JPS6239964B2 - - Google Patents

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a paddy field working machine that performs work such as planting seedlings while traveling in a paddy field. The present invention relates to a vehicle equipped with a wheel vertical control means that stably maintains the height of the aircraft body relative to the mud by vertically moving the vehicle body in response to the mud. [Prior Art] The above-mentioned paddy field working machine is equipped with a float at the bottom of the machine body equipped with the working device, and a ground sensor that operates in front of the float is provided at the front of the machine body, and the vertical movement of this sensor is Based on this, there is a structure in which the wheels are controlled up and down in the direction opposite to the direction of sensor displacement to maintain a stable height of the airframe relative to the mud (for example, Japanese Utility Model Publication No. 18978/1983). [Problems to be solved by the invention] As mentioned above, the machine equipped with a sensor at the front of the machine can quickly detect changes in the plowing platform or mud surface.
In addition, the sensor itself is smaller and lighter than the conventional long sensor float that spans the front of the aircraft, allowing for highly sensitive detection, and has the advantage that the float generates fewer mud waves. . However, on the other hand, because the area of the sensor is smaller, the operating force required to switch the control system for the upper and lower wheels is reduced, and there is a problem that it reacts to minute irregularities on the mud surface. This invention makes it possible to reliably operate the front float as a ground sensor with sufficient ground pressure by improving the float installation configuration, thereby ensuring good wheel vertical motion control. It is. [Means for Solving the Problems] The present invention is characterized in that a front float and a rear float are provided at the lower part of the machine body equipped with a working device, and the vertical movement of the front float is controlled. A state in which the wheels are detected and automatically controlled up and down in a direction opposite to the float displacement direction to maintain a stable height of the aircraft body relative to the mud surface, and the wheels are not raised during the automatic control operation state. In this case, the bottom surface of the front float is located deeper into the mud surface than the bottom surface of the rear float. [Function] According to the above configuration, even if the ground contact area of the front float as a sensor is small, it will receive a sufficiently large ground pressure by contacting a relatively strong layer under the mud surface, and the control system will be reliably controlled. can be activated. [Effects of the Invention] Therefore, while taking advantage of the above-mentioned advantages of having a relatively lightweight and compact ground sensor installed at the front of the aircraft, there are also disadvantages due to the small float, which tends to lack operating force to the control system due to its small ground contact area. It is now possible to reliably perform wheel vertical control based on detection with excellent sensing performance. Embodiments of the present invention will be described below based on the drawings. FIGS. 1 and 2 show the overall side and plane views of a walk-behind rice transplanter, which is an example of a paddy field working machine according to the present invention, and its schematic configuration is as follows. An engine 2 and a main transmission case 3 are directly connected to the front end of a longitudinally long frame 1 located in the center of the left and right sides of the aircraft, and a seedling planting device 4 for planting three rows as a working device and a control device are mounted at the rear of the frame. A handle 5 is provided, and a front float 6 made of hollow synthetic resin is provided below the engine 2 and the main transmission case 3, and below the seedling planting device 4 .
A pair of rear floats 7, 7 on the left and right are provided, respectively, and a pair of propulsion wheels 8, 8 are located at the outermost part of the fuselage, corresponding to the middle between the front and rear floats 6, 7, and are mounted rearward from the main transmission case 3. It is supported via transmission cases 9, 9 which extend vertically and swingably. In addition, the seedling planting device 4 includes a rear inclined seedling resting table 10 on which pine-shaped seedlings A are placed and accommodated and laterally reciprocated with a constant stroke, and a seedling planting stand 10 formed at three locations at the lower end of this seedling placing stand 10. A planting mechanism 1 that takes out a certain amount of seedlings from the take-out part a and plants them in a paddy field.
1... and a rear transmission case 12 in which these drive mechanisms are housed. The rice transplanter configured in this manner is floated and supported on the mud surface of the paddy field by the front and rear floats 6, 7, and moves forward with the propulsion force of the propulsion wheels 8, 8 that follow the hard surface of the paddy field. In addition, as the aircraft advances, the seedling planting device 4 intermittently performs seedling planting operation, and three seedlings are planted at regular intervals in the forward direction on the ground leveling marks where the floats 6, 7, and 7 pass. It is. Next, the configuration of each part will be explained in detail. The transmission structure inside the main transmission case 3 is shown in FIGS. 3 and 4. Inside the main transmission case 3, there is an input shaft 14 that is gear-coupled with the engine output shaft 13, and a first transmission shaft 1.
