JPH0458923B2 - - Google Patents

Description

[Detailed Description of the Invention] [Field of Industrial Application] The present invention includes a rolling control means that controls the attitude of the aircraft so that it is parallel to the rice field by changing the relative height of the left and right wheels, and a rolling control means that simultaneously controls the left and right wheels. The present invention relates to a walking type paddy field working machine, which is provided with a lifting control means for moving the machine up and down to maintain a constant height from the field surface, and is configured to be able to change and adjust the control sensitivity of the lifting control means.

[Conventional technology]

A walking rice transplanter is one of the typical walking rice paddy work machines, and an example of a means for controlling the elevation by vertically moving the left and right wheels at the same time is disclosed in Japanese Utility Model Application Publication No. 100922/1983. This adjusts the sensitivity of the elevation control means by changing the biasing force of a spring acting on a sensor float that detects the vertical movement of the aircraft body.

In recent years, research has been conducted to improve functionality by adding a rolling control function that changes the relative heights of the left and right wheels.

[Problem that the invention seeks to solve]

The sensitivity adjustment of the above-mentioned elevation control is performed as follows.
In other words, when the mud in a paddy field is hard, there are relatively hard mud bumps scattered on the rice field, so in order to avoid being affected by these bumps, the descending force of the sensor float is increased to make the control sensitivity less sensitive. do. On the other hand, when the mud in a paddy field is soft, there are fewer mud bulges as described above, and the float receives less reaction force from the mud, which weakens the downward biasing force of the sensor float and makes the control sensitivity more sensitive. It is.

If the mud is hard in the sensitivity means of the lift control, the sensor float will actively crush the raised object, and even if a phenomenon such as the wheel lifting off from the tiller occurs, it will not be possible to remove the mud from the mud. The aircraft slides on the mud surface due to buoyancy and reaction force, and the height of the aircraft from the mud surface is maintained.In this case, the rolling control means responds sharply to the bumps and rolls left and right. When the relative height of the wheels is changed,
This may have the opposite effect and disturb the attitude of the aircraft.

The present invention focuses on the above-mentioned problem and aims to prevent posture disturbance due to unexpected rolling control operation when mud is hard.

[Means for solving problems]

A feature of the present invention is that the above-mentioned walking type paddy field work machine is provided with a check means that checks and prevents the control operation of the rolling control means when the control sensitivity of the lifting control means is operated to the insensitive side, Its action and effects are as follows.

[Effect]

With the above-described structure, when the mud is soft, the machine body is mainly supported by the left and right wheels relative to the tiller, and the right and left wheels accurately perform elevation control and rolling control.

On the other hand, when the mud is hard, if the control sensitivity of the lift control means is set to the insensitive side and the rolling control is temporarily interrupted, the machine will move the left and right wheels relative to the tiller.
The rice field will be supported by a grounding part such as a float installed on the aircraft body, and the horizontal tilt of the aircraft, that is, the rolling movement, will be corrected by the reaction force and buoyancy from the rice field acting on the grounding part. Being done,
The aircraft is kept parallel to the rice field.

〔Effect of the invention〕

As described above, unnecessary rolling control is temporarily stopped when the mud in the rice field is hard, and the aircraft is held parallel to the rice field using the reaction force and buoyancy from the mud on the rice field. Rolling control is activated by sensitively sensing mud ridges, eliminating the need to change the relative height of the left and right wheels unexpectedly, improving the running stability of the aircraft.

〔Example〕

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

As shown in Fig. 3, a transmission case 1 equipped with running wheels 2 at the end is swingably mounted around the transverse axis _P1 of the fuselage to support the fuselage, and an engine 3 is attached to the front of the fuselage. The rear of the fuselage is equipped with a planting device consisting of a planting claw 4, a seedling stand 5, etc., and a control handle 6. Furthermore, a center float 7 is installed in the center of the fuselage to detect the vertical movement of the fuselage, and left and right floats are installed in the front of the fuselage. A walking rice transplanter as a walking rice paddy working machine is equipped with a rolling float 8 for detecting the inclination of the rice plant and side floats 23 on the left and right sides of the rear part of the machine body.

