JPH084413B2 - Walk-type paddy work machine - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of application] The present invention relates to a walk-type paddy field equipped with a rolling control device for changing the height difference between left and right wheels with respect to the body to keep the body parallel to the rice field. Regarding work machines.

[Conventional technology]

A walk-type rice transplanter, which represents a walk-type paddy working machine, is equipped with a lifting control device that keeps the height from the paddy field to the body constant in order to keep the planting depth of seedlings constant. It has been studied to provide a rolling control function for keeping the machine body parallel to the paddy field. For example, as disclosed in JP-A-61-56010, the left and right wheels are independently hydraulically lifted. And configure it to
It is proposed to deploy side grounding sensors on the left and right sides of the aircraft and perform rolling control by independently switching the hydraulic switching valves for raising and lowering the wheels of each side grounding sensor. ing.

[Problems to be solved by the invention]

In a walk-behind rice transplanter, when one planting process is completed, it makes a turn at the ridge and shifts to the next planting process. Generally, at the time of this ridge turn, the wheels are lowered to lift the machine. To control turning. Therefore, in the above-mentioned conventional configuration, the side ground contact sensor is lifted from the rice field by lifting the machine body, and the rolling control cannot be performed.

In the rice planting work, after repeatedly traveling back and forth to finish most of the planting in the field, the headland used for the aircraft direction change is planted, but this headland is rough due to the aircraft direction change. In many cases, the rolling detection is too sensitive in the above-described conventional structure in which the rolling detection can be performed with high sensitivity by using the pair of left and right side ground sensors, and it is rather difficult to operate.

Further, in the above-mentioned conventional structure, a structure capable of interrupting the transmission of the rolling detection result is provided so that the rolling control can be intentionally stopped at the time of traveling on the headland, etc. It was undeniable that the stability of the aircraft decreased and it became difficult to control.

The present invention has been made by paying attention to such an actual situation, and can perform suitable rolling control in normal work traveling, direction change at the edge, traveling along headland, etc. An object of the present invention is to make the rolling characteristic constant even when the mechanism is returned from the cutoff state to the transmission state, and to simplify the mechanism for that purpose.

[Means for solving problems]

The characteristic configuration of the present invention is the first to detect the lateral inclination of the body.
And a second rolling detection mechanism is provided, and the first rolling detection mechanism is configured by one sensor that detects a left-right inclination with respect to the machine body, and the second rolling detection mechanism is provided on each of the left and right sides of the machine body and relative to each other. A single rolling control valve of hydraulic means that consists of two ground-type side sensors that detect the difference in height between the first and second rolling detection mechanisms that gives the left and right wheels a height difference. A single switching mechanism for switching between a transmission state and a cutoff state is provided in a transmission system that is interlockedly coupled and that transmits the tilt detection result from the second rolling detection mechanism to the rolling control valve, and the transmission system is
A first transmission system from the second rolling detection mechanism to the switching mechanism and a second transmission system from the switching mechanism to the rolling control valve are combined to form the first transmission system and the second transmission system. The second rolling detection mechanism and the rolling control valve can be switched to the detection result transmission state only when the relative positional relationship at the connection portion with is constant. The actions and effects are as follows.

[Work]

According to the above configuration, during normal work traveling, the switching mechanism is kept in the transmission state, thereby performing the rolling control based on the detection result of the sensitive second rolling detection mechanism including the left and right side sensors to change the machine direction. When traveling on a headland that is often rough, the switching mechanism is turned off and rolling control based on the detection result of the relatively insensitive first rolling detection mechanism is performed.

〔The invention's effect〕

As described above, according to the present invention, it is possible to select and use the rolling detection mechanism according to the normal traveling operation and the traveling operation on the rough headland, and the rolling control for each traveling operation is performed individually. It is possible to perform the work properly in a suitable sensitivity state and improve the work performance.

Moreover, the transfer characteristic of the detection result from the second rolling detection mechanism to the rolling control valve does not change even if the switching is repeated, so that the sensitive rolling control using the left and right side sensors can always be stably performed. became.

