JPH02286003A - Walking type working machine for paddy field - Google Patents

Abstract

PURPOSE:To improve operation control by lowering driving wheels when lifting operation of steering handle is detected and stopping working of rise and fall control device by feed back mechanism during rise of the traveling machine. CONSTITUTION:When raising power is applied to a grip part at a reach side of a steering handle, driving wheels 8 are dropped based on the detected result of detecting mechanism and a traveling machine is raised. When the rising amount of the traveling machine reaches a given amount, feedback mechanism 10 is worked, a rise and fall cylinder 20 is stopped and the rising amount is made into a given amount.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention maintains the height of a traveling machine to which a working device is integrally attached at a predetermined height above the ground by raising and lowering a propulsion wheel. This invention relates to a walking paddy field work machine equipped with a lifting control device.

[Conventional technology]

Conventionally, when this type of walking-type paddy field work machine turns at the edge of a ridge, etc., the automatic control by the lifting control device is stopped, the traveling machine is manually lifted, and the planting mechanism and In order to reduce the ground resistance of the ground float, etc., and to facilitate turning operations, a dedicated control lever was provided to artificially raise the traveling aircraft.

[Problem to be solved by the invention]

However, when such a configuration is adopted, the manual operation lever must be operated when turning on a ridge, so the operator sometimes has to take his/her hand away from the control handle.
Operations were becoming complicated.

An object of the present invention is to provide a device that can improve operability when lifting the traveling machine body and can quickly return to the working position.

[Means to solve the problem]

The present invention is characterized by: (1) providing a detection mechanism for detecting a lifting operation on the hand grip portion of the control handle; and (2) moving the traveling body to the ground contact portion of the propulsion wheel based on the detection result of the detection mechanism. (2) A feedback mechanism is provided to stop the operation of the elevation control device when the amount of elevation of the traveling aircraft reaches a predetermined amount.The effects are as follows. It is.

[For production]

In other words, when a lifting force acts on the hand grip part of the operating handle, it is detected by a sensor such as a strain gauge installed on the hand grip part, or as shown in FIG. 13B) moves relative to the proximal end (13A), which results in the lowering of the propulsion wheels and the raising of the traveling vehicle. During this upward movement, the feedback mechanism operates to stop the elevating cylinder, and the upward movement reaches a predetermined amount.

〔Effect of the invention〕

Therefore, the operation can be performed without taking your hands off the control handle, resulting in good operability.In addition, it is possible to operate the control handle without taking your hands off the control handle, and the operation of lifting the control handle to put the traveling aircraft in a forward-downward position is a natural operation procedure compared to conventional operations. Being able to take advantage of the flow,
It also reduces discomfort during operation. By this operation, it is possible to levitate the work equipment, etc. and perform a turning operation, and by setting the predetermined lift amount at a lower position than the maximum lift position, it is possible to return to the working state quickly, which reduces the reduction in work efficiency. can be suppressed.

[First Embodiment] As shown in Fig. 5, a walking rice transplanter, which is an example of a walking rice paddy work machine, has an engine (1) and a transmission case (2) in the front, and an engine (1) and a transmission case (2) behind the transmission case (2). A seedling planting device as a working device consisting of a transmission case (3) that also serves as the fuselage frame extending from the end, a planting case (4) at the rear end, a seedling stand (5), and a seedling planting mechanism (6). (7), seedling stand (5
), a control handle (13) arranged on the rear side, left and right wheels (8), (8), left and right wheels (8), (8), which can swing vertically around the horizontal axis of the mission case (2). ) are arranged between the ground floats (9), respectively.

