JPH07110172B2 - Device for parallel posture recovery of paddy work machine - Google Patents

Description

TECHNICAL FIELD The present invention relates to a device for returning a parallel posture of a body of a paddy working machine such as a rice transplanter, a fertilizer applicator, and a seeder.

[Problems to be Solved by Prior Art and Invention] Generally, in this type of paddy working machine, a swingable balance mechanism connected to the left and right traveling wheels is provided, and swing control of this balance mechanism is performed. The so-called rolling control is performed so that the machine body does not tilt to the left or right due to the unevenness of the cultivator during work traveling. In some cases, the rolling control is positively performed by using a dedicated rolling control cylinder mechanism connected to the balance mechanism.

By the way, when the aircraft is traveling, traveling on the road, or traveling in reverse, the left and right traveling wheels are simultaneously lowered greatly,
As a result, the aircraft will be raised higher than the work area, but in this case, the left and right sensing floats that perform rolling sensing are both suspended in the air,
As a result, when the left and right traveling wheels are not in parallel with the aircraft, it will rise in the non-parallel posture state without any correction, and the aircraft lacks stability. There is a problem that the operation for avoiding is complicated and troublesome, which is a problem.

[Means for Solving Problems] The present invention has been made in view of the above circumstances, and was devised with the object of providing a parallel posture returning device for a fuselage in a paddy work machine that can eliminate these drawbacks. . The present invention provides a balance mechanism for posture control in which the left and right traveling wheel sides are respectively connected to corresponding end portions, and an intermediate portion is swingably supported, and parallel movement without swinging of the balance mechanism. The lifting control cylinder of the machine that is linked to the balance mechanism to control the left and right traveling wheels simultaneously, and the balance that swings without the parallel movement of the balance mechanism to control the anti-elevation of the left and right traveling wheels. The rolling control cylinder, which is linked to the mechanism, and the balance mechanism, which is moved by the operation of the lifting control cylinder to raise the machine body to a height above the work area, face the moving balance mechanism in a swinging posture. And a swing sensing means mounted so as to swing so as to perform this sensing operation when the swing sensing means is provided.
The rolling control cylinder is linked to a rolling detection control mechanism that controls the operation of the rolling control cylinder, and the rolling control cylinder is operated so that the left and right traveling wheels return to parallel to the machine body based on the sensing operation of the swing sensing means. It is characterized by that.

Further, in this structure, the rolling detection in the rolling detection control mechanism is performed by using the left and right sensing floats that are vertically swingable, and the sensing float has a height above the work area of the aircraft. Then
It may be characterized in that a sensing float storage means is provided for raising the left and right traveling wheels to the storage posture in response to the parallel return of the wheels.

Further, according to the present invention, the left and right traveling wheels are automatically returned to parallel to the machine body when the machine body is lifted over the work area.

[Embodiment] Next, an embodiment of the present invention will be described with reference to the drawings. In the drawings, reference numeral 1 denotes a traveling machine body of a walk-behind rice transplanter, in which an engine 2 is provided at a front portion of the travel machine body 1, and members such as a seedling placing table 3, a driving handle 4, and a planting claw 5 are provided at a rear portion thereof. The above is the same as before.

Reference numeral 6 denotes a sensing float disposed on the left and right of the front part of the machine body. A bracket 6a to which the front part of the sensing float 6 is integrally fixed is a side of an engine frame 7 provided to support the engine 2. The bracket 6a is pivotally supported on the edge portion so as to be vertically swingable, and the front end portion of the operating rod 9 is pivotally connected to the lower end portion of the bracket 6a via the support shaft 9a. On the other hand, a long hole 6c is formed in the upper part of the rod 6b whose lower end is supported on the upper surface of the rear end of the sensing float 6, and the lower end of the operation link 10 is supported at the rear end of the operation rod 9. Although it is pivotally connected via 9b, a spindle supported on the engine frame 7 side is provided at the upper end portion of the actuating link 10 formed in a substantially U shape.
10a penetrates. And this arm 10a has an operating arm
The boss portion 11a of 11 is rotatably supported, while the support shaft 10a is movably loosely fitted in the elongated hole 6c.