Since the second rolling detection mechanism, that is, the left and right ground-type side sensors are configured to detect the difference in relative height between them, the transmission system transmits the movement corresponding to the difference. That's fine, you don't need a separate side sensor. Therefore, a single switching mechanism may be used in spite of the two sensors. Moreover, since the first rolling detection mechanism that detects the left-right inclination and the second rolling detection mechanism that includes the left and right ground side sensors are controlled by the single rolling control valve, the rolling control mechanism can be simplified. did it.

〔Example〕

A walk-behind rice transplanter, which is one of the embodiments of the present invention, will be described below with reference to the drawings.

As shown in FIG. 9, a transmission case (1) having wheels (2) for traveling at its ends is swingably mounted around a horizontal axis (P ₁ ) to support the machine body, and at the same time, front of the machine body. A walk-type rice transplanter equipped with an engine (3) in its part, a planting claw (4), a seedling stand (5), etc., and an operating handle (6) in the rear of the machine. Are configured.

The vertical movement structure of the wheel (2) will be described in detail. As shown in FIGS. 8 and 9, the vertical axis of the tip of the piston rod (9a) of the single-acting lifting cylinder (9) fixed to the machine body. A balance arm (10) is swingably supported around a core, and both ends of the balance arm (10) and an operation arm (1a) erected on the boss portion of the transmission case (1) are rods (11). And the rolling cylinder (12), and the left and right wheels (2) are extended and contracted by the lifting cylinder (9).
Are simultaneously moved up and down. Then, by extending and contracting the rolling cylinder (12), the balance arm (10)
Is oscillated at the tip of the piston rod (9a), and the left and right wheels (2) are operated so as to move upside down.

The rolling control valve (17) that controls the operation of the rolling cylinder (12) can be operated based on the detection results of the first rolling detection mechanism (S ₁ ) and the second rolling detection mechanism (S ₂ ). The first rolling detection mechanism (S ₁ ) is composed of one sensor (7) configured as a center float, and the second rolling detection mechanism (S ₂ ) is configured as a pair of left and right side floats. It consists of two side sensors (18a) and (18b). The sensor (7) constituting the _first rolling detection mechanism (S ₁ ) will be described in detail. As shown in FIGS. 2, 5, 6, and 7, the sensor (7) is between the left and right wheels (2) and It is arranged so that it protrudes forward from the left and right wheels (2), and it can swing up and down around the horizontal axis (P ₂ ) at the rear of the machine and can be freely rolled around the front and rear axis (P ₃ ) of the machine. Has been.

As shown in FIG. 2, the front portion of the sensor (7) is interlocked with the lifting control valve (23) through a link (24). The linkage link (24) is integrally connected to a first swing arm (27) pivotally supported at the rear end of the mission case (26) so as to be vertically swingable, and an operation shaft of a lifting control valve (23). The second swing arm (28), and the first and second
It comprises a connecting rod (29) for connecting the swinging arms (27), (28). On the other hand, a front bracket (30) is attached to the sensor (7), and the front bracket (30) and the first swing arm (27) are connected to the front bracket (30) in the longitudinal axis (P). ₃ ) It is linked through a relay member (31) which is capable of rolling around and is vertically swingable around the horizontal axis (P ₅ ) with respect to the first swing arm (27).

The lifting control valve (23) is the lifting cylinder (9).
The hydraulic oil is supplied to and discharged from the machine. When the aircraft sinks in the rice field and the sensor (7) rises due to buoyancy, the lift control valve (23) is operated to the pressure oil supply side.
The left and right wheels (2) are lowered to correct the sinking of the airframe. On the other hand, when the aircraft floats above the rice field, the sensor (7) descends, the lift control valve (23) is operated to the oil drain side, and the left and right wheels (2) are relatively elevated by the aircraft load. .

A contact pin (34) is erected on the front and rear axis (P ₃ ) of the fuselage at the front end of the sensor (7). The pin (34) comes into contact with the lower surface of the engine mounting frame serving as the body frame (35), and restricts the operation of raising the body against the body beyond the amount set by the sensor (7). The contact pin (34) may be provided on the engine mounting frame (35) side. Further, the object to which the contact pin (34) contacts may be a machine body frame other than the engine mounting frame (35).

