JPH0797928B2 - Rolling equipment for mobile farm work machines - Google Patents
Rolling equipment for mobile farm work machinesInfo
- Publication number
- JPH0797928B2 JPH0797928B2 JP63137767A JP13776788A JPH0797928B2 JP H0797928 B2 JPH0797928 B2 JP H0797928B2 JP 63137767 A JP63137767 A JP 63137767A JP 13776788 A JP13776788 A JP 13776788A JP H0797928 B2 JPH0797928 B2 JP H0797928B2
- Authority
- JP
- Japan
- Prior art keywords
- rolling
- traveling wheels
- machine body
- control
- horizontal
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Transplanting Machines (AREA)
Description
【発明の詳細な説明】 〔産業上の利用分野〕 この発明は、移動農作業機のローリング装置に関し、苗
植機のように左右走行車輪の外側において接地する左右
サイドフロートを有する作業機に利用できる。Description: TECHNICAL FIELD The present invention relates to a rolling device for a mobile farm work machine, and can be used for a work machine having left and right side floats that ground on the outside of the left and right traveling wheels like a seedling planting machine. .
〔従来技術とその課題〕 水平センサーにて機体の左右傾斜を検出して左右走行車
輪の相対位置を変更して苗植装置を左右水平姿勢に制御
するローリング制御装置にあっては、畦際では苗を植付
ける左右の表土面が水平に対して傾斜している為に水平
姿勢に制御したのでは、左右の苗が異なる深さに植付け
られて、浮き苗や埋没苗となってしまい適正な苗の植付
けが行なえないものであった。[Prior art and its problems] With a rolling control device that detects the lateral inclination of the aircraft with a horizontal sensor and changes the relative positions of the left and right traveling wheels to control the seedling planting device in a horizontal horizontal posture, Since the left and right topsoil surfaces on which the seedlings are to be planted are inclined relative to the horizontal, controlling them in a horizontal position would result in the left and right seedlings being planted at different depths, resulting in floating seedlings and buried seedlings. The seedlings could not be planted.
この発明は、前記従来技術の課題を解決するために、機
体左右方向に揺動する振子状センサ29にて水平面に対す
る機体の左右傾斜を検出して左右走行車輪１・２の相対
位置を変更して作業装置３を左右水平姿勢に制御するロ
ーリング制御装置４に、該左右走行車輪１・２の外側に
おいて接地する左右サイドフロート５・６の位置の差が
一定以上になることによって、該作業装置３のローリン
グ制御を修正するローリング修正制御装置７を設けてな
る移動農作業機のローリング装置としたものである。In order to solve the above-mentioned problems of the prior art, the present invention changes the relative positions of the left and right traveling wheels 1 and 2 by detecting the left and right inclination of the machine body with respect to the horizontal plane by a pendulum sensor 29 that swings in the left and right direction of the machine body. To the rolling control device 4 for controlling the work device 3 in a horizontal posture by the horizontal position, the difference between the positions of the left and right side floats 5 and 6 grounding on the outside of the left and right traveling wheels 1 and 2 becomes equal to or more than a certain value. 3 is a rolling device for a mobile agricultural work machine provided with a rolling correction control device 7 for correcting the rolling control of No. 3 described above.
この発明は、機体左右方向に揺動する振子状センサ29に
て水平面に対する機体の左右傾斜を検出して左右走行車
輪１・２の相対位置を変更して作業装置３を左右水平姿
勢に制御するローリング制御装置４を設けたことによ
り、通常の水田圃場においては、作業装置３が左右水平
姿勢に維持されて適正な作業が行なえる。In the present invention, a pendulum sensor 29 that swings in the left-right direction of the machine body detects the left-right inclination of the machine body with respect to the horizontal plane, changes the relative positions of the left and right traveling wheels 1 and 2, and controls the work device 3 to a horizontal posture. By providing the rolling control device 4, in a normal paddy field, the working device 3 is maintained in a horizontal position in the left and right directions, and proper work can be performed.
