JPH08172833A - Paddy work machine - Google Patents

Abstract

(57) [Summary] (Corrected) [Purpose] When the machine base is tilted simultaneously in the front-rear direction and the left-right direction, the height of the work equipment to be mounted later is stabilized and the ground leveling performance is stabilized by the sensor float. . [Structure] Sensors 28 and 29 for detecting the front-rear tilt and the left-right tilt of the machine base are provided. The sensors 28 and 29 and the driving device detect that the machine 28 detects the front-rear tilt of the machine base. The pair of drive units move the rear wheels in the same direction to restore the inclination horizontally, and when the left and right inclinations are detected, the pair of drive units move the rear wheels in the opposite direction to adjust the inclination. When the vehicle is restored and the inclination in the front-rear direction and the inclination in the left-right direction are detected at the same time, the pair of drive devices move the rear wheels in the same direction to restore the inclination in the front-rear direction of the machine base with priority. Are connected via.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention is used for riding type paddy working machines such as rice transplanters and seeders.

[0002]

2. Description of the Related Art A riding type paddy working machine is provided so that front wheels and rear wheels of a traveling vehicle rotate on a paddy field of a paddy field, and a float of a working device attached to the rear part of the paddy field works on a mud surface of the paddy field. It is designed to slide and level. Here, the cultivator has a variation in depth with respect to a substantially horizontal mud surface. For this reason, the traveling vehicle sinks from the mud surface when it reaches a deep place in the cultivator, and the working device approaches the mud surface to deepen the working depth such as transplanting seedlings and spraying seeds. On the contrary, when you come to a shallow place on the tiller,
It floats up from the mud surface and the working depth becomes shallow. In order to solve this, the float of the work device or one of them is used as a sensor float and the rear part is attached so as to be swingable about the horizontal axis, and the work device is provided so as to move up and down by a hydraulic device with respect to the traveling vehicle body. The hydraulic device is configured to operate when the tip of the sensor float sliding down the surface moves up and down, so that the working device is kept within a certain height range from the mud surface regardless of the depth of the tiller. It is made of.

[0003]

When the tip of the sliding sensor float comes in contact with the mud surface in a forward and downward direction, the sensor float moves up and down sharply. On the contrary, when the tip of the sensor float comes in contact with the mud surface in the upward direction, the contact area between the sensor float and the mud surface becomes small and the vertical movement of the sensor float becomes slow. The change in the angle of attack of this sensor float is
This has a significant effect on the vertical movement of the sensor float, and in rice transplanters, this is used to form a sensitivity adjustment device that lowers the tip of the sensor float when the mud is soft, and when the mud is hard, the sensor It is designed to be used by raising the tip of the float.

Here, if the cultivator fluctuates shallowly, the traveling vehicle body may tilt in the front-rear direction and the left-right direction.
When the traveling vehicle leans forward and downward, the tip of the sensor float contacts the mud surface forward and downward, and the vertical movement becomes sharp as described above.When the traveling vehicle leans forward and upward, the tip of the sensor float becomes mud. It touches the surface in an upward direction and its vertical movement becomes dull. That is, when the traveling vehicle body is kept in the forward descending inclination state for a long time, the agile vertical movement of the sensor float may cause the work device to move up and down more than necessary, causing a hunting phenomenon. On the contrary, if the forward inclination of the traveling vehicle body continues for a long period of time, the sensor float pushes the mud forward due to its sluggish vertical movement, which lowers the leveling performance, and the working equipment is slowly lifted to increase the working depth. It may not be possible to achieve uniformity.

