JPH0713449Y2 - Working unit control device for paddy work vehicle - Google Patents

Description

[Detailed Description of the Invention] (b) Industrial field of application The present invention relates to a working unit control device for a paddy field work vehicle such as a riding rice transplanter and a direct flooding machine, and more specifically, it can be raised and lowered freely through an elevating link. In addition, the present invention relates to an installation structure of an actuator device for rocking control of a working unit which is rockable by a rolling fulcrum shaft.

(B) Conventional technology Generally, in paddy field vehicles, such as passenger rice transplanters, the planting part is supported by the traveling machine body so as to be able to move up and down through an elevating link.
By appropriately operating the elevating link by operating the hydraulic cylinder device, the planting portion is elevating controlled in response to the operation of the elevating operation lever. The planting part is swingably supported at the rear end of the link by a rolling fulcrum shaft and is urged and held by springs so as to be substantially horizontal. It is configured to slide and drive a large number of planters to successively plant mat seedlings loaded on a seedling stand.

(C) Problems to be solved by the device However, in the above-mentioned conventional riding rice transplanter, since the wheels travel on the cultivator in the field, the traveling body tilts irregularly during rice planting work, etc. Although the planting part floats on the field scene in the float, the planting part tilts slightly in the same direction as the traveling vehicle body tilts. For this reason, there is a possibility that a part of the laterally-arranged planters is floated up and shallowly planted, or a part of the planters is submerged and deeply planted.

Therefore, by separately swinging the planting part with an actuator device such as a hydraulic cylinder device separately from the traveling machine body, it is configured to be able to follow the field scene by always maintaining the horizontal,
A horizontal control device for the planting part that prevents the above problems is conceivable, but the planting part is provided with a large number of members such as a seedling stand, a planting part frame, and a support frame. It is difficult to install with a large-scale device,
Further, depending on the unreasonable arrangement of the actuator device, an error may occur in the left and right rolling amount of the planting portion, and smooth horizontal control may not be possible.

(D) Means for Solving the Problem The present invention has been made in view of the above circumstances, and as shown in FIG. 1, for example, as shown in FIG. In a paddy work vehicle 1 configured to be freely supported and to be swingable in a balance-like manner by a rolling fulcrum shaft 56, the working unit 10 is swung by the rolling fulcrum shaft 56. It has a working part frame 53 supported freely, a seedling stand 12 and a support frame 57 extending from the working part frame 53 to support the seedling stand 12, and a link holder 55 at the tip of the elevating link 8. Is provided, and the rolling fulcrum shaft 56 is provided at the lower end of the link holder.
A bracket 66 is fixed to the upper end portion of the link holder 55, an actuator device 67 for rolling control is attached between the bracket and the support frame 57, and the actuator device 67 extends in one direction from an arbitrary extended position of the actuator device. And a stroke length at an arbitrary extended position of the actuator device when swinging by the same amount of rolling in each direction, and b is the stroke length in one direction and c is the stroke length in the other direction. A working unit control device in a paddy field vehicle, in which the mounting position of the actuator device is set so that the relationship −b | ≈ | c−a | is established.

(E) Action Based on the above-described configuration, when the actuator device 67 expands and contracts by an approximately equal stroke in one direction and the other direction from an arbitrary extension position, the working unit 10 is respectively moved in the one direction and the other direction accordingly. While swinging by an equal amount of rolling, the rolling can be easily controlled by an equal amount on the left and right, but one end of the actuator device 67 is attached to the seedling stand supporting frame 70 relatively distant from the rolling shaft 56, The expansion / contraction operation amount of the actuator device is set to a large value, so that highly accurate rolling control is performed.

(F) Embodiment An embodiment according to the present invention will be described below with reference to the drawings.

