JPH072045B2 - Walk-type paddy work machine - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of application] The present invention detects ups and downs of a fuselage on a mud surface by detecting a change in relative vertical position of a center float disposed in the center of the fuselage to determine whether the left and right wheels are one. An elevator control device that keeps the height of the aircraft from the mud surface at a constant level by operating the lifting cylinders at the same time, and a rolling cylinder that changes the relative height of the left and right wheels to make the aircraft parallel to the mud surface. The present invention relates to a walk-behind paddy work machine equipped with a rolling control device.

[Conventional technology]

A walking type rice transplanter is a typical walking type paddy working machine. In this walk-behind rice transplanter, in order to keep the planting depth of seedlings constant, raising and lowering control that keeps the height of the machine body from the mud surface constant is performed.In recent years, in addition to this raising and lowering control, A machine with a rolling control function that positively corrects the left and right tilt of the aircraft and keeps the aircraft parallel to the mud surface has also been put into practical use.

As an example of the configuration of the rolling control, there is a model in which a grounding type rolling sensor that follows the ground on a mud surface is arranged at the front of the machine body, and rolling control is performed by detecting the tilt of the machine body with respect to the rolling sensor. Of.

[Problems to be Solved by the Invention]

In a walk-behind rice transplanter, after one planting process is completed, the plant moves to the next planting process by turning at the ridge, but this turning operation is performed at the rear part of the machine where the seedling planting part is located. Lift and make a turn with the aircraft in a forward descending state.

Therefore, if you place the rolling sensor at the front of the machine,
Even if the rolling sensor is turning on a ridge, it is preferable that the rolling sensor be in contact with the mud surface to perform rolling control, but if the rolling sensor has a wide grounding interval on the left and right, the rolling sensor becomes a resistance to the turning and the rolling sensor Can push the mud and roughen the mud surface, so the grounding interval of the rolling sensor cannot be set too large.

However, if the left and right grounding intervals of the rolling sensor cannot be sufficiently secured, the accuracy of the tilt detection of the airframe during normal planting work will be reduced, and accurate rolling control cannot be performed.

In view of the above points, the present invention has an object to obtain a configuration in which accurate rolling control is performed during normal planting work, and turning is possible without trouble.

[Means for Solving the Problems]

A feature of the present invention is that in the walk type paddy field working machine mentioned above, grounding type rolling sensors for detecting the left and right inclination of the machine body with respect to the mud surface are arranged in front of and in the rear of the left and right wheels, respectively, and a rolling sensor at the rear of the wheels. The effective contact width in the left-right direction of the wheel is set to be larger than the effective contact width in the left-right direction of the rolling sensor in front of the wheel, and the rear rolling sensor is placed near the virtual vertical line whose tip passes through the axis of the wheel. It is located so as to be located, and its action and effect are as follows.

[Action]

With the configuration described above, during normal planting work, the lateral inclination of the machine body is detected by the rolling sensor having a large left and right effective ground contact width behind the left and right wheels for supporting the machine body load, which mainly receives the driving reaction force of the wheels. Further, since it is a rolling sensor for supporting the load of the vehicle body that receives the reaction force of the wheels, rolling control is performed while ignoring some irregularities. If the rear part of the body is slightly lifted when turning at the edge of the ridge, the rolling sensor at the rear of the wheel is separated from the mud surface and only the rolling sensor at the front of the wheel is in contact with the ground. Since the left and right effective ground contact width of the rolling sensor in front of the wheel is smaller than the left and right effective ground contact width of the rolling sensor in the rear of the wheel, the accuracy of tilt detection is reduced, but the maneuverability of turning is not significantly reduced. Rolling control is performed in a state where the pushing phenomenon is small.

In addition, by performing the pitching control and the rolling control by separate cylinders, the pitching control and the rolling control can be performed, for example, when the depth from the mud surface to the tiller is deep and the slopes are tilted left and right. When working simultaneously, the wheels are raised and lowered without interfering with each other.