5, a second transmission shaft 16, a third transmission shaft 17, a first output shaft 18, 18 for traveling, and a second transmission shaft for driving the planting device.
The output shafts 19 are each supported. A two-stage gear 20 for traveling speed change (reverse) is loosely fitted to the input shaft 14, and a gear 22 that is always engaged with the loosely fitted gear 21 of the first transmission shaft 15 is fixed to the input shaft 14. A main clutch piece 23 that engages and disengages from the loosely fitted gear 21 from the axial direction, a two-stage shift gear 24 for traveling transmission, and a three-stage shift gear 25 for planting transmission are respectively spline-fitted to the gear. Further, gears 26a and 26b that are selectively engaged with the two-stage shift gear 24 are fixed to the second transmission shaft 16, and
A bevel gear 27 for transmission to the third transmission shaft 17 is integrally formed at the shaft end. In addition, the gear 26a
is always engaged with the small diameter teeth of the loosely fitted two-stage gear 20 of the input shaft 14. Further, a bevel gear 28 that meshes with the bevel gear 27 is fixed to the third transmission shaft 17, and gears 29, 29 interlocked with the first output shafts 18, 18 for traveling are loosely fitted, and these gears 29 , 29 are spline-fitted with steering clutch pieces 30, 30 that engage and disengage from the axial direction. Further, the second output shaft 19 for planting has a gear 3 which is selectively engaged with each tooth portion of the three-stage shift gear 25.
1a, 31b, and 31c are fixed, and a transmission shaft 32 supported within the frame 1 and the second output shaft 19 are interlocked and connected via a safety clutch 33 that slips under a load above a certain level. According to the above configuration, by engaging and disengaging the main clutch piece 23 with the loosely fitted gear 21, the first output shaft 1
8, 18 and the second output shaft 19 to stop the traveling and planting operation,
Furthermore, by engaging the shift gear 24 with the gear 26a or 26b, two forward speeds can be achieved, and by engaging the shift gear 24 with the gear 20, it is possible to switch to reverse. or,
By selectively engaging the three-stage shift gear 25 with the gears 31a..., the rotational speed of the second output shaft 19 is switched to three stages, and the planting device 4 is adjusted according to the traveling speed.
The operating speed, in other words, the planting pitch (space between plants) in the direction of movement of the aircraft can be adjusted in three stages. In addition, the shift fork shaft 3 of the shift gear 24 for traveling speed change
4 is connected via a rod 36 to a shift lever 35 pivotally supported on the rear end of the frame 1 so as to be able to swing laterally, as shown in FIG. As shown in the figure, the main clutch piece 23 is provided protruding from the main transmission case 3 so that it can be manually pushed and pulled directly.
shift fork shaft 38 and steering clutch piece 3
The shift fork shafts 39, 39 of No. 0 and 30 are connected by wires to a main clutch lever 40 and a steering clutch lever 41, 41 provided on the steering handle 5, respectively. Next, the configuration of the seedling impacting device 4 will be explained based on FIGS. 3, 8, and 9. The rear transmission case 12 connected to the rear end of the frame 1 includes an input shaft 42, an intermediate transmission shaft 43,
A drive shaft 44 for lateral movement of the seedling rack and a slide shaft 45 for lateral movement of the seedling rack are supported. The input shaft 42 is connected to the rear end of a transmission shaft 32 disposed within the frame 1, and an intermediate transmission shaft 43 is interlocked with the input shaft 42 via a clutch piece 73 through a bevel gear. In addition, the intermediate transmission shaft 43
A two-stage shift gear 46 is spline-fitted to the
By selectively engaging transmission gears 47a and 47b fixed to the drive shaft 44 for lateral movement of the seedling table, the rotational speed of the drive shaft 44 relative to the intermediate transmission shaft 43 can be adjusted in two steps. There is. or,
The drive shaft 44 is formed with a spiral groove 48 that reciprocates in series across the left and right ends, and a driven piece 49 attached to the center of the slide shaft 45 is engaged with the groove 48, and the drive shaft 44 As the driven piece 49 reciprocates in the axial direction as the slide shaft 45 rotates in a constant direction, the seedling stand 10 connected to the slide shaft 45 and its both protruding ends is configured to reciprocate and laterally move in a constant stroke. Further, on both sides of the driven piece 49, a drive shaft 44 is provided.
