JPH0685642B2 - Walk-type paddy work machine - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of use] The present invention relates to a lifting control device for keeping the height of a body from a mud surface constant by vertically moving the left and right wheels up and down simultaneously by the lifting cylinders, and the left and right wheels. The present invention relates to a walk-behind paddy work machine equipped with a rolling control device that keeps the machine body parallel to the mud surface by changing the relative height with a rolling cylinder.

[Conventional technology]

As a walk-behind work machine equipped with both of the above control devices, for example, as disclosed in Japanese Utility Model Laid-Open No. Sho 61-31012 and Japanese Patent Laid-Open No. Sho 61-152208, a sensor float arranged between the left and right traveling wheels. It is known to detect the vertical displacement and rolling displacement of the.

[Problems to be solved by the invention]

Since the sensor float swings up and down at the rear fulcrum, the sensor float that is long in the front and rear moves sensitively up and down with the ups and downs of the airframe. However, highly accurate rolling control was difficult.

Of course, it is also versatile to make the front part of the sensor float wider than the left and right traveling wheels so that it has high rolling sensitivity, but according to this, the aircraft at the edge of the ridge When turning the aircraft in a forward-down posture to change direction, the front wide part of the sensor float is pressed against the rice field and mud pushing tends to occur, so it is not possible to unnecessarily widen the front part of the sensor float. It was impossible.

The present invention has been made paying attention to such a point, and is a walking type capable of accurately performing rolling control during planting and traveling, and also capable of changing the direction of the airframe with a small amount of mud pushing on the ridge. The purpose is to provide a paddy working machine.

[Means for solving problems]

A feature of the present invention is that the walking type paddy work machine mentioned above is provided with a center float that moves up and down to detect the height of the airframe with respect to the mud surface in a state of protruding forward from between the left and right wheels, and A pair of side floats that can move up and down independently on the rear lateral outside are provided, and a pair of crankshafts that rotate in the same direction around the same axis in conjunction with the vertical movement of the side floats in the same direction are arranged opposite to each other. Then, crank arms having different projecting directions by 180 ° are provided on both opposite sides of the both crankshafts, and the arms are connected over both ends of the crankarms, so that the displacement of the substantially central portion of the arm from the shaft center is caused by the machine body. Is configured to be detected as an inclination with respect to the mud surface, and its operation and effect are as follows.

[Action]

When configured as described above, during normal planting work,
The left and right tilts of the machine body are sharply detected based on the side floats behind the left and right wheels, and the vertical movement of the machine body is detected by the center float.

The inclination detection by the side float is performed as follows.
That is, when the airframe leans to one side and one side float is displaced upward, the displacement of the side float (18a) is linked to the crankshaft (19A) linked to the side float (18a) as shown in FIGS. 1 and 3. ) And crank arm (19a)
And the arm (22) is rotated around the connection point with the other crank arm (19b). When the arm (22) operates in this way, the center of the arm (22) deviates from the axis (P ₄ ) which is the axis of rotation of the crankshafts (19A) and (19B), and the arm (22). The displacement of the center of is detected as the tilt of the airframe.

Also, the aircraft sinks and the left and right side floats (18a),
When (18b) is displaced upward, both crankshafts (19A) and (19B) rotate in the same direction as shown in FIG. 4, but the crank arms (19a) and (19b) protrude. Since the directions are opposite to each other, the arm (22) rotates around the axis (P ₄ ), and the center of the arm (22) is not displaced from the axis (P ₄ ). Of.

When the rear part of the machine body is lifted at the time of turning the machine body on the edge of the ridge, the side float is separated from the mud surface, and only the part of the center float projecting forward from the wheel is in a grounded state. Since the lateral width of the center float is close to the distance between the wheels or is narrow, the body turning is performed in a state where the mud pushing phenomenon is small.

〔The invention's effect〕

As described above, according to the present invention, during normal planting traveling, the side float that grounds with a wide span can detect lateral inclination of the aircraft sensitively to perform highly accurate rolling control, and to front the aircraft at the ridge. It has become possible to perform turning with tilting down with a little mud pushing.

〔Example〕

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

As shown in FIG. 7, a transmission case (1) having wheels (2) for traveling at its ends is swingably mounted around the horizontal axis (P ₁ ) to support the machine body, and at the same time, in front of the machine body. A walk-type rice transplanter is provided with an engine (3) in its part and a planting device (eg, a planting claw (4) and a seedling stand (5)) and a steering handle (6) in the rear of the machine. There is.

The vertical movement structure of the wheel (2) will be described in detail below.
As shown in FIG. 7 and FIG. 7, the balance arm (10) is swingably supported around the vertical axis of the tip of the piston rod (9a) of the single-acting lifting cylinder (9) fixed to the machine body. Both ends of the balance arm (10) and an operation arm (1a) standing on the boss portion of the transmission case (1) are connected via a rod (11) and a rolling cylinder (12), and an elevating cylinder. The left and right wheels (2) are simultaneously moved up and down by the expansion and contraction operation of (9). Then, the balance arm (10) is oscillated by the tip of the piston rod (9a) by the expansion and contraction operation of the rolling cylinder (12), and the left and right wheels (2) are operated by the anti-reverse vertical movement.