An arm piece 10b projecting from the operation link 10 is interlockingly connected to an end of the swing arm 13 via a connecting rod 12 and a link 12a. A central portion of a bracket 13a on which the swing arm 13 is rotatably supported about a shaft center is pivotally supported by a support member 14a of a rolling control valve 14 so as to be vertically swingable via a support shaft 14c, and A valve rod 14b is connected to the bracket 13a. And left and right sensing float 6
However, when the rocking arm 13 is vertically swung in the same direction at the same time beyond the interchangeable range by the long hole 6c, this motion is absorbed only by turning the rocking arm 13 about the axis center with respect to the bracket 13a, When the left and right sensing floats 6 sense and oscillate vertically, the swing arm 13 swings integrally with the bracket 13a with the support shaft 14c as a fulcrum, which causes the rolling control valve 14 to move. The valve switching operation is performed to control the sub-cylinder 22, which will be described later.

On the other hand, reference numeral 15 is a bracket integrally supported by the engine frame 7, and one end of a bullet 16 is locked to the bracket 15 while an outer receiver 17 for an actuating wire 18 described later is provided. ing. The other end of the ammunition machine 16 is locked to the actuating arm 11 and thus always biases the actuating wire 18 connected to the arm piece 11b of the actuating arm 11 in the direction in which it is always pulled. . The operating arm 11 is brought into contact with the engine frame 7 from the lower side so that further swinging by the urging force of the ammunition 16 is restricted. Further, an operating piece 11c is provided on the operating arm 11 so as to project therefrom. The operating piece 11c faces the lower surface of the ceiling portion 10c of the actuating link 10 and is the sensing float 6 as described above. There is a movement on the detection of
When is rocked to move the connecting rod 12 upward, the ceiling portion 10c separates from the operating piece 11b and rocks independently,
As will be described later, the actuation wire 18 is pulled to actuate the actuation arm 11
When the rocker swings against the ammunition 16, the actuating piece 11b contacts the ceiling surface 10c of the actuating arm from below and forces it in the same direction as when the sensing float 6 is lifted. It is set to rock.

Reference numeral 19 denotes a main cylinder which is provided at the center of the machine body in the front-rear direction and serves as a lifting control cylinder for the machine body, and guide rods 20 are provided in the front-rear direction on both left and right sides of the main cylinder 19. A bracket 21 is provided on the guide rod 20 so as to be movable in the front-rear direction. This bracket 21
Both end portions of a cylinder rod 22a of a sub-cylinder 22 serving as a rolling control cylinder are integrally fixed to both left and right end portions of the. On the other hand, a double-acting cylinder cylinder 22b connected to the rolling control valve 14 via an oil pipe 23.
Is provided on the cylinder rod 22a so as to be movable in the left-right direction, and at the tip of the cylinder rod 19a of the main cylinder 19, the central portion of the first balance arm 24, which constitutes the balance control mechanism for the left-right direction, is a spindle. It is pivotally supported via 25 so that it can swing horizontally. The left and right ends of the balance arm 24 are interlockingly connected to the traveling wheels 27 via members such as a connecting rod 26 and a swing case 26a.

Further, an operating arm 28 is extended toward the sub-cylinder 22 side at the center upper portion of the balance arm 24, and is projected from the cylinder cylinder 22b in a long hole-like locking hole 28a formed at the tip thereof. The pin 22c is engaged. And for example center float 2
When the main cylinder 19 expands and contracts in the front-rear direction due to the vertical swing detection of 9 or the switching operation of the horizontal control valve 30 based on the lever operation, the first balance arm 24 moves in its position without swinging. Move back and forth in parallel,
As a result, the left and right traveling wheels 27 are simultaneously moved up and down to control the height of the machine body. On the other hand, when the machine body tilts left and right due to the unevenness of the cultivator, etc., and this is detected by the contradictory up and down detection operation of the sensing float 6, the rolling control valve 14 is switched as described above, and the sub cylinder 22 is a connecting rod on the side where the body is inclined low (that is, the side where the sensing float 6 is raised).
It is set so that the first balancer arm 24 is oscillated so that the traveling wheels on the side are lowered by moving 26 backward, and the left and right postures of the machine body are maintained substantially constant with respect to the field scene.

Reference numeral 31 is a support member integrally assembled with the body frame side together with a stay 20a provided to support the rear end portion of the guide rod 20, and at the front end portion of the support member 31, the actuation wire 18 is attached. The outer receiver 31a is integrally formed, but a guide portion 31b formed by bending in a substantially U shape at the rear end portion.
Is provided. Further, 32 is a second balance arm for returning, a central portion 32c of the second balance arm 32 is slidably fitted to the guide portion 31b, and a pin shaft 32a protruding in the center in the left-right direction thereof. Is rotatably engaged with a guide hole 31c formed in the guide portion 31b and directed in the front-rear direction. The second balance arm 32
The left and right end portions of the left and right are connected in a state where the left and right actuating wires 8 are crossed left and right in the middle, and substantially the limit position of the rearward movement of the first balance arm 24, that is, the main cylinder 19 is greatly extended and the machine body height is increased. The operating piece 32b is provided so as to interfere with when the position exceeds the working area and moves from the field scene to the position corresponding to the lifted non-working area position.

