JPH0833403A - Paddy working machine - Google Patents

Abstract

PURPOSE:To provide a paddy working machine capable of turning the machine body within a reduced turning radius without making the field rough by the front wheels. CONSTITUTION:This paddy working machine is equipped with a control unit for accelerating the front wheels 1 by controlling an accelerator 20 for increasing the peripheral speed of the front wheels 1 relatively to that of the rear wheels 2 if >=a prescribed amount of steering operation of the front wheels 1 and >=a prescribed load acting on the traveling drive system are simultaneously detected respectively by the first sensor 22 and the second sensor 23.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a paddy field working machine, and more particularly to a technique for reducing a turning radius during a steering operation.

[0002]

2. Description of the Related Art Taking a four-wheel drive type agricultural tractor as an example, there is a technique disclosed in Japanese Patent Application Laid-Open No. 57-201724 for reducing the turning radius during steering operation.
In this conventional example, when the front wheels are steered, control is performed to increase the drive speed of the front wheels with respect to the drive speed of the unsteered rear wheels.

[0003]

Agricultural tractors that perform the same control as the conventional example are currently on the market, and when turning, the thrust of the front wheels is increased to reduce the turning radius, and
It has a good surface that the depth of the rut formed by the front wheels is reduced.

It is also conceivable to apply this good surface to a paddy working machine that travels in a paddy field like a rice transplanter. Especially when working in a paddy field where the plough is deep, the front wheels incline to the propulsion direction of the rear wheels when turning, so the force from the rear wheels to push the mud forward by the propulsive force from the rear wheels. As a result, not only the load acting on the traveling system becomes large, but also the ruts made by the front wheels become deep and the field is often injured. There is a demand for a technique of increasing the speed of the wheels to reduce the turning radius and reduce the damage to the field.

An object of the present invention is to reasonably construct a paddy field working machine which does not damage the field even if the machine body is turned in a paddy field with a deep tiller.

[0006]

A feature of the present invention is to provide a drive type front wheel and a drive type rear wheel each configured to be steerably operated, and to provide a front wheel with respect to a peripheral speed of the rear wheel. A speed increasing device that increases the peripheral speed, a first sensor that measures the steering angle of the front wheels, and a second sensor that measures the load acting on the traveling drive system are provided, and the first sensor performs a steering operation of a predetermined amount or more. Is detected, and when the second sensor measures a load equal to or more than a predetermined value, the control means is provided to operate the speed increasing device to increase the speed of the front wheels. It is as follows.

[0007]

According to the above characteristics, when the front wheels are steered by a predetermined angle or more when working in a paddy field of a relatively deep plowing machine,
This operation is measured by the first sensor, and the load acting on the traveling system is measured by the second sensor. If the value of this load is equal to or greater than a predetermined value, the control means operates the speed increasing device to increase the front wheel. Do speed. As a result, the moving speed of the front wheels in the turning direction increases, and not only the amount of mud pushed forward of the front wheels due to the propulsive force of the rear wheels decreases but also the turning radius decreases.

That is, in a paddy field with a deep plowing machine, a high load is applied to the traveling system when the machine is turning, so the front wheels are automatically accelerated when the machine is turning without any special switch operation. When the field is not rough, such as in a paddy field with a shallow board, the front wheels are not accelerated when the machine is turning, and unnecessary control operations are not required.

[0009]

Therefore, when the machine is turned in a paddy field where the tiller is deep, a paddy working machine that surely accelerates the front wheels without damaging the field without operating a switch or the like is provided. Reasonably structured.

[0010]

Embodiments of the present invention will be described below with reference to the drawings. As shown in FIG. 1, the engine 4 and the power from the engine 4 are not provided in the front part of the traveling machine body 3 including the drive-type front wheel 1 and the drive-type rear wheel 2 which are steered. Belt tension type continuously variable transmission 5 that shifts in stages,
A transmission case 6 to which the power from the continuously variable transmission 5 is transmitted is mounted, a driving seat 7 is arranged in the center of the traveling machine body 3, and a hydraulic cylinder 8 drives the rear end portion of the traveling machine body 3. Seedling planting device A via a link mechanism 9 that moves up and down
A paddy rice transplanter is constructed as an example of a paddy working machine by connecting the above.