また、この発明は、左右走行車輪１・２の外側において
接地する左右サイドフロート５・６の位置の差が一定以
上になることによって、該作業装置３のローリング制御
を修正するローリング修正制御装置７を設けたので、畦
際で左右の表土面が水平に対して傾斜している場合等に
は、表土面に追従して相対位置関係が変更する左右サイ
ドフロート５・６にて対表土面追従制御が行なえる為
に、機体の左右での作業が均一となり良好な農作業が行
なえ従来技術の課題を適確に解消することができる。Further, according to the present invention, the rolling correction control device 7 that corrects the rolling control of the working device 3 when the difference between the positions of the left and right side floats 5 and 6 that contact the ground outside the left and right traveling wheels 1 and 2 becomes a certain value or more. As a result, the left and right side floats 5 and 6 follow the surface soil surface to change the relative positional relationship when the left and right surface soil surfaces are inclined with respect to the horizontal. Since the control can be performed, the work on the left and right sides of the machine can be made uniform, and good agricultural work can be performed, and the problems of the prior art can be appropriately solved.
この発明の一実施例として移動農作業機の一種である歩
行型苗植機を図面に基づいて詳細に説明すると、苗植機
の機体８の前部には、エンジン９、伝動装置10、及び左
右一対の車輪伝動ケース11・12等を設け、後部には苗を
収容して供給する苗タンク13、この苗タンク13から供給
される苗を分離挿植する苗植付装置14等からなる苗植装
置を設けて作業装置３を構成している。15は機体８の後
端から後方上部に突出するハンドルである。フロート
は、機体８の下側に装着するもので、センタフロート16
を左右走行車輪１・２間に設け、左右サイドフロート５
・６をこの左右走行車輪１・２の外側に設ける。As one embodiment of the present invention, a walk-type seedling planting machine, which is a type of mobile farming machine, will be described in detail with reference to the drawings. An engine 9, a transmission device 10, and left and right parts are provided at a front part of a body 8 of the seedling planting machine. A pair of wheel transmission cases 11 and 12, etc. are provided, and at the rear part, a seedling tank 13 for containing and supplying seedlings, and a seedling planting device 14 for separating and inserting seedlings supplied from this seedling tank 13 etc. The working device 3 is configured by providing a device. Reference numeral 15 is a handle which projects from the rear end of the machine body 8 to the upper rear part. The float is attached to the lower side of the machine body 8 and is a center float 16
Is installed between the left and right traveling wheels 1 and 2, and the left and right side floats 5
・ 6 is provided outside the left and right traveling wheels 1 and 2.
左右走行車輪１・２は、伝動装置10を内装する伝動ケー
ス17の下端部の揺動軸18回りに上下回動自在に軸支した
車輪伝動ケース11・12の先端部に、伝動回転するように
軸装19し、また、この車輪伝動ケース11・12にはアーム
20・20を設け、該伝動ケース17の後側には油圧シリンダ
21によって出入自在に制御される油圧ピストン22を設
け、この油圧ピストン22の先端に緩衝ばね23に抗して前
後摺動自在に嵌合させたアーム24の左右両端部と、前記
アーム20・20との間をロッド25・26で連結し、この一側
のロッド25に油圧によって伸縮されるローリングシリン
ダ27及びローリングピストン28を設け、このピストン28
を伸縮することによって、左右走行車輪１・２の相対的
上下位置を制御できる構成としている。The left and right traveling wheels 1 and 2 are rotatably transmitted to the tip ends of the wheel transmission cases 11 and 12 which are pivotally supported around the swing shaft 18 at the lower end of the transmission case 17 in which the transmission 10 is installed. The wheel transmission cases 11 and 12 are equipped with an arm.
20.20 is provided, and a hydraulic cylinder is provided on the rear side of the transmission case 17.
A hydraulic piston 22 is provided that is controlled to move in and out by a 21, and the left and right ends of an arm 24 fitted to the tip of the hydraulic piston 22 so as to be slidable back and forth against a buffer spring 23, and the arms 20 and 20. And a rolling cylinder 27 and a rolling piston 28, which are expanded and contracted by hydraulic pressure, are provided on this one side rod 25.