And now, the state in which the first balance arm 24 is swinging back and forth around the support shaft 25 as a fulcrum, that is, the state in which the machine body is inclined (not parallel to) the left and right traveling wheels 27 (in this case, the first balance). When the main cylinder 19 extends and the body posture rises to the non-working area while the arm 24 is swinging back and forth so that the side of the traveling wheel 27 that is descending is rearward, the arm 24 of the first balance arm 24 The rear swinging end side interferes by pushing it against the actuating piece 32b of the second balance arm on that side, and pushes it back, whereby the second balance arm 32 has the pin shaft 32c as a fulcrum. When the guide hole 31c is moved backward while swinging back and forth in the same direction as the balance arm 24, the swing of the first balance arm 24 is sensed, and the operating wire 18 on that side is pulled. . As a result, the actuating link on the opposite side of this tensioned side
11 swings in the direction of the arrow, whereby the operating arm 10 on the opposite side also swings integrally as described above to lift the connecting rod 12 on the corresponding side, and the traveling wheel 27 is raised. The same state as when the sensing float 6 on the rising side senses the upward movement is set, whereby the rolling control valve 14 is switched so as to lower the traveling wheel 27 on the rising side, whereby the sub cylinder 22 operates to control the swing of the first balance arm 24 so as to be parallel to the left-right direction, and thus the left and right traveling wheels 27 are automatically returned so as to be parallel to the machine body.
Moreover, in this device, the second balance arm 32 automatically pulls the left and right actuating wires 18 rearward by the amount corresponding to the guide hole 31c in time with the first balance arm 24 returning to the left-right parallel state. . When the actuation wire 18 is pulled,
As described above, the actuating arm 10 swings so as to lift the connecting rod 12, but at this time, the actuating rod 9 is also forcibly moved rearward, and as a result, the sensing float 6 is raised by the corresponding movement amount. Is set so that when the first balance arm 24 is in the left-right parallel state and both operating wires 18 are pulled at the same time,
Both sensing floats 6 can be automatically set up in the storage position.

In the embodiment of the present invention configured as described above, the lateral rolling control of the vehicle body during traveling of the paddy field is performed by the operation of the sub-cylinder 22 accompanying the vertical sensing swing of the lateral sensing float 6 and the forward and backward pitching of the vehicle body. Center float is used for control, and for lifting and lowering the aircraft when traveling.
29 sensing operation, or expansion / contraction operation of the main float 19 accompanying the switching operation of the operating lever, respectively. Now, the first balance arm is now controlled by rolling control.
When 24 wants to extend the main cylinder 19 greatly for the purpose of traveling or traveling in reverse while the body 24 swings back and forth around the support shaft 25 as the fulcrum, and the left and right traveling wheels 27 are attached to the body, On the other hand, it automatically returns to the parallel posture.

That is, as described above, the main cylinder 19 extends with the first balance arm 24 swinging back and forth about the support shaft 25 as a fulcrum, and the traveling wheels 27 are lowered with respect to the machine body to lift the machine body from the field scene. Position in the non-working area, the end portion of the first balance arm 24 swinging to the rear comes into contact with the corresponding operating piece 32b of the second balance arm 32 to interfere with it. And the second balance arm 32 follows the pin axis.
The swing of the first balance arm is sensed by swinging around 32c as a fulcrum, and the rolling control valve 14 is switched accordingly, so that the first balance arm 24 of the sub-cylinder 22 becomes parallel to the left and right. As a result, the left and right traveling wheels 27 automatically return to the parallel posture with respect to the machine body.

As described above, in the embodiment of the present invention, the left and right traveling wheels 27 are automatically in a parallel posture with respect to the machine body when the machine body is lifted higher than the work area in order to travel the machine body. Therefore, the aircraft is stabilized, and the workability is improved because the troublesome operation for parallel return is not necessary.

Moreover, in the case where the machine body is lifted high beyond the work area, the sensing float 6 is lifted from an unstable suspended state to maintain the storage posture in response to performing the automatic parallel return operation as described above. As a result, the sensing float 6 can be effectively protected, and it is possible to prevent the sensing float 6 from being deformed or damaged by being immersed in the field or hitting an obstacle when traveling backward.