An elevating lever 10 is provided on the right side of the driver's seat 7 to control the raising and lowering of the seedling planting device A and to open and close the planting clutch C, and the continuously variable transmission 5 is provided on the left side of the driver's seat 7. Further, a gear shift lever 11 for operating the steering wheel 12 is provided, and further, in the vicinity of the steering handle 12, the seedling planting device A is forcibly raised to a predetermined level by the operation, and the seedling planting device A is brought to a working level by another operation. A switching lever 13 for lowering is provided. The planted clutch C is
A mechanical restraint system (not described in detail) is formed so that the cutting operation is allowed only in a rotation phase that avoids a posture in which a planting arm (described later) contacts the field.

The seedling planting device A is rotated by a seedling mount 14 on which a mat-shaped seedling W is placed, a transmission case 15 to which power is transmitted from the traveling machine body 3, and a power transmitted from this transmission case 15 via a chain case 16. Rotary case 17,
From the lower end of the mat-like seedling W placed on the seedling placing table 14 at the time of work, the rotary case 17 is provided with a pair of planting arms 18 provided one by one and a plurality of ground leveling floats 19 and configured for multiple row planting. The planting arm 18 performs an operation of cutting out the seedlings one by one and planting them in a field scene.

A transmission system is constructed as shown in FIG. 2, and a speed increasing device 20 is interposed in a system for transmitting power from the transmission case 6 to the differential device 1A of the front wheel 1, and the difference between the transmission case 6 and the rear wheel 2 is provided. The clutch mechanism 21 is interposed in a system for transmitting power to the moving device 2A, and the planting clutch C is provided in a system for transmitting power from the transmission case 6 to the seedling planting device A at a drive speed synchronized with the traveling speed. A first sensor 22 for measuring the steering angle of the front wheel 1 and a second sensor 22 for measuring the rotation speed of the engine 4
Each sensor 23 is provided.

The speed increasing device 20 has a driving state in which the peripheral speeds of the front wheels 1 and the rear wheels 2 are equalized, and the front wheels 1 and 2.
Hydraulic clutch type transmission (not shown) that can be switched to a driving state in which the peripheral speed of the rear wheel 2 is higher than that of the rear wheels 2.
The clutch mechanism 21 is of a hydraulically operated type, and the rear wheel 2 is driven by an engaging operation and the rear wheel 2 is operated by a disengaging operation.
Is configured to disconnect the drive to.

As shown in FIG. 3, the panel near the steering handle 12 is provided with a selection switch 24 for selecting the control modes of "2WD", "4WD", "speed up" and "automatic" by rotating operation. In this vicinity, a speed increasing lamp 25 indicating the speed increasing operation state of the speed increasing device 20 and a four-wheel drive lamp 26 indicating the four wheel drive state are provided.

As shown in FIG. 4, a control system for the traveling system is constructed, and the control device 27 as the control means includes the selection switch 24, the first sensor 22, and the second sensor 2.
3, a speed change sensor 28 for determining the speed change setting position by the speed change lever 11, a speed increase sensor 29 for determining that the speed increasing device 20 is in a speed increasing state, and a judgment for determining that the clutch mechanism 21 is in an engaged state. A system for inputting signals from the clutch sensors 30 is formed, and an electromagnetic valve 31 for controlling the speed increasing device 20 and the clutch mechanism 21 are formed.
An output system is formed for each of the solenoid valve 32 for controlling the motor, the speed increasing lamp 25, and the four-wheel drive lamp 26.

The speed-increasing device 20 makes it possible to make a turn without damaging the field while reducing the turning radius by increasing the speed of the front wheels 1 during the steering operation.
It is performed according to the flowchart shown in.

That is, when the control is started, the state of the selection switch 24 is discriminated, and when it is set to "automatic", the clutch mechanism 21 is operated to be set to the four-wheel drive state, and the first Based on the signal from the sensor 22, it is determined whether or not the steering operation is performed by a predetermined amount or more (steps # 101 to # 103). When the clutch mechanism 21 is turned on and off, a control operation for turning on the four-wheel drive lamp 26 after waiting for a signal input from the clutch sensor 30 is also performed (control operation is not shown).