Arms 51, 51 that can come into contact with cams 50, 50 fixed to both ends of the slide shaft 45 are fixed to the slide shaft 45, and when the slide shaft 45 reaches the stroke end, the rotation of the cam 50 and the arm 51 The slide shaft 45 is configured to rotate by a certain angle due to the contact, and the rotation of the slide shaft 45 is linked to a shaft 52 that is horizontally supported at a lower portion near the lower end of the seedling stand 10. By transmitting the information through the mechanism 53, the seedling feed claws 54 arranged in parallel with the shaft 52 are swung to protrude from the opening 55 formed near the lower end of the seedling platform 10, thereby allowing the seedlings to be placed. 1 unit
The seedling A placed on the seedling A is sent out downward. Further, when the cam 50 and the arm 51 come out of contact, the shaft 52 is rotated back by the helical spring 56 and the seedling feeding claw 54 is retreated from the opening 55. The seedling stand 10 itself is mounted on a slide rail 57 that is horizontally fixed to the rear transmission case 12.
The guides 58 , 58 connected to the control handle 5 are connected to the seedling stand 10 by sliding the lower end thereof.
It is held in a constant rearward inclined position by engaging rails 59 fixed to the rear surface of the upper and lower middle portions of the holder.
Further, the support arms 60, 60 connecting the seedling stand 10 and the end of the slide shaft 45 are provided with two upper and lower seedling receiving rods 61, 61' to prevent the leaves of the placed seedling A from hanging down. It is installed horizontally, and the lower seedling receiving rod 61 has an opening on which the seedling feed claw 54 operates to move the placed seedlings A on the side where planting is not performed when one or two rows are planted. An arch-shaped seedling stopper 62 made of synthetic resin used for catching and stopping at a position above the rod 6
The seedling stopper 62 is mounted so as to be rotatable around the top of the seedling stopper 61, and is configured such that during the planting operation, the seedling stopper 62 is rotated upward to be elastically fitted and held by the upper seedling receiving rod 61'. Further, from both ends of the transmission case 12 of the seedling planting device 4 , transmission parts to the planting mechanism 11 extend downward, and a crankshaft 63 and the intermediate transmission shaft 43 are horizontally supported at the bottom thereof. are linked together in a chain. As shown in FIG. 8, in the planting mechanism 11, the middle of a planting arm 66 equipped with a needle-like planting claw 65 is pivotally connected to the tip of a crank arm 64 fixed to the end of the crankshaft 63. At the same time, the tip of the swinging arm 67 pivotally connected to the lower end of the mission case 12 and the planting arm 6
6 is pivotally connected to the other end of the crank arm 64.
By rotating in a certain direction, the tip of the planting claw 65 is configured to draw a series of approximately elliptical loci S between the seedling take-out portion a at the lower end of the seedling platform 10 and the mud surface of the paddy field. Moreover, at the tip of the planting arm 66,
A seedling extrusion rod 68 that can slide in parallel with the planting claw 65 is attached, and the rear end of this seedling extrusion rod 68 is connected to a cam 70 provided on a pivot pin 69 fixed to the tip of the crank arm 64. It is connected to a drive arm 72 installed inside the planting arm 66 so as to swing back and forth by a spring 71.
When the planting claw 65 is in the high seedling retrieval position, the seedling pushing rod 68 is retracted to the base of the claw, and when the planting claw 65 is in the bottom seedling planting position, the seedling pushing out rod 68 is projected to the tip of the claw. has been done. Further, the pivot point P between the swing arm 67 and the planting arm 66 is configured to be adjustable in position, and by adjusting the pivot position, the operating locus S of the planting claw 65 can be changed. The amount of seedlings taken out is adjusted accordingly. Further, the amount of seedlings taken out can be adjusted by operating the shift gear 46 on the drive shaft 4.
