JPH0644843B2 - Attitude control device for paddy work machine - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial field of application) The present invention is applied to a paddy working machine such as a rice transplanter or a submerged seeder.

(Prior Art) In a paddy field in which this type of paddy working machine is used, the mud surface on the surface is leveled horizontally by a scraping work, but the lower tiller has vertical fluctuations. Here, agricultural work such as rice planting and sowing is performed on the horizontal mud surface, but since the wheels of the working machine roll on the cultivating plate with fluctuations, the machine may rise and fall depending on the location, The working depth fixed to the work device changes in the front-rear direction, and the working depth changes in the left-right direction due to the body tilting sideways.

In order to eliminate this, means for vertically moving a pair of left and right wheels by vertically moving a central float provided on the lower abdomen of the aircraft to keep the aircraft's position with respect to the mud surface within a certain range, and Means are provided for correcting the lateral inclination of the airframe by vertically moving the left and right wheels by vertically moving the pair of left and right side floats.

(Object to be achieved by the invention) The present invention focuses on the fact that the above-mentioned technical means for moving the body up and down and technical means for correcting (rolling) the lateral inclination of the body are combined, Is designed to simplify the connection between the side float and the drive device only by the operation of the wheels on that side in the downward direction based on the rise of each side float, and thus the operation of the control device is uni- Is to improve.

(Means for Achieving the Purpose) In order to achieve the above object, the present invention provides that the body is supported by a pair of left and right wheels rolling on the tiller of the paddy field above the mud surface of the paddy field. The wheels of the vehicle are installed so that they can be moved up and down by a drive device, and a central float that slides on a mud surface and a pair of side floats are arranged on the lower abdomen of the airframe and on both sides of the float. Is attached to the machine body with its horizontal axis and is provided so that its tip portion moves in the vertical direction when it is rotated about the horizontal axis. When the tip of the central float moves up or down with respect to the machine body, It is connected to a drive to move the pair of wheels down or up at the same time to keep the aircraft height within a certain range from the mud surface, and each side float has its own tip when its tip goes down against the aircraft. Only drive when the drive is not working The attitude control device of the paddy work machine is characterized in that the moving device is connected to the drive device so as to move the wheels on the side downward to correct the lateral inclination of the machine body.

(Operation) When the pair of left and right wheels roll on the tiller, the paddy work machine configured as described above moves forward while the central float and the side floats on both sides of the wheel slide forward on the mud surface and slide forward. A work device such as a device or a sowing device performs agricultural work such as transplanting seedlings or spraying seeds on the mud surface.

If the left and right wheels come to a shallow place on the tiller during the above work, the machine will rise above the mud surface and the work depth will become shallow. At this time, since the horizontal axis of the rear part of the float gliding on the mud surface rises from the mud surface, the tip of the float descends from the airframe.
That is, when the tip of the central float goes down beyond the limit, the drive device operates, the left and right wheels simultaneously move upward (approaching to the airframe side), and the airframe descends to the mud surface side and returns to the standard height. In addition, when the left and right wheels come to a deep place in the tiller, the horizontal axis will be pushed into the mud surface, and the tip of each float will approach the aircraft (up), and the following will operate in reverse. .

Further, during the above work, when the left and right wheels come to the place where the tiller leans sideways, the body leans sideways. That is, when the aircraft leans to the left for example when viewed from the rear, the lateral float on the left side pushes the horizontal axis of the rear part into the mud and the tip end rises due to the resistance of the mud surface (close to the aircraft), and the right side. In the side float of the, the horizontal axis of the rear part is pulled up from the mud surface and the tip part is lowered from the body. And the float on the right side on the side where the tip part went down,
Do not activate the drive. On the other hand, the side float on the left side on the side where the tip end is raised, when the amount of climb thereof exceeds the limit, the drive device is actuated to the side where the wheels on that side are lowered to correct the lateral inclination of the airframe. In addition, if the position of the entire aircraft becomes too high above the mud surface due to the correction of the lateral inclination, the central float operates the drive device and the left and right wheels ascend simultaneously (approaching the aircraft side) as described above. , Its height is within a certain range.

