associated with the movement of the aircraft during work and erroneous sensing due to shaking in the left and right directions can be suppressed from each other, and in this regard, more accurate control can be performed.

In addition, since the left and right wheels are integrally lifted and lowered and the rolling control system for giving a difference in height between the left and right wheels is made independent, mutual control can be performed simply and reliably.

Also, since the left and right wheels are not raised and lowered by independent lifting cylinders, the height that gives a difference to the left and right wheels can be reduced, and a large difference in height occurs between the left and right wheels due to erroneous sensing when entering or exiting a field. There is no danger such as the aircraft tilting greatly.

Further, in the second aspect of the invention, the rolling detection mechanism can be selected and used according to the normal traveling and the traveling on the rough headland, and the rolling control of each traveling can be appropriately performed. It can be suitably performed in the sensitivity state, and the working performance can be further improved.

〔Example〕

Hereinafter, a walking rice transplanter according to one embodiment of the present invention will be described with reference to the drawings.

As shown in FIG. 8, a transmission case (1) having a traveling wheel (2) at an end thereof is swingably mounted around a horizontal axis (P1) to support the machine body and to support a machine body front part. And an engine (3), a seedling planting device including a planting claw (4) and a seedling rest (5) at the rear of the machine, and a steering handle (6) to constitute a walking rice transplanter. I have.

The lifting / lowering operation mechanism of the wheel (2) will be described in detail.
As shown in FIGS. 7 and 8, a balance arm (10) is connected to the tip of a piston rod (9a) of a single-acting lifting cylinder (9) fixed to the body, and both ends of the balance arm (10) And an operating arm (1a) erected on the boss of the transmission case (1) are connected via a rod (11) and a rolling cylinder (12). Wheel (2) is simultaneously moved up and down.

The details of the rolling control mechanism are as follows.

In other words, the left and right wheels (2) are relatively moved up and down by the expansion and contraction operation of the rolling cylinder (12). The rolling control valve (17) that controls the operation of the rolling cylinder (12) is the first control valve (17). Can be operated based on the detection results of the rolling detection mechanism (S1) and the second rolling detection mechanism (S2), and the first rolling detection mechanism (S1) is a single sensor ( 7), and the second rolling detection mechanism (S2) includes two side floats (18a) and (18b) configured as a pair of left and right side floats.

The left and right inclination detection results obtained by the first and second rolling detection mechanisms (S1) and (S2) are used as a single unit for hydraulic means for giving only a difference in height to the left and right wheels (2) and (2). Transmission means for transmitting the rolling control valve (17) is provided.

This transmission means is provided when one of the rolling detection mechanisms (S1 or S2) is outputting the detection result of the left-right inclination while the other rolling detection mechanism (S2 or S1) is outputting the detection result of the left and right inclination. When the same detection result as the detection result according to (1) is output, the rolling control valve (17) is operated by the operation force in the same direction by both rolling detection mechanisms (S1, S2), and the same as the detection result of the left-right inclination. In a state in which the detection result of is not output, the other rolling detection mechanism (S2 or S1) acts as an operation resistance to the operation of the one rolling detection mechanism (S1 or S2) by a structure described below. It is configured such that the linked state between the two rolling detection mechanisms (S1, S2) and the rolling control valve (17) is set.

The sensor (7) constituting the first rolling detection mechanism (S1) will be described in detail. As shown in FIGS. 1, 3, 6, and 7, the sensor (7) is located between the right and left wheels (2) and left and right. It is arranged so as to protrude forward from the wheels (2), and is mounted so as to be able to swing up and down around the horizontal axis (P2) at the rear of the body and to be able to roll around the front and rear axis (P3) of the body. .

As shown in FIG. 6, the front part of the sensor (7) is linked to an elevation control valve (23) via a link (24). The lift control valve (23) supplies and discharges hydraulic oil to and from the lift cylinder (9). When the airframe sinks into the rice field and the sensor (7) rises by buoyancy, the lift control valve (23). (23) is operated to the pressure oil supply side, and the left and right wheels (2) are operated to descend to correct the sinking of the body. On the other hand, when the airframe rises above the rice field, the sensor (7) is lowered, the elevation control valve (23) is operated to the oil drain side, and the left and right wheels (2) are operated to be elevated.