The ground float (9) is pivoted to the fuselage (V) so that it can swing vertically around the horizontal axis (X) of the rear fulcrum and can roll freely around the longitudinal axis (Y) of the fuselage. . A lifting control valve (1) is installed above the front end of this ground float (9).
5) is provided, and an operating arm (16) attached to the operating shaft of this elevation control valve (15) and this operating arm (1
6) is provided with a lifting rod (17) that contacts the top surface of the grounding float (9) to transmit the lifting operation of the grounding float (9), and the lifting rod (17) is installed to transmit the lifting operation of the grounding float (9) based on changes in ground pressure. This constitutes a linkage mechanism that transmits information to the control valve (15).

Next, the elevation control device (A) on the traveling body side will be explained. As shown in Figures 1 and 2, left and right wheels (8),
A wheel case (18) that pivotally supports (8).

(18) is pivotally supported on the transmission case (2) so as to be able to swing up and down, and the wheel cases (18), (18)
) The drive arms (19) erected at the base end (19) and the balance arm (22) attached to the piston rod (21) of the lifting cylinder (20) are connected to the left and right link rods (23a). , (23b), and the left and right wheels (8), (8) are connected by the telescopic drive of the lifting cylinder (20).
The lifting control device (A) is configured to be able to raise and lower at the same time, and maintains a constant planting depth by the seedling planting device (7), including the lifting control valve (15) and the linking mechanism described above. Configure.

Next, the structure of the control handle (13) will be explained.

As shown in FIGS. 1 and 3, the control handle (1
3) is the base end (13A) fixed to the planting case (4)
It consists of a proximal grip part (13B) which is attached to the upper end of the proximal end part (13A) so as to be able to swing up and down, and an arm (14) that swings together with this proximal grip part (13B) and the base. The hand grip portion (13B) is located between the end portion (13A) and the end portion (13A).
A spring (25) is installed to bias the spring downward.

In FIG. 4, (26) is an abutment member that comes into contact with the arm (14) and sets the upward limit of the hand grip (13B). The integrally swinging arm (14) and the first arm (to be described later)
This is referred to as a mechanism for detecting an operation of lifting the release wire (31) or the like to the hand grip portion (13B).

Next, a feedback mechanism (10) that lifts the traveling body (V) by a predetermined amount will be described. As shown in FIGS. 1 and 2, a piston rod (21) is attached to a support block (11) that supports the base end of the lifting cylinder (20).
Sliding rod (12) that slides along the expansion and contraction direction
The connecting arm (24) has a serrated engagement surface formed at the tip of the sliding rod (12) on the cylinder side.
) is swingably supported, and an engagement protrusion (27) that engages with the engagement portion of the linkage arm (24) is provided at the tip of the piston rod (21), and the linkage arm (24) and the engagement The linking arm (24) is configured to slide integrally with the operation of the piston rod (21) by engaging with the mating protrusion (27). On the other hand, an engagement piece (28) is attached to the other end of the sliding rod (12) and engages with the operating arm (16) to return the operating arm (16) to the neutral position. Engagement piece (28) and the support block (11)
A spring (29) interposed between the sliding rod (12) and the operating arm (16) urges the sliding rod (12) away from the operating arm (16).

The feedback mechanism (10) having the above configuration is linked to the hand grip portion (13B) of the operating handle (13) as follows. The operating arm (16) is linked to the operating handle side swinging arm (14) via a flexible spring (30) and a first release wire (31), and the linking arm (24) and the swinging arm (14)
and the relay arm (32) and the second and third release wires (
33) and (34).

With the above configuration, when the hand grip part (13B) is lifted when reaching the edge of the ridge and starting the turning operation,
The operating arm (
16) is switched to the "traveling body raising operation position" as shown by the imaginary line in FIG. In this case, the engagement piece (2
8) is the “traveling aircraft lift operation position” of the operation arm (16)
It has retreated to a position that allows it to swing. On the other hand, the third
Since the release wire (34) is also pulled at the same time, the second release wire (33) is loosened and the linking arm (24)
swings and engages with the protrusion (27), thereby integrating the piston rod (21) and the sliding rod (12).