(Effect) As described above, according to the present invention, even if the machine body is moved up and down or tilted sideways with respect to the mud surface due to the change in the depth of the tiller,
The aircraft automatically moves up and down and horizontally (rolls) to maintain a certain posture against the mud surface,
The working depth on the mud surface is always uniform on the front, back, left and right.
When the tip of the side float descends from the machine body during the lateral rotation, the drive device does not operate even if the tip of the side float moves up to the machine body. Since the wheels on that side are provided so as to move to the lower side, the lateral rotation of the airframe is unifunctional, the structure is simplified, failures are reduced, and reliability is significantly improved.

(Example) Next, the Example of this invention is described.

As shown in FIGS. 1 and 2, the traveling mission case 5
The engine base 6 and the machine frame 7 are fixed to the front and the rear of the machine frame, and the planted mission case 8 is fixed to the rear end of the machine frame 7, and the handle 11 extends rearward from the mission case 8 to configure the machine body 1. The engine 3 covered with the hood 4 is attached to an engine base 6 so that the power thereof reaches the inside of the traveling mission case 5 and the planted mission case 8. A seedling stand 9 is provided along the handle 11 in a tilted rearward manner, and is reciprocally moved to the left and right by the power transmitted into the planted mission case 8. 4 planting rods 1
0, 10 ... are arranged side by side, and are rotated by power in the planting mission case 8 so that each seedling on the seedling mount 9 is cut off at the lower end and transplanted to the mud below it. It's done. The planting mission case 8, the seedling mounting table 9 and the planting rods 10, 10, ... Compose a rice planting device which is one of the working devices. Spare seedling stand 12, 13
Is attached to the rear part of the bonnet 4 in two stages.

A pair of left and right chain cases 15 and 16 extend rearward from both sides of the traveling mission case 5, and wheels 17 and 18 that roll on the cultivator are attached to the rear ends thereof. These chain cases 15 and 16 rotate around the horizontal axis at the tip to move wheels 17 and 18 up and down, and
The power in the traveling mission case 5 is transmitted to the motors 7, 18 by the power transmission devices in the chain cases 15, 16.

The machine frame 21 is fixed to the engine base, the arms 24 and 25 extend upward from the tips of the chain cases 15 and 16, and the driving device 19 is provided on the outer end of the lateral frame 21 and the tips of the arms 24 and 25. 20 is attached. Then, the drive devices 19 and 20 shown in the figure are provided with the cylinders 19a and
a and piston rods 19b and 20b extending therefrom, the pistons 19a and 20a are attached to both ends of the lateral frame 21 via the respective springs 22 and 23, and the projecting ends of the piston rods 19b and 20b are attached to the respective arms 2
It is connected to 4,25.

As shown in FIG. 3, the valve case 26 is attached to the rear portion of the engine base 6, and the pair of switching valves 26a and 26b shown in FIG.

As shown in FIG. 4, the switching valve 26 is provided between the pumps 29, 30 and the cylinders 19a, 20a.
a and 26b are arranged. Then, when this is in the neutral position in the figure, the oil in the cylinders 19a, 20a is trapped, the heights of the wheels 17, 18 are fixed, and the oil discharged by the pumps 29, 30 returns to the inside of the tank 31. When the switching valves 26a, 26b move to the right, the pumps 29, 3
The oil discharged by 0 enters the left chamber of the cylinders 19a, 20a, the piston rods 19b, 20b project, and the wheels 17,
When 18 descends and moves to the left, piston rod 19b,
20b is pulled back and the wheels 17 and 18 are raised.

As shown in FIG. 1 and FIG. 2, the central float 27 and a pair of side floats 28a and 28b are arranged on the lower abdomen of the body 1 and on both sides thereof, and can be pivoted on the body 1 by the rear horizontal shaft 14. The front part can be moved up and down. Therefore, with the forward movement of the airframe 1, the respective central float 27 and the side floats 28a and 28b slide on the mud surface.
Then, when the wheels 17 and 18 come to a deep place in the cultivator and the machine body 1 descends, the horizontal axis 14 descends, the tips of the floats 27 and 28 are pushed up by the mud, and approach (raise) the machine body 1. Wheel 1
When 7, 18 come to a shallow place of the cultivator, the machine body 1 rises from the mud surface, the horizontal axis 14 rises, and the tips of the floats 27, 8 are the machine body 1
It is designed to descend from. It should be noted that when the depth of the cultivator changes horizontally, the machine body 1 leans to the left as viewed from behind. Then, the horizontal axis 14 on the left side moves down and the side float 2
The tip of 8a goes up, the horizontal axis 14 on the right side goes up, and the tip of the side float 28b goes down.

