JPH0231605A - Walking type paddy field working machine - Google Patents

Abstract

PURPOSE:To retain prescribed height of a working machine to ground even in backward inclination of a machine body by engaging a mechanism for automatically switching posture of ground sensor to the machine body to front downward posture as driving wheels are situated lower than the machine body with a wheel lifting and lowering mechanism. CONSTITUTION:A sensor rod 23 is elected in front end of a center float 9 and a bending link 27 which is a posture changing mechanism B for the center float 9 is provided in the intermediate position of the sensor rod 23. An engaging mechanism C consisting of a connecting rod 28 and oscillating link 29 is provided between a balance arm 13 of cylinder for lifting and lowering wheels and bending link 27 and one end of the connecting rod 28 is connected to a bending link 27. Total length of the sensor rod 23 is set to basic length at an intermediate position in lifting and lowering wheels and when the wheels are lowered, the sensor rod 23 is lengthened and base posture of center float 9 to the machine body is changed to front downward posture. Consequently, variation of planting depth can be reduced also when inclined backward by reverse torque.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention calculates the height of a pair of propulsion wheels on the left and right or a single propulsion wheel relative to the aircraft body based on the vertical movement of a ground sensor due to ground pressure fluctuations. The present invention relates to a walking type paddy field work machine that is provided with a lift control means that maintains the height of the work apparatus at a predetermined height above the ground by changing the height of the work apparatus with a lift mechanism.

[Conventional technology]

In the single-wheeled paddy field work machine having the above-mentioned one-wheel configuration, the machine body tends to take a backward tilting position due to the reverse torque generated when the wheels are propelled. In particular, in areas where the plowing depth is deep or in hard fields, the propulsion torque is large, so the reverse torque acting on the aircraft body also becomes large, which tends to increase the degree of backward heeling.

When a large amount of reverse torque acts as described above, it also affects the elevation control means. In other words, if the ground sensor is of the ground float type as shown in FIG. When the aircraft is at a high height, the reverse torque causes the aircraft (1
0) is tilted backwards, the grounding float (9) also tilts towards the aircraft (
10) It leans backwards so as not to change its relative attitude to the body, increases the ground pressure on the deeply submerged rear end side, and balances the attitude by compensating for the remaining ground pressure on the floating front side. It is in a stable state (control neutral state B).

Therefore, since both the aircraft and the ground float are in a stable state of control in the backward tilted position, the work equipment is positioned at a predetermined height in a stable state of control with no large reverse torque. Due to the tilted position, there is an inconvenience that the device is located at a position lower than a predetermined height.

An object of the present invention is to change the reference posture of the ground sensor relative to the aircraft body, so that despite the fluctuation of the reverse torque,
The object of the present invention is to provide a work device that can maintain the height above the ground at a predetermined height.

[Failure to solve the problem]

Characteristic configurations of the present invention include: (1) providing an attitude switching mechanism that changes the reference attitude of the ground sensor with respect to the aircraft during control neutral; and (3) the lower the propulsion heavy wheels are located with respect to the traveling aircraft, the more the ground contact is reduced. The above-mentioned attitude mechanism and the wheel lifting mechanism are linked by a linkage mechanism so as to automatically switch the reference attitude of the sensor relative to the aircraft to the forward downward attitude, and the effects thereof are as follows.

[For production]

To explain based on FIG. 1, the front end side sensor rod (
23) The posture switching mechanism (
B), but of course the structure is not limited to this, and the rear fulcrum may be moved up and down. Here, when the propulsion wheel (8) is located at a lower position with respect to the traveling body (10) using such a posture switching mechanism (B) (that is, when the tiller becomes deeper), Extend the sensor rod (23) to place the ground float (9) in the forward downward position (this does not mean that the ground float (9) is absolutely in the forward downward position (but rather than before the change). It only shows that the front end of the ground float (9) is located downwards).

Then, the front end side of the grounding float (9) in the backward tilting position is lowered by the reverse torque, so that the grounding area of the grounding float (9) increases and the grounding pressure increases. Therefore,
The aircraft is grounding flow 1-(
9) and the work equipment, and comes to a stable stop when the standard ground pressure is reached.

