JPH0670617A - Rolling device for paddy field working machine - Google Patents

Abstract

PURPOSE:To provide a rolling device enabling smooth rolling control actuation any time in accordance with change in working situation. CONSTITUTION:A seedling planting device 5 is connected to a running machine body so as to be free to make rolling motions around front and rear shafts, (A) and an energizing spring 13 for restoration to neutral attitude and (B) a hydraulic pressure damper 17 free to variably operate throttle diameter are put in between (1) the seedling planting device 5 and (2) the output section 11 of an electric motor 10 for rolling control.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention connects a ground working device to a traveling machine body so that it can roll freely around a longitudinal axis, and a neutral position urging force is applied between the output part of the rolling control actuator and the ground working device. The present invention relates to a rolling device for a paddy working machine having a spring interposed therebetween.

[0002]

2. Description of the Related Art Conventionally, in the rolling device for a paddy working machine, in order to maintain the working device in a predetermined posture against the mud surface, the rolling posture is detected by detecting the posture of the working device with respect to the ground. Is configured to automatically control the working device so that the working device always has a predetermined ground posture, and a minute rolling operation of the working device and an excessive operation of the rolling actuator due to the inclination of the traveling machine body are prevented by the buffer function of the spring. I was trying to do it.

[0003]

However, if the cushioning function by the spring is enhanced as described above, the inclination of the traveling machine body is less likely to be transmitted to the working device, and variations in working depth due to minute rolling can be prevented. However, the operation of the rolling actuator is difficult to be transmitted to the work device, and the rolling operation may not be performed promptly, resulting in slow control, and if the spring bias is increased, the rolling operation will be delayed. However, the cushioning function as described above is not sufficient, and there is an adverse effect such as the occurrence of a hunting phenomenon in rolling control, and it may be difficult to adjust the biasing force of such a spring. The present invention aims to eliminate the above-mentioned problems.

[0004]

According to the characteristic construction of the present invention, in the rolling device for a paddy working machine described at the beginning, the diaphragm diameter can be variably operated between the output part of the rolling control actuator and the ground working device. The point is that a hydraulic damper is installed.

[0005]

For example, in a field where the rolling tilt of the traveling body is severe, the tilting vibration of the traveling body can be changed to the working device by changing the throttle diameter of the hydraulic damper to a large value and setting the damper function loosely. It becomes difficult to transmit, and the work device can work along the mud surface as much as possible in a state close to the free rolling state. Also, in a field where the traveling machine body does not have a large left-right inclination, by increasing the damper function by reducing the throttle diameter, tilt vibration on the traveling machine body side can be easily transmitted, but the rolling operation by the actuator is less buffered. Thus, the rolling device is quickly transmitted to the working device to perform a quick rolling operation, and the working device can smoothly follow the mud surface.

[0006]

Therefore, the buffering force between the rolling actuator and the ground working device can be changed according to the change of the working condition, and the smooth rolling control can be always performed, and the ground working device can be always performed. It is possible to maintain the condition along the mud surface and reliably prevent the ground work depth from being different between left and right.

[0007]

Embodiments will be described below with reference to the drawings. Figure 4
Shows a riding type rice transplanter which is an example of a paddy working machine.
This rice transplanter takes out the seedlings for planting one plant at a time from the lower end of the seedling stand 2 and the seedling stand 2 which reciprocally move laterally with a constant stroke through the parallel four-link mechanism 1 at the rear of the riding type traveling body. A seedling planting device 5 (one example of a ground work device) including a planting mechanism 3 for planting in a field and a plurality of grounding floats 4 supported swingably up and down around a rear horizontal axis In addition, it is configured so that it can be freely rolled around the front-rear axis, so that seedling planting work can be performed while the machine body is running. The seedling planting device 5 is configured such that it can be driven up and down by a lift cylinder 6 and can be driven and rolled by a rolling operation mechanism 7. That is, as shown in FIG. 3, the seedling planting device 5 is rotatably supported on the lower portion of the rear link 1a of the link mechanism 1 so as to be relatively rotatable about the front-rear axis P, and is mounted on the upper portion of the rear link 1a of the link mechanism 1. A screw shaft 9 is rotatably supported horizontally across the formed left and right brackets 8, 8 and the screw shaft 9 is attached to the first electric motor 1
0 [an example of an actuator], and both left and right sides of a support rod 12 that is interlockingly connected to a female screw member 11 [an example of an output part] screwed onto a screw shaft 9 are used for urging a neutral posture. The vertical frame rods 14, 14 erected on both sides of the rear surface side of the seedling stand 2 via springs 13 are interlockingly linked to each other. That is, when the first electric motor 10 is rotated, the female screw member 11 is screwed to relatively move the whole seedling planting device 5 around the axis P. And the seedling planting device 5
Is provided with a rolling control means A for maintaining the vehicle in a substantially horizontal position. That is, the control device equipped with a microcomputer so that the detection value of the weight-type first horizontal sensor 15 attached to the rear surface side of the seedling stand 2 and detecting the tilt angle from the absolute horizontal posture is maintained in a substantially horizontal state. The first electric motor 10 for rolling operation is drive-controlled by 16 to maintain the rolling posture of the seedling planting device 5 in a predetermined state. Therefore, the rolling control means A is controlled by the control device 16
It is provided in the control program format. Although not shown, the control device is provided with an elevating control means for maintaining a predetermined ground height of the seedling planting device while detecting the amount of vertical movement based on the fluctuation of the ground pressure of the center ground float 4 in the control program.