As shown in FIGS. 3 and 4, an L-shaped switching lever 46
a and 46b extend forward from the lateral ends of the respective switching valves 26a and 26b, the tips thereof are connected to the tips of the central float 27 by rods 32 and 33, and when the tips of the central float 27 rise, the lots 32 and 33 Is pushed up, the switching levers 46a and 46b rotate clockwise in FIG. 3, the pair of switching valves 26a and 26b move to the right in FIG. 4, and the piston rods 19b and 20b project as described above. Pair of wheels 1
7 and 18 come down at the same time. When the tip of the central float 27 goes down, the rods 32 and 33 are pulled down, the switching levers 46a and 46b rotate counterclockwise, and the pair of switching valves 26a and 26b move to the left, and the piston rods 19b and 20b. Is pulled back and a pair of wheels 1
Seven and eighteen climb at the same time.

A bracket 36 extends rearward from the valve case 26, and a horizontal shaft 37 is fixed to the rear end of the valve case 26 so as to project right and left. A pair of cylinders 38 a and 38 b are rotatably attached to both ends of the horizontal shaft 37. A pair of arms 39a, 39b
Extend downward from the inner ends of the respective cylinders 38a and 38b, and the respective protruding ends are connected to the middles of the respective switching levers 46a and 46b by rods 45a and 45b. A pair of arms 40a, 40b extend rearward from the outer ends of the respective cylinders 38a, 38b, and cylinders 42a, 42b are rotatably attached to the rear portion by laterally oriented pins 41a, 41b. A pair of rods 43a and 43b are provided in respective cylinders 42a and 42b.
The lower end of each side float 28a,
Stoppers 44a and 44b made of double nuts are fixed to the tip of the tube 28b and below the tubes 42a and 42b. And the floats 28a, 28a on the side portions
The rods 43a and 43b freely slide inside the tubes 42a and 42b when the tip of the side floats 28a and 28b.
When the tip of b goes up beyond the limit, the stopper 44
a and 44b push up the respective cylinders 42a and 42b,
Respective levers 40a, 39a and 40b, 39b
Turns counterclockwise, the rods 45a and 45b pull the switching levers 46a and 46b clockwise, and the switching valve 2
6a and 26b are moved to the right in FIG. 4 so that the wheels 17 and 18 are lowered.

[Brief description of drawings]

FIG. 1 is a side view of a paddy working machine to which the present invention is applied, FIG. 2 is a plan view of an essential part thereof, FIG. 3 is an enlarged side view of a part thereof, and FIG. 4 is a hydraulic circuit diagram thereof. . DESCRIPTION OF SYMBOLS 1 ... Aircraft, 14 ... Horizontal axis 17 ... Wheels, 18 ... Wheels 19 ... Drive device, 20 ... Drive device 27 ... Central float, 28a ... Side float 28a ... Side part float

 ─────────────────────────────────────────────────── ─── Continuation of front page (56) References Japanese Patent Publication Sho 58-22163 (JP, B2)

Claims (1)

[Claims] 1. A vehicle body is supported by a pair of left and right wheels rolling on a cultivator of a paddy field above a mud surface of the paddy field, and these wheels are provided so as to move vertically by a drive unit, A central float gliding over the mud and a pair of side floats are located on the lower abdomen of the fuselage and on each side of the fuselage. These floats are attached to the fuselage at the rear abscissa and rotate about the abscissa. Is provided so that the tip moves vertically.
When the tip of the central float moves up or down with respect to the airframe, the drive moves the pair of wheels simultaneously down or up to keep the airframe height within a certain range from the mud surface. The side floats of each side float are connected so that when the tip of the side float descends with respect to the airframe, the drive does not operate and the drive moves down the wheels on that side only when the drive moves up. An attitude control device for a paddy work machine, which is connected to a drive device so as to correct the position.