Further, as shown in FIGS. 2 and 5, an auxiliary ground portion (8) is provided on the left and right of the front portion of the sensor (7), and the rolling operation of the sensor (7) is performed by one auxiliary ground portion (8). ) Is transmitted to a rolling control valve (17) for a rolling cylinder (12) via a bell crank (14), a connecting rod (15) and a balance crank (16). 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.

As shown in FIG. 2, the front bracket (30)
The rear wall (30A) is erected upwards, and the rear wall (30A) has a narrow upper hole (3A) as shown in FIG.
0a) is formed, and a pipe frame (33) for connecting the mission case (26) and the rear planting case (32) is inserted into the hole (30a). Therefore, when traveling on the road, the sensor (7) falls under its own weight when the traveling body is lifted up.
The pipe frame (33) enters the upper pinched portion of a), and the rolling operation of the sensor (7) is restricted.

Side sensors (18a), (18) forming a _second rolling detection mechanism (S2) on the left and right behind the left and right wheels (2).
b) is swingable up and down around the horizontal axis (P ₂ ) and
The gap between both side sensors (18a) and (18b) is set sufficiently larger than the gap between the left and right auxiliary grounding parts (8) at the front of the machine. The side sensor (18a), (1
8b) Above the sensor shafts (19A) and (19B), which are rotatably supported around the shaft center (P ₄ ), are arranged, and one end of the sensor shafts (19A) and (19B) and the side. The front parts of the sensors (18a) and (18b) are interlockingly connected with each other via a connecting rod (20).

At the center of the fuselage, a linkage rod (21) is slidable in the front-rear direction.
Is arranged, and one end of a connecting rod (21) is connected to the arm (16a) extended from the balance crank (16). A rotatable arm (22) is attached to the other end of the connecting rod (21), and the other ends of the sensor shafts (19A) and (19B) are provided with crank arms (19a), which project in different directions by 180 °, (19b) is attached, and the arm (22) is connected to both ends of the crank arms (19a) and (19b) with a long hole for flexibility.

The tilt detection by the side sensors (18a) and (18b) is performed as follows. In other words, if the body tilts to one side and one side sensor (18a) is displaced upward,
As shown in FIGS. 7 and 7, the side sensor (18a)
Is transmitted via the sensor shaft (19A) and the crank arm (19a) associated therewith, and the arm (22) rotates around the connection point with the other crank arm (19b). When the arm (22) operates in this manner, the arm (2
The center of 2) deviates from the axis (P ₄ ) which is the rotation axis of the sensor shafts (19A) and (19B), and the displacement of the center of this arm (22) is detected as the tilt of the machine body.

In addition, the left and right side sensors (18
When a) and (18b) are displaced upward, both sensor shafts (19A) and (19B) rotate in the same direction as shown in FIG. 7, but crank arms (19a) and (19b). arm (22) because the projecting direction is oriented in the opposite direction) will be rotated about said axis (P _4), the center of the arm (22) is displaced from the axial center (P ₄₎ No tilt is detected.

The transmission system for transmitting the tilt detection results from the side sensors (18a) and (18b) is provided with a single switching mechanism (36) capable of switching between a transmission state and a cutoff state. ) Will be described in detail. As shown in FIG.
The transmission system includes a first transmission system from the side sensors (18a), (18b) to the switching mechanism (36), and a switching mechanism (36).
To the rolling control valve (17) in combination with a second transmission system, at a connecting portion between a linking rod (21) constituting the first transmission system and an arm (16a) constituting the second transmission system. , Long hole (16) along the direction of the connecting rod (21)
b) and a recessed groove (16c) communicating with the downward direction are formed, and one end of the spring (37) is locked to the tip of the connecting rod (21) so as to engage with the recessed part (16c). (37)
The operation wire (38) is connected so as to resist the urging force of the operation wire, and the other end of the operation wire (38) is connected to operation means (not shown). By operating this operating means, the tip of the linking rod (21) is lifted against the urging force of the spring (37) and the long hole (16
If kept inside b), the link between the arm (16a) and the link rod (21) will be broken, and the tilt detection by the side sensors (18a), (18b) at the rear of the machine will be performed by the rolling. The control valve (17) is shut off without being transmitted. In this state, the rolling control is performed only based on the sensor (7) of the first rolling detection mechanism (S ₁ ).

