JPH088809B2 - Walk-type paddy work machine - Google Patents

Description

TECHNICAL FIELD The present invention relates to a walking paddy working machine represented by a walking rice transplanter, and more specifically, lifting left and right wheels based on a ground height detection result of the body. It is equipped with a lifting control mechanism that adjusts and maintains the ground height of the aircraft at a constant level, and the height of both ground sensors is adjusted so that the height of each ground sensor that can be moved vertically to the left and right of the aircraft is the same. The present invention relates to a walking paddy work machine equipped with a rolling control mechanism that detects displacement and changes the relative heights of the left and right wheels.

[Conventional technology]

Conventionally, in a walk-behind rice transplanter equipped with a lifting control mechanism and a rolling control mechanism, as shown in, for example, Japanese Patent Application Laid-Open No. 61-5709, ground sensors for rolling control provided on the left and right sides of the machine body are connected to each other. Then, there was one in which the rolling amount was pivotally supported with respect to the airframe, and the amount of rolling of both ground sensors with respect to the airframe was detected.

[Problems to be solved by the invention]

In the above conventional configuration, since the ground height of the aircraft is kept constant by the elevation control, the grounding attitude of the rolling control ground sensor attached to this aircraft is also constant,
The sensitivity of this ground sensor is basically constant.

The airframe is divided and supported by the wheels that come into contact with the tiller and the float that comes into contact with the mud surface.If the mud is hard, the float's ground pressure increases and the float's shared load increases, making it soft. In this case, the ground contact pressure of the float becomes small and the shared load of the wheels becomes large. When the mud is hard and the shared load of the float becomes large, the ground contact pressure of the float changes significantly even with a slight unevenness, so the sensitivity of the float becomes sensitive, while when the mud is soft, the float is sufficiently exposed from the mud surface. It is not possible to obtain sufficient sensing pressure, and the sensing sensitivity of the float becomes insensitive.

Therefore, a hard field with a shallow plow or a soft field with a deep plow (a stiff field has a large load on the rotary tiller when plowing a paddy field, and also has a strong seedling retention force due to mud. Therefore, it does not tend to cultivate too deeply, and generally tends to be shallow. Generally, the tiller tends to be deeper.) Sensitivity of the float is changed according to the hardness and softness, but conventionally, the rolling control sensitivity is adjusted according to the hardness of the field. However, since it is necessary to add a sensitivity adjusting means such as adjusting the ground load of the ground sensor separately, the structure becomes complicated. In particular, in order to automatically adjust the sensitivity according to the hardness of the field, a mechanism for linking the field hardness detecting means and the sensitivity adjusting means is required, which is more complicated.

An object of the present invention is to make it possible to automatically adjust the rolling control sensitivity according to the hardness of a field with a simple structure.

[Means for solving problems]

The characteristic structure of the present invention for achieving the above-mentioned object is, in the paddy work machine having the above-described structure, a front end of the left and right ground sensors, which is movable with respect to a vertically movable wheel transmission case that pivotally supports the left and right wheels. The point is that it is pivotally connected near the end so that it can swing up and down.

[Action]

According to the above configuration, in a weak field where wheel subsidence generally tends to be large, the free end of the wheel transmission case approaches the field scene. Therefore, rolling control pivotally supported near the free end of the wheel transmission case is performed. The ground height of the fulcrum of the ground contact sensor will be small, and the front rising angle of the ground contact sensor will be small and the ground contact area with the field scene will be large. On the contrary, in the case of a hard field where the wheel subsidence generally tends to be small,
Since the free end of the wheel transmission case is separated from the field scene, the ground height of the fulcrum of the ground sensor becomes large, the front rising angle of the ground sensor becomes large, and the contact area with the field scene becomes small.

That is, in most general fields, the contact area of the grounding sensor is large and the sensor sensitivity is high in a weak field with large wheel subsidence, and the contact area of the grounding sensor is small in a hard field with little subsidence and the sensor sensitivity is small. Tend to be dull.

〔The invention's effect〕

INDUSTRIAL APPLICABILITY As described above, the present invention effectively and rationally utilizes the general relationship between the hardness and softness of a field and the sinking of a wheel, and thereby has a simple structure that does not use sensor load adjusting means or hard and soft detecting means at all. Thus, it became possible to perform rolling control with the sensitivity of the grounding sensor according to the hardness of a general field.

〔Example〕

FIG. 3 shows a side surface of a walk-behind rice transplanter, which is an example of a walk-behind paddy working machine according to the present invention, and FIG. 4 shows a plane thereof.

