JPS6245530Y2 - - Google Patents

Description

[Detailed Description of the Invention] "Industrial Application Field" The present invention relates to an automatic steering device for mobile agricultural machinery such as riding rice transplanters, tractors, and combines.

``Prior Art'' Conventionally, as shown in Japanese Utility Model Publication No. 47-27397, there has been a technique in which a fulcrum is provided on the longitudinal centerline of the aircraft body and the inter-row markers are moved left and right.

"Problems to be Solved by the Invention" In the prior art, when the steering sensor is rotated in the left-right direction around the longitudinal axis, the steering sensor, which is in a downward position, is turned to an upward position by rotating it to the opposite side. , the steering sensor needs to be operated to face downward each time, and correcting the steering sensor's posture is troublesome and the detection posture tends to become unstable.In addition, when the steering sensor is rotated left and right around the vertical axis Although the steering sensor can always be supported in a downward detection posture, since the steering sensor is placed at a relatively low position, an arm supporting the sensor must be provided near the front or rear end of the aircraft. When switching the left and right position of the aircraft during a headland turn, the arm and steering sensor will protrude to the front or rear of the aircraft, making the steering sensor prone to collision with obstacles such as ridges and damage. There were safety and security issues.

``Means for Solving the Problems'' However, the present invention is a device in which a fulcrum is provided at the front of the aircraft on the center line in the longitudinal direction, and steering sensors are displaceably disposed on the left and right sides of the aircraft. The base end of the parallel link is attached so as to be rotatable in the left and right directions about the front-rear axis so as to pass vertically upward, and a steering sensor is provided at the tip of the parallel link so as to always support it in a downward position. It is.

``Function'' Therefore, since the aircraft is rotated left and right with the steering sensor always supported in a downward position, it is not necessary to perform operations to correct the vertical orientation of the steering sensor, making it easy to handle. Since the steering sensor is moved to the left and right of the aircraft by passing through the vehicle, the steering sensor can be safely switched from side to side without colliding with ridges, etc. when turning on a headland, making it easier to handle than before. In addition, it is possible to easily improve safety.

"Embodiments" Hereinafter, embodiments of the present invention will be described in detail based on the drawings. Fig. 1 is a front view of the riding rice transplanter, Fig. 2 is a side view thereof, and Fig. 3 is a plan view of the same. It is a bent-body type.

4 and 5 are frames that connect the front and rear car bodies 2 and 3 so as to be bendable only in the horizontal direction via a center pin 6 that serves as a rotational fulcrum; 7 is a front wheel that is attached to the left and right sides of the front car body 2 via swing cases 8; 9 is a rear wheel attached to the left and right sides of the rear vehicle body 3 via a swing case 10; 11 is a gate-shaped safety frame whose base end is fixed to the front vehicle body 2; and 12 is a spare seedling stand attached to this safety frame 11. , 13 is a step provided on both sides of the front body 2, 14 is a fender for the front wheel 7, 15 is a driver's seat attached to the upper rear part of the front body 2 via the safety frame 11, and 16 is a front part of the front body 2. A steering handle 17 mounted above is an engine mounted on the rear vehicle body 3, and is configured to appropriately bend the front and rear vehicle bodies 2, 3 around the center pin 6 to correct the running direction.

In addition, 18 in the figure is a planting part provided at the front part of the front vehicle body 2 via a three-point link mechanism 19, and 20
21 is a planting claw that takes out one seedling from the seedling platform 20 and plants it; 22 is a seedling platform to which the seedling platform 20 and the planting claw 21 are attached. A transmission case 23, a float supporting the case 22, and a front bumper 24 attached to the transmission case 22 are configured to allow seedlings to be planted continuously.

By the way, the three-point link mechanism 19 includes a top link 25 and a lower link 26, and a lift arm 27 is connected to the lower link 26 via a lift rod 28, and the swinging of the lift arm 27 moves the links 25 and 26 up and down. The planting section 18 is configured to be raised and lowered.

On the fenders 14, 14 there is a motor 29,
30, and support arms 33, 34 extend outward from each of the fenders 14, 14, and a support arm 33, 34 is provided at the tip of each arm 33, 34 for guiding a linear body. V of
Guide rollers 35 and 36 having grooves are mounted on an axis.

On the other hand, support shafts 37 and 38 are installed in the transmission case 22 and extend outward from the fuselage.
42 is installed so that it can be rotated up and down, and each sled 41, 42
A pair of front and rear guide rollers 43, 44, 45, and 46 each having a V groove for guiding a linear body are mounted on the shaft, and the lower ends of each of the rollers 43 to 46 are positioned below the sleds 41 and 42.

A wire 48 having an anchor-like weight 47 attached to the tip thereof is wound around the winch 31, and a wire 50 having an anchor-like weight 49 attached to the tip thereof is wound around the other winch 32. .

