JPS63173512A - Walking type paddy field working machine - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed Description of the Invention] [Field of Industrial Application] The present invention is directed to an elevation control device that simultaneously controls the left and right wheels up and down using an elevation cylinder to maintain a constant height of the aircraft above the mud surface, and a lift control device for the left and right wheels. The present invention relates to a walking paddy field working machine equipped with a rolling control device that maintains the machine body parallel to the mud surface by changing the relative height using a roller jig cylinder.

(Conventional technology) A walking rice transplanter, which is a type of walking rice paddy work machine, uses lift control to maintain a constant height of the machine body from the mud surface and to keep seedlings at a constant planting depth. However, in recent years, configurations have begun to be put into practical use that add a rolling control function that actively corrects the lateral tilt of the aircraft to keep it parallel to the mud surface.

To perform rolling control, a rolling sensor is required to detect the inclination of the mud surface and the aircraft, but this rolling sensor is equipped with a grounding body attached to both ends of a balance-type arm that swings around the longitudinal axis of the aircraft. There is a model that has a similar structure and is attached to the front of the fuselage.

[Problem that the invention seeks to solve]

In a walk-behind rice transplanter, after one planting process is completed, it turns at the edge of the ridge and moves on to the next planting process. Lift it up and make a turn with the aircraft in a forward descending position.

Therefore, if you place the rolling sensor at the front of the aircraft,
Even when turning at the edge of a ridge, the rolling sensor contacts the mud surface and performs rolling control, which is preferable. However, if the distance between the left and right sides of the rolling sensor is wide, the rolling sensor becomes a resistance to turning, and the rolling sensor The distance between the rolling sensors and the ground cannot be made too large, as this may push the mud and make the mud surface rough.

However, if there is not enough space between the rolling sensors to touch the ground on the left and right sides, the accuracy of detecting the tilt of the machine during normal planting work will deteriorate, making it impossible to perform accurate rolling control.

Furthermore, if the aircraft suddenly sinks or rises, the rolling sensor will similarly sink into the ground or move away from the mud surface, making its operating state unstable.

Here, the present invention focuses on the above-mentioned points, and provides a configuration in which rolling control is carried out sharply without being affected by changes in the vertical posture of the aircraft during planting work, and it is possible to turn without any hindrance. It is an object.

[Means for solving problems]

A feature of the present invention is that, in a snow-covered walking-type paddy field work machine, the center float moves up and down and rolls around the longitudinal axis to detect the height of the machine body relative to the mud surface and the horizontal inclination of the machine body. A pair of side floats are provided that protrude forward from between the left and right wheels, and are independently movable up and down on the rear and lateral outside of the left and right wheels. A pair of crankshafts rotating in the same direction around the axis of the crankshafts are disposed opposite each other, and crank arms with protruding directions different by 180" are provided on opposite sides of the two crankshafts, and the arms are connected across both ends of the crankarms. The present invention is constructed so that the displacement of the substantially central portion of the arm from the axis is detected as the inclination of the body with respect to the mud surface, and its functions and effects are as follows.

[For production]

When configured as described above, during normal planting work,
The left and right tilt of the aircraft is sensitively detected mainly based on the side floats behind the left and right wheels, and the vertical movement of the aircraft is detected by the center float.

Tilt detection using side floats is performed as follows.

In other words, when the aircraft is tilted to one side and one side float is displaced upward, the displacement of the side float (18a) is caused by the side float (18a) as shown in FIGS. 1 and 3.
a) is transmitted through the crankshaft (19A) and the crank arm (19a), which rotate the arm (22) between the points of connection with the other crank arm (19b). When the arm (22) operates in this way, the arm (22)
The center of 2) deviates from the axis (pc) which is the rotation axis of the crankshafts (19A) and (19B), and the displacement of the center of this arm (22) is detected as the tilt of the aircraft body.

Also, the aircraft sank and the left and right side floats (18a)
, (18b) are displaced upward, both crankshafts (19A) and (19B) rotate in the same direction as shown in Fig. 4, but the crank arm (19a)
.

Since the protruding direction of (19b) is in the opposite direction, the arm (22) will rotate around the axis (P4), and the center of the arm (22) will be displaced from the axis (P4). That is not the case.

Then, when the rear part of the aircraft is lifted when turning at the edge of a ridge, the side floats are separated from the mud surface, and only the portion of the center float that protrudes forward from the wheels is in contact with the ground. Since the width of the center float is approximately equal to or narrower than the wheel spacing, the accuracy of inclination detection is reduced, but the maneuverability of turns is not significantly reduced, and rolling control is performed with little mud pushing phenomenon.

〔Effect of the invention〕

As described above, during planting work, the tilt of the aircraft is accurately detected without being affected by the vertical movement of the aircraft, improving the accuracy of rolling control, and when turning at the edge of a ridge. Even though rolling control is performed, the turning maneuverability is not degraded, and the occurrence of the mud-shoving phenomenon can be reduced, thereby improving the running performance of the walking type paddy field working machine.

〔Example〕

Embodiments of the present invention will be described below based on the drawings.

As shown in Fig. 7, a transmission case (1) with running wheels (2) at the end is attached to be swingable around the horizontal axis (P3) to support the aircraft, and engine (
3), and a planting claw (4) and a seedling stand (5) at the rear of the aircraft.
), etc., and a control handle (6) constitute a walking rice transplanter.