As shown in FIG. 7, the riding rice transplanter 1 has a traveling machine body 5 supported by front wheels 2 and rear wheels 3, and the traveling machine body 5 has an engine 6 mounted in front of its front wheels. At the same time, the driver's seat 9 is arranged so that the seat 7 is positioned in the middle portion between the front and rear wheels, that is, the center of gravity of the machine. Further, a planting part 10 is supported at the rear of the traveling machine body 5 via an elevating link 8 composed of an upper link and a lower link so as to be able to move up and down, and the planting part 10 has a large number of planters 11, ..., A center float. And a float consisting of a side float 14,
A long seedling stand 12 is provided on which mat seedlings can be placed. Further, a horizontal sensor 13 for detecting the levelness of the planting section 10 and a float potentiometer 15 for detecting the movement of the float 14, that is, the earth pressure acting on the float are arranged in the planting section main body. Further, a lifting hydraulic cylinder device 19 is disposed between the front mission case 16 and the bracket 17 fixed to the link 8 in the traveling machine body 5, and the planting portion 10 is lifted and lowered based on the expansion and contraction thereof. Is configured to.

Further, in the driver's seat 9, a planting section raising / lowering operation lever 20 is arranged on one side of the seat 7, and a planting section automatic control switch 22 is installed on the other side of the seat 7. Left and right steering clutch petals 23, 23 (see FIG. 5) are disposed in the vehicle. The operating lever 20 is, as shown in FIG.
The cam plate 25, which constitutes a control member, is supported by a pin 26 so as to be swingable in the left and right directions.
Is rotatably supported by a pivot pin 29 protruding laterally. Further, on the cam plate 25, a large number of restricting surfaces that restrict the movement of the operating lever 20 at various positions and a cam surface that constitutes a clutch operating surface that connects and disconnects the PTO clutch described later are partially formed in a continuous manner. Has been done. Further, a cam arm 30 is rotatably supported by the column 27 by being biased by a spring 31, and a positioning roller 30a which is in pressure contact with the regulation surface of the cam plate 25 is supported by the arm 30. The position of the cam plate 25 is regulated by the roller 30a. That is,
The operating lever 20 is in a raised position U, a fixed position N, a lowered position D,
The roller 30a is located on each regulation surface corresponding to each automatic position A. Also, one end of a lever return arm 32 is rotatably fitted to the tip of the pivot pin 29, and the arm 32 and the contact pin 34 fixed to the end portion of the cam plate 25 are aligned with each other. Wire that can be abutted in one direction and is therefore attached to the other end of arm 32.
When the arm 32 is pulled by 33 and rotates counterclockwise in FIG. 5, the arm 32 rotates together with the cam plate 25. On the other hand, a lever potentiometer 24 is installed on the bracket welded to the outside of the support column 27, and the potentiometer
An interlocking arm 28 having a guide groove is attached to the rotary shaft 24a of 24, and an engaging pin fixed to the end of the cam plate 25 is engaged with the guide groove to allow the operation lever 20 of the operating lever 20 to move. The tilt is transmitted to the interlocking arm 28 via the engaging pin to rotate the rotary shaft 24a, and the tilt angle of the lifting / lowering operation lever 20 is adjusted by the potentiometer 24.
It is configured to be detected in. On the other hand, in the left and right steering clutch pedals 23, 23, cam pieces 35, 35 are fixedly mounted on their pivot boss portions 23a, 23a, respectively, and an arm is attached to a pivot shaft 37 planted in the frame 36. 39 is rotatably supported, and the arm 39 has the cam pieces 35, 3 at the tip thereof.
A roller 40 with which the 5 can contact is installed. Further, a plate 41 is pivotally supported at one end on the pivot shaft 37, and a fastening member 42 is provided at the center of the plate 41,
When the fastening member 42 is fastened, the arm 39 and the plate 41 are overlapped with each other and integrally rotated, and the other end of the plate 41 is attached to the other end of the wire 33. Therefore, when either one of the left and right steering clutch pedals 23 is depressed, the cam piece 35 comes into contact with the roller 40 and
39 is configured to rotate integrally with the plate 41 to pull the wire 33 to rotate the arm 32, so that the operation lever 20 at the automatic position A or the like can be swung up to the position U at a stretch. A PTO clutch arm 43 extending from the PTO clutch is arranged near the steering clutch pedal 23.
A wire 45 is connected to the arm 43 via a spring 44, and the other end of the wire 45 is connected to one end of a PTO clutch interlocking arm 47 pivotally supported by the support shaft 27 by a support shaft 46. . Further, the interlocking arm 47 is adjacent to the cam plate 25, and at the other end, a roller 49 rollingly in contact with the clutch operating surface of the cam plate 25 is rotatably supported. Therefore, when the roller 49 is located on the land portion of the cam plate operating surface, the PTO clutch is in the disconnected state, and when it is located in the recessed portion, the PTO clutch is in the connected state.