As shown in FIGS. 1 and 3, an auxiliary grounding section (8) is provided on the front left and right of the sensor (7), and the rolling operation of the sensor (7) is performed on one auxiliary grounding section (8). From the provided operating arm (13) to the bell crank (14),
Rolling control valve (1) for rolling cylinder (12) via linkage rod (15), balance crank (16)
7) is transmitted. This allows the rolling cylinder (1
The left and right wheels (2) are vertically moved so that the body is parallel to the mud surface.

Side floats (18a), (1) constituting a second rolling detection mechanism (S2) are provided on the left and right behind the left and right wheels (2).
8b) can swing up and down around the horizontal axis (P2), and
The space between the side floats (18a) and (18b) is set to be sufficiently larger than the space between the left and right auxiliary grounding portions (8) at the front of the fuselage. The side float (18a), (1
8b) Above the sensor shafts (19A) and (19B) rotatably supported around the axis (P4), one end of each of the sensor shafts (19A) and (19B) and the side float (18a), (18b) The front part is interlockingly connected via a link rod (20).

At the center of the fuselage, a linkage rod (21) is slidable in the front-rear direction.
And one end of a link rod (21) is connected to an arm (16a) extending from the balance crank (16). A rotatable arm (22) is attached to the other end of the linking rod (21), and the other end of the sensor shafts (19A) and (19B) has a crank arm (19a) with a projecting direction different by 180 ° from the other end. The crank (19b) is attached, and the arm (22) is connected to both ends of the crank arms (19a) and (19b) with flexibility by means of a long hole.

The inclination detection by the side floats (18a) and (18b) is performed as follows. That is, when the body is tilted to one side and one side float (18a) is displaced upward, the first
As shown in FIG. 4 and FIG. 4, the side float (18a)
Is transmitted via the sensor shaft (19A) and the crank arm (19a) associated therewith, and the arm (22) rotates around the connection point with the other crank arm (19b). When the arm (22) operates in this manner, the arm (2
The center of 2) deviates from the axis (P4), which is the axis of rotation of the sensor axes (19A) and (19B), and the displacement of the center of the arm (22) is detected as the inclination of the body.

Also, the aircraft sinks and the left and right side floats (18
When a) and (18b) are displaced upward, the two sensor shafts (19A) and (19B) rotate in the same direction as shown in FIG. 5, but the crank arms (19a) and (19b) ) Is directed in the opposite direction, the arm (22) rotates around the axis (P4), and the center of the arm (22) cannot be displaced from the axis (P4). Therefore, no inclination is detected.

Left and right side floats (18a), (18b) provided in a transmission system from the second rolling detection mechanism (S2) to the rolling control valve (17) among the transmission means configured as described above. A pair of left and right sensor axes (19A) and (19B) that detect the vertical movement of each tip as a rotation angle around the axis, respectively, and the sensor axes (19A),
The height of the tip of each of the left and right side floats (18a) and (18b) is determined by the arms (19a), (19b) and (22) at the center of the body, which are rotatable by (19B). And a differential output mechanism for transmitting an operation output based on the result of the determination to the rolling control valve (17) through the link rod (21).

This differential output mechanism is provided with left and right side floats (18
a) In the transmission system from (18b) to the rolling control valve (17), first, before transmitting the sensing result by the left and right side floats (18a) and (18b) to the rolling control valve (17), The difference between the left and right heights is calculated, and the result of the calculation is transmitted to a rolling control valve (17) which is also controlled by sensing information of another system. For this reason, by using this differential output mechanism, regardless of the use of the sensing information in a plurality of systems as the input information for controlling the single rolling control valve (17), the sensing information for the rolling control valve (17) is used. The number of direct inputs,
It can be less than the number of sensing information.

Therefore, for example, the left and right side floats (18
The vertical swing of each of a) and (18b) is separately transmitted to the rolling control valve (17), and is associated with the operation with the transmission system from the first rolling detection mechanism (S1). It is possible to simplify the valve operation mechanism and the operation transmission structure as compared with those requiring an extremely complicated operation mechanism and a large number of transmission structures such as operating the rolling control valve (17). it can. Therefore, the present invention is effective in simplifying the assembling work and various maintenances, such as simplifying the structure for transmitting the sensing information and the operation structure of the rolling control valve (17), and adjusting the control amount for the degree of sensing.

The transmission system for transmitting the tilt detection results from the side floats (18a) and (18b) includes a switching means (25) that can switch between a state in which the detection result of the right and left tilt can be transmitted and a state in which the detection result is cut off. The switching means (25) will be described in detail below.