By expanding and contracting, the relative vertical positions of the left and right traveling wheels 1 and 2 can be controlled.
29は、機体８の上方部に設けた振子状センサで、この機
体８の左右傾斜を検出するもので、前後方向の振子軸30
回りに揺動自在である。31はこの振子状センサ29の揺動
によって切換される油圧弁で、該ローリングシリンダ27
の油圧回路を切換えて、機体８の左右傾斜に応じて走行
車輪１または２を上下動させて、この機体及び作業装置
３を左右水平状に制御するものである。Reference numeral 29 denotes a pendulum sensor provided on the upper portion of the machine body 8 for detecting the left and right inclination of the machine body 8.
Can be swung around. Reference numeral 31 is a hydraulic valve that is switched by the swing of the pendulum sensor 29,
The hydraulic circuit is switched to move the traveling wheels 1 or 2 up and down in accordance with the inclination of the machine body 8 to the left and right to horizontally control the machine body and the working device 3.
センタフロート16及びサイドフロート５・６は共に後部
の苗植付位置近くのフロート軸32回りに上下揺動自在に
設けられ、このうちのセンタフロート16の上下揺動によ
って、ロッド33を介して油圧回路の昇降制御弁の制御ア
ーム34を回動させるように連動構成し、この昇降制御弁
の切換によって上記油圧シリンダ21のピストン22を出入
りさせて左右走行車輪１・２を同時に昇降し、耕盤の深
さに応じて機体８及び作業装置３を支持して、この作業
装置３及びフロート５・６・16等の浮上、または沈下を
防止して、常時一定高さ位置に制御維持する。Both the center float 16 and the side floats 5 and 6 are vertically swingable around the float shaft 32 near the rear seedling planting position, and the vertical swing of the center float 16 causes hydraulic pressure via the rod 33. The control arm 34 of the raising / lowering control valve of the circuit is interlocked to rotate, and the switching of the raising / lowering control valve causes the piston 22 of the hydraulic cylinder 21 to move in and out to simultaneously raise and lower the left and right traveling wheels 1 and 2 to cultivate the cultivator. The machine body 8 and the working device 3 are supported in accordance with the depth of the work body 3 to prevent the working device 3 and the floats 5, 6, 16 and the like from rising or sinking, and control and maintain them at a constant height position at all times.
また、ローリング制御装置４は、機体８が耕盤等によっ
て左右一側へ傾斜すると、振子状センサ29がこの傾斜を
検出し、油圧弁31を切換えて、ローリングシリンダ27の
ピストン28を伸縮し、左右走行車輪１または２を昇降さ
せて機体８及び作業装置３を左右水平姿勢に維持するよ
うに制御する。Further, in the rolling control device 4, when the machine body 8 is tilted to the left or right by a cultivator or the like, the pendulum sensor 29 detects this tilt, switches the hydraulic valve 31, and expands and contracts the piston 28 of the rolling cylinder 27. The left and right traveling wheels 1 or 2 are moved up and down to control the machine body 8 and the working device 3 so as to maintain the left and right horizontal postures.
サイドフロート５・６は、前端部にロッド、またはプッ
シュプルワイヤ等の連動機構35を介して、振子状センサ
29の基部36の回動部に対向させる左右の出没子37・38を
連結し、この出没子37または38で該振子状センサ29を強
制的に軸30回りに揺動させることによって、該ローリン
グ制御装置４によるローリング制御に拘らず左右サイド
フロート５・６の位置の差が一定以上になることによっ
て、油圧弁31を切換えて左右の走行車輪１または２を、
この左右サイドフロート５・６の上動量の差に応じて上
動させるか、または、この振子状センサ29の傾斜を制限
するように制御連動している。The side floats 5 and 6 have a pendulum sensor at the front end through an interlocking mechanism 35 such as a rod or push-pull wire.