[0005]

In order to solve the above problems, the present invention provides front wheels 7 and rear wheels 14 that rotate on a cultivator of a paddy field on a machine base 3 of a traveling vehicle body 1 so that the mud of the paddy field A working device 2 equipped with a sensor float 43a that slides on a surface to level the ground is attached to the rear part of the machine base 3, and the working device 2 moves up and down with respect to the machine base 3 by the vertical movement of the tip of the sensor float 43a. The rear wheels 14 are composed of a pair of left and right wheels and are provided so as to move up and down independently of the machine base 3 by the respective drive devices A. Having sensors 28 and 29 for detecting the inclination of
The sensors 28 and 29 and the drive unit A detect a pair of drive units A when the sensors 28 and 29 detect the tilt of the machine base 3 in the front-rear direction.
Move the rear wheels 14 in the same direction to restore the inclination horizontally, and when detecting the inclination in the left-right direction, the pair of drive devices A move the rear wheels 14 in the opposite directions to restore the inclination. However, when the front-back direction inclination and the left-right direction inclination are detected at the same time, the pair of drive devices A move the respective rear wheels 14 in the same direction so that the front-back direction inclination of the machine base 3 is preferentially restored. The paddy work machine is connected through the device 30.

[0006]

Since the present invention is constructed as described above, the front wheels 7 and the rear wheels 14 rotate on the cultivator to move the traveling vehicle body 1 forward, and the sensor float 43a slides on the mud surface by the forward movement. The land is leveled, and the working device 2 performs transplanting of seedlings and other agricultural work on the leveled ground. As is well known, the traveling vehicle body 1 during this agricultural work
When comes to the bottom of the plow, it sinks against the mud surface. Then, the working device 2 also sinks together with the traveling vehicle body 1, so that the tip of the sensor float 43a is pushed up by the mud surface, and the working device 2 rises with respect to the machine base 3 by this signal. On the contrary, when the traveling vehicle body 1 comes to a shallow place on the tiller, the traveling vehicle body 1 floats on the mud surface. Then, the work device 2 also floats together with the traveling vehicle body 1, so that the tip of the sensor float 43a descends, and the work device 2 descends with respect to the machine base 3 by this signal. In this way, the working device 2 is automatically moved up and down according to the depth of the cultivator, and the working device 2 is always kept at a certain height above the mud surface.

When the traveling vehicle body 1 comes to a place where the tiller is tilted in the front-rear direction, its machine base 3 is tilted in the front-rear direction. Then, the sensor 28 detects the inclination and detects it.
Transmit to 0. In response to the transmission, the control device 30 actuates the pair of drive devices A, and the rear wheels 14 move up or down in the same direction to restore the inclination of the machine base 3 in the front-rear direction to be horizontal. Further, when the traveling vehicle body 1 comes to a place where the cultivator is tilted in the left-right direction, the machine base 3 is tilted in the left-right direction. Then, the sensor 29 detects the inclination, and the control device 3
Transmit to 0. In response to the transmission, the control device 30 operates the pair of drive devices A to move the rear wheels 14 up and down in opposite directions to restore the horizontal inclination of the machine base 3 horizontally. Further, when the traveling vehicle body 1 comes to a place where the tiller is tilted in the front-rear direction and the left-right direction at the same time, the machine base 3 is tilted in the front-back direction and the left-right direction. Then, the sensors 28 and 29 detect the inclination and transmit it to the control device 30. In response to the transmission, the control device 30 raises or lowers the rear wheels 14 in the same direction by the pair of drive devices A to horizontally restore the inclination of the machine base 3 in the front-rear direction, and then, the pair of rear wheels 14 moves. Is vertically moved in the opposite direction to horizontally restore the inclination of the machine base 3 in the horizontal direction.

[0008]

As described above, according to the present invention, the traveling vehicle body 1
When the machine base 3 is tilted in two directions, the front-rear direction and the left-right direction, the front-rear tilt is restored horizontally in preference to the left-right tilt, so the above-mentioned tilt occurs due to the fluctuation of the depth of the tiller. At this time, the change in the angle of attack of the sensor float 43a with respect to the mud surface is eliminated in a short time, the work device 2 is stably maintained at a constant height, and the ground leveling performance by the sensor float 43a is improved.