As shown in FIGS. 2 and 1, the connecting rod (2
1) is a divided structure of the front rod (21a) and the rear rod (21b), and a cylinder part (26) is provided on the front rod (21a) side, and the rear rod (21b) is provided on the cylinder part (26).
Is a state in which the rear rod (21b) can slide relative to the front rod (21a) in the range from the bottom of the cylinder portion (26) to the stopper (27). .

And the axis (P5) of the outer surface of the cylinder part (26)
A bell crank (28) is slidably mounted around the pin crank, and a pin (29) operated by the bell crack (28) is provided. In addition, bell crank (28)
Is connected to an operation lever (31) provided on the steering handle (6) via a push full wire (30), and the pin (29) is inserted into the cylinder (26) by a helical spring (32). It is biased in the pushing direction.

The state shown in FIG. 2 is a state where the pin (29) is pulled out and the rear rod (21b) freely slides relative to the front rod (21a), that is, the side floats (18a), (1
8b) The inclination detection by the rolling control valve (17)
Is not transmitted to the vehicle. In this state, the rolling control is performed based only on the sensor (7) of the first rolling detection mechanism (S1).

Then, return the operation lever (31) to operate the pin (29).
When the rear rod (21b) is fixed to the cylinder part (26) by engaging with the locking hole (33) of the rear rod (21b), the sensor (17) and the side float ((18a), The state in which the inclinations are detected by (18b) is transmitted to the rolling control valve (17), where the sensor (7) and the side floats (18a), (18)
In the state where b) is in contact with the ground, that is, during normal planting work, the detection of the sensitive inclination from the side floats (18a) and (18b) is prioritized, and a sharp rolling control is performed based on this. It is. When the rear part of the fuselage is lifted by the ridge, the side floats (18a) and (18b) are separated from the rice field, and only the front part of the center sensor (7) is in contact with the ground. It will be.

(Another embodiment)

In the above-described embodiment, the switching means (25) is provided only in the transmission system from the side floats (18a) and (18b) to the rolling control valve (17). However, as shown in FIG. ) To the rolling control valve (17) is also provided with a switching means (25a), and the sensitivity adjusting lever (34) in the elevation control device and both switching means (25), (25)
a) can be adopted. When the sensitivity adjusting lever (34) is moved to the sensitivity sensitive side by this structure, the inclination detection from the sensor (7) is cut off, and the rolling control is sharp based on the inclination detection from the side floats (18a) and (18b). When the sensitivity adjustment lever (34) is moved to the insensitivity side of the elevation control sensitivity, tilt detection from the side floats (18a) and (18b) is interrupted and tilt detection from the sensor (7) is performed. , The insensitive rolling control is performed.

In the claims, reference numerals are provided for convenience of comparison with the drawings, but the present invention is not limited to the structure shown in the attached drawings.

[Brief description of the drawings]

The drawings show an embodiment of the walking paddy working machine according to the present invention,
FIG. 1 is a perspective view showing a linked state of a rolling control valve and a first rolling detecting mechanism and a second rolling detecting mechanism, FIG. 2 is a side view of a switching means, and FIG. 3 is a first rolling detecting mechanism. FIG. 4 is a side view showing the state of the arm when the body is tilted to the left, FIG. 5 is a side view showing the state of the arm when the body is sunk, FIG. FIG. 7 is a side view showing the linked state with a lifting control valve, FIG. 7 is a plan view showing the lifting structure of a wheel and the periphery of a sensor, FIG. 8 is an overall side view of a walking rice transplanter, and FIG. 9 is rolling control in another embodiment. FIG. 4 is a perspective view showing a linked state between a valve and first and second rolling detection mechanisms. (2) ... left and right wheels, (7) ... sensor, (9) ...
Lifting cylinder, (17)… rolling control valve, (18
a), (18b) ... side float, (19a), (19b),
(22) ... arm, (19A), (19B) ... sensor axis,
(21) Link rod, (23) Lift control valve, (25)
... switching means, (S1) ... first rolling detection mechanism,
(S2)... Second rolling detection mechanism.