Further, a hydraulic cylinder device for lifting and lowering is provided below the column 27.
An electromagnetic switching valve 50 for switching and operating the hydraulic cylinder device for rocking 19 and a later-described rocking device is installed, and a microcomputer (hereinafter referred to as a microcomputer) 52 for controlling the electromagnetic switching valve 50 is arranged on the front side of the side cover 51 of the machine body. It is set up.

On the other hand, in the planting part 10, as shown in FIGS. 1 to 3, the planting part (working part) frame 53 is provided with the lifting link 8
Rolling fulcrum shaft 56 to link holder 55 attached to the rear end of
The seedling stand 12 is installed in the planting section 10 so as to be swingable in the left-right direction via support frames 57, 57 having one end attached to the planting section frame 53. ing. In addition, the drive case 59 is on the back of the seedling stand 12.
Is installed, and a shaft case 60 is provided extending from the lower side of the case 59 to the left and right.
A large number of planter cases 61 are arranged through the. Further, a propeller shaft 62 extends from the traveling machine body 5 in the drive case 59, and a slide bar 63 projects from the drive case 59 so as to be slidable in the left and right directions. It is connected to the seedling stand 12.

In addition, a cylinder holding bracket 66 is fixed to the upper end of the link holder 55 so as to project toward the lateral side of the planting part, and the tip of the bracket 66 is a swinging cylinder composed of a double-acting cylinder. One end of the hydraulic cylinder device 67 for movement is a pivot shaft 69.
The hydraulic cylinder device constitutes an actuator device for rolling control of the planting part. Further, the bracket 70 installed below the support frame 57, which is a strong member, has the other end of the hydraulic cylinder device 67 rotatably mounted by a pivot shaft 71, and the bracket 70 of the hydraulic cylinder device 67 is rotatable. Piston rod 67a
At one end of the stroke sensor 72, as shown in FIG.
One end of is attached. The other end of the stroke sensor 72 is attached to the cylinder portion 67b of the hydraulic cylinder device 67, whereby the stroke sensor 72 operates in accordance with expansion and contraction of the hydraulic cylinder device 67, and the operating stroke of the cylinder device 67. Are sequentially detected. Further, as shown in FIG. 1, the swinging hydraulic cylinder device 67 has a tangent line drawn on the pivot shaft 71 of an arc C drawn so as to pass through the pivot shaft 71 around the rolling fulcrum shaft 56. Are arranged so as to be close to each other, so that when the hydraulic cylinder device 67 swings the planting portion 10 from one of its extended positions in the one direction and the other direction by an equal rolling amount, the hydraulic cylinder device 67 can move freely. Is a, the cylinder length in one direction is b, and the cylinder length in the other direction is c, the relationship | a−b | ≈ | c−a | is established. There is. Therefore, when the rocking hydraulic cylinder device 67 operates, the planting part frame
53 In other words, in any direction of rocking control of the planting part 10, the planting part 10 can be rocked by an equal rolling amount with substantially the same expansion / contraction amount, and the action of the cylinder device 67 on the planting part frame 53. The cylinder stroke can be increased and the operating load can be reduced compared to the case where the point is provided near the rolling fulcrum shaft 56.
As a result, the planting portion 10 can be swung with a relatively large stroke to perform accurate control with a small error.

Further, as shown in FIG. 2, drawing markers 73, 73 are arranged on the left and right of the planting section 10, respectively.
3, 73, the detection signals of seedlings or ridges by the detection sensors 75, 75 respectively installed on the left and right side floats 14a, 14a shown in FIG. 6 are input to the microcomputer 52, and the operation signal based on the detection signals is a line. When the solenoid for activating the pull marker is activated and the solenoid is activated, the operation is controlled in a timely manner. Furthermore, the detection sensor
75 is a seedling located on the left and right of the planting section 10 by light or ultrasonic waves,
Although it is designed to detect ridges, the distance reached by detection by light or ultrasonic waves is large, so that among the received light or ultrasonic signals, for example, those that are larger than the distance between the left and right detection sensors 75, 75 It is configured to be discarded according to the judgment of the microcomputer 52. Therefore, when performing planting work, when traveling along the ridges or seedlings planted in the previous step, only one detection sensor 75 emits a detection signal, so for example the sensor 75 on the left side float 14 detects When the signal is emitted, the right-sided drawing marker 73 is activated. Further, when both the left and right sensors 75, 75 generate detection signals, or neither the left or right sensors 75, 75 generate detection signals, neither of the drawing markers 73, 73 operates. As a result, the operation of the line drawing markers 73, 73 during the planting work can be completely automated, and the workability can be improved.

