JPH0631852Y2 - Paddy work machine - Google Patents

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to attitude control of a paddy working machine represented by a rice transplanter.

[Conventional technology]

For example, in a riding-type rice transplanter, in order to keep the depth of planting seedlings constant, a raising / lowering control is performed to keep the height of the seedling planting portion (corresponding to the machine body) constant from the rice field.

In recent years, a rolling control for positively correcting the left and right inclination of the seedling planting part to keep the seedling planting part parallel to the rice field has been researched and proposed. An example of a riding type rice transplanter to be carried out is Jikho Sho 57-321.
No. 7 publication.

[Problems to be solved by the invention]

In the above-mentioned structure, the grounding sensor is attached to the left and right of the seedling planting section (corresponding to the body) independently so as to be vertically movable, and the raising and lowering control of the seedling planting section is performed based on the simultaneous vertical movement of the grounding sensor. Then, the rolling control of the seedling planting section is performed based on the relative vertical movement difference between the left and right ground sensors.

In this structure, based on the detection of a pair of ground sensors,
Although it is a configuration that can perform lifting and rolling control, the tilt of the seedling planting section can be tilted only when the control valve for raising and lowering control is in the neutral position, that is, when the raising and lowering operation of the seedling planting section is temporarily stopped. It is structured so that it is not transmitted to the control valve for rolling control.

As a result, the raising / lowering control of the seedling planting section is prioritized and the rolling control is performed after the raising / lowering control is completed, so the rolling control of the seedling planting section may be delayed. There is room for improvement.

An object of the present invention is to configure the lifting control and the rolling control so that they are always properly performed.

[Means for solving problems]

The feature of the present invention resides in that the posture change detection system for the paddy working machine with respect to the rice field is configured as follows.

Equipped with ground sensors that can move up and down independently on the left and right sides of the machine body, and a pair of crankshafts that rotate in the same direction around the same axis center in conjunction with the vertical movement of both ground sensors in the same direction are arranged opposite to each other. A first crank arm having a different projecting direction of 180 ° is fixed to both opposite sides of the shaft, and the first arm is rotatably and erected over both ends of the first crank arm, and a center point of the first arm is provided. Is configured so that the displacement from the shaft center of the aircraft is taken out as an inclination with respect to the plane of the aircraft, the second crank arms projecting in the same direction are fixed to both crankshafts, and the second arm is laid across both second crankarms. Then, the displacement of the central portion of the second arm is taken out as a vertical displacement with respect to the plane of the aircraft.

[Action]

When configured as described above, it is assumed that the airframe tilts to one side and the ground sensor (6a) on one side is displaced, as shown in FIGS. 5 and 2, for example.

As a result, the crankshaft (7
a) and the first crank arm (18a) rotate, and accordingly, the first arm (9) rotates around the support point with the other first crank arm (18b). When the first arm (9) operates in this way, the center point of the first arm (9) deviates from the axial center (P ₃ ), and the displacement of the center point of the first arm (9) is detected as the tilt of the aircraft. Is done.

Then, for example, as shown in FIGS. 6 and 2, it is assumed that the entire body sinks and the left and right ground sensors (6a) and (6b) are simultaneously displaced upward.

In this case, both crankshafts (7a) and (7b) rotate in the same direction, but as shown in FIG.
Since the protruding directions of 8a) and (18b) are in the opposite directions, the first arm (9) rotates around the axis (P ₃ ) and the center point of the first arm (9). Is not displaced from the shaft center (P ₃ ),
The tilt of the aircraft will not be detected.

Next, the change in height of the airframe from the rice field is detected by the second crank arm.

In this case, for example, as shown in FIGS. 3, 5 and 6, since the second crank arms (19a) and (19b) extend from both crankshafts (7a) and (7b) in the same direction, Even if both the ground sensors of the above are displaced upwards or both ground sensors are displaced upwards, the second crank arms (19a), (19b) swing in the same direction, and the center of the second arm (20) Since the part is also displaced upward, this displacement is detected as the vertical displacement of the machine body.

[Effect of device]

As described above, the configuration in which the vertical displacement and the lateral tilt displacement of the machine body can be detected accurately by the left and right ground sensors can be obtained, and the lifting control and rolling control can always be performed accurately without priority. As a result, we were able to improve the attitude control performance of the paddy work machine.

〔Example〕

 Embodiments of the present invention will be described below with reference to the drawings.