By connecting the left and right retractors 37 and 38 facing the rotating portion of the base 36 of 29, and forcibly swinging the pendulum sensor 29 around the shaft 30 by the retractors 37 or 38, the rolling Regardless of the rolling control by the control device 4, when the difference between the positions of the left and right side floats 5 and 6 becomes a certain value or more, the hydraulic valve 31 is switched to move the left and right traveling wheels 1 or 2.
The left and right side floats 5 and 6 are controlled so that they are moved upward in accordance with the difference in the amount of upward movement or that the inclination of the pendulum sensor 29 is limited.
例えば、畦際で左右の苗を植付ける表土面が水平に対し
て機体左側が高くなるように傾斜している場合に、左サ
イドフロート５が表土面下に沈み込み右サイドフロート
６が表土面から上方に離れるように前記振子状センサ29
にて機体は水平制御されようとするが、左サイドフロー
ト５が右サイドフロート６よりも高い位置に上動される
ので、出没子37を突出させて振子状センサ29の揺動を制
限し（または、振子状センサ29を強制揺動させて）左右
サイドフロート５・６にて対表土面追従制御を行なうの
で、機体は苗を植付ける表土面に対して平行な左側が高
い状態で安定走行し左右での苗植付け深さが均一となり
良好な苗移植作業が行なえる。For example, when the surface soil surface for planting left and right seedlings on the edge of the ridge is inclined so that the left side of the aircraft is higher than the horizontal surface, the left side float 5 sinks below the surface soil surface and the right side float 6 becomes the surface soil surface. From the pendulum sensor 29 so as to move upward from
However, since the left side float 5 is moved upward to a position higher than the right side float 6, the retractor 37 is projected to limit the swing of the pendulum sensor 29. Alternatively, the pendulum sensor 29 is forcibly oscillated) and the left and right side floats 5 and 6 perform follow-up control with respect to the surface soil surface, so that the aircraft runs stably on the left side parallel to the surface soil surface where the seedlings are planted. The seedling planting depths on the left and right are uniform, and good seedling planting work can be performed.
図はこの発明の一実施例を示すもので、第１図は側面
図、第２図は平面図、第３図は要部の作用説明正面図で
ある。 図中、符号１・２は左右走行車輪、３は作業装置、４は
ローリング制御装置、５・６は左右サイドフロート、７
はローリング修正制御装置、29は振子状センサを示す。FIG. 1 shows an embodiment of the present invention. FIG. 1 is a side view, FIG. 2 is a plan view, and FIG. In the figure, reference numerals 1 and 2 are left and right traveling wheels, 3 is a work device, 4 is a rolling control device, and 5 and 6 are left and right side floats.
Is a rolling correction control device, and 29 is a pendulum sensor.
Claims (1)
て水平面に対する機体の左右傾斜を検出して左右走行車
輪１・２の相対位置を変更して作業装置３を左右水平姿
勢に制御するローリング制御装置４に、該左右走行車輪
１・２の外側において接地する左右サイドフロート５・
６の位置の差が一定以上になることによって、該作業装
置３のローリング制御を修正するローリング修正制御装
置７を設けてなる移動農作業機のローリング装置。1. A pendulum sensor 29 that swings in the left-right direction of the machine body detects the left-right inclination of the machine body with respect to a horizontal plane and changes the relative positions of the left and right traveling wheels 1 and 2 to control the work device 3 in a horizontal posture. The left and right side floats 5 that contact the rolling control device 4 outside the left and right traveling wheels 1 and 2
A rolling device for a mobile agricultural work machine, which is provided with a rolling correction control device 7 that corrects the rolling control of the working device 3 when the position difference of 6 becomes a certain value or more.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP63137767A JPH0797928B2 (en) | 1988-06-03 | 1988-06-03 | Rolling equipment for mobile farm work machines |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP63137767A JPH0797928B2 (en) | 1988-06-03 | 1988-06-03 | Rolling equipment for mobile farm work machines |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH01304807A JPH01304807A (en) | 1989-12-08 |