Therefore, the working device is located at a higher position than before the attitude of the ground sensor was changed, and is located at a predetermined height above the ground.

〔Effect of the invention〕

As a result, the working device can be maintained at a predetermined height above the ground even when the plant is tilted backwards due to reverse torque, and planting defects are less likely to occur.

Furthermore, by capturing the movement of the lifting mechanism of the propulsion wheel related to reverse torque and linking it with the posture switching mechanism of the ground sensor, posture switching can be performed automatically, and the amount of forward descent can also be set arbitrarily. Compared to systems such as those disclosed in Publication No. 56-18248 or Japanese Utility Model Application No. 57155018 in which the posture of the ground sensor relative to the aircraft body is manually switched, there is no need to operate it especially when working in fields where the depth of the plowing varies greatly. It is only advantageous.

[Operation and Effect of Claim 2] In other words, when the mud surface becomes hard, the reverse torque acting on the machine body becomes large in the same way as when the plowing platform becomes deep. Since the height changes, the adjustment operation of the pestilence adjustment mechanism that changes depending on the hardness and softness can be detected and the ground sensor can be switched to the forward downward posture, thereby maintaining the height of the work device above the ground at a predetermined height.

〔Example〕

A rice transplanter as an example of a walking rice paddy work machine will be described.

As shown in Figure 2, the walking rice transplanter has an engine (1) and a mission case (2) at the front of the machine, and a planting transmission case (2) that extends rearward from the mission case (2).
3) A seedling planting device (6) as a working device consisting of a seedling stand (4), a seedling planting mechanism (5), etc. and a navy blue handle (21) are arranged at the rear end, and a Fertilizer application device (
7), left and right propulsion wheels (8), (8), and a center float (9) as a ground sensor.

Elevation/lowering/rolling control for the traveling aircraft (10) will be explained.

A wheel transmission case (11) with an Ail propulsion lift (8) pivotally supported at the tip is pivotally supported on the side surface of the mission case (2) so as to be able to swing upwards, and wheel transmission cases arranged on the left and right sides. (The IIL (11) is configured to be driven and moved by the lifting cylinder (12).

In other words, as shown in Figure 3, mission case (2)
A balance arm (13) that swings horizontally around the vertical axis (X) is attached to the tip of the screw 1-ron of the lifting cylinder (12) installed on the top surface, and the heavy wheel transmission case (1
1), (11) and the left and right connecting arms (14), (14) that swing vertically together are installed near the swing axis (Y), and the left connecting arm (14) and the left end of the balance arm (13) are connected to each other. At the same time, the right connecting arm (14) and the right end of the balance arm (13) are connected by the right connecting rod (16), and the lifting cylinder (12) connects the right end of the balance arm (13). ) can be moved back and forth, the left and right propulsion wheels (8), (8) can be raised and lowered by the same amount of elevation in the same direction.The above is referred to as a wheel elevation mechanism (A).

In addition, an extendable rolling cylinder (17) is installed in the right connecting rod (16), and by expanding and contracting the rolling cylinder (17), the balance arm (13) is horizontally swung around the vertical axis (X), thereby allowing the balance arm (13) to swing horizontally around the vertical axis (X). The propulsion wheels (8), (8) move up and down in a contradictory manner.

On the other hand, the center float (9) is connected to the left and right propulsion wheels (8).
, (8) is a long float that touches the ground over a range from the front to the rear of this propulsion wheel (8), and is used for planting via a -1-shaped swinging bracket (18) at its rear end. It is attached to the transmission case (3). In other words,
This bracket (18) can be freely rolled around the front and back axis (P,), and the horizontal axis (P,) serves as the rear fulcrum.
2) A center float (9) is attached so that it can freely swing up and down.

Therefore, due to ground pressure fluctuations caused by changes in the depth of the tiller, for example, the center float (9) rises. B movement extends the lifting cylinder (12), thereby
Left and right ttIif! The wheels (8) and (8) are lowered to relatively raise the traveling body (10) and the seedling planting device (6) is raised.
) is kept constant above the ground, and conversely, when the center float (9) swings downward, the propulsion wheel (8)
, (8) constitutes a lifting control means for keeping the height of the seedling planting device (6) constant.