Next, the center float (7) for detecting the vertical movement and the lateral tilt of the airframe will be described in detail. As shown in FIGS. 1, 2, 5, and 6, the center float (7) has left and right wheels (2).
It is arranged between the left and right wheels (2) so as to project forward, and can swing up and down around the horizontal axis (P ₂ ) at the rear of the machine body, around the front and rear axis (P ₃ ) of the machine body. It is mounted so that it can be rolled freely.

As shown in FIG. 5, the front part of the center float (7) is connected to the lift control valve (23) via the link (24).
It is linked with. The lift control valve (23) supplies and discharges hydraulic oil to and from the lift cylinder (9). When the body sinks into the mud surface and the center float (7) is lifted by buoyancy, the lift control valve (23) moves up and down. The control valve (23) is operated to the pressure oil supply side, and the left and right wheels (2) are operated to be lowered to correct the sinking of the airframe. On the other hand, when the airframe floats above the mud surface, the center float (7) descends, the lift control valve (23) is operated to the oil drain side, and the left and right wheels (2) are operated to rise.

As shown in FIGS. 1 and 2, auxiliary floats (8) are provided on the left and right of the front part of the center float (7),
The rolling operation of the center float (7) is performed by operating the operation arm (13) provided on one auxiliary float (8) to the bell crank (14), the connecting rod (15), and the balance crank (1).
It is transmitted to the rolling control valve (17) for the rolling cylinder (12) via 6). As a result, the rolling cylinder (12) is expanded and contracted, and the left and right wheels (2) are operated so that the machine body is parallel to the mud surface.

Side floats (18
a) and (18b) are vertically swingable around the horizontal axis (P ₂ ), and the distance between both side floats (18a) and (18b) is smaller than that of the auxiliary float (8) at the front of the machine. Is set large enough to be installed. The side float (18
Above the a) and (18b), crankshafts (19A) and (19B) rotatably supported around the shaft center (P ₄ ) are arranged, and the crankshafts (19A) and (19B) are arranged. And one end of the side floats (18a) and (18b) are interlockingly connected to each other via a connecting rod (20).

A linkage rod (21) is arranged in the center of the machine body so as to be slidable in the front-rear direction, and one end of the linkage rod (21) is connected to an arm (16a) extended from the balance crank (16). . A rotatable arm (22) is attached to the other end of the linking rod (21), and the other ends of the crankshafts (19A) and (19B) have crank arms (19a), which project in different directions by 180 °, (19b) is attached, and the arm (22) is connected to both ends of the crank arms (19a) and (19b) with a long hole for flexibility. Then, the inclination detection based on the side floats (18a) and (18b) is as described in the item of [Operation].

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

[Brief description of drawings]

Drawing shows an embodiment of a walk-behind paddy work machine according to the present invention,
FIG. 1 is a perspective view showing a linked state of rolling control and left and right side floats, FIG. 2 is a front view around a center float, and FIG. 3 is a side view showing a state of an arm when the body is tilted to the left, FIG. 4 is a side view showing a state of the arm when the vehicle body is sinking, FIG. 5 is a side view showing a linked state of the center float and the lifting control valve, and FIG. 6 is a wheel lifting structure and a center float, FIG. 7 is a plan view around the side float, and FIG. 7 is an overall side view of the walk-behind rice transplanter. (2) …… Wheels, (7) …… Center float, (9)
…… Lifting cylinder, (12) …… Rolling cylinder,
(18a), (18b) …… Side float, (19A), (19
B) …… Crankshaft, (19a), (19b) …… Crank arm, (22) …… Arm, (P ₄ ) …… Axis core.

Claims (1)

[Claims] 1. A lifting control device for keeping the height of the airframe from the mud surface constant by vertically moving the left and right wheels (2) simultaneously with the lifting cylinder (9), and the relative heights of the left and right wheels (2). A walking float type paddy working machine equipped with a rolling control device for changing the rolling cylinder (12) to keep the machine body parallel to the mud surface, which is a center float that moves up and down to detect the height of the machine body with respect to the mud surface. A pair of side floats (18a) and (18b) independently movable up and down are provided on the rear lateral outside of the left and right wheels (2), while (7) is provided so as to project forward from between the left and right wheels (2). A pair of crankshafts (19A) and (19B) that rotate in the same direction around the same shaft center (P ₄ ) in conjunction with the vertical movement of the side floats (18a) and (18b) in the same direction. The two crankshafts (19A) and (19B) facing each other. Projecting directions 180 ° different crank arm (19a), (19b) and provided the crank arm (19a), the arm over at both ends of (19b) (22)
The walking type paddy work machine configured to detect the displacement of the arm (22) from the axial center (P ₄ ) as an inclination with respect to the mud surface of the airframe.