Next, as shown in FIG. 4, a board 51 is attached to the center of the front bumper 24, and two parallel connecting rods 52, 53, which are parallel links, are pivoted to this board 51, and each connecting rod 52, Attach the sensor box fixing frame 54 to the tip of the sensor box 53. A steering sensor 57 including a sensor box 55 and a sensor arm 56 is attached to the fixed frame 54, and a fulcrum is provided at the front of the aircraft on the center line in the longitudinal direction, so that the steering sensor 57 can be freely displaced to the left and right sides of the aircraft. In the device in which the steering sensor 57 is provided, the base ends of the parallel links 52 and 53 are attached so as to be rotatable in the left and right directions around the longitudinal axis so as to pass approximately vertically above the fulcrum of the steering sensor 57, and the steering sensor is always supported in a downward position. 57 is provided at the tips of the parallel links 52 and 53.

Further, a sensor lift lever 58 is installed on the right side of the handle 16 to rotate the connecting rods 52, 53 from one side of the planting section 18 to the other side via the upper side.

A frame plate 59 is installed inside the right fender 14 shown in FIG.
, the middle of the sensor lift lever 58 is pivotally supported on the support shaft 60, and the wire rope 6 is attached to the links 61, 62 integrally formed at the base ends of the connecting rods 52, 53.
3 and 64 and springs 65 and 66, and by operating the lever 58, the sensor 57 is displaced left and right using the center of the aircraft as a fulcrum, and the sensor 57 is selectively placed on both the left and right sides of the aircraft. It is configured to be located uniformly.

In addition, a swollen head 6 is provided in the middle of each of the connecting rods 52 and 53.
7 and 68 are integrally formed, and the front bumper 24
A stopper 69 is integrally formed in the sensor, and the expanded heads 67 and 68 are configured to come into contact with the stopper 69 when the sensor 57 is lowered to the normal position by operating the lever 58.

Next, as shown in FIGS. 5 and 6, the variable resistor 71 is fixed to the mounting piece 70 inside the sensor box 55, and the shaft 72 of the variable resistor 71 is attached with a rope
A pulley 74 around which

In addition, a support shaft 7 screwed to the box 55 is also provided.
A substantially Y-shaped swinging lever 76 is pivotally attached to the lever 76, the upper end of the sensor arm 56 is fixed to one end of the lever 76, and pins 77, 7 are attached to the other end of the lever 76.
7 is provided protrudingly, and the rope 73 is attached to each pin 77, 77.
Both ends are tied together.

Furthermore, the opening 7 of the sensor box 55
An inverted V-shaped engagement portion 56a is formed at the lower end of the sensor arm 56 extending downward from the wire 50, and the swinging lever 76 swings together with the sensor arm 56 according to the bending state of the wire 50. This configuration is configured to convert the resistance value of the variable resistor 71 into a change in the resistance value of the variable resistor 71.

Next, as shown in FIG. 7, an idler arm 79 is integrally formed on the frame 5 on the rear vehicle body 3 side, and a steering hydraulic cylinder 80 is connected and supported by the arm 79, and a pitman arm 81 which is interlocked and connected to the handlebar 16 is attached to the idler arm 79. A piston rod 83 of the cylinder 80 is connected via a shaft 82.

Further, a locking plate 84 is fixed to the front vehicle body 2, and the pit man arm 81 is attached to the locking plate 84 with a pin 85.
A hydraulic switching valve 87 is provided to connect the hydraulic pump 86 to the cylinder 80 in a detachable manner, and by operating the switching valve 87, the piston rod 83 is moved forward and backward, and the front and rear vehicle bodies 2, 3 are centered. By bending around the pin 6 and automatically controlling the steering, or by removing the pin 85,
The cylinder 80 and piston rod 83 are used as a conventional steering drag rod, and the steering is manually controlled by the handle 16 to correct the traveling direction.

A relief valve 89 is provided between the discharge side of the hydraulic pump 86 and the tank 88, and a variable resistor 90 whose resistance value changes according to the expansion and contraction of the piston rod 83 is provided. (not shown).

Reference numeral 91 denotes a control circuit including this bridge circuit, which is configured to apply its output to a solenoid 92 of the switching valve 87, and also connects this control circuit 91 to a power supply circuit 93.

Further, winch motors 29 and 30 are connected to the power supply circuit 93 via a switching circuit 94. The switching circuit 94 connects each winch motor 2
9 or 30 is selectively connected to the power supply circuit 93. A switch (not shown) is built into the switching circuit 94, and this switch is linked with the sensor lift lever 58 to selectively power the winch motor 29 or 30. It is configured to be switched and connected to the circuit 93.

This embodiment is constructed as described above, and during planting work, the tip of the wire 48 on one side is fixed in the field by the weight 47 at the edge of the ridge where the planting movement starts, and the motor 29 of the winch 31 on that side is fixed. When the power is cut off, the winch 31 is set so that it can rotate freely, and the machine is moved forward to plant seedlings,
A wire 48 whose base end is wound around the winch 31 while being guided by the rollers 44 and 35 is sequentially paid out by the free rotation of the winch 31 as the aircraft travels, and is guided by the rollers 35 and 44 to move along the travel path of the aircraft. They will be laid one after another in the fields.

