JPH0750893Y2 - Parallel posture restoring device for paddy work machine - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of application] The present invention relates to a device for returning a parallel posture of a body of a paddy working machine such as a rice transplanter, a fertilizer applicator, and a seeder.

[Problems to be Solved by Prior Art and Invention] Generally, in this type of paddy working machine, a swingable balance mechanism connected to the left and right traveling wheels is provided, and swing control of this balance mechanism is performed. The so-called rolling control is performed so that the machine body does not tilt to the left or right due to the unevenness of the cultivator during work traveling. And this rolling control,
There is a system in which a dedicated rolling control cylinder mechanism connected to the balance mechanism is used to positively perform the operation.

By the way, when the aircraft is traveling, traveling on the road, or traveling backward, it is possible to raise the aircraft higher than the work area by lowering the left and right traveling wheels at the same time. Both the left and right sensing floats are suspended in the air, and as a result, if the left and right traveling wheels are not in parallel with the aircraft, they will rise in their non-parallel posture without any correction. However, this is a problem because it lacks stability of the airframe, and the operation for avoiding it is complicated and troublesome.

[Means for Solving Problems] In view of the above-mentioned circumstances, the present invention was devised with the object of providing a parallel attitude returning device for a fuselage in a paddy work machine that can eliminate these drawbacks. , The left and right running wheels are connected to the corresponding ends,
In addition, the balance mechanism for pivotally supporting the intermediate portion is connected to the balance mechanism so that the balance mechanism can be moved in parallel without swinging and the left and right traveling wheels can be simultaneously moved up and down. Over the work area, the cylinder for controlling the lifting and lowering of the machine body, the rolling control cylinder that is interlocked with the balance mechanism so as to control the anti-elevation of the left and right traveling wheels by performing rocking without parallel movement of the balance mechanism, The swing mechanism is mounted so as to oppose the balance mechanism that moves by the operation of the lifting control cylinder so as to rise to the height of, and to perform this sensing operation when the moved balance mechanism is in the swinging posture. Motion sensing means, and the rocking sensing means is interlocked with a rolling sensing control mechanism that controls the operation of the rolling control cylinder, and the left and right traveling wheels are moved relative to the machine body based on the sensing operation of the rocking sensing means. parallel The rolling control cylinder is actuated so as to return, and the swing sensing means is configured by using a sensing body which is slidably and swingably supported by the machine body, and The sensing unit with which the balance mechanism of the body is abutted is characterized in that it is eccentric with respect to the swinging and pivoting unit on the wheel lowering displacement side of the balance mechanism.

According to this configuration, the present invention is configured such that the left and right traveling wheels automatically return to parallel to the machine body when the machine body is lifted beyond the work area.

[Embodiment] Next, an embodiment of the present invention will be described with reference to the drawings. In the drawings, reference numeral 1 denotes a traveling machine body of a walk-behind rice transplanter, and an engine 2 is provided in front of a machine body frame 1a of the traveling machine body 1,
The rear part is provided with members such as the seedling placing table 3, the operating handle 4, and the planting claw 5 as in the conventional case.

Reference numeral 6 denotes a sensing float disposed on the left and right of the front part of the machine body. A bracket 6a to which the front part of the sensing float 6 is integrally fixed is a side of an engine frame 7 provided to support the engine 2. The bracket 6a is pivotally supported on the edge portion so as to be vertically swingable, and the front end portion of the operating rod 9 is pivotally connected to the lower end portion of the bracket 6a via the support shaft 9a. On the other hand, a long hole 6c is formed in the upper part of the adjuster plate 6b whose lower end is pivotally supported on the upper surface of the rear end of the sensing float 6. The lower end of the actuating link 10 is pivotally connected to the rear end of the actuating rod 9 via a support shaft 9b. The supported support shaft 10a passes through. And this spindle 10a
While the boss portion 11a of the operating arm 11 is rotatably supported, the support shaft 10a is slidably fitted in the elongated hole 6c.

An arm piece 10b projecting from the operation link 10 is interlockingly connected to an end of the swing arm 13 via a connecting rod 12 and a link 12a. A central portion of a bracket 13a on which the swing arm 13 is rotatably supported about a shaft center is pivotally supported by a support member 14a of a rolling control valve 14 so as to be vertically swingable via a support shaft 14c, and A valve rod 14b is connected to the bracket 13a. And left and right sensing float 6
However, if they swing up and down simultaneously in the same direction, the swing arm
This motion is absorbed only by rotating the bracket 13a about the axis with respect to the bracket 13a. However, when the left and right sensing floats 6 sense and oscillate vertically, the swinging arm 13 moves to the bracket 13a. It swings around the support shaft 14c as a fulcrum as a unit, which allows the valve rod 14 of the rolling control valve 14 to move.
The valve switching operation is performed by vertically displacing b to control the sub-cylinder 22, which will be described later. In this way, the rolling detection control mechanism in this embodiment is configured.