Since the present embodiment is configured as described above, when performing rice planting work using the riding rice transplanter 1, the operator starts the engine 6 and turns on the automatic planting section control switch 22 in the driver's seat 9. Raise the planting part up / down operation lever 20 to position U
To operate. Then, based on the roller 49 provided at the other end of the planted clutch interlocking arm 47 rollingly contacting the clutch operating surface of the cam plate 25, the wire 45 is pulled to disconnect the PTO clutch, and further the operating lever 20 of the operating lever 20 is disconnected. Cam plate by rotation
The rotation shaft 24a of the potentiometer 24 is rotated in association with the rotation lever 25, and the tilt angle of the operation lever 20 is detected. Then, a signal based on the detection is sent to the microcomputer 52, and when the signal is transmitted from the microcomputer 52 to the electromagnetic switching valve 50, the valve 50
Is activated to extend the hydraulic cylinder device 19 by a predetermined amount, and
Rise 10 Then, the planting unit 10 is stopped at the upper limit position, and in this state, the riding rice transplanter 1 is steered to the rice planting start position in the field by the operation of the operator. Further, when the operation lever 20 is lowered to the position D at that position, the cam plate 25 is
The PTO clutch is disengaged and the arm 30 is rotated.
The positioning rollers 30a come into contact with different regulating surfaces, and the operating lever 20 is held at the lowered position D. Then, the lever potentiometer 24 is rotated by a predetermined amount to detect the tilt angle of the operating lever 20, and a detection signal is input to the microcomputer 52, whereby the microcomputer 52 outputs a signal to the electromagnetic switching valve 50. As a result, the valve 50 is actuated and pressure oil is drained from the hydraulic cylinder device 19, and the planting portion 10 is slowly lowered by contraction of the cylinder, causing a float.
14 stops in contact with the field scene.

When the planting part elevating / lowering operation lever 20 is operated to the automatic position A, the arm 47 is rotated in association with the rotation of the cam plate 25,
The wire 45 is loosened, the PTO clutch arm 43 rotates, and P
A large number of planters 11 ... of the planting section 10 are driven by connecting the TO clutch. Further, the tilt angle of the cam plate 25 is detected by the lever potentiometer 24, and the signal resulting from the detection is sent to the microcomputer.
When input to 52, the electromagnetic switching valve 50 is controlled, and the lifting hydraulic cylinder device 19 and the swing hydraulic cylinder device 67 are controlled.
Is automatically operated to perform the planting part automatic control for properly holding the planting part 10 at the planting position.

Then, in the planting section automatic control, the float potentiometer 15 detects the earth pressure acting on the float 14, that is, the movement of the float 14, and the raising and lowering automatic control that raises and lowers the planting section 10 based on the detection in a timely manner. Horizontal automatic control is performed to keep the part 10 horizontal by following the field scene. Then, in the horizontal automatic control, the swinging hydraulic cylinder device 67 includes the horizontal sensor 13
By detecting the horizontality of the planting section 10 and inputting a detection signal to the microcomputer 52, it is timely operated by a signal from the microcomputer 52 based on the detection signal, and the planting section 10 is followed in the field scene. Control to be horizontal. In this case, the oscillating hydraulic cylinder device 67 oscillates the planting portion 10 by pressing and pulling the support frame 57, but the planting portion 10 is swung by an equal rolling amount in one direction and the other direction from its arbitrary extended position. When the portion 10 is swung, assuming that the cylinder length at the arbitrary extension position is a, the cylinder length in one direction is b, and the cylinder length in the other direction is c, | a−b | ≈ | c−a | Since it is installed between the bracket 66 and the support frame 57 so that the following relationship is established, the planting portion 10 is moved by the same rolling amount in one direction and the other direction with substantially equal strokes in the extension and contraction directions. Therefore, the planting section 10 can be accurately horizontally controlled by the hydraulic cylinder device 67 that expands and contracts under the control of the microcomputer 52 so that the left and right rollings are made uniform. Further, since the hydraulic cylinder device 67 swings the planting portion 10 with a large stroke, even if an error occurs in the expansion / contraction operation amount thereof, it does not significantly affect the rolling amount of the planting portion 10, and the operating load is large. In addition to the fact that the operating force of the hydraulic cylinder device 67 acts on the support frame 57 that is a strong member, the planting portion 10 does not cause problems such as rattling of each member. Instead, it is always properly leveled.