This rice transplanter has an engine (1) and a mission case (2) at the front of the fuselage, and a seedling planting device (3) at the rear of the fuselage, which extends rearward from the left and right sides of the mission case (2). Wheels (5a), (5b) for propulsion at the free ends of the transmission cases (4a), (4b) that can be swung up and down.
And a sensor float (6) that also functions as a leveling float is provided at the center of the lower right and left of the machine body.

The wheel transmission cases (4a) and (4b) are connected to the left and right ends of a balance arm (8) that is moved back and forth by a hydraulic cylinder (7) via rods (9a) and (9b). By the expansion and contraction of (7), the left and right are simultaneously rocked vertically. Further, one rod (9b) is composed of a hydraulic cylinder, and the relative heights of the left and right wheels (5a), (5b) are changed by the expansion and contraction operation of this rod (9b).

The hydraulic cylinder (7) is connected to a control valve (not shown) linked to the sensor float (6) so that the machine body is lower than the reference height with respect to the field scene and the sensor float (6) is upward. When displaced, the hydraulic cylinder (7) is extended to control the left and right wheels (5a) and (5b) to descend, and conversely, when the airframe rises above the reference height and the sensor float (6) is displaced downward, the hydraulic cylinder (7) is shortened to control the left and right wheels (5a) and (5b) to be lifted, thereby forming a lift control mechanism for maintaining the body height at the reference height.

Also, the hydraulic cylinder (9b) as the telescopic rod is
A pair of left and right ground sensors (10) mounted on the free ends of the left and right wheel transmission cases (4a), (4b) so as to be vertically swingable.
It is connected to a control valve (12) linked to a) and (10b) via a link mechanism (11). The link mechanism (1
1) is a rod (13) on each ground sensor (10a), (10b).
Wheel transmission case (4) is linked through a) and (13b).
relay links (14a) and (14b) swinging around the fulcrum axis (P) of (a) and (4b), and the relay links (14a) and (14)
sensor arms (16a), (1) that are linked to b) via rods (15a), (15b) and swing around a support axis (Q).
6b), a pair of operating arms (17a) and (17b) connected to both sensor arms (16a) and (16b), and a detection arm connected between both operating arms (17a) and (17b) (1
8) and the control valve (12) is connected to the center of the detection arm (18).

Therefore, when both the ground sensors (10a) and (10b) move up or down in the same direction, the pair of operating arms (17a) and (17
b) rotates in the same direction around the fulcrum axis (Q) without changing the relative posture, and the center of the detection arm (18) does not displace,
When the control valve (12) is kept neutral, and only one of the ground sensors (10a) and (10b) moves up or down, or when both of them move up and down in the opposite directions, the operating arms (17)
a) and (17b) rotate relative to each other around the fulcrum shaft center (Q) and the center of the detection arm (18) is displaced back and forth, so that the control valve (12) is pushed or pulled and both ground sensors A rolling control mechanism is configured to control the relative heights of the left and right wheels (5a) and (5b) so that the heights of (10a) and (10b) are the same.

Then, the ground sensor (10
As shown in Fig. 2 (a), a) and (10b) are the field scenes in the weak field where the wheels (5a) and (5b) traveling on the tiller tend to have a large subsidence on the mud surface. Since it is grounded with a large contact area, it will be sensitively displaced by a relatively small grounding pressure. Moreover, as shown in Fig. 2 (b), the mud layer is thin and the mud of wheels running on the tiller is In hard fields where the amount of subsidence on the surface tends to be small, the ground sensor (10
a) and (10b) are in the forward climbing posture and the contact area is reduced,
It operates insensitively with a relatively large ground pressure.

[Brief description of drawings]

The drawings show an embodiment of the walking paddy working machine according to the present invention,
FIG. 1 is a perspective view of the rolling sensor section, FIGS. 2 (a) and 2 (b) are side views showing rolling detection states in a soft field and a hard field, respectively, and FIG. 3 is an overall side view of a walking type rice transplanter. FIG. 4 and FIG. 4 are plan views of the main part. (4a), (4b) …… Wheel transmission case, (5a), (5b)…
… Wheels, (6) …… Sensor float, (10a), (10
b) ... Ground sensor.

Claims (1)

[Claims] 1. A lift control mechanism for maintaining the ground height of the body constant by vertically adjusting the left and right wheels (5a), (5b) based on the ground height detection result of the body and to the left and right of the body. Each grounding sensor (10a), (10
Rolling control that changes the relative height of the left and right wheels (5a), (5b) by detecting the relative vertical displacement of both ground sensors (10a), (10b) so that the height of b) with respect to the airframe is the same. A walkable paddy working machine equipped with a mechanism, which is a wheel transmission case in which the front ends of the left and right ground sensors (10a), (10b) are axially supported by the left and right wheels (5a), (5b). A walk-type paddy work machine that is pivotally connected to (4a) and (4b) near its free end so that it can swing vertically.