Also, when the center float (9) rolls on the left and right pairs due to ground pressure fluctuations, the propulsion wheel (8) on the inclined side
) is lowered, and the propulsion wheel (8) on the opposite side is raised to maintain the traveling body (1o) along the field surface? 11 means.

In FIG. 1, (19) is an elevation control valve for the elevation cylinder (12), and (20) is a rolling control valve for the rolling cylinder (17).

Next, the switching mechanism for the attitude of the center float (9) toward the aircraft (
B) will be explained, and a linkage mechanism (C) between the attitude switching mechanism (B) and the wheel lifting mechanism (A) will be explained. As shown in Figure 1, the sensor rod (23
) is erected, and the upper end of this sensor rod (23) is connected to the operating arm (24) of the lift control valve (I9).
) is interlocked and connected. A rotating arm (25) that biases this sensor rod (23) downward comes into contact with this operating arm (24), and this rotating arm (25)
A setting spring (26) is linked to set the sensing sensitivity of the center float (9) as a ground sensor. A bending link (27) arranged in a substantially diamond shape is provided at an intermediate position of the sensor rod (23), and when this bending link (27) extends, the entire length of the sensor rod (23) becomes longer. When the bending link (27) is shortened, the overall length of the sensor rod (23) is shortened. In other words, when the sensor rod (23) becomes short, the center float (9) swinging at the rear fulcrum (P2) switches its reference attitude with respect to the traveling aircraft (10) to the forward upward attitude, and the center float (9) swings at the rear fulcrum (P2). ) becomes longer, the reference attitude with respect to the traveling body (10) is switched to a forward downward attitude.

A bending link (2) provided on this sensor rod (23)
7) is referred to as the attitude switching mechanism (B) of the center float (9).

Next, a linkage mechanism (C) between the wheel lifting mechanism (A) and the posture switching mechanism (B) will be explained.

The balance arm (13) of the lifting cylinder (12) for lifting heavy wheels.
) and the refractive link (27), the connecting rod (28
) and a swinging link (29), and one end of the connecting rod (28) is connected to a bending link (27).
). On the other hand, the AN bending link (27) is biased in the direction of expansion and contraction by a tension spring (30).

Therefore, as shown in Figure 1, for example, the plowing platform becomes deeper,
When the propulsion wheel (8) descends, the linkage mechanism (C) operates in the direction of the arrow, and the bending link (27) extends.

Based on the above conditions, if the entire length of the sensor rod (23) at the midpoint position of the wheel (8) is taken as the reference length, and the wheel (8) is lowered from that point, the length of the sensor rod (23) is It becomes longer and becomes shorter as the wheel (8) rises. Therefore, the deeper the tiller is, the longer the sensor rod (23) becomes, and the center float (9) switches the reference attitude with respect to the traveling body (10) to the forward downward attitude. therefore,
It is possible to reduce variations in the planting depth of the seedling planting device (6) attached to the traveling body (10) that tilts backward due to reverse torque. The attitude of the center float (9) with respect to the aircraft described above refers to the attitude in the neutral state of control, where the ground pressure of the center float (9) and the wheel elevation are in a stable state in balance.

[Another example]

■ As shown in FIG. 4, a rod-shaped mud hardness detection sensor (31) whose lower end is grounded is provided as a sensitivity adjustment mechanism for the ground sensor (9), and this mud hardness detection sensor (31), Setting spring (26) for grounding bias of center float (9)
In conjunction with the center float (9) as a ground sensor,
) is configured to increase the set spring biasing force so that the harder the mud surface is, the more sensitive it becomes. Therefore, the mud hardness detection sensor (31) and the refraction link (27) are linked by a wire (32), and the mud hardness detection sensor (
The bending link (27) is extended so that the center float (9) swings upward, and the center float (9) is switched to a forward and downward position.

