JP2866442B2 - Horizontal control mechanism in paddy working machine - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention relates to a rice transplanter, a seeder, and a fertilizer that are provided with a freely rotatable float below a traveling body and left and right swing wheels on both sides of the traveling body. Etc. pertains to a horizontal control mechanism in a paddy working machine.

[Conventional technology]

Generally, this type of paddy working machine is provided with a horizontal control mechanism that detects the horizontal inclination of the aircraft and changes the relative height of the swing wheel, but conventionally a gravity sensor is installed to detect the inclination of the aircraft Also, there is known an apparatus provided with an auxiliary float, a so-called rolling float, or the like.

[Problem to be solved by the present invention]

However, since the gravity sensor always controls the aircraft in an absolute horizontal state based on the direction of gravity, regardless of the field surface of the field, the planting accuracy on the field surface is not good, and it is sensitive to changes in the cultivator. There is a problem that it works too much. In addition, the auxiliary float type has drawbacks in that the operation state becomes unstable due to the accumulation of soil on the float and the like, and the rolling float type has a disadvantage that the entire structure is complicated and the cost is increased.

In view of the above situation, the present invention detects the right and left inclination of the body with a gravity sensor, but in a normal paddy field operation state, based on the field surface of the field where the float slides by checking the swing of the gravity sensor. A horizontal control mechanism in a paddy working machine that can perform horizontal control, and when the float is greatly inclined, or when traveling on the road, can release the check of the gravity sensor and perform absolute horizontal control based on the direction of gravity. The purpose is to provide.

[Means for solving the problem]

In order to solve the above problems, a technical measure taken by the present invention is to provide a float at a lower portion of a fuselage, and in a paddy field working machine having left and right swing wheels on both sides of the fuselage, a gravity detecting a horizontal inclination of the fuselage. A control mechanism for changing the relative height of the swing wheel in conjunction with the swing of the gravity sensor, and the control mechanism includes a swing amount of the gravity sensor with a pair of side plates standing upright at an opposing position sandwiching the gravity sensor. When a gravity sensor swings within the range between the opposing side plates, the gravity sensor is set as a dead zone irrespective of the control operation of the control mechanism, and the movement of the restraint member is provided. When the gravity-type sensor shakes beyond the range between the opposing positions, the attitude of the machine body is controlled horizontally while restraining the amount of the shake by the check member.

[Function of the invention]

Therefore, according to the present invention, when the body of the paddy field work machine tilts left and right, the gravity sensor provided in the control mechanism swings to detect the tilt, and in conjunction with this, the control mechanism changes the relative height of the swing wheel. . At this time, the restraint member provided with the control mechanism restrains the swing amount of the gravity sensor, so that the swing of the gravity sensor does not become too sensitive only by the change in the tillage, and the horizontal attitude of the body is smoothly controlled. And if the restraint member is formed in a float, the float rolling along the rice field will restrain the deflection of the gravity sensor,
The machine attitude can be controlled horizontally with reference to the field surface to obtain an appropriate work attitude. Moreover, when traveling on a road where the float is tilted greatly or the float moves down, the restraint by the restraint member formed on the float is released and the aircraft attitude is absolutely controlled horizontally based on the direction of gravity, so it can always be maintained in a stable attitude. it can.

〔Example〕

Next, an embodiment of the present invention will be described in detail with reference to the accompanying drawings. Reference numeral 1 denotes a traveling machine of a walking type rice transplanter exemplified as a paddy working machine. A main float 4 is provided at a lower portion of a machine frame 3 on which an engine 2 is mounted, and a swing indicated by a chain case 5 is provided on both sides thereof. Wheels 6 are provided. The main float 4 has a restraining member 7, which is fixed to the left and right center position on the front side, and a pivot pin 8 in the front-rear direction.
The rear end of the pivot pin 8 is supported via an adjuster 9 on a pin 10 on the side of the body frame 3 so as to be vertically swingable. On the other hand, at the rear end of the main float 4, a bracket 11 fixed to the left and right center position is pivotally supported by a pivot pin 12 in the front-rear direction, so that the main float 4 is freely rollable. A horizontal pin 13 fixed to the pivot pin 12 is supported by an adjusting hanger 14, and by operating a lever 15, the rear portion of the main float 4 is moved up and down with respect to the body frame 3 to adjust the planting depth. It is supposed to. Reference numeral 16 denotes an operation handle extending upward and rearward from the rear end of the body frame 3, reference numeral 17 denotes a front-back and rear-high seedling mounting table, and reference numeral 18 denotes a seedling mounting rod.