On the other hand, reference numeral 15 denotes a bracket integrally attached to and supported by the engine frame 7 using a mounting member 15a having a substantially U shape, and one end portion of a bullet 16 is locked to the bracket 15. An outer receiver 17 for an actuating wire 18, which will be described later, is provided. The other end of the ammunition machine 16 is locked to the operating arm 11, and thus the arm piece of the operating arm 11
The actuating wire 18 connected to 11b is always urged in the direction of pulling it downward.

Further, an operating piece 11b is provided on the operating arm 11 so as to project therefrom.The operating piece 11b faces the inner surface of the ceiling portion 10c of the U-shaped portion of the operating link 10 and is sensed as described above. When the float 6 senses upward movement and the operating link 10 swings to move the connecting rod 12 upward, the ceiling portion 10c independently swings in the direction away from the operating piece 11b, and the operating arm 11 moves. Are connected so that they do not affect (solid line state in FIG. 4), but as described later, the operating wire 18
When the actuating arm 11 swings against the ammunition machine 16 by being pulled, the actuating piece 11b comes into contact with the ceiling surface 10c of the actuating arm from below, and the sensing float 6 is lifted. It is set to forcibly swing in the same direction as the case.

Reference numeral 19 denotes a main cylinder which is provided at the center of the machine body in the front-rear direction and serves as a lifting control cylinder for the machine body, and guide rods 20 are provided in the front-rear direction on both left and right sides of the main cylinder 19. A bracket 21 is provided on the guide rod 20 so as to be movable in the front-rear direction. This bracket 21
Both end portions of a cylinder rod 22a of a sub-cylinder 22 serving as a rolling control cylinder are integrally fixed to both left and right end portions of the. On the other hand, a double-acting cylinder cylinder 22b connected to the rolling control valve 14 via an oil pipe 23.
Is provided on the cylinder rod 22a so as to be movable in the left-right direction, and the center portion of the first balance arm 24, which constitutes the balance control mechanism for the attitude control facing the left-right direction, is supported at the tip of the cylinder rod 19a of the main cylinder 19. A shaft 25 is pivotally supported so as to be horizontally swingable. Moreover, the left and right ends of the balance arm 24 are interlockingly connected to the traveling wheels 27 via members such as a connecting rod 26 and a swing case 26a. Further balance arm 24
An operating arm 28 extends toward the sub-cylinder 22 side at the center upper part of the cylinder, and a pin 22c protruding from the cylinder tube 22b is engaged with a long hole-like locking hole 28a formed at the tip of the operating arm 28. I am fit. Then, for example, when the main cylinder 19 expands and contracts in the front-rear direction due to vertical swing detection of the center float 29 or switching operation of the horizontal control valve 30 based on lever operation, the first balance arm 24 does not swing. With the posture maintained, the robot moves back and forth in parallel, whereby the vertical movement of the left and right traveling wheels 27 can be simultaneously controlled to control the height of the machine body.

On the other hand, when the airframe makes a left-right rolling inclination due to unevenness of the tiller, and this is detected by the contradictory up-down detection operation of the left-right detection float 6, the rolling control bubble 14 is switched as described above, The cylinder 22 is moved backward by the connecting rod 26 on the side where the machine body is inclined low (that is, the side where the sensing float 6 is raised), and the first balance arm 24 is oscillated so that the traveling wheels on that side are lowered. The so-called rolling control for maintaining the left and right postures of the machine body substantially constant with respect to the field scene is set.

Reference numeral 31 denotes a support member which is provided to support the rear end portion of the guide rod 20 and is integrally assembled to the bracket 1b fixed to the body frame 1a side together with the stay 20a having a substantially U shape in a side view. An outer receiver 31a of the actuating wire 18 is integrally formed at a front end portion of the support member 31, and a guide portion 31 bent at a rear end portion in a substantially U shape.
b is provided. Reference numeral 32 denotes a second balance arm corresponding to a sensing member of the swing sensing means in the present invention, and the second balance arm 32 has a substantially U-shaped upper guide portion 32c having a central portion. Slidingly fitted to the guide portion 31b,
In addition, the pin shaft 32a protruding in the center in the left-right direction is the guide portion 3
It is engaged with a guide hole 31c formed in 1b in the front-rear direction so as to be rotatable and slidable. At the lower end of this pin shaft 32a,
A fall prevention plate 32d is integrally provided so as to be in sliding contact with the lower surface of the support member 31. The fall prevention plate 32d is provided on the support member 31.
A pin 32e, which extends forward along the lower surface of the projection, and which projects at the front end, slidably penetrates a second guide hole 31d formed in the support member 31, thus preventing the second balance arm 32 from collapsing. It is becoming like this.