[0009]

Embodiments of the present invention will be described below. FIG.
As described above, the seedling planting device (one of the working devices) 2 is attached after the traveling vehicle body 1 to form a riding type rice transplanter. The traveling vehicle body 1 is configured as follows. A main gear box 4 and an engine 5 are mounted in this order from the front on a machine base 3 which is long in the front-rear direction. A pair of cylinders 6 and 6 extend from the main gear box 4 to the left and right (FIG. 2), and front wheels 7 and 7 are attached to their outer ends. The engine 5 is covered with a box-shaped cover 8, a seat 9 is provided thereon, and front wheels 7, 7 are steered by operating a steering handle 10 in front of it. As shown in FIG. 3, the horizontal shaft 11 is fixed to the rear part of the machine base 3, the pair of support legs 12 and 12 extend obliquely downward and downward from the projecting ends on both sides thereof, and the gear boxes 13 and 13 are fixed to the lower ends thereof. There is. Rear wheel 1
4, 14 are arranged outside the respective gear boxes 13, 13.

As shown in FIG. 2, the power of the engine 5 reaches the intermediate shaft 16 in the band 15, and is transmitted to the main shaft 18 in the band 17, and then passes through the transmission 19 in the main gear box 4. Then, the front wheel differential 20 and the rear wheel differential 21 are reached.
The rotation divided into right and left by the front wheel differential device 20 is represented by the vertical axis 22,
It is transmitted to each front wheel 7, 7 via 22. The left vertical axis 22 and the front wheel 7 are omitted. In addition, the rotation divided into right and left by the rear wheel differential device 21 is performed by the transmission shafts 23, 23 arranged on the left and right of the machine base 3, respectively.
14 is transmitted. In addition, universal joints 23a, 23a are provided at both ends of the transmission shaft 23, and an expansion joint 23b is provided between them.
Is provided.

The pair of drive devices A, A are constructed as follows. As shown in FIG. 3, the hydraulic cylinders 24, 24 are attached to the left and right of the machine base 3, and the piston rods 24a, 2
4a extends obliquely upward and its rear end is connected to the protruding ends of the arms 12a, 12a extending upward from the supporting legs 12, 12, and when the piston rods 24a, 24a project, the arms 12a,
12a pushes the supporting legs 12, 12 around the horizontal shaft 11 to push the rear wheels 14, 14 down from the machine base 3, and conversely,
The piston rods 24a, 24a are hydraulic cylinders 24, 2
The rear wheels 14 and 14 can be pulled up with respect to the machine base 3 when housed in the housing 4. As shown in FIG. 4, the solenoid valve 2 is provided between the pump 25, 25 and the hydraulic cylinder 24, 24.
6, 26 are provided to close the oil in the hydraulic cylinders 24, 24 at the "neutral" position in the center of the figure to prevent the rear wheels 14, 14 from moving and to return the oil discharged by the pump 25 to the tank 27. , When moving to the right, it is in the “down” position and the oil discharged by the pumps 25, 25 is transferred to the hydraulic cylinders 24, 2
4 to the left chamber and return the right chamber oil to the tank 27,
The piston rods 24a, 24a are projected so that the rear wheel 14,
When 14 is moved down and moved to the left, the oil is discharged from the pumps 25, 25 to the "raised" position by the hydraulic cylinders 24, 2.
4 to the right chamber and return the left chamber oil to the tank 27,
The rear wheel 14, with the piston rods 24a, 24a housed therein,
It is designed to raise 14.

A sensor 28 for detecting the inclination in the front-rear direction and a sensor 29 for detecting the inclination in the left-right direction are attached to the cover 8 integrated with the machine base 3 after the seat 9 (FIG. 1). That is, the sensor 28 and the sensor 29 transmit the control device 30 when detecting the respective inclinations of the machine base 3. Control device 3
0 receives the transmission and operates the solenoid valves 26, 26 as shown in FIG. That is, it is determined whether or not the inclination of the machine base 3 in the front-rear direction is within a certain range (within the set range). When the inclination exceeds the set range, the pair of solenoid valves 26, 26 are actuated in the same direction, the piston rods 24a, 24a are projected and retracted in the same direction, and the rear wheels 14, 14 are moved up and down in the same direction. The inclination of the machine base 3 in the front-rear direction is restored horizontally. When it is determined that the inclination of the machine base 3 in the front-rear direction is within the setting range, it is determined whether the inclination in the left-right direction is within the setting range. When the inclination exceeds the set range, the pair of solenoid valves 26, 26 are operated in the opposite directions, and the rear wheels 1
4 and 14 are moved up and down in opposite directions to restore the inclination of the machine base 3 horizontally.