The swing wheel 6 is connected to a swing shaft 19 of the chain case 5.
The rotating arm 20 protruding from the control mechanism 22
In accordance with the inclination of the traveling body 1, the swing wheels 6 are simultaneously moved up and down in the left and right directions or in opposite directions to control the attitude of the body. It is configured as follows. That is, a main valve 24 connected to an oil passage from a hydraulic pump is provided above a transmission 23 provided at a rear portion of the engine 2, and a main cylinder 24 is interlocked with the main valve 24.
The 25 cylinder rods 26 extend and contract toward the rear of the aircraft. At the rear end of the cylinder rod 26, a sliding piece 27 is elastically supported via an elastic machine 28, and a vertical pivot 27a of the sliding piece 27 is provided.
In addition, a central portion of a lifter 29 composed of two plates is supported so as to be horizontally swingable.

A plate 30 is integrally fixed to the rear surface of the transmission 23, and a pair of left and right guide bars 32 is provided between the plate 30 and a support bracket 31 erected on the body frame 3. A slide holder 33 is slidably supported on the slide holder 32. The cylinder rod 3 of the sub cylinder 34 is located between the left and right mounting arms 33a of the slide holder 33.
4a is supported, and the cylinder cylinder 34b moves right and left between the opposing mounting arms 33a by oil supply from a sub-valve 35 provided on the rear surface of the engine 2.

On the upper surface of the slide holder 33, a pivot arm 36 is provided with a lifter 29.
An operating arm 37 is integrally formed at the center of the lifter 29 in the direction of the slide holder 33, and pivots on a pin shaft 38 provided at the base end of the operating arm 37. The tip of the support arm 36 is pivotally supported pivotally. A front and rear slot-shaped through hole is drilled at the tip of the operating arm 37, and an operating pin 39 protruding from the cylinder cylinder 34b is provided with a left-right guide 40 drilled into the slide holder 33 and the through hole. Penetrates.

The connecting rod 21 is connected to both left and right sides of the lifter 29, and when the main valve 24 operates, the cylinder rod 26
Moves the lifter 29 back and forth to swing the
Are simultaneously moved up and down, and when the sub cylinder 35 is operated, the lifter 29 horizontally swings with the movement of the cylinder cylinder 34b, and the swing wheels 6 are moved up and down in opposite directions.

41 is a gravity type sensor provided at the left and right center of the aircraft,
As shown in FIG. 3, the base end of the sensing arm 42 connected to the sub-valve 35 is pivotally connected to a bracket 43 on the fuselage side via a boss 44 in the front-rear direction. The lower end of the provided connecting arm 45 is linked to the upper end of the weight sensor 47 via a ball joint 46. The above weight sensor
47 has a middle part pivotally supported by a pivot shaft 48 on the fuselage side and has a hanging shape. When the weight sensor 47 swings right and left, the connecting arm 45 swings in the opposite direction, and the sensing arm 42 rotates integrally. To operate the sub-valve 35. The restraint member 7 fixed to the main float 4 is located below the weight sensor 47. In the restraint member 7, side plates 7a rising upward face the left and right sides of the weight sensor 47 at a predetermined interval, and the upper end side is open outward. When the main float 4 is substantially horizontal, even if the weight sensor 47 swings, in the range of the space A between the opposing side plates 7a,
The dead zone is a dead zone where the sub-valve 35 does not operate. When the main float 4 tilts, the weight sensor 37 further swings, and the sub-valve 35 is operated only for the first time.

Reference numeral 49 denotes a stopper that regulates rolling at the lower limit position of the main float 4, reference numeral 50 denotes a front rotation stopper of the main float 4, and reference numerals 51 and 52 denote rear rotation stoppers.

In the above-described configuration, when performing the planting operation, the swing wheel 6 travels on the cultivator, and the main float 4 slides along the field surface of the field, while the seedlings on the seedling mounting table 17 are moved by the seedling mounting rod 18. And plant it on the rice field. During the operation, when the sensing rod (not shown) detects the vertical movement of the machine due to the change in unevenness of the tillage, the main valve 24 operates and the main cylinder 24 operates.
The 25 cylinder rods 26 are extended and retracted, the lifter 29 moves back and forth, the swing wheel 6 moves up and down at the same time, and the main float 4 also moves up and down by the adjuster 9 to control the body attitude.