This can also be done by changing the rotational speed of 4 and changing the moving speed of the seedling stand 10 relative to the operating speed of the planting mechanism 11. Further, the clutch piece 73 for actuating or stopping the seedling planting device 4 configured in this manner is slidably moved by a link mechanism 124 connected by a wire to a planting clutch lever 74 provided on the operating handle 5. At the same time, the check pin 7 provided on the case 12
5 and the notch formed in the clutch piece 73, the clutch piece 73 is allowed to move to the cutting side only when the planting claw 65 is above the seedling removal position and approximately near the top dead center. The planting mechanism 11 is configured to be stopped in a constant posture. Next, the suspension structure of the propulsion wheels 8, 8 will be explained based on FIGS. 10 to 13. The wheel suspension structure of this rice transplanter has propulsion wheels 8, 8.
It has the function of automatically raising and lowering the rice pad in the paddy field according to the depth of the hardboard, and the function of adjusting the left and right wheels 8, 8 to different heights. That is, a double-acting hydraulic cylinder 76 is fixed on the frame 1, and a balance arm 78 is attached to the end of the piston rod 77 of the support member 7.
9, the balance arm 78 is pivoted around a vertical axis fulcrum 80 so as to be swingable back and forth, and both left and right ends of the balance arm 78 and each shaft case 9' of the wheel transmission cases 9, 9 are connected to each other.
Arms 81, 81 erected from 9' are connected to rod 8.
1,82, and the piston rod 77
Both transmission cases 9, 9 are configured to swing up and down in conjunction with the movement in and out. Moreover, the support member 79
is provided with a lock pin 83 that prevents the balance arm 78 from rotating around the fulcrum 80, and the arm 78 is formed with three lock holes 84 that engage with the pins 83. As shown in FIG. 12, when the arm 78 is locked, the heights of the left and right wheels are made the same, and when the arm 78 is locked in an inclined position, as shown by the imaginary line in the figure, the heights of the left and right wheels can be changed. The lock pin 83 is biased toward the lock side by a spring and can be pulled out using a lever 85 provided on the operating handle 5. The support member 79 is guided by a guide 66 on the frame 1, is slidable back and forth within a certain range on a piston rod 77, and is supported via a buffer spring 87. Further, a cylinder control unit 88 incorporating a pump for sucking and discharging lubricating oil in the case and a three-position switching valve is directly connected to the right side of the main transmission case 3.
The oil discharged from this unit 88 is configured to be supplied to the hydraulic cylinder 76. The control unit 88 supplies pressure oil to the hydraulic cylinder 76 so that when the spool 89 is pulled out, the piston rod 77 protrudes and the wheels 8, 8 are lowered, and when the spool 89 is pushed in, the wheels 8, 8 are raised. When the supply is switched and the spool 89 is in the neutral push/pull position, the hydraulic cylinder 76 is hydraulically locked and the discharged pressure oil flows between the main transmission case 3 and the unit 88 in a short circuit. The pump section of the unit 88 receives power from a bevel gear 90 integrated with the gear 22 of the input shaft 14, as shown in FIG. The spool 89 is connected to an L-shaped arm 91 that is pivotally supported on the side of the main transmission case 3, and a first rod 92 that is pivotally supported on one end of the L-shaped arm 91 is attached to the front float 6. The second rod 93 pivotably extends from the upper part and passes through the upper end cylindrical portion 93', and both rods 92 and 93 are configured to be extendable and retractable. A coil spring 94, which is fitted onto the first rod 92, is interposed between the arm 91 and the cylindrical portion 93'. The front end of the front float 6 is pivotally connected to the lower part of the engine 2 so as to be able to swing up and down, and is floated on reinforcing stays 108, 108 installed between the main transmission case 3 and the rear transmission case 12. The rear part is supported via a bending link 95, and the second rod 9
The lower end of 3 is also used as a pivotal connection shaft for the float 6 and the bending link 95. And this float 6
The vertical swing of the machine body is transmitted to the unit 88 via the first and second rods 92 and 93, and wheel height control is performed. In other words, when the wheels 8, 8 are set at an appropriate height to touch the hard bed of a paddy field and are traveling for planting, when a deep part of the hard bed is reached, the wheels 8, 8 sink and the entire machine body also descends. The front float 6 floating above the mud surface swings upward relative to the aircraft body, and as a result, the second rod 93 is pushed up and the spring 94 is compressed. When the elastic force of the spring 94 becomes greater than the spool operation resistance, the spool 89 is pulled out to the wheel lowering operation side via the L-shaped arm 91, and the wheels 8, 8 are lowered.