Continuation of the front page (56) References JP-A-61-56010 (JP, A) Photograph of the contents of the specification and drawings attached to the application form of Japanese Utility Model Application No. 59-118699 (Japanese Utility Model Application No. Sho 61-31012) Microfilm (JP, U) Microfilm (JP, U) photographing the contents of the specification and drawings attached to the application form of Japanese Utility Model Application No. 59-197495 (Japanese Utility Model Application No. Sho 61-115012)

Claims (3)

(57) [Claims] An up / down control valve (23) is operated by operating a lifting cylinder (9) by detecting the elevation of a center float provided between the left and right wheels (2) and (2). ) And (2) are integrally lifted and lowered, and the left and right wheels (2), (2)
(2) A walking paddy working machine provided with a rolling control mechanism for correcting a lateral attitude of the machine by changing a difference in relative height, wherein the rolling control mechanism includes a first and a second mechanism for detecting a lateral inclination of the machine. A sensor for detecting the left and right inclinations of the first rolling detection mechanism (S1) by swinging around an axis in a direction along the fuselage advancing direction with the second rolling detection mechanism (S1) and (S2); 7), and the second rolling detection mechanism (S2) includes the left and right wheels (2),
Relative height of the pair of side floats (18a) and (18b) provided on the outer side of (2) by raising and lowering the float tip around the horizontal axis (P2) along the horizontal direction of the aircraft The first and second rolling detection mechanisms (S
1), transmission means for transmitting the detection result of the left and right inclination by (S2) to a single rolling control valve (17) for a hydraulic means for giving only a difference in height between the left and right wheels (2) and (2). This transmission means is provided with one rolling detection mechanism (S1 or
When the other rolling detection mechanism (S2 or S1) outputs the same detection result as the detection result by the one rolling detection mechanism (S1 or S2) while S2) is outputting the detection result of the left-right inclination, The rolling control valve (1
7) is operated by the operating force in the same direction by the two rolling detection mechanisms (S1, S2), and in a state where the same detection result as the detection result of the left-right inclination is not output, the other rolling detection mechanism (S1) The two rolling detection mechanisms (S1, S2) such that S2 or S1) acts as an operational resistance to the operation of the one rolling detection mechanism (S1 or S2).
And a rolling control valve (17) in which a linked state is set. 2. A transmission system from the second rolling detection mechanism (S2) to the rolling control valve (17) of the transmission means includes a tip of each of the pair of side floats (18a) and (18b). Via a pair of left and right sensor shafts (19A) and (19B) that separately detect the vertical movement of the unit as a rotation angle around the axis, a rotatable arm (19
a), (19b), and (22) to determine the difference between the left and right heights, and to transmit the operation output based on the result of this determination to the rolling control valve (17) through the linkage rod (21). 2. The walking paddy working machine according to claim 1, further comprising a configured differential output mechanism. The left and right wheels (2) are detected by detecting the up and down of a center float provided between the left and right wheels (2) and switching the up / down control valve (23) to operate the up / down cylinder (9). ) And (2) are integrally lifted and lowered, and the left and right wheels (2), (2)
(2) A walking paddy working machine provided with a rolling control mechanism for correcting a lateral attitude of the machine by changing a difference in relative height, wherein the rolling control mechanism includes a first and a second mechanism for detecting a lateral inclination of the machine. A sensor for detecting the left and right inclinations of the first rolling detection mechanism (S1) by swinging around an axis in a direction along the fuselage advancing direction with the second rolling detection mechanism (S1) and (S2); 7), and the second rolling detection mechanism (S2) includes the left and right wheels (2),
Relative height of the pair of side floats (18a) and (18b) provided on the outer side of (2) at the rear of the float tip around the horizontal axis (P2) along the left-right direction of the aircraft The first and second rolling detection mechanisms (S
1), a transmission means for transmitting the detection result of the left and right inclination by (S2) to a single rolling control valve (17) for a hydraulic means for giving only a difference in height between the left and right wheels (2) and (2). This transmission means is connected to one rolling detection mechanism (S1 or
When the other rolling detection mechanism (S2 or S1) outputs the same detection result as the detection result by the one rolling detection mechanism (S1 or S2) in a state where S2) is outputting the detection result of the left-right inclination, The rolling control valve (1
7) is operated by the operating force in the same direction by both rolling detection mechanisms (S1, S2), and when the same detection result as the detection result of the left and right inclination is not output, the other rolling detection mechanism (S1) The two rolling detection mechanisms (S1, S2) such that S2 or S1) acts as an operational resistance to the operation of the one rolling detection mechanism (S1 or S2).
And a rolling state of the rolling control valve (17) is set, and a second rolling detection mechanism (S2) of the transmission means is configured.
A transmission system for transmitting the detection result of the left-right inclination and a non-transmission state for interrupting transmission of the detection result in a transmission system from the control valve to the rolling control valve (17); A walking type paddy working machine characterized by the following.