To explain in detail the vertical movement structure of the wheel (2), the sixth
As shown in Figures 7 and 7, a balance arm (10) is pivotably supported around the vertical axis of the tip of a piston rod (9a) of a single-acting lifting cylinder (9) fixed to the aircraft body. ,
Both ends of the balance arm (10) and the operating arm (la) erected at the boss of the transmission case (1) are connected to the rod (1).
1) and a rolling cylinder (12), and the left and right wheels (2) can be simultaneously moved up and down by expanding and contracting the lifting cylinder (9). Then, the balance arm (10) is operated to swing at the tip of the piston rod (9a) by the expansion and contraction operation of the rolling cylinder (12), and the left and right wheels (2) are operated to move vertically in opposite directions.

Next, we will explain in detail the center float (7) that detects the vertical movement and left/right tilt of the aircraft.As shown in Figure 1.2.5.6, the center float (7) is connected to the left and right wheels (2).
It is located between the left and right wheels (2) and protrudes forward from the left and right wheels (2), and can swing vertically around the transverse axis (P2) at the rear of the aircraft, and roll around the longitudinal axis (P3) of the aircraft. Can be installed freely.

As shown in FIG. 5, the front part of the center float (7) is connected to the lift control valve (2) via the link (24)
3) is interlocked and connected. The lift control valve (23) supplies and discharges hydraulic oil to the lift cylinder (9), and when the aircraft sinks into the mud surface and the center float (7) rises due to buoyancy, the lift control valve (23) starts lifting. Control valve (2
3) is operated to the pressure oil supply side, and the left and right wheels (2) are operated downward to correct the sinking of the aircraft. On the other hand, when the aircraft rises above the mud surface, the center float (7
) is lowered, the elevation control valve (23) is operated to drain oil, and the left and right wheels (2) are operated upward.

As shown in Figures 1 and 2, auxiliary floats (8) are provided on the left and right sides of the front of the center float (7).
The rolling movement of the center float (7) is carried out from an operating arm (13) provided on one of the auxiliary floats (8) to a rolling cylinder (12) via a bell crank (14), a linking rod (15), and a balance crank (16). ) to the rolling control valve (17). As a result, the rolling cylinder (12) is operated to expand and contract, and the left and right wheels (2) are operated to move up and down oppositely so that the aircraft body is parallel to the mud surface.

There are side floats (1) on the left and right behind the left and right wheels (2).
8a) and (18b) are vertically swingable around the horizontal axis (P2), and both side floats (18a).

(18b) are set to be sufficiently larger than the distance between the auxiliary floats (8) at the front of the fuselage. Above the side floats (18a) and (18b),
The crankshaft (
19A), (19B) are arranged, and one end of the crankshaft (19A), (19B) and the front part of the side float (18a), (18b) are interlocked and connected via a linking rod (20). There is.

There is a connecting rod (21) in the center of the fuselage that can be slid forward and backward.
is arranged, and one end of a linking rod (21) is connected to an arm (16a) extending from the balance crank (16). A rotatable arm (22) is attached to the other end of the linking rod (21), and a crank arm (19a) whose protruding directions differ by 180 degrees is attached to the other end of the crankshafts (19A) and (19B).
(19b) is attached, and the arm (22) is connected to both ends of the crank arms (19a) and (19b) with flexibility due to their length.

And side float ('18a), (18b)
The tilt detection based on is as described at the beginning of the [Operation] section.

Incidentally, although reference numerals are written in the claims section for convenient comparison with the drawings, the present invention is not limited to the structure shown in the accompanying drawings.

[Brief explanation of the drawing]

The drawings show an embodiment of the walking type paddy field work machine according to the present invention,
Figure 1 is a perspective view showing the linkage between the rolling control and the left and right side floats, Figure 2 is a front view of the area around the center float, and Figure 3 is a side view showing the state of the arm when the aircraft is tilted to the left. Fig. 4 is a side view showing the state of the arm when the aircraft sinks; Fig. 5 is a side view showing the linkage state between the center float and the elevation control valve; Fig. 6 is the elevation structure of the wheels and the center float; A plan view of the area around the side float, and FIG. 7 is an overall side view of the walking rice transplanter. (2)...wheels, (7)...center float, (9)...lifting cylinder, (12)
...Rolling cylinder, (18a), (
18b)...Side float, (198)+
(19B)...Crankshaft, (19a),
(19b) -”- crank arm, (22)...
... Arm, (P3) ... Front and rear axis, (P4
)・・・・・・Axis core.

Claims (1)

[Claims] An elevator control device that simultaneously operates the left and right wheels (2) up and down using an elevator cylinder (9) to maintain a constant height of the aircraft from the mud surface, and a rolling cylinder (12) that controls the relative height of the left and right wheels (2). This is a walk-behind paddy field work machine equipped with a rolling control device that keeps the machine parallel to the mud surface by changing the operation. A center float (7) is provided that protrudes forward from between the left and right wheels (2) to detect the height relative to the vehicle and the left and right inclination of the aircraft. Equipped with a pair of movable side floats (18a) and (18b),
A pair of crankshafts (19A) and (19B) are arranged facing each other and rotate in the same direction around the same axis (P_4) in conjunction with the vertical movement of the side floats (18a) and (18b) in the same direction. , both crankshafts (19A), (19B)
Crank arms (19a) and (19b) whose protruding directions differ by 180° are provided on opposite sides of the crank arm (1).
9a) and (19b), the arm (22) is connected across both ends of the arm (22), and the axis (P
A walking paddy field work machine configured to detect displacement from _4) as the inclination of the machine body with respect to the mud surface.