| JPH0797928B2 true JPH0797928B2 (en) | 1995-10-25 |
Family
ID=15206355
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP63137767A Expired - Fee Related JPH0797928B2 (en) | 1988-06-03 | 1988-06-03 | Rolling equipment for mobile farm work machines |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0797928B2 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102511228A (en) * | 2011-11-10 | 2012-06-27 | 安徽农业大学 | Rice transplanter applicable to deep and shallow mud feet fields |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5633196A (en) * | 1994-05-31 | 1997-05-27 | Sgs-Thomson Microelectronics, Inc. | Method of forming a barrier and landing pad structure in an integrated circuit |
| US5956615A (en) * | 1994-05-31 | 1999-09-21 | Stmicroelectronics, Inc. | Method of forming a metal contact to landing pad structure in an integrated circuit |
| US5945738A (en) * | 1994-05-31 | 1999-08-31 | Stmicroelectronics, Inc. | Dual landing pad structure in an integrated circuit |
| US5702979A (en) * | 1994-05-31 | 1997-12-30 | Sgs-Thomson Microelectronics, Inc. | Method of forming a landing pad structure in an integrated circuit |
| JP4156044B2 (en) * | 1994-12-22 | 2008-09-24 | エスティーマイクロエレクトロニクス，インコーポレイテッド | Method for manufacturing landing pad structure in integrated circuit |
| US5705427A (en) * | 1994-12-22 | 1998-01-06 | Sgs-Thomson Microelectronics, Inc. | Method of forming a landing pad structure in an integrated circuit |
| US5719071A (en) * | 1995-12-22 | 1998-02-17 | Sgs-Thomson Microelectronics, Inc. | Method of forming a landing pad sturcture in an integrated circuit |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5243611U (en) * | 1975-09-25 | 1977-03-28 | ||
| JPS5422681U (en) * | 1977-07-18 | 1979-02-14 | ||
| JPS5534773B2 (en) * | 1972-12-16 | 1980-09-09 | ||
| JPS5923404B2 (en) * | 1978-10-09 | 1984-06-01 | 株式会社徳田製作所 | Corrosion-resistant transparent conductive film formation method |
| JPS6236104A (en) * | 1985-08-09 | 1987-02-17 | 井関農機株式会社 | Posture controller of self-propelling type agricultural working machine for rice field |
| JPS6269911A (en) * | 1985-09-19 | 1987-03-31 | 井関農機株式会社 | Up-and-down movement controller of agricultural working machine for rice field |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5534773U (en) * | 1978-08-29 | 1980-03-06 | ||
| JPS5583912U (en) * | 1978-12-07 | 1980-06-10 | ||
| JPS5923404U (en) * | 1982-08-04 | 1984-02-14 | ヤンマー農機株式会社 | Rice transplanter body control device |
| JPS62102311U (en) * | 1985-12-18 | 1987-06-30 |
-
1988
- 1988-06-03 JP JP63137767A patent/JPH0797928B2/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5534773B2 (en) * | 1972-12-16 | 1980-09-09 | ||
| JPS5243611U (en) * | 1975-09-25 | 1977-03-28 | ||
| JPS5422681U (en) * | 1977-07-18 | 1979-02-14 | ||
| JPS5923404B2 (en) * | 1978-10-09 | 1984-06-01 | 株式会社徳田製作所 | Corrosion-resistant transparent conductive film formation method |
| JPS6236104A (en) * | 1985-08-09 | 1987-02-17 | 井関農機株式会社 | Posture controller of self-propelling type agricultural working machine for rice field |
| JPS6269911A (en) * | 1985-09-19 | 1987-03-31 | 井関農機株式会社 | Up-and-down movement controller of agricultural working machine for rice field |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102511228A (en) * | 2011-11-10 | 2012-06-27 | 安徽农业大学 | Rice transplanter applicable to deep and shallow mud feet fields |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH01304807A (en) | 1989-12-08 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| LAPS | Cancellation because of no payment of annual fees |