A hydraulic damper 17 is erected and connected between the female screw member 11 and one of the vertical frame rods 14, and a space between the left and right oil chambers R1 and R2 partitioned by a piston 17a of the hydraulic damper 17 is provided. An electrically variable throttle mechanism 19 is provided in the externally connected oil passage 18 so as to adjust the cushioning force in the damper function.
As shown in FIG. 1, the variable diaphragm mechanism 19 is configured such that the diaphragm forming spool 20 is rotated by a second electric motor 21 with a speed reduction mechanism that can be driven forward and backward to change the diaphragm amount. is there. In addition, a weight-type second horizontal sensor 23 for detecting a horizontal tilt angle of the traveling body from the horizontal posture of the body.
The output of the second horizontal sensor 23 is
The control device 16 is configured to drive and control the second electric motor 21 for the diaphragm mechanism based on the detection value of the second horizontal sensor 23 to automatically change the diaphragm amount. The aperture amount control means B is provided in the control device 16 as a control program, and the control device 16 executes control as follows.

FIG. 2 shows a control flow chart of the control device 16 during work traveling in the field. First, the detection value of the second horizontal sensor 23 is read [step 1], and when the vibration width of this detection value exceeds the set value and the left and right rolling of the traveling machine body is severe, the second electric motor 21 is driven and controlled. Then, the throttling mechanism 19 weakens the throttling action to reduce the damper function, making it difficult for the lateral vibration of the traveling machine body to be transmitted to the seedling planting device 5, and keeping the seedling planting device 5 along the mud surface as much as possible. [Steps 2 and 3] and when there is not much vibration of the traveling machine body, the throttling action is strengthened and the movement of the rolling operation mechanism 7 is quickly transmitted to the seedling planting device 5, so that the rolling control is promptly performed. Set to be performed [step 4]. Next, the detection value is read by the first horizontal sensor 15 [step 5], and the first electric motor 10 is drive-controlled to perform the rolling control while judging from the detection value so that the seedling planting device 5 is maintained in a horizontal posture. Is performed [steps 6 to 8].

[Other Embodiments] The variable aperture mechanism 19 may be configured to manually change the aperture amount, instead of being automatically controlled by the electric motor 21.

It should be noted that reference numerals are added to the claims to facilitate the comparison with the drawings, but the present invention is not limited to the configurations of the accompanying drawings by the entry.

[Brief description of drawings]

[Figure 1] Control system diagram

[Fig. 2] Control flowchart

FIG. 3 is a front view of a rolling operation mechanism.

[Figure 4] Overall side view of rice transplanter

[Explanation of symbols]

 5 Ground work device 10 Actuator 11 Output part 17 Hydraulic damper

Claims (1)

[Claims] 1. A ground working device (5) is connected to a traveling machine body so as to be able to roll around a longitudinal axis, and is provided between an output part (11) of a rolling control actuator (10) and the ground working device (5). A rolling device for a paddy working machine having an urging spring (13) for returning to a neutral posture, which is a diaphragm between an output part (11) of the rolling control actuator (10) and a ground working device (5). A rolling device for paddy work machines that has a hydraulic damper (17) whose diameter can be changed.