Then, the lifting operation of the sensing float 6 to the stored posture is performed only by the amount that the second balance arm 32, which detects whether the first balance arm 24 is swinging, corresponds to the parallel return and the guide hole 31c. Both of the sensing floats 6 are lifted to the storage posture by the backward movement, so that it is not necessary to separately provide a storage means for the detection floats 6, and the structure can be simplified and the members can be effectively used.

[Advantageous Effects] In short, since the present invention is configured as described above, the lifting control cylinder is operated to move the machine while the attitude control balance mechanism is swinging to operate the machine. When the robot is lifted over the work area, the swing sensing means senses the swing of the balance mechanism, and based on the sensing result, the rolling sensing control mechanism causes the rolling control cylinder to move to the left and right traveling wheels. The parallel return of the left and right traveling wheels to the airframe is automatically performed as the airframe is raised higher, and as a result, the airframe stabilizes. The workability can be improved by eliminating the need for the parallel return operation which was necessary in the past.

In addition, in this structure, the rolling detection in the rolling detection control mechanism is performed by using the left and right sensing floats that are vertically swingable, and the sensing float has a height above the work area of the machine body. If a sensing float storage means is provided to raise the vehicle and raise the left and right traveling wheels in parallel to the machine body in response to the parallel return to the machine body, the sense float will be detected when the machine body is lifted high. It is prevented from hanging in the air and becoming unstable, and it is automatically set to a high storage posture. Therefore, it is not necessary to store the sensing float, and the sensing float can be protected and can be protected from being deformed or damaged by hitting an obstacle.

[Brief description of drawings]

BRIEF DESCRIPTION OF THE DRAWINGS The drawings show an embodiment of a parallel attitude restoring device for a body of a paddy working machine according to the present invention, wherein FIG. 1 is a side view of a walk-type rice transplanter, and FIG. Third
FIG. 4 is a side view showing the operating posture of the sensing float unit, FIG. 5 is a front view of the rolling control valve unit, FIG. 6 is a side view of the same, FIG. 7 is a plan view of the same, and FIG. FIG. 9 is a plan view of the control cylinder portion, FIG. 9 is a side view of the same, FIG. 10 is a rear view of the same, FIG. 11 and FIG. 12 are plan views, side views, and FIGS. Is a plan view, front view, side view of the second balance arm, FIGS. 14A, B, C are plan views, front views, side views of the operating links, and FIGS. 15A, B are plan views, side views of the operating arms. Figure, 16th
FIGS. A, B, and C are plan views, front views, and side views of the support member, and FIG. 17 is a schematic perspective view of the sensing float unit. In the figure, 1 is a traveling body, 6 is a sensing float, 10 is an operating link, 11 is an operating arm, 18 is an operating wire, 19 is a main cylinder, 22 is a sub-cylinder, 24 is a first balance arm, 27 is a traveling wheel, Reference numeral 31 is a support member, and 32 is a second balance arm.

Claims (2)

[Claims] 1. A balance mechanism for posture control in which left and right traveling wheel sides are respectively connected to corresponding end portions and an intermediate portion is swingably supported, and parallel movement without swing of the balance mechanism is performed. The lifting control cylinder of the machine that is linked to the balance mechanism to control the left and right traveling wheels simultaneously, and the balance that swings without the parallel movement of the balance mechanism to control the anti-elevation of the left and right traveling wheels. The rolling control cylinder, which is linked to the mechanism, and the balance mechanism, which is moved by the operation of the lifting control cylinder to raise the machine body to a height above the work area, face the moving balance mechanism in a swinging posture. And a swing sensing means mounted so as to swing so as to perform this sensing operation, and the swing sensing means is interlocked with a rolling sensing control mechanism that governs the operation of the rolling control cylinder. Parallel orientation resetting device of the aircraft in the paddy field working machine, characterized in that the arrangement for operating a rolling control cylinder so as to return parallel to the right and left running wheels can body based on sensing operation of KiYurado sensing means. 2. The rolling detection in the rolling detection control mechanism according to claim 1, wherein the left and right sensing floats which are vertically swingable are used to detect the rolling. In the paddy work machine, which is provided with a sensing float storage means for raising the vehicle to a height exceeding the area and raising the left and right traveling wheels to a storage posture in response to parallel return of the left and right traveling wheels. A device for restoring the parallel attitude of the aircraft.