Simultaneously with the process of laying the wire 48, the winch motor 30 of the winch 32 on the other side is energized to rotate the winch 32 in the winding direction of the wire 50, which was laid in the paddy field during the previous planting run. The wire 50 on the other side is guided by rollers 45 and 36 and wound around the winch 32 one after another.

In the next process, the wire 48 on one side laid in the field is wound up one by one by the winch 31, and the other winch 32 is rotated freely to lay the wire 50 on the other side one by one into the field.
50 winding and laying operations are performed alternately.

Therefore, if the spacing between the strips and the traveling direction of the aircraft are normal and the aircraft is moving forward, the variable resistor 7
The Wheatstone Bridge containing 1,90 was balanced and the aircraft continued straight ahead.

On the other hand, when the distance between the wire 50 and the planting section 18 becomes larger, the planting section 18 is separated from the wire 50, and the planting row distance becomes wider, the resistance of the variable resistor 71 increases in proportion to the rightward movement of the sensor arm 56. As the value increases, an unbalanced voltage occurs on the Wheatstone bridge, and the output is transferred from the control circuit 91 to the solenoid 92.
is applied, the solenoid 92 is energized, the switching valve 87 is switched, the hydraulic oil of the hydraulic pump 86 is supplied to the cylinder 80, the piston rod 83 is advanced, and the front and rear car bodies 2, 3 are bent around the center pin 6. , the distance between adjacent rows is corrected so that the planting portion 18 approaches the wire 50. When the piston rod 83 advances, the resistance value of the variable resistor 90 increases and the bridge circuit is balanced, the solenoid 92 is turned off and the switching valve 87 is returned to neutral.

Conversely, when the planting portion 18 approaches the wire 50 by more than the set value, the resistance value of the variable resistor 71 decreases in proportion to the leftward movement of the sensor arm 56, and a potential difference in the opposite direction to that described above is generated in the bridge circuit. The solenoid 92 is energized, the switching valve 87 is switched in the opposite direction to that described above, the piston rod 83 is moved back and forth, and the front and rear car bodies 2 and 3 are bent in the opposite direction to that described above, and the planting part 18 is separated from the wire 50 so as to be adjacent to it. Correct the spacing between the rows. When the resistance value of the variable resistor 83 becomes smaller due to the retraction of the piston rod 83, the solenoid 92 is turned off and the switching valve 87 is returned to neutral.

In this way, the direction of movement of the machine is automatically corrected based on the wire laid in the field in the previous process.

When the sensor lift lever 58 is switched from the solid line position in FIG. 4 to the imaginary line (β) position via the imaginary line (α) position in FIG. One wire rope 63 is pulled through springs 65 and 66 connected to the lower ends of 58, and at the same time the other wire rope 64 is pressed.
2 and 53 rotate clockwise in FIG. 4 using the base end pivot point in the center of the body as a fulcrum. As a result, the steering sensor 57 attached to the ends of the connecting rods 52, 53 via the fixed frame 54 moves from the imaginary line (α') position to the imaginary line (β') position in the figure. be.

"Effects of the Invention" As is clear from the above embodiments, the present invention provides a device in which the steering sensor 57 is displaceably disposed on the left and right sides of the aircraft by providing a fulcrum on the center line in the longitudinal direction at the front of the aircraft. The base ends of the parallel links 52 and 53 are attached so as to be rotatable in the left-right direction around the front-rear axis so as to pass approximately vertically above the fulcrum, and
A steering sensor 57 is provided at the tips of the parallel links 52 and 53 so as to always support the steering wheel in a downward position.
Since the steering sensor 57 is always supported in a downward position while rotating the aircraft left and right, it is not necessary to perform operations to correct the vertical orientation of the steering sensor 57, making it easy to handle. Since the steering sensor 57 is moved to the left and right of the aircraft, when turning on a headland, etc., the steering sensor 57 can be safely switched from side to side without colliding with a ridge, etc., making it easier to handle than before. This has practical effects such as ease of improving operability and safety.

[Brief explanation of the drawing]

Fig. 1 is a front view of a riding rice transplanter showing an embodiment of the present invention, Fig. 2 is a side view, Fig. 3 is a plan view, and Fig. 4 is a front view of a riding rice transplanter showing an embodiment of the present invention.
The figure is a system diagram showing the steering sensor, FIG. 5 is a side view showing the steering sensor, FIG. 6 is a plan view thereof, and FIG. 7 is an automatic steering system diagram. 52, 53... consecutive links (parallel links), 57...
steering sensor.

Claims (1)

[Scope of utility model registration request] In a device in which a fulcrum is provided on the front-rear center line at the front of the aircraft and a steering sensor 57 is displaceably disposed on the left and right sides of the aircraft, the steering sensor 57 is moved in the left-right direction around the longitudinal axis so as to pass approximately vertically above the fulcrum of the steering sensor 57. An automatic steering device for a mobile agricultural machine, characterized in that base ends of parallel links 52, 53 are rotatably attached to the base ends of the parallel links 52, 53, and a steering sensor 57 is provided at the tips of the parallel links 52, 53 so as to always support the parallel links 52, 53 in a downward position.