Therefore, when the piston rod (21) protrudes to the position of the imaginary line by switching the elevation control valve (15), the left and right wheels (8), (8) are operated to descend. At the same time as this lowering, the sliding rod (12) slides integrally with the piston rod (21), so that the engaging piece (28)
comes into contact with the operating arm (16) and the operating arm (16)
) back to the neutral position. Then, the piston rod (
21) stops, and the traveling body (V) stops at a height that has risen by a predetermined amount.

[Second Example] Another form of the control handle (13) will be explained. As shown in Figure 6, the left and right hand grips (13B), (13B)
are pivotally supported to be able to move up and down independently relative to the base end (13A), and the respective grip portions (13B), (13B)
A grip lever (36) for use is provided.

On the other hand, the left hand side grip part (13B) and the right steering clutch are connected so that the left and right steering clutches (35), (35) and the left and right grip parts (13B), (13B) are linked with each other in a left-right staggered state. (35) and the fourth release wire (37)
It is linked with. Left and right drive arms (38), (38) that swing integrally with the hand grip (13B) are fixedly installed, and a passive It is linked to the operating arm (16) via the arm (39) and the fifth release wire (40), and the passive arm (39) and the sixth and seventh release wires (
41), (42) and a linkage arm (24) via a relay arm (32).

Therefore, when turning on the ridge, one hand side grip part (13B)
When turning while lifting the traveling body (V) and tilting it slightly toward the inside of the turn, the steering clutch (35) on the inside of the turn is operated to disengage, and the traveling body (V) is lifted by a predetermined amount.

[Another example]

■ The feedback mechanism (10) is equipped with a sensor that detects when the protrusion length of the piston rod (21) has reached a predetermined amount, and a signal is generated from this sensor only when turning on the ridge, and during normal work. It is also possible to adopt a configuration in which the signal is ignored and to adopt an electrical control type.

(2) The detection mechanism may be one that can extract the detection results as an electric signal from a strain gauge or the like glued to the hand grip (13B). When using this strain gauge as a detection mechanism, the proximal grip portion (13B) and the base end portion (13A) may not be displaced relative to each other.

(2) A sliding structure may be used to displace the proximal grip portion (13B) relative to the base end portion (13A).

■ Grip lever (36) for the steering clutch (33)
It may also be used as an operating mechanism for lifting the traveling aircraft.

(2) Alternatively, the entire control handle (13) may be swung relative to the fuselage frame.

(2) The above embodiment may be applied to a rice transplanter or the like equipped with a fertilization device or the like.

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 drawings]

The drawings show an embodiment of the walking type paddy field work machine according to the present invention,
Fig. 1 is an operational view showing the connection between the hand grip on the operating handle and the feedback mechanism for constant elevation, Fig. 2 is a plan view showing the elevation control device, and Fig. 3 is a side view showing the hand grip on the operating handle. , Fig. 4 is an enlarged view of the main part of Fig. 3, Fig. 5 is an overall side view, Fig. 6 is an operational diagram showing another embodiment corresponding to Fig. 1, and Fig. 7 is the control handle of Fig. 6. It is an enlarged view of the main part. (7)... Working device, (8)... Wheels, (lO)... Feedback mechanism, (13B
)... Hand side grip part, (A)... Elevation control device, (V)... Traveling body.

Claims (1)

[Claims] A traveling body (V) to which a working device (7) is integrally attached,
The working device (7) is raised and lowered by the lifting and lowering operation of the propulsion wheel (8).
Detection of a detection mechanism for detecting a lifting operation on the handle on the hand side of the control handle (13B), which is a walk-behind paddy field work machine equipped with a lift control device (A) that maintains the height above the ground at a predetermined height. Feedback that raises the traveling body (V) relative to the ground contact portion of the propulsion wheels (8) based on the result, and stops the operation of the elevation control device (A) when the amount of elevation reaches a predetermined amount. A walking paddy field work machine equipped with a mechanism (10).