Then, when lifting and holding of the linking rod (21) is released, the tip of the linking rod (21) is urged downward to be locked in the groove (16c), and the arm (16a) and the linking rod (21). And will be restored to the cooperating state, and the inclination detection of both of the sensor (7) and the side sensors (18a) and (18b) will be transmitted to the rolling control valve (17). In this state, the sensor (7) and the side sensors (18a) and (18b) are grounded, that is, the side sensor (18
The sensitive tilt detection from a) and (18b) is prioritized, and the sensitive rolling control is performed based on this. When the rear part of the airframe is lifted at the edge of the ridge, the side sensors (18a) and (18b) are separated from the paddy field, and only the front part of the center sensor (7) is in contact with the ground, and sensitive rolling control is performed when turning. It will be.

The present invention can be applied to a rice transplanter with a fertilizer application device or a dedicated fertilizer / direct seeding device.

Further, although reference numerals are added to the claims for convenience of comparison with the drawings, the present invention is not limited to the structures of the accompanying drawings by the entry.

[Brief description of drawings]

The drawings show an embodiment of the walking paddy working machine according to the present invention,
FIG. 1 is a front view showing a state in which a contact pin of a sensor is in contact with a traveling body, FIG. 2 is a side view showing a front part of a first rolling detection mechanism, and FIG. 3 is III- of FIG. III sectional view,
FIG. 4 is a side view showing a switching mechanism of the rolling detection result transmission system, FIG. 5 is a perspective view showing a state where the rolling control valve and the first and second rolling detection mechanisms are linked, and FIG. 6 is a side sensor. FIG. 7 is a side view showing the swinging state of the arm when only one is activated, FIG. 7 is a side view showing the swinging state of the arm when both side sensors are simultaneously operating in the same direction, and FIG. FIG. 9 is a plan view of the rice transplanter, and FIG. 9 is a side view of the walking rice transplanter. (2) …… Left and right wheels, (7) …… Sensor, (18a),
(18b) …… Side sensor, (36) …… Switching mechanism, (S
₁ ) ... the first rolling detection mechanism, (S ₂ ) ... the second rolling detection mechanism.

Front page continuation (72) Inventor Kazuo Shimasumi 64, Ishizukita-machi, Sakai City, Osaka Prefecture Kubota Iron Works Co., Ltd. Sakai Works (56) Reference JP 61-56010 (JP, A) (JP, U) Actually open 61-115012 (JP, U)

Claims (1)

[Claims] 1. A walking type paddy working machine equipped with rolling control means for changing the height difference between left and right wheels (2), (2) with respect to the machine body to keep the machine body parallel to a rice field. first and second rolling detection mechanism for detecting a lateral inclination (S _1), (S ₂₎ to provided, one sensor in which the first rolling detecting mechanism (S ₁₎ for detecting the lateral inclination with respect to the machine body (7) In addition, two grounding side sensors (18a), (18b), which are provided with the second rolling detection mechanism (S ₂ ) respectively on the left and right sides of the airframe to detect the relative height difference between them. And these first and second rolling detection mechanisms (S ₁ ) and (S ₂ ) are connected to the left and right wheels (2),
The rolling control valve (17) receives the inclination detection result from the _second rolling detection mechanism (S ₂ ) by interlockingly connected to a single rolling control valve (17) of hydraulic means that gives a difference in height to (2). The transmission system for transmission is provided with a single switching mechanism (36) for switching between a transmission state and a cutoff state, and the transmission system is extended from the second rolling detection mechanism (S ₂ ) to the switching mechanism (36). From the first transmission system and its switching mechanism (36) to the rolling control valve (17)
The second rolling detection mechanism (S) only when the relative positional relationship between the first transmission system and the second transmission system is constant. ₂ ) A walking paddy work machine configured so that the rolling control valve (17) and the rolling control valve (17) can be switched to a detection result transmission state.