JPH0313130Y2 - - Google Patents

Description

[Detailed description of the invention] (a) Industrial application field The present invention relates to an automatic body posture control device for mobile agricultural machinery for rice fields, such as a rice seeding machine, a rice field fertilizing machine, or a rice transplanter.

(b) Prior art Conventionally, as an automatic machine attitude control device for mobile agricultural machinery for rice fields, a detector was attached to the front of a float installed in the center of the wheel, and a pair of left and right sub-floors installed at the front of the machine. -It is known that the device is attached to a vehicle.

(c) Problems to be solved by the invention The first method of the automatic machine attitude control device for the known mobile agricultural machine for paddy fields has the disadvantage that the machine body tilts to the left and right when there is a difference in height between the left and right wheels. In the second method, since the detector is located far away from the wheel, the vertical movement of the wheel and the detection operation do not match, resulting in erroneous detection.

(d) Means for solving the problem The present invention provides a main float between the left and right wheels, which are raised and lowered separately by hydraulic cylinders, so as to move up and down centering on the rear part. A pair of left and right sub-floats that move up and down centering on the front part are installed on the main float.
Detectors are attached to the front part of the float and the parts corresponding to the wheels of the sub-float, and the outer part of the sub-float detector is connected to the main float's detector or a wire fixed to a member interlocking therewith. By connecting the left and right hydraulic valve arms through the The above-mentioned problem was solved by detecting the problem.

(E) Action The front and back tilting of the aircraft is detected by the detector at the front of the main float, and the left and right tilting is detected by the left and right sub-floats. Based on these detection results, the hydraulic valves are actuated to increase the hydraulic pressure. The cylinder raises and lowers the left and right wheels to control the machine body to a substantially constant posture in the front-back direction and a substantially horizontal posture in the left-right direction, thereby making the planting depth constant.

(F) Embodiment To explain a rice transplanter according to an embodiment of the present invention shown in the drawings, 1 is a main frame with a transmission mechanism inside, an engine 2 and a transmission case 3 are attached to the front part, and a rear part is attached to the main frame. A planting device 7 consisting of a transmission case 4, a seedling stand 5, planting rods 6, 6, etc. is attached to the transmission case 4, and a swing chain case 8 is attached to the shaft protruding outward from the planting case 3. , 8, a pair of left and right wheels 10, 10 are supported so as to be movable up and down.

The T-shaped main float 11, which is disposed at the lower center of the main frame 1 and whose front part protrudes to both sides, can be tilted up and down with its rear part controlled by a planting depth adjustment lever 12. The front mounting bracket 13 has a quadrilateral shape as shown in Fig. 3 when viewed from the front and rear directions, and a horizontal middle part in the front as shown in Figs. 1 and 4 when viewed from the side. Detector 1 consists of a loop-shaped frame with a hanging part and a raised rear part.
5 is rotatably pivoted.

Further, sub-floats 16, 16 are arranged at the rear of the protruding part of the main float 11 on both sides of the narrow part and inside the wheels 10, 10,
These sub-floats 16, 16 have cylindrical bodies 17, 17 erected at the front thereof, and are loosely attached to left and right support shafts 18, 18 protruding from the outer surfaces of the tilting centers of the swing chain cases 8, 8. The upper link 20 is fitted and fixed to the rear upper surface to attach the mounting brackets 19, 19, and the upper link 20 is pivoted to the support shafts 20a, 20a whose upper ends protrude from the fuselage.
20 and lower links 22, 22 having protrusions 21, 21 at their upper ends are connected to the body 1 via detectors 24, 24, which are connected by fulcrum pins 23, 23, and the swing chain case Arms 25, 25 protruding from the upper surface of the front part of 8, 8 are connected to pistons of hydraulic cylinders 27, 27 whose rear parts are pivotally supported by a lateral support rod 26 fixed to the upper surface of the intermediate part of the fuselage. There is.