It should be noted that the dials 31 and 32 are provided so that the above setting range can be arbitrarily changed. As shown in FIG. 1, the support column 33 projects upward from the rear portion of the machine base 3, and the front ends of the upper and lower links 34, 34 are rotatably attached.
The rear ends of the links 34, 34 are rotatably attached to the attachment frame 35 to form parallel links. In the upper link 34, the pin at the rear end is the long hole 3 in the front-back direction.
It is attached to the mounting frame 35 by 6 and the position in the elongated hole 36 is set by the spring 37, and the mounting frame 35 expands and contracts the spring 37 and is provided so as to swing around the connecting pin with the lower link 34. It is possible (Fig. 6). The upper and lower cylinders 38 are attached to the machine base 3, and the piston rod 38a extends obliquely upward from this, and its rear end is connected to the lower end of an arm 39 which is integral with the upper link 34.
The mounting frame 35 can be moved up and down depending on the appearance of.

The seedling planting device 2 is constructed as follows. As shown in FIG. 1, the gear box 40 is attached to the lower end of the attachment frame 35 so as to swing around the rolling shaft 41 in the front-rear direction. A seedling mounting table 42 is provided on the front of the table in an upward slope, and is driven to reciprocate left and right by the power of the engine 5. Side floats 43b are arranged on the left and right of the sensor float 43a, and the rear ends of these are floatably attached to the lower abdomen of the gear box 40 by a horizontal shaft 44 (Fig. 7) so that they can slide on a mud surface. ing. A seedling planting rod 45 that swivels in a circular path in the vertical direction is provided behind the seedling placing table 42. The seedling planting rods 45 are paired as one set and alternately pass through the rear end of the seedling mounting table 42 downward, and the mat seedlings on it are cut off, and the sensor float 43a and the side float 43b are leveled. Transplant on the mud surface. In addition, seedling mount 4
In 2, a plurality of mat seedlings are placed side by side, and the same number of sets of seedling planting rods 45 as the mat seedlings are arranged side by side. A pair of left and right supporting rods 46 extends upward from the gear box 40, and a slider above the supporting rods supports the upper portion of the seedling mounting table 42. The seedling planting device 2 in which the outer ends of springs 47, 47 (FIG. 6) whose inner ends are hooked on the upper ends of the mounting frames 35 are hooked on the respective supporting rods 46 and swing around the rolling shaft 41. It is designed to maintain stability.

The vertical movement of the seedling planting device 2 is carried out by the following constitution. As shown in FIG. 7, a rod 48 projects forward from the gear box 40, and a valve box 49 is rotatably attached to this. The rear end of the link 50 obliquely installed in the front upward direction is rotatably attached to the front part of the sensor float 43a. The link 50 is biased clockwise by a spring 51 wound around the mounting shaft. Both ends of the outer wire 52a are fixed to the tip of the link 50 and a part of the machine base 3, and the rear end of the inner wire 52b whose tip is attached to the operation lever 53 is attached to the tip of the sensor float 43a. Is operated counterclockwise, the inner wire 52b
Is loosened, and the link 50 and the sensor float 43a are connected by the spring 51.
The angle between and opens, and the tip of the sensor float 43a is substantially directed downward with respect to the mud surface. When the operation lever 53 is operated in the clockwise direction, the inner wire 52b is pulled, the link 50 rotates counterclockwise against the spring 51, and the tip of the sensor float 43a is substantially pulled up to the mud surface. Be upturned. The former is used when the mud is soft and the latter is used when it is hard. A valve rod 49a projects downward from the valve box 49, and its lower end is attached to the middle of the link 50. When the valve box 49 is constituted by a valve rod 49a and the sensor float 43a is at a certain height with respect to the gear box 40, the switching valve (49, 49a) is in the "neutral" position and the upper and lower cylinders are The oil in 38 is closed,
The seedling planting device 2 is fixed to the machine base 3. When the gear box 40 rises above the mud surface, the tip of the sensor float 43a goes down, the valve rod 49a is pulled down with respect to the valve box 49, the switching valve (49, 49a) becomes "down", and the vertical cylinder 38
The oil inside returns to the tank and the seedling planting device 2 descends. On the contrary, when the gear box 40 goes down to the mud surface side too much, the tip of the sensor float 43a goes up, the valve rod 49a is pushed into the valve box 49, and the switching valve (49, 49a) is "raised". Then, the oil discharged by the pump 54 (FIG. 2) enters the upper and lower cylinders 38, and the seedling planting device 2 rises. The switching valve (49, 4
As is well known, 9a) is also manually operated, and in the manual “lower” position, the sensor float 43a is automatically moved up and down.