Further, the left and right ends of the second balance arm 32 are connected in a state where the left and right actuating wires 18 are crossed left and right on the way,
Approximately the limit position of the rearward movement of the first balance arm 24, that is, the main cylinder 19 is greatly extended and the height of the machine body sufficiently exceeds the working area, and it is moved to a position corresponding to the lifted non-working area position from the field scene. In this case, the sensing portion 32b is provided so as to project upward so as to interfere with the case.The sensing portion 32b is eccentric to the rear with respect to the position of the pin shaft 32a which is the swing shaft of the second balance arm 32. The stay 20a can be loosely fitted into the U-shaped opening of the stay 20a. And now, the state in which the first balance arm 24 is swinging back and forth around the support shaft 25 as a fulcrum, that is, the vehicle body is tilted with respect to the left and right traveling wheels 27 (that is, it is not parallel and is descending traveling). In the state where the first balance arm 24 is swinging back and forth so that the wheel 27 side is on the rear side), when the main cylinder 19 extends and the body posture rises to the non-working area, the first balance arm
The rear swinging end side of 24 abuts on the sensing portion 32b of the second balance arm on that side and pushes it backward to the side where it is loosely fitted in the stay 20a, whereby the second balance arm 32 is pin shaft. While swinging back and forth in the same direction as the first balance arm 24 with 32a as a fulcrum, the guide hole 31
By moving c backwards, a swing sense of the first balance arm 24 is sensed and the actuation wire 18 on that side is pulled.

As a result, the operating link 11 on the side opposite to the pulled side swings in the direction of the arrow, which causes the operating arm 10 on the opposite side to swing integrally as described above. Of the traveling wheel 27 is set to the same state that the sensing float 6 on the side where the traveling wheel 27 is high detects the upward movement, and the rolling control valve 14 is set to lower the traveling wheel 27 on the traveling side. Then, the sub-cylinder 22 is actuated to control the swing of the first balance arm 24 so as to be parallel in the left-right direction, so that the left and right traveling wheels 27 are parallel to the machine body. Automatically returns. Moreover, in this device, the second balance arm 32 automatically pulls the left and right actuating wires 18 rearward by the amount corresponding to the guide hole 31c in time with the first balance arm 24 returning to the left-right parallel state. . When the actuating wire 18 is pulled, the actuating arm 10 swings so as to lift the connecting rod 12 as described above, but at this time, the actuating rod 9 is also forced to move backward, and as a result, the sensing float 6 is moved. It is set so as to be set in the storage posture that is raised by the corresponding movement amount, and when the first balance arm 24 is in the left-right parallel state and both actuation wires 18 are pulled at the same time, both sensing floats are set. 6 can be automatically moved up to the storage position.

In the embodiment of the present invention configured as described above, when the paddy field work is run, the left and right rolling control of the airframe is performed by the operation of the sub-cylinder 22 associated with the up and down sensing swing of the left and right sensing float 6, and Center float 29 is used for front and rear pitching control, and for raising and lowering control of the machine during traveling.
Is detected or the main float 19 is expanded or contracted by switching the operation lever. The rolling balance causes the first balance arm 24 to swing back and forth around the support shaft 25 as a fulcrum. In this state, the left and right traveling wheels 27 automatically return to the parallel posture with respect to the machine body when the main cylinder 19 is greatly extended for traveling the machine body or traveling backward and the machine body is desired to be lifted from the field scene.

That is, the main cylinder 19 extends while the first balance arm 24 swings back and forth about the support shaft 25 as a fulcrum, and the traveling wheels 27 are lowered with respect to the machine body to lift the machine body from the field scene and the non-working area. When it is positioned at, the end portion swinging rearward of the first balance arm 24 corresponds to the sensing portion 32 of the second balance arm 32.
It touches b and pushes it back, and following this, the second balance arm 32 swings around the pin shaft 32c as a fulcrum to sense the swing of the first balance arm. Accordingly, the rolling control valve 14 is switched to operate the sub-cylinder 22 so that the first balance arm 24 becomes parallel to the left and right, and the left and right traveling wheels 27 automatically return to the parallel posture with respect to the machine body.

As described above, in the embodiment of the present invention, when the machine body is lifted higher than the work area for traveling around the machine body, the left and right traveling wheels 27 are automatically in the parallel posture with respect to the machine body, Therefore, the machine automatically stabilizes, and the workability is improved by eliminating the need for troublesome and complicated operations for each parallel return.