Further, the hydraulic valves inserted into the hydraulic circuits of the hydraulic cylinders 27, 27 are integrated with the pumps 28, 28, and the valve arms 30, 30 fixed to the shafts of the hydraulic valves have rear ends that are sub-float. 1
The protrusion 2 of the detector 24, 24 attached to 6
1 and 21, and the outer front parts of the wires 31 and 31 are connected to the front detector 15 by outer receivers 32 and 32.
The valve arm 3 is fixed to both sides of the valve arm 3.
0 and 30 are provided with return springs 33 and 33, respectively.

Furthermore, the upper part of the front detector 15 is a T-shaped manual arm 3 which is pivotally supported on the fuselage 1 by a fulcrum pin 34.
The return spring 37 is loosely fitted into the forward protrusion of the upper pin 36a, and the return spring 37 is loosely fitted into the hole in the upper pin 36a.
The plate 38 attached thereto is connected by a wire 42 to a planting clutch lever 41 which is pivotally supported on a handle 39 by a fulcrum shaft 40, and a long hole is loosely fitted into a lower pin 36b, and a return spring 37 is attached. The play I did
The clutch lever 43 is connected by a wire 45 to a traveling clutch lever 44 which is pivotally supported by the fulcrum shaft 40, and the other ends of two other wires 46, 46 which have one end connected to the planting clutch lever 41 are , an upper link 2 protruding forward from the lower links 22, 22;
It is connected to holes in plates 47, 47 overlapped on the sides of 0, 20, and lock pins 48, 48 that fit into holes in upper links 20, 20, and the planting clutch lever 41 and traveling clutch lever 44 are As shown in FIG. 6, the guide plate 50 has a running clutch lever 44 inserted therein, and has a running guide groove 51 in which the upper part is in the engaged position, the lower part is in the off position, and the lower left side is in the neutral position (fixed). A planting clutch lever 41 is inserted into a planting guide groove 52 in which the upper part is an in position, the right side of the middle part is an off position, the lower part is a raised position, and the left side of the lower part is a neutral position.

The sub-float 16 is formed into a hollow body made of synthetic resin, and a groove 53 in the shape of a lapper (in plan view) formed at the center of the bottom extends from the front end to the rear end, as shown in FIG. As shown in FIG. 9(b), the rear part is shallow, so the widening part at the front end of the groove 53 draws in mud widely and prevents it from spreading left and right. In this case, it is possible to further compress the shallow part to stabilize the area where the seedlings are planted, thereby eliminating tumbling or floating seedlings.

Further, the thin and long main float 11 and the sub-floats 16, 16 can alleviate skidding of the aircraft body.

In the above-mentioned rice transplanter, when performing the planting work, the planting clutch lever 41 and the travel clutch lever 44 are set in the upper position as shown in FIG. 4, so that the wires 42, 45 was relaxed and the aircraft was in an automatic control state where it descended.
The lock pins 48, 48 are pulled into the released state by the wires 46, 46.

During the planting work, when the main float 11 moves up and down centering on the rear part, the accompanying detector 15 also moves up and down, so the valve arm 30
is tilted up and down via the wire 31, which causes the hydraulic cylinders 27, 27 to expand and contract, and the wheel 1
0 and 10 are raised and lowered, and the longitudinal attitude of the aircraft body is maintained substantially constant.

Also, when one of the wheels 10 rolls on a low or high part of the tiller and the machine body tilts laterally, the sub-float 16 tilts up and down centering on the front part, The detector 24, which is installed at a position corresponding to the axle, is tilted up and down to expand and contract, and its protrusion 21 tensions and loosens the wire 31, so that one valve arm 30 is activated. The hydraulic cylinder 27 on that side expands and contracts, and the aircraft travels while being adjusted to a substantially horizontal posture in response to the elevation and descent of the wheels 10.

The main float 11 and the sub float 1
Since the aircraft attitude control by 6 and 16 is performed both individually and simultaneously, the aircraft always travels with an appropriate attitude.

Then, when the planting clutch lever 41 is tilted downward from the upper engagement position and set to the off position in order to rotate the machine, the wire 42 is connected to the manual arm 3.
5 is pulled, the front sensor is pulled up, thereby switching the hydraulic valve, and the wheels 10, 10 are connected to the hydraulic cylinders 27, 27.
27 and the body rises, and at the same time the wires 46, 46 are also relaxed, so that the locking pin 48 locks the detector 24 by the return spring.