〔The invention's effect〕

As described above, during normal planting work, the rolling sensor at the rear of the wheel with a wide effective grounding width is used for sharp rolling control, while the rolling control is performed for turning at the ridge without sacrificing turning maneuverability. Also, the occurrence of mud pushing phenomenon could be reduced and the running performance of the walk-type paddy work machine could be improved.

Also, during normal planting work, the rolling sensors on the rear of the left and right wheels for supporting the load of the aircraft that receive the reaction force from the wheels are used to detect the left and right inclination of the aircraft, so rolling control that ignores some irregularities can be performed well. It

Furthermore, by performing the pitching control and the rolling control by separate cylinders, for example, the pitching control and the rolling control can be performed as in the case where the depth from the mud surface to the tiller is deep and the tilt is horizontal. When working simultaneously, the wheels are raised and lowered without interfering with each other.

〔Example〕

 Embodiments of the present invention will be described below with reference to the drawings.

As shown in FIG. 6, a transmission case (1) having wheels (2) for traveling at its ends is swingably mounted around the horizontal axis (P ₁ ) to support the machine body, and at the same time, in front of the machine body. A walk-type rice transplanter is provided with an engine (3) in its part and a planting device (eg, a planting claw (4) and a seedling stand (5)) and a steering handle (6) in the rear of the machine. There is.

The vertical movement structure of the wheel (2) will be described in detail below.
As shown in FIG. 6 and FIG. 6, the balance arm (10) is swingably supported around the vertical axis of the tip of the piston rod (9a) of the single-acting lift cylinder (9) fixed to the machine body. Both ends of the balance arm (10) and an operation arm (1a) standing on the boss portion of the transmission case (1) are connected via a rod (11) and a rolling cylinder (12), and an elevating cylinder ( The left and right wheels (2) are simultaneously moved up and down by the expansion and contraction operation of 9). Then, the balance arm (10) is oscillated by the tip of the piston rod (9a) by the expansion and contraction operation of the rolling sensor (12), and the left and right wheels (2) are operated by the antireverse vertical movement. In addition, the back and forth movement of the left and right wheels (2) at the highest position is the stopper (23).
By this, the upward movement above the set level is restricted.

Next, the raising and lowering control will be described. As shown in FIGS. 5 and 6, a center float (7) is swingably attached around the horizontal axis (P ₂ ) at the rear of the body as shown in FIGS. ) Relative vertical swing displacement relative to the front body is mechanically transmitted to a lift control valve (not shown) via a linking rod (24). This lift control valve supplies and discharges hydraulic oil to and from the lift cylinder (9). When the body sinks into the mud surface and the center float (7) moves up relatively by buoyancy, The raising / lowering control valve is operated to the pressure oil supply side, and the left and right wheels (2) are lowered to correct the sinking of the machine body. On the other hand, when the airframe floats above the mud surface, the center float (7) relatively lowers, the lift control valve is operated to the oil drain side, and the left and right wheels (2) are lifted.

Next, the rolling control will be described in detail below.
As shown in the figure, in the front part of the center float (7), a rolling sensor (8) having a grounding body (8b) at both ends of a U-shaped frame (8a) in plan view is provided in front of and behind the center float (7). It is mounted so that it can be rolled around the axis (P ₃ ). The rolling operation of the rolling sensor (8) is performed by a rolling cylinder (14), a linkage rod (15) and a balance crank (16) from an operation arm (13) provided on one of the grounding bodies (8b). 12) is transmitted to the rolling control valve (17). As a result, the rolling cylinder (12) is expanded and contracted, and the left and right wheels (2) are operated so that the machine body is parallel to the mud surface.