As shown in FIGS. 8 and 7, a planting claw (2) that is rotationally driven at the rear part of the planting mission (1) and a slide drive on a guide rail (3) of the planting mission (1). A seedling planting part (5) (corresponding to the aircraft of the present invention) is configured by the seedling stand (4) and the like, and this seedling planting part (5) is wheeled through the four-link mechanism (14). A paddy rice transplanter, which is an example of a paddy field working machine, is configured by being connected to a machine body of a type.

The seedling planting part (5) is rotatably attached around the front and rear axis (P ₂ ) at the lower end of the rear end of the four-link mechanism (14).
4) A double-acting hydraulic cylinder (16) is laid across the upper part of the rear end of the seedling and the support part (15) on the rear surface of the seedling stand (4), and the hydraulic cylinder (16) is expanded and contracted. By the seedling planting department
(5) can be rolled. Then, a single-acting hydraulic cylinder (17) provided in the four-link mechanism (14)
The whole of the seedling planting part (5) can be moved up and down by expanding and contracting.

As shown in Fig. 2 and Fig. 7, the ground floats (6a), (6b) (corresponding to ground sensors) that detect vertical movement and tilt of the seedling planting part (5) move vertically independently of each other. It is freely attached, and an auxiliary float (28) for maintaining the posture is attached between both ground floats (6a) and (6b). Then, the ground floats (6a) and (6b) have rakes for erasing the passage marks of the rear wheel (25).
(22) is provided.

On the other hand, as shown in Fig. 1, the planting mission (1)
A supporting arm (12) is swingably mounted around the horizontal axis (P ₁ ) of the grounding float (6a), (6) at one end of the supporting arm (12).
b) The rear part is swingably attached. As shown in FIGS. 1 and 4, a swingable guide member (13) is extended from the front part of the grounding floats (6a), (6b),
Crank shafts (7a) and (7
The protrusion of b) is engaged, and the ground float (6a), (6b)
Is configured to be swingable up and down around the end of the support arm (12), and the entire grounding floats (6a), (6b) can be moved up and down.

The lower limit of vertical movement of the ground floats (6a), (6b) can be adjusted by a bolt type stopper (23).

Around the horizontal axis (P ₄ ) of the planted mission (1), a mud hardness sensor (29) is swingably attached, and it extends over the support arm (12) and the mud hardness sensor (29). The spring (30) is installed. As a result, when the mud on the paddy field becomes hard, the mud hardness sensor (29) swings upward, increasing the biasing force of the ground contact floats (6a), (6b) toward the downward movement side.

As shown in FIGS. 1 and 2, the crankshaft is rotatably rotatable around the lateral axis (P ₃ ) in the front part of the planted mission (1).
(7a) and (7b) are arranged in a straight line opposite to each other, and both crankshafts (7
The outer ends of a) and (7b) and the support arm (12) are linked to each other by the rod (8).
Are interlockingly connected via. On the other hand, both crankshafts
The first crank arms (18a), (18b) whose projecting directions differ by 180 ° are fixed to the opposite sides of (7a), (7b), and both end portions of the first crank arms (18a), (18b) are fixed. First arm across (9)
Has been erected. In this case, the first arm (9) is rotatably supported by the tips of the first crank arms (18a), (18b), and is installed over both tips. The center point of the first arm (9) and the control valve (10) for the hydraulic cylinder (16) for rolling operation are connected via a connecting rod (11).

Second crank arms (19a) and (19b) having the same projecting direction are fixed to both crank shafts (7a) and (7b), and both second crank arms (19a) and (19b) are connected to each other. The second arm (20) is installed. A third arm (21) is provided in the front-rear direction at the center of the second arm (20), and the front end of the third arm (21) is a hydraulic cylinder for lifting operation via a release wire (24).
The third arm (21) is linked with the control valve (17A) for (17).
A spring for urging the third arm (21) etc. downward at the rear end
(26) is provided. The rod (27) extending upward from the center of the third arm (21) is a member for guiding the vertical movement of the third arm (21) and the like.