(G) Effect of the Invention As described above, according to the present invention, the rolling control actuator device 67 has the link holder 55 at one end.
Since the bracket 66 fixed to the upper end and the other end can be attached to the seedling support frame 57, the rear surface of the seedling support with a dented structure has a simple structure and a robust structure using an existing support frame. It is possible to dispose the actuator device on the member and prevent the occurrence of problems such as rattling.

In addition, the work unit can be stretched and shrunk in equal amounts in one direction and the other direction from an arbitrary stretched position of the actuator device.
Rolling 10 with approximately the same amount of swing,
Since the actuator device 67 is attached to the bracket 55 and the support frame 57, even though the actuator device 67 has a simple installation structure, it does not cause a large error in rolling of the working unit 10 when the actuator device 67 is extended and contracted, and is even. In addition, accurate swing control can be performed.

Further, one end of the actuator device 67 is connected to the rolling shaft 56.
Since it is attached to the seedling support frame 57 that is relatively distant from, the expansion and contraction operation amount of the actuator device 67 can be increased, and in combination with the uniform and accurate swing control and the prevention of rattling. It is possible to perform highly accurate and appropriate rolling control.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a front view showing a working unit control device according to the present invention, FIG. 2 is a side view thereof, and FIG. 3 is a side view showing the entire working unit.
FIG. 4 is a side sectional view showing a swing hydraulic cylinder device, FIG. 5 is a side view showing a lifting operation unit, and FIG. 6 is a view showing a detection sensor installed on a side float. And the seventh
The figure is an overall side view showing a riding rice transplanter to which the present invention can be applied. 1 ... Paddy field vehicle (passenger rice transplanter), 5 ... Traveling vehicle, 8
...... Lifting link, 10 ...... Working part (planting part), 12 ...... Seedling stand, 53 ...... Working part (planting part) frame, 55 ...... Link holder, 56 ...... Rolling fulcrum shaft, 57 ... ... Support frame, 66 ... Bracket, 67 ... Actuator device (hydraulic cylinder device), a ... Cylinder length at arbitrary extension position, b ... Cylinder length in one direction, c ... Cylinder length in other direction .

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Hirosaki Yamazaki 667 Hiroshi Yamazaki, Izumo-cho, Yatsuka-gun, Shimane Prefecture, 667 Izuya-cho 1 Mitsubishi Agricultural Machinery Co., Ltd. (56) Reference JP 58-126703 (JP, A) Sho 59-179517 (JP, U)

Claims (1)

[Scope of utility model registration request] 1. A paddy field work vehicle constructed such that a working unit is supported on a traveling machine body so as to be able to move up and down, and the working unit can be freely swung in a balance-like manner by a rolling fulcrum shaft. In the above, the working unit includes a working unit frame swingably supported by the rolling fulcrum shaft, a seedling stand and a support frame extending from the working unit frame to support the seedling stand, and A link holder is provided at the tip of the link, the rolling fulcrum shaft is provided at the lower end of the link holder, a bracket is fixed to the upper end of the link holder, and a rolling control is provided between the bracket and the support frame. When the actuator device is attached and the actuator device is swung by an equal rolling amount in one direction and the other direction from any extension position of the actuator device, Letting a be the stroke length at an arbitrary extended position of the chute device, b be the stroke length in one direction, and c be the stroke length in the other direction, the relationship | a−b | ≈ | c−a | is established. A working unit control device for a paddy field vehicle, wherein a mounting position of the actuator device is set on the.