Moreover, in this one, the means for detecting whether or not the traveling wheels are inclined with respect to the machine body, that is, the second balance arm
A sensing portion 32b protruding from 32 is located rearward and eccentric with respect to the swing support shaft 32a, and is in a posture of waiting for abutment of the first balance arm 24. When detecting the swing of the first balance arm 24, the sensing portion 32b can be loosely fitted into the stay 20a. That is, when the first balance arm 24 moves backward in a swinging posture and abuts and presses against the sensing portion 32d of the second balance arm 32,
The second balance arm 32 swings around the pin shaft 32a and moves rearward. At this time, either the left or right sensing unit 32b swinging backward is loosely fitted in the stay 20a. This space can be used effectively by moving to a state. Therefore, as in the case where there is no eccentricity in which the left and right sensing parts 32b and the pin shaft 32a are arranged in a straight line in the left and right direction, the pin shaft position is obstructed by the bracket 1b and the bracket 1b has to be displaced backward. The first balance arm 2
Even if they are arranged in parallel so as to overlap the moving areas of 4, it does not limit the movement of the first balance arm 24,
Then, set the bracket 1b to the desired position and set the second balance arm.
32 can be installed. Therefore, there is no inconvenience that the length of the machine body becomes long, and it is possible to contribute to downsizing.

[Advantageous Effects] In summary, since the present invention is configured as described above, the lifting control cylinder is operated to rotate the machine while the attitude control balance mechanism is swinging to operate the machine. When the lift is raised, the swing sensing means senses the swing of the balance mechanism, and based on this sensing result, the rolling control mechanism is parallel to the rolling control cylinder and the left and right traveling wheels are parallel to the machine body. As a result, the parallel control of the left and right traveling wheels with respect to the machine body is automatically performed as the machine body is raised higher. As a result, it is possible to improve the workability by stabilizing the machine body and eliminating the troublesome and cumbersome parallel returning operation conventionally required.

Moreover, in the sensor constituting the swing sensing means, the sensor is eccentric with respect to the pivotal support on the wheel lowering displacement side of the balance mechanism, so that the sensor is arranged in parallel with the moving area of the balance mechanism. Even if the sensor is attached, the sensor does not affect the movement of the balance mechanism. Therefore, the sensor can be easily installed without increasing the length of the machine. It can contribute to downsizing.

[Brief description of drawings]

The drawings show an embodiment of a parallel posture restoring device for a body of a paddy working machine according to the present invention. Fig. 1 is a side view of a walk-behind rice transplanter, and Fig. 2 is a perspective view of essential parts of the same. Third
FIG. 4 is a side view showing the operating posture of the sensing float unit, FIG. 5 is a front view of the rolling control valve unit, FIG. 6 is a side view of the same, FIG. 7 is a plan view of the same, and FIG. FIG. 9 is a plan view of the control cylinder portion, FIG. 9 is a side view of the same, FIG. 10 is a rear view of the same, FIG. 11 and FIG. 12 are plan views, side views, and FIGS. FIG. 4A is a plan view, a front view, and a side view of a sensor. In the figure, 1 is a traveling body, 6 is a sensing float, 10 is an operating link, 11 is an operating arm, 18 is an operating wire, 19 is a main cylinder, 22 is a sub-cylinder, 24 is a first balance arm, 27 is a traveling wheel, Reference numeral 31 is a support member, and 32 is a second balance arm (sensor).

Claims (1)

[Scope of utility model registration request] 1. A balance mechanism for posture control in which left and right traveling wheel sides are respectively connected to corresponding end portions and an intermediate portion is swingably supported, and parallel movement without swing of the balance mechanism is performed. The lifting control cylinder of the machine that is linked to the balance mechanism to control the left and right traveling wheels simultaneously, and the balance that swings without the parallel movement of the balance mechanism to control the anti-elevation of the left and right traveling wheels. The rolling control cylinder, which is linked to the mechanism, and the balance mechanism, which is moved by the operation of the lifting control cylinder to raise the machine body to a height above the work area, face the moving balance mechanism in a swinging posture. And a swing sensing means mounted so as to swing so as to perform this sensing operation. The swing sensing means is interlocked with a rolling sensing control mechanism that controls the operation of the rolling control cylinder, and Dynamic Based on the sensing operation of the means, the rolling control cylinder is operated so that the left and right traveling wheels return to parallel to the machine body, and the swing sensing means is slidable and swingable with respect to the machine body. It is characterized in that the sensing unit, which is configured by using a sensor that is axially supported, and that the balance mechanism of the sensor abuts is eccentric to the wheel lowering displacement side of the balance mechanism with respect to the swinging pivotally supporting unit. A parallel posture restoring device for a paddy working machine.