With the above structure, for example, when the seedling planting part (5) is tilted to one side together with the airframe and the grounding float (6a) on one side is displaced upward, as shown in FIG. 5, this movement causes the support arm (12) and The crankshaft (7a) and the first crank arm (18a) are rotated in the clockwise direction of the drawing by being transmitted through the linking rod (8), and the first crank arm (18a) side of the first arm (9) is lifted. To be In this case, since the position of the second crank arm (18b) remains the same, the first arm (9) rotates around the support point with the other first crank arm (18b). When the first arm (9) operates in this way, the center point of the first arm (9) deviates upward from the shaft center (P ₃ ) which is the rotation shaft center of the crank shafts (7a), (7b). The displacement of the center point of the first arm (9) is transmitted to the control valve (10) as the inclination of the seedling planting part (5).

In this case, the second crank arm (19a) provided on the crank shaft (7a) also swings as shown in FIGS. 3 and 5, but the third arm (21) moves vertically. The displacement is
It is half the displacement of the end of the second crank arm (19a).

Control valve for rolling operation (10) and control valve for lifting operation (1
7A) is a three-position switching spool type, and the operation stroke length of the spool from the neutral position to another position in the control valve (10) for rolling operation is controlled by the control valve (17A) for lifting operation.
It is set shorter than that of the hydraulic cylinder, and when the state shown in FIGS. 3 and 5 is reached, hydraulic oil is supplied and discharged only from the control valve (10) for rolling operation, and the hydraulic cylinder By (16), the seedling planting part (5) is returned parallel to the rice field.

Then, when the entire body and seedling planting part (5) sink, and the left and right ground sensors (6a), (6b) are displaced upward,
As shown in FIG. 6, both crank shafts (7a) and (7b) rotate in the same direction, but the first crank arms (18a) and (18b)
Since the projecting directions of the first arm (9) are opposite to each other, the first arm (9) rotates around the axis (P ₃ ), and the center point of the first arm (9) is the axis (P ₃ ). ₃ ) Not displaced, seedling planting part (5)
The slope of is not detected.

However, since the second crank arms (19a) and (19b) extend in the same direction, both the second crank arms (19a) and (19b) swing in the same direction as shown in FIG. When the third arm (21) is moved, the upward displacement of the third arm (21) is
It becomes equal to the displacement at both ends of a) and (19b). Then, in such a state, the control valve (17A) for lifting and lowering operation is for the first time.
Is operated to the hydraulic oil supply / discharge position, and the hydraulic cylinder (17) operates the seedling planting part (5) to the ascending side to maintain an appropriate height from the rice field.

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

[Brief description of drawings]

The drawings show an embodiment of a paddy field working machine according to the present invention. Fig. 1 is a side view showing a state in which a grounding float and a control valve for rolling and lifting are linked, and Fig. 2 is a grounding float, a rolling and lifting and lifting control valve. FIG. 3 is a plan view showing a linked state with the control valve,
The figure shows a view from the direction of the arrow III-III in FIG.
The figure is a front view of the front part of the grounding float, Fig. 5 is a side view showing the state where the seedling planting part is tilted to the left in the traveling direction from the state shown in Fig. 1, and Fig. 6 is the state shown in Fig. 1. FIG. 7 is a side view showing a state where the whole seedling planting part is submerged, FIG. 7 is a front view around the seedling stand, and FIG. 8 is a whole side view of the riding type rice transplanter. (6a), (6b) …… Grounding sensor, (7a), (7b) …… Crank shaft, (9) …… First arm, (18a), (18b) …… First crank arm, (19a) , (19b) …… Second crank arm, (20) …… Second arm, (P ₃ ) …… Axis core.

Claims (1)

[Scope of utility model registration request] 1. A grounding sensor (6a), (6) which is independently movable up and down.
b) on the left and right sides of the fuselage, and a pair of crankshafts that rotate in the same direction around the same axis (P ₃ ) in conjunction with the vertical movement of both ground sensors (6a), (6b) in the same direction. 7a) and (7b) are arranged so as to face each other, and the first crank arms (18a) and (18b) whose projecting directions are different by 180 ° are fixed to both opposite sides of the both crankshafts (7a) and (7b). 1 crank arm (18a), over the opposite ends of the (18b), a first arm (9) and rotatably pivoted erection, the axis (9 ₃ of the center point of the first arm (9) ), The second crank arm (19a), (19b) protruding in the same direction is fixed to the both crankshafts (7a), (7b). , The second arm (20) is installed over both the second crank arms (19a), (19b), and the displacement of the central portion of the second arm (20) is taken out as vertical displacement with respect to the plane of the aircraft. Paddy work machine configured in.