Then, as both the first and second rods 92, 93 extend relative to each other due to the lifting of the body as the wheels descend, the spool 89 moves to the neutral side and the wheels 8, 8 stop lowering. Conversely, when the hard ground becomes shallow, the entire aircraft also rises as the wheels 8, 8 push up, and the front float 6 floating on the mud surface swings downward due to its own weight relative to the aircraft. As a result, the L-shaped arm 91 is swung through the first rod 92 and the second rod 93, and the spool 89 is pushed toward the wheel raising operation side. As the machine body descends as the wheels rise, the spool 89 returns to neutral and the wheels 8 stop rising. In the present invention, the bottom surface of the float 6 is made lower than the bottom surface of the rear floats 7, especially in a state where the wheels 8, 8 are not raised or lowered in the automatic control state, that is, in a so-called stable running state. The front float 6, which has a relatively small ground contact area, is configured to receive a reliable and sufficient ground reaction force in deeper mud than the rear float 7. Further, the spool 89 is constructed so that it can also be operated by a manual operation structure as described below. That is, another L-shaped operating arm 96 is rotatably attached to the pivot portion of the L-shaped arm 91, and the operating arm 96 can come into contact with the upper side of the L-shaped arm 91 from below. A bent portion 96' is formed. This operating arm 96 is connected to an operating lever 98 at the rear of the fuselage via a release wire 97.
is connected to. And this operation lever 98
When it swings forward, it relaxes the release wire 98 and frees the operating arm 96, and when it swings backward, it forcibly swings the operating arm 96 and closes the bending section 96'.
The L-shaped arm 91 is configured to be oscillatedly displaced to the wheel lowering operation side via the L-shaped arm 91. Therefore, the automatic wheel height adjustment control described above can be carried out by keeping the control lever 98 swinging forward when driving while planting, and by keeping the control lever 98 swinging backward when driving on the road. By doing so, the wheels 8, 8 can be lowered to their limit and the aircraft can be lifted up. Next, the attached mechanism and parts will be explained. The control handle 5 is connected to the rear transmission case 1.
2, and two left and right loop portions 5a and 5b are formed at the rear end. An accelerator lever 99 and one steering clutch lever 41 are attached to the right loop portion 5a, and an operating lever 85 for adjusting the left and right height of the wheels and the other steering clutch lever 41 are attached to the left loop portion 5b. ing. Furthermore, an operation box 100 equipped with the main clutch lever 40, the planting clutch lever 74, and a wheel adjustment operation lever 98 is attached between the loop portions 5a and 5b. At the rear end of the rear transmission case 12 is a triangular bracket 10 for connecting the rear float.