Next, when a steering operation of a predetermined amount or more is performed, the value of the load is discriminated by obtaining a signal from the second sensor 23 to determine a decrease in the engine speed accompanying the steering operation, and this load is determined. Is greater than or equal to a predetermined value, the speed increasing device 20 is accelerated only when it is determined by the signal from the shift sensor 24 that the traveling machine body 3 is traveling at a relatively low work speed. (Steps # 104 to # 106). When the speed increasing device 20 is accelerated in this way, the speed increasing lamp 25 is waited for until a signal from the speed increasing sensor 29 is input.
A control operation for turning on is also performed (control operation is not shown).

If the selection switch 24 is set to "accelerate" (step # 101), the clutch mechanism 21 is turned on to set the four-wheel drive state, and the signal from the first sensor 21 is sent. If there is a steering operation of a predetermined amount or more based on the above, the speed increasing device 20 is accelerated (# 107).
~ Step # 109). Even when the clutch mechanism 21 is engaged, a control operation for turning on the four-wheel drive lamp 26 is performed in the same manner as described above after waiting for a signal input from the clutch sensor 30 (control operation is not shown).

Further, when the selection switch is set to "4WD" (step # 101), the clutch mechanism 21
Enter and operate to set the 4-wheel drive mode (# 110, #
111 steps). Even when the clutch mechanism 21 is engaged, a control operation for turning on the four-wheel drive lamp 26 is performed in the same manner as described above after waiting for a signal input from the clutch sensor 30 (control operation is not shown).

If the selection switch 24 is set to "2WD" (step # 101), the clutch mechanism 27 is disengaged to set the two-wheel drive state (# 112).
Steps). When disengaging the clutch mechanism 27, wait for a signal from the clutch sensor 30 and wait for the 4WD lamp 2.
A control operation for extinguishing 6 is performed (control operation is not shown).

As described above, in this rice transplanter, the front wheel 1 is accelerated only when the value of the load acting on the traveling system is large during the steering operation by setting the selection switch 24, or when the steering operation is performed, the front wheel 1 is always moved forward. By increasing the speed of the wheel 1, it is possible to turn in a small radius without degrading the field, and in particular, when the value of the load acting on the traveling system during traveling operation is large, the front wheel 1 is increased. In the case of controlling to speed up, the field where the plow is shallow and less rough,
Alternatively, when the vehicle is traveling on the road, the front wheels are not accelerated even if the steering operation is performed, and frequent operations such as operating the speed increasing device for each steering operation are suppressed.

[Other Embodiments] In addition to the above embodiments, the present invention is
For example, turn on the first sensor when the steering operation is over a predetermined amount.
The switch can be operated, and the second sensor for measuring the load can be configured by a sensor having a structure for measuring torque based on the amount of twist of the transmission shaft of the traveling transmission system. Further, it can be applied to a seeding machine having a traveling machine equipped with a seeding device as a paddy working machine.

It should be noted that reference numerals are given in the claims for convenience of 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] Overall side view of rice transplanter

[Fig. 2] Plan view of the transmission system

FIG. 3 is a plan view of the panel.

FIG. 4 is a block circuit diagram of a control system.

FIG. 5 is a flowchart of control operation

[Explanation of symbols]

 1 front wheel 2 rear wheel 20 speed increasing device 22 first sensor 23 second sensor 27 control means

Claims (1)

[Claims] 1. A front wheel (1) of a driving type and a rear wheel (2) of a driving type each configured to be steerable are provided, and the front wheel (1) with respect to the peripheral speed of the rear wheel (2). ), A first speed sensor (22) for measuring the steering angle of the front wheel (1), and a second sensor (23) for measuring the load acting on the traveling drive system. Equipped with
The first sensor (22) detects a steering operation of a predetermined amount or more,
A paddy work machine provided with a control means (27) for operating the speed increasing device (20) to increase the speed of the front wheel (1) when the second sensor (23) measures a load of a predetermined value or more. .