When the machine finishes rotating and sets the planting clutch lever 41 to the upper position, the wire 42 is relaxed and the detector 15 is lowered, so that the wheels 10, 10
is raised and the body returns to the lowered planting attitude, and at the same time the wires 46, 46 are pulled, so the detector 24 is unlocked.

Also, when driving on the road, the planting clutch lever 4
1 to the lowest raised position to raise the body, then set it to the neutral position and fix it in the raised position, and in this state set the travel clutch lever 44 to the engaged position.

When the travel clutch lever 44 is set from the upper engaged position to the lower off position after driving on the road, the wire 45 pulls the lower pin 36b of the manual arm 35, causing the detector 15 to descend, causing the wheel 10,10 rises and the aircraft descends. When this lowering is completed, the traveling clutch lever 44 is set to the neutral position.

In the above-mentioned embodiment, a rice transplanter was explained as an example of a mobile agricultural machine for paddy fields, but paddy field fertilizers, paddy seeding machines, etc. are also applicable to paddy fields and wheels 10, 1.
Since the conditions for controlling the attitude of the machine in relation to zero and float are the same, it can be applied to this type of float sensing type mobile agricultural machine for paddy fields.

(g) Effects of the invention As mentioned above, the present invention
A main float 11 is provided between the left and right wheels 10, 10, which are raised and lowered separately by 7, so as to move up and down centering on the rear part.
A pair of left and right sub-floats 16, 16 are disposed on both sides of the main float 11 and move up and down centering on the front part, and the parts corresponding to the front part of the main float 11 and the wheels 10, 10 of the sub-floats 16, 16 are disposed on both sides of the float. The detectors 15, 24, 24 of the sub-floats 16, 16 are attached to the outer 32, 24, respectively.
32 is a wire 31, 31 fixed to the detector 15 of the main float 11 or a member interlocking therewith;
Since the left and right hydraulic valve arms 30, 30 are connected to the left and right hydraulic valve arms 30, 30 through the
The detectors 24, 24 of No. 6 are parts corresponding to the wheels 10, 10, and can accurately detect the inclination of the aircraft in the left-right direction, and can accurately and quickly control changes in the attitude of the aircraft in the longitudinal and lateral directions. .

[Brief explanation of the drawing]

The drawings show one embodiment of the present invention,
Figure 1 is a side view of the rice transplanter, Figure 2 is a plan view of the main parts, Figure 3 is a diagram showing the connection of the detection device, Figure 4 is a side view of the same, Figure 5 is the planting clutch lever and travel. A plan view of the clutch lever, Fig. 6 is a rear view of the guide plate, Fig. 7 is a plan view of the sub-float,
Figure 8a is a sectional view taken along line A-A in Figure 7, and figure b is the same as above.
It is a sectional view of B. 10...Wheel, 11...Main float, 1
5, 24...Detector, 16...Sub float, 3
0... Valve arm, 31, 42, 45... Wire.

Claims (1)

[Claims for Utility Model Registration] (1) A main float 11 is provided between the left and right wheels 10, 10 which are raised and lowered separately by hydraulic cylinders 27, 27 so as to move up and down centering on the rear part. - A pair of left and right sub-floats 1 on both sides of the float 11 that move up and down centering on the front part.
Detectors 15, 24, 2 are provided at the front of the main float 11 and at the portions of the sub-floats 16, 16 corresponding to the wheels 10, 10, respectively.
4, and the outer parts 32, 32 connect the detectors 24, 24 of the sub-floats 16, 16 via wires 31, 31 fixed to the detector 15 of the main float 11 or a member interlocked therewith. An automatic body attitude control device for a mobile agricultural machine for paddy fields, characterized in that it is connected to left and right hydraulic valve arms 30, 30, respectively. (2) The main float 11 is formed into a T-shape with the front part protruding to both sides, and the left and right sub-floats 1
6, 16 are disposed on both sides of the narrow portion of the main float 11 and inside the wheels 10, 10. The body attitude control device for a mobile agricultural machine for paddy fields as claimed in claim 1.