Rolling sensors (18a) on the left and right of the wheel (2),
The side float as (18b) can swing up and down around the horizontal axis (P ₂ ) and both side floats (18
With the distance between a) and (18b) set sufficiently larger than the distance between the grounding body (8b) of the rolling sensor (8) at the front of the machine, the tip of the wheel also passes through the axis of the wheel (2). It is attached so that it is located near the vertical line. Above the side floats (18a), (18b), a crankshaft (19) rotatably supported around a horizontal axis (P ₄ ).
a) and (19b) are arranged together with this crank shaft (19
a), one end of (19b) and side floats (18a), (18b)
The front part is interlockingly connected via a connecting rod (20).

A linkage rod (21) is arranged in the center of the machine body so as to be slidable in the front-rear direction, and one end of the linkage rod (21) is connected to an arm (16a) extended from the balance crank (16). . A rotatable balance crank (22) is attached to the other end of the linking rod (21), and the other ends of the crankshafts (19a) and (19b) are attached to the upper and lower ends of the balance crank (22). It is connected.

With the above structure, as shown in FIG. 3, when the body tilts to the left and the left side float (18a) swings upward, the linking rod (20), crankshaft (19a), and balance crank (22) parts The linkage rod (21) is pulled rearward by this linkage, and the rolling control valve (17) is operated via the balance crank (16). As a result, the left and right wheels (2) are operated so that the rolling cylinder (12) expands and contracts and the machine body becomes parallel to the mud surface, as before. Even if the left and right side floats (18a) and (18b) simultaneously swing upward due to the sinking of the airframe, both crankshafts (19a) and (19b) will move relative to each other as shown in FIG. By operating in the canceling direction, the link rod (21) is neither pushed nor pulled, and the rolling control valve (17) is not manipulated.

It should be noted that reference numerals are added to the claims for convenience of comparison with the drawings, but the present invention is not limited to the structures of the accompanying drawings by the entry.

[Brief description of drawings]

Drawing shows an embodiment of a walk-behind paddy work machine according to the present invention,
FIG. 1 is a perspective view showing a state in which the rolling sensors in front of and behind the wheels and a rolling control valve are linked, FIG. 2 is a front view near the front part of the center float, and FIG. 3 is a balance crank and a balance crank in the case where the machine body leans to the left. FIG. 4 is a side view showing the state of the link rod, FIG. 4 is a side view showing the state of the balance crank and the link rod when the machine body sinks, and FIG. The plan view shown in FIG. 6 is an overall side view of the walk-behind rice transplanter. (2) …… Wheels, (7) …… Center float,
(8), (18a), (18b) ... Rolling sensor,
(9) ... Lifting cylinder, (12) ... Rolling cylinder.

 ─────────────────────────────────────────────────── ─── Continuation of front page (72) Noboru Higashi Noboru Higashio 64, Ishizukita-machi, Sakai City, Osaka Prefecture Kubota Iron Works Co., Ltd. Sakai Works (56) References JP-A-61-31007 (JP, A)

Claims (1)

[Claims] Claims: 1. The ups and downs of the airframe on the mud surface are detected by the relative vertical position change of the center float (7) arranged in the center of the airframe, and the left and right wheels (2) are detected by one lifting cylinder (9). At the same time, it is operated to move up and down to keep the height of the aircraft from the mud surface constant, and the relative height of the left and right wheels (2) is changed by the rolling cylinder (12) to move the aircraft to the mud surface. A walk-type paddy working machine equipped with a rolling control device for keeping parallel to each other. Grounding type rolling sensors (8), (18a), (18b) for detecting left and right tilts of the body with respect to a mud surface are provided to the left and right wheels (2 ), And the effective ground contact width of the rolling sensors (18a), (18b) at the rear of the wheel in the left-right direction is greater than the effective ground contact width of the rolling sensor (8) at the front of the wheel in the left-right direction. Set up And, further, the rear rolling sensor (18a), (18b), and walk-behind paddy working machine that is disposed so as to be positioned in the virtual vertical line near through the axis of the tip of the wheel (2).