The above case is suitable for the automatic sensitivity change structure using the mud hardness detection sensor (31), but the center float (
9), which uses a manually operated lever (33) as a sensitivity adjustment mechanism for changing the sensing sensitivity, has a similar configuration as shown in FIG. In other words, the manual operation lever (33), the setting spring (26) and the bending link (27) may be linked by wire, respectively.

(2) The wheel lifting mechanism (A) may be one in which the wheel is lifted and lowered directly by an actuator (but is not limited to the one described above).

■ Center float (9) as posture switching mechanism (B)
The rear fulcrum may be vertically displaced with respect to the attachment point on the body side, or the sensor lower F' (23) itself may be vertically swung around the pivot point on the body side.

(2) As the linking mechanism (C), other mechanisms than the combination of the connecting rod (28) and the connecting link (29) may be considered, or a bush-pull wire or the like may be used. Alternatively, the bending link (27) is driven by an actuator, and this actuator is operated based on the detection result of a sensor that detects the amount of expansion and contraction of the lifting cylinder (12), so that the center float is adjusted according to the plowing depth. (9) Electrical control may be used to switch the posture.

■ The working device may be a fertilizing device or a direct sowing device alone.

(2) The ground sensor (9) may be a small sled type used as the mud hardness sensor described above instead of a float type, and is not limited to a float type.

■4; The propulsion wheel described in I may be of the -φ square type.

It should be noted that the present invention is not limited to the structure shown in the accompanying drawings by adding reference numerals in the claims for convenient comparison with the drawings.

[Brief explanation of the drawing]

The drawing shows an example of a walking type paddy field work machine according to the invention,
FIG. 1 is a side view showing the posture switching mechanism, FIG. 2 is an overall side view, FIG. 3 is an overall plan view, and the fourth circle is a side view showing a state in which the mud hardness detection sensor and the attitude switching mechanism are linked. FIG. 5 is a side view showing a state in which the sensitivity adjustment mechanism and the attitude switching mechanism are linked. (A)... Wheel lifting mechanism, (B)...
・Attitude switching mechanism, (C)...Linkage mechanism, (6)
・・・・・・Working device, (8)・・・Propulsion heavy wheels,
(9)... Ground sensor, (lO)...
・Traveling body, (26)... Ground biasing mechanism, (3
1), (33)... Sensitivity adjustment mechanism.

Claims (1)

[Claims] 1. A pair of left and right propulsion wheels (8) or a single propulsion wheel (8) based on vertical movement due to ground pressure fluctuations of the ground sensor (9).
A walking paddy field working machine equipped with a lifting control means for maintaining the height of the working device (6) above the ground at a predetermined height by changing the height of the working device (6) relative to the machine body using a wheel lifting mechanism (A),
An attitude switching mechanism (B) is provided that changes the reference attitude of the ground contact sensor (9) relative to the aircraft during neutral control, and the lower the propulsion wheel (8) is located with respect to the traveling aircraft (10), the more the ground contact is reduced. The attitude switching mechanism (
A walking type paddy field working machine in which the wheel lifting mechanism (A) and the wheel lifting mechanism (A) are linked by a linking mechanism (C). 2. A pair of propulsion wheels (8) on the left and right or a single propulsion wheel (8) based on the vertical movement due to ground pressure fluctuations of the ground sensor (9).
A walking paddy field working machine equipped with a lifting control means for maintaining the height of the working device (6) above the ground at a predetermined height by changing the height of the working device (6) relative to the machine body using a wheel lifting mechanism (A),
A posture switching mechanism (B) is provided to change the reference posture of the ground sensor (9) relative to the aircraft during neutral control, and a ground biasing mechanism (B) for the ground sensor (9) is provided as the mud surface becomes harder.
Sensitivity adjustment mechanisms (31) and (33) of the ground sensor (9) are provided to increase the biasing force of the ground biasing mechanism (26).
), the attitude switching mechanism (B) and the sensitivity adjustment mechanisms (31) and (33) are linked so that when the biasing force of the ground sensor (9) is increased, the reference attitude of the ground sensor (9) relative to the aircraft is automatically switched to the forward downward attitude. Walking-type paddy field work machine linked in (C).