1 and 101 are pivotally attached to each other, and their upper triangular tops are connected by a stay 102, so that both brackets 101 and 101 are integrated. An operating lever 103 extending from the right side bracket 101 is engaged with a multistage engagement portion 105 of a guide plate 104 fixed to the base of the handle 5, so that the brackets 101, 101 can be fixed in any swinging posture. has been done. The rear float 7 is blow-molded into the shape shown in FIGS. 19 to 24, and has recesses 106 and 107 formed at the front and rear parts of the bottom surface, where the top wall and the bottom wall are integrated. At the same time, the ground leveling part 7' on one side has a thin plate shape, and the recessed part 10
6,107 is formed at the float connection fitting 10
9,110. The rear connecting fitting 109 is pivotally attached to the bracket 101, and the front connecting fitting 110 is pivotally attached to a bending link 111 supported on the case 12. Further, as shown in FIGS. 14 to 18, the front float 6 is blow-molded to have a thicker shape in the upper and lower directions than the rear float 7 as a whole, and like the rear float 7, it has recesses 112 on the front and back. 113 is formed, and connecting fittings 114 and 115 are attached thereto. A bonnet 119 consisting of a front cover 116, an intermediate cover 117, and a rear cover 118 is disposed above the engine 2, main transmission case 3, and frame 1. Main mission case 3
And the intermediate cover 117 covering the wheel suspension structure is the second
A synthetic resin plate is press-molded into the shape shown in FIGS. 5 to 30, and an insertion hole 120 for the fuel tank cap and an insertion hole 121 for the gear shift lever 35 are formed at the front and rear ends of the plate. There is.
Further, on the upper surface of this intermediate cover 117, a preliminary seedling resting frame 122 is attached, in which three preliminary pine-shaped seedlings A' are placed and housed in front and back columns, and at the tip of this preliminary seedling resting frame 122, A pair of left and right aiming posts 123, 123 for straight running are provided upright. These posts 123, 123 are arranged at a position equivalent to the front between the central planting mechanism 11 and the left and right planting mechanisms 11, 11, and the operator is located directly behind one of the posts 128, at the front of the aircraft. By operating the vehicle while checking the post 123 in front of the target object such as a standing tree, it is possible to drive straight ahead, and it is also possible to walk between the planted seedlings in the center and on one side.

[Brief explanation of the drawing]

The drawings show an embodiment of the rice paddy work machine according to the present invention, in which FIG. 1 is an overall side view, FIG. 2 is an overall plan view,
Figure 3 is a partial longitudinal side view of the entire mission structure.
Figure 4 is a longitudinal cross-sectional rear view of the main transmission structure, Figure 5 is a cross-sectional plan view of the shift fork shaft for adjusting the stock spacing,
Fig. 6 is a cross-sectional plan view of the shift fork shaft for the traveling transmission, Fig. 7 is a longitudinal cross-sectional rear view of the shift fork shaft for the main clutch, Fig. 8 is a partially cutaway side view of the seedling planting device, and Fig. 8 is a partially cutaway side view of the seedling planting device. Fig. 9 is a developed vertical plan view of the rear transmission structure, Figs. 10 and 11 are a plan view and side view of the wheel elevation control section, Fig. 12 is a plan view of the wheel suspension structure and the rear part of the frame, and Fig. 13 is a plan view of the rear transmission structure. A partially cutaway rear view of the left and right wheel height adjustment parts, FIGS. 14 and 15 are a plan view and a side view of the front float, respectively, and FIGS. 16 and 17 are cross sections 16-16 in FIG. 14, respectively. Figure and 17-17 sectional view, 1st
Figure 8 is a rear view of the rear float, Figures 19 and 2
0 is a plan view and a side view of the rear float, respectively, and FIGS. 21 to 23 are 21 in FIG. 19, respectively.
-21 sectional view, 22-22 sectional view and 23-23
A cross-sectional view, Figure 24 is a rear view of the rear float, and Figure 24 is a rear view of the rear float.
5 to 27 are respectively a plan view, a side view, and a rear view of the intermediate cover, and FIGS. 28 to 30 are 28-28 sectional views, 29-29 sectional views, and 30-30 sectional views, respectively, in FIG. 25. , FIG. 31 is a perspective view of the preliminary seedling placement section. 6...Front float, 7...Rear float, 4
... Working equipment, 8... Wheels.

Claims (1)

[Claims] 1. A front float 6 and rear floats 7, 7 are provided at the lower part of the machine body equipped with the working device 4, and the vertical movement of the front float 6 is detected and the wheels 8 are automatically controlled vertically in the opposite direction to the float displacement direction to control the machine body. The structure is configured to maintain a stable height relative to the mud surface, and the bottom surface of the front float 6 is lower than the bottom surface of the rear float 7 into the mud surface when the wheels are not being raised or lowered in the automatic control state. A paddy field work machine characterized by being located deeply.