As shown in FIG. 8, the controller 30 stores the above-mentioned setting area (first setting area in FIG. 8) and the second setting area having a larger angle with respect to the inclination of the machine base 3 in the left-right direction. Let
As shown in FIG. 9, when the inclination in the left-right direction is larger than that in the second setting region (when it is significantly inclined in the left-right direction), the inclination in the left-right direction can be restored with priority. FIG.
As shown in 0, the control device 30 can compare the magnitude of the tilt angle of the machine base 3 in the front-rear direction with the magnitude of the tilt angle of the left-right direction and preferentially restore the larger tilt angle.

A priority changeover switch 55 can be provided as shown in FIG. 4, and can be provided so that the priority order of restoration of the machine base 3 in the tilt direction can be selected as shown in FIG. Running car body 1
In some cases, the seedling planting device 2 attached to the above is replaced with a spraying device for chemicals or the like. The applicator is configured for a wide spread of medication or the like from a significantly laterally long boom. That is, if the machine base 3 is tilted in the left-right direction, the height difference between both ends of the boom may be large, and the spraying may be uneven. By the above selection, if the inclination in the left-right direction of the machine base 3 is restored with priority over the inclination in the front-rear direction, that fear is eliminated.

[Brief description of drawings]

FIG. 1 is a side view of a paddy field working machine to which the present invention is applied.

FIG. 2 is a transmission mechanism diagram thereof.

FIG. 3 is a perspective view of a part thereof.

FIG. 4 is a hydraulic circuit diagram thereof.

FIG. 5 is a flowchart thereof.

FIG. 6 is a perspective view of a part thereof.

FIG. 7 is a side view of a part thereof.

FIG. 8 is an explanatory diagram of the improved setting area.

FIG. 9 is a flowchart thereof.

FIG. 10 is another flowchart.

FIG. 11 is another flowchart.

[Explanation of symbols]

 1 Traveling Vehicle 2 Working Device (Seedling Planting Device) 3 Machine Stand 7 Front Wheel 14 Rear Wheel 28 Sensor 29 Sensor 30 Control Device 43a Sensor Float A Drive Device (Pump 25 and Hydraulic Cylinder 24)

Claims (1)

[Claims] 1. A front wheel 7 and a rear wheel 1 rotating on a cultivator of a paddy field.
4 is provided on the machine base 3 of the traveling vehicle body 1, and is equipped with a sensor float 43a that slides on the mud surface of the paddy field to level the ground, and a working device 2
Is mounted on the rear part of the machine base 3, the working device 2 is provided so as to move up and down with respect to the machine base 3 by the vertical movement of the tip of the sensor float 43a, and the rear wheels 14 are composed of a pair of left and right, respectively. Is provided so as to be independently moved up and down with respect to the machine base 3 by the driving device A, and has sensors 28 and 29 for detecting the inclination in the front-rear direction and the inclination in the left-right direction of the machine base 3. When the sensors 28 and 29 detect the tilt of the machine base 3 in the front-rear direction, the pair of drive devices A move the rear wheels 14 in the same direction to restore the tilt horizontally. When the inclination of the direction is detected, the pair of drive devices A move the rear wheels 14 in the opposite direction to restore the inclination, and when the inclination of the front-rear direction and the inclination of the left-right direction are simultaneously detected, the pair of drive devices A respectively. Move the rear wheel 14 in the same direction Paddy working machine which is connected via a control device 30 to restore preferentially in the longitudinal direction of the inclination of 3.