To explain in detail the vertical movement of the wheel 2, the first
As shown in FIG. 3 and FIG. 3, a balance arm 10 is swingably supported around a vertical axis at the tip of a piston rod 9a of a reciprocating lifting cylinder 9 fixed to the aircraft body. An operating arm 1a erected at the boss portion of the transmission case 1 is connected via a rod 11, and an elevating cylinder 9
By the expansion and contraction operations, the left and right wheels 2 are operated to swing up and down. A reciprocating rolling cylinder 12 is installed from the piston rod 9a to the balance arm 10, and as the rolling cylinder 12 expands and contracts, the balance arm 10 is swung at the tip of the piston rod 9a. The wheels 2 are moved up and down in reverse.

Next, to explain the control system for lifting and rolling in detail, as shown in FIG. Control valve 14
The oil is then sent to the rolling control valve 15 which supplies and discharges hydraulic oil to the rolling cylinder 12. Both control valves 14 and 15 are three-position electromagnetic type, and are operated based on signals from a lift sensor 16 and a rolling sensor 17 that detect the vertical movement and horizontal tilt of the aircraft body.

Next, the lifting and rolling sensor 16,
Regarding 17, as shown in Fig. 3, the rolling float 8 is rotatably supported around the longitudinal axis _P2 of the fuselage, and the rolling float 8 is rotatably supported around the longitudinal axis P2 of the fuselage. 3-position switch type rolling sensor 17 that returns to neutral
is installed. The center float 7 is located between the left and right axes at the bottom of the fuselage, as shown in Figures 2 and 3.
It is pivoted around P ₃ so as to be able to swing up and down, and is biased toward the downward swinging side by a spring 22, and a 3-position switch type lifting/lowering device similar to the rolling sensor 17 is mounted on the left and right axis P ₃ . A sensor 16 is attached. The biasing force of this spring 22 can be changed by operating the adjustment lever 21 which has a position holding mechanism.
The strong urging force makes them insensitive.

The lift sensor 16 and the lift control valve 14 installed as described above are electrically linked as shown in FIG. During planting work when the mud in the paddy field is soft and the sensitivity of the lifting control is sensitive, lifting and rolling control is performed based on signals from the lifting sensor 16 and the rolling sensor 17.

Also, the balance arm 10 and the piston rod 9a
A 3-position switch type neutral sensor 19 is also installed at the connection point with the relay switch 1, which is turned off when the balance arm 10 is at right angles to the piston rod 9a, that is, when the left and right wheels 2 are parallel.
It is linked to 8. Further, a limit switch 20 is installed on the adjustment lever 21 to detect that it has been operated to the insensitive side, and this limit switch 20 is linked to a solenoid section that switches the relay switch 18.

Therefore, when the elevation control sensitivity is on the sensitive side, elevation and rolling control is performed based on the signals from the elevation sensor 16 and the rolling sensor 17.
When the adjustment lever 21 is operated to the insensitive side, the relay switch 18 is switched to the neutral sensor 19 connection side. In this state, the left and right wheels 2 are always maintained parallel based on the signal from the neutral sensor 19, and the rolling control is temporarily stopped.

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, and FIG. 1 is a circuit diagram showing the coordination state of the lifting control and rolling control of the left and right wheels, FIG. 2 is a side view of the vicinity of the center float, and FIG. The figure is an overall side view of the walking rice transplanter. 2... Left and right wheels, 18... Checking means.

Claims (1)

[Claims] 1 Rolling control means that controls the attitude of the aircraft so that it is parallel to the rice field by changing the relative height of the left and right wheels 2, 2, and a rolling control means that controls the aircraft's attitude so that it is parallel to the rice field, and simultaneously raises and lowers the left and right wheels 2, 2 to maintain the aircraft at a constant height from the rice field. A walking type paddy field work machine is provided with a lift control means to maintain the height of the lift control means, and is configured to be able to change and adjust the control sensitivity of the lift control means, when the control sensitivity of the lift control means is operated to the insensitive side. A walking type paddy field working machine comprising a check means 18 that checks and prevents the control operation of the rolling control means.