When the weight sensor 47 swings right and left and the rotated sensing arm 42 operates the sub-valve 35, the swing wheel 6
Are lifted and lowered in opposite directions, but in a place where the field surface is flat, the sub-valve 35 does not operate even if the weight sensor 47 swings between the facing sides A of the side plates 7a (FIG. 4 (a)). ) Then, when the machine body tilts due to the unevenness of the tillage, the weight sensor 47 tends to swing greatly.
Since the sub-valve 35 is actuated after the contact with the restraint member 7 provided in (2) (FIG. 4 (b)), the weight sensor 47
But don't be too sensitive. The attitude of the aircraft is controlled with respect to the weight sensor 47 restrained by the restraint member 7,
Since the swing wheel 6 moves up and down until it becomes parallel to the main float 4, even if the field in the field becomes flat again, the operation can be performed without operating the sub-valve 35 (FIG. 4 (c)). Therefore, main float 4
Since the aircraft can be horizontally controlled with reference to the field surface of the field where the skier slides, the work can be performed smoothly with good planting accuracy.
When the main float 4 is greatly inclined, for example, on a ridge with a step in the tillage, the weight sensor 47 detects the check member 7.
Therefore, the attitude of the body can be absolutely controlled by the weight sensor 47, and the body does not travel with the body tilted as in the conventional float-type body that detects the slope. Further, even when traveling on the road, the main float 4 is moved down and the restraint of the weight sensor 47 is released, so that the aircraft can be run in a stable posture by absolutely controlling the horizontal posture. In addition, since the weight sensor 47 is provided at the left and right centers of the fuselage, the inclination of the fuselage can be accurately detected, and the weight sensor 47 operates the sub-valve 35 while being restrained by the restraint member 7. Weight. Main Float 4
Rolls in the range B (FIG. 4 (d)), but in a non-working state in which the main float 4 descends to the lower limit position, the stopper 49 abuts on the traction member 7 to secure the main float 4 safely. Can be. In this embodiment, the restraint member 7 is fixed to the main float 4.
The present invention is not limited to this, and it is essential that the restraint member be operated in synchronization with the movement of the float.

〔The invention's effect〕

In short, the present invention provides a float in the lower part of the fuselage, and a paddy working machine having left and right swing wheels on both sides of the fuselage. A control mechanism for changing the relative height is provided, and the control mechanism is provided with a restraint member for restraining the amount of deflection of the gravity sensor with a pair of side plates erected at opposing positions sandwiching the gravity sensor. When the gravity sensor swings within the range between the opposing surfaces, the gravity sensor is set to a dead zone irrespective of the control operation of the control mechanism, and the gravity sensor is moved beyond the range between the opposing surfaces by moving the restraint member. When the machine shakes, the machine attitude is controlled horizontally while restraining the swing amount with the restraint member, so even when the machine body tilts to the left or right due to changes in the unevenness of the tillage during work with paddy working machine, Provided in the control mechanism Force sensor detects the inclination of the body, it is possible to change the relative height of the left and right swing wheels in conjunction with this. At this time, the restraint member provided in the control mechanism restrains the swing amount of the gravity sensor, so that the gravity sensor does not become too sensitive, and the horizontal attitude of the body can be smoothly controlled. And in the case where the restraint member is formed as a float, the float sliding along the rice field will check the gravity sensor, so that the aircraft attitude can be horizontally controlled based on the field surface, and always on the field surface. The planting posture can be adjusted appropriately, and
When traveling on a ridge or the like with a step or on the road, the restraint of the restraint member is automatically released by the downward movement of the float, and the attitude of the aircraft is switched to absolute horizontal control by the free vibration of the gravity sensor, so work is always stable Is what you can do.

[Brief description of the drawings]

The drawings show an embodiment of a horizontal control mechanism in a paddy working machine according to the present invention. FIG. 1 is an overall side view of the paddy working machine, FIG. 2 is a perspective view of the control mechanism, and FIG. 4 (a), (b), (c), and (d) are operation explanatory views. In the figure, 4 is a main float, 6 is a swing wheel, 7 is a restraint member, 22 is a control mechanism, and 41 is a gravity sensor.

────────────────────────────────────────────────── ─── Continuation of the front page (56) References JP-A-1-317306 (JP, A) JP-A-2-113812 (JP, A) (58) Fields investigated (Int. Cl. ⁶ , DB name) A01C 11/02 334

Claims (2)

(57) [Claims] In a paddy field working machine provided with a float at a lower portion of a body and left and right swing wheels on both sides of the body, a relative height of a swing wheel is interlocked with a swing of a gravity type sensor for detecting left and right inclination of the body. And a control member for changing the amount of deflection of the gravity sensor is provided by a pair of side plates erected at opposite positions sandwiching the gravity sensor. When the gravity sensor swings within the range, the gravity sensor is set to a dead zone irrespective of the control operation of the control mechanism, and the gravity sensor swings beyond the range between the opposing surfaces due to the movement of the restraint member. A horizontal control mechanism for a paddy field working machine, wherein a horizontal attitude of the body is controlled while restraining the amount of deflection by a restraint member. 2. A rolling free float is provided on an airframe,
In a paddy field working machine provided with left and right swing wheels on both sides of the body, a control mechanism for changing the relative height of the swing wheels in conjunction with the swing of a gravity sensor for detecting the left and right inclination of the body is provided, and In addition, by providing a restraint member that restrains the amount of deflection of the gravity sensor with a pair of side plates erected at opposing positions sandwiching the gravity sensor, when the gravity sensor swings within the range between the opposing side plates, The gravity type sensor is a dead zone irrespective of the control operation of the control mechanism, and when the gravity type sensor shakes beyond the range between the opposed sides, the amount of the shake is checked by the check member on the float, and When the float moves down, the attitude of the body is controlled based on the absolute horizontal by the free vibration of the gravity sensor that is relatively separated from between the side plates. Did Horizontal control mechanism in paddy working machine characterized.