JP2000245207A - Transplanter - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a transplanter designed to secure a given planting accuracy (planting posture, planting depth) irrespective of the slope condition of the field. SOLUTION: This transplanter has such a scheme that a front wheel support arm 25 is set extensible/retractable, and there is furnished a detective means 107 for detecting the vertical angle of inclination of a traveling machine body 2A along its longitudinal direction, and furthermore there is furnished a control means 111 for controlling an arm extending/retracting device 30 according to the angle of inclination sensed by the means 107 so as to maintain the traveling machine body 2A in a horizontal state, along with controlling a machine body lift device 31 so as to keep the height of a planting means 13 at a constant level irrespective of whether the front wheel support arm 25 is extended or retacted.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a transplanter for transplanting seedlings such as vegetables into a field ridge while traveling.

[0002]

2. Description of the Related Art Conventionally, as a transplanting machine, a traveling body is provided with a front wheel and a rear wheel supported by a front wheel supporting arm, and the traveling body is supported by the front and rear wheels. An airframe elevating device is provided, which has planting means, and raises and lowers the traveling body by moving the front and rear wheels relatively to the traveling body, and transplants seedlings while running in the longitudinal direction of the ridge across the ridge. There is something like that.

[0003]

However, in the conventional transplanting machine, on a flat ground, the traveling body is in a horizontal state and the seedlings are planted by the planting means. When the traveling body leans forward and rises, the planting means also leans backward, and in the case of a downward slope, the traveling body leans backward and the planting means 13 also leans forward. For this reason, on a slope, the planting means 13 is inclined forward and backward, so that the same planting accuracy (planting posture,
There is a problem that the planting depth cannot be secured.

Accordingly, the present invention has been made in view of the above-mentioned problems, and is intended to ensure a constant planting accuracy (planting posture, planting depth) regardless of the inclination of a field.

[0005]

A technical step of the present invention for solving this technical problem comprises a front wheel 10 and a rear wheel 11 supported on a traveling body 2A via a front wheel support arm 25. At the same time, the planting means 13 is provided on the rear side of the traveling body 2A.
The vehicle body 2A is supported by the front wheel 10 and the rear wheel 11, and the vehicle body lifting / lowering device 31 that raises and lowers the traveling body 2A by moving the front wheel 10 and the rear wheel 11 relatively to the vehicle 2A is provided. In the transplanting machine, the front wheel support arm 25 is configured to be extendable and contractable, and the inclination detecting means 107 for detecting a vertical inclination angle in the front-rear direction of the traveling body 2A is provided, so that the traveling body 2A maintains a horizontal state. In addition, while controlling the arm extension / contraction device 30 in accordance with the inclination angle detected by the inclination detection means 107, the airframe elevating / lowering device 31 is controlled so that the height of the planting means 13 is kept constant regardless of the extension / contraction of the front wheel support arm 25. Control means 11 for controlling
1 is provided.

Further, another technical means of the present invention is that the traveling device and the planting means 13 which moves up and down are interlocked and connected to the drive device 8, and the electromagnetic device disconnects and connects the drive device 8 and the planting means 13. A clutch 72 is provided, so that the disconnection time of the electromagnetic latch 72 is increased on the up slope and the electromagnetic latch 72 on the down slope according to the inclination angle of the field so that a predetermined stock can be obtained regardless of the inclination of the traveling body 2A. Is to shorten the cutting time. Further, another technical means of the present invention is that the traveling device and the planting means 13 that moves up and down are interlocked and connected to the drive device 8, and the electromagnetic clutch 72 that disconnects and connects the drive device 8 and the planting means 13 is interlocked. A torque sensor 123 for detecting the torque of the drive wheel is provided. According to the magnitude of the torque detected by the torque sensor 123, if the torque is large, the disconnection time of the electromagnetic latch 72 is increased, and the torque is reduced. If it is small, the cutting time of the electromagnetic latch 72 is shortened.

Another technical means of the present invention is a field condition mode switch 12 which can set a field condition in a plurality of stages.
In consideration of the slip ratio of the traveling body 2A under the field conditions set by the field condition mode switch 121, the inclination angle of the field is set so that a predetermined stock can be obtained regardless of the inclination of the traveling body 2A. Correspondingly, the disconnection time of the electromagnetic latch 72 is increased in the upward inclination and the disconnection time of the electromagnetic latch 72 is reduced in the downward inclination.

[0008]

Embodiments of the present invention will be described below with reference to the drawings. FIGS. 1 to 11 show an embodiment of the present invention. In FIGS. 1 to 4, reference numeral 1 denotes a transplanter for transplanting soil block seedlings such as vegetables.
This is a walking type having the transplanting device 3 and the steering handle 4 behind the traveling body 2, and automatically moves the soil block seedlings S on the ridge 5 at predetermined intervals while running in the longitudinal direction across the ridge 5. It is something to plant.

The traveling direction of the transplanter 1 is referred to as the front-back direction, and the lateral direction perpendicular to the traveling direction is referred to as the left-right direction. The traveling body 2 has a body frame 7 attached and fixed to a front portion of the transmission case 6 so as to protrude forward.
There is provided a traveling body 2A having a main configuration on which an engine 8 and the like are mounted, and the traveling body 2A is movably supported by front wheels 10 and rear wheels 11 provided on both left and right sides. The transplanting device 3 is provided on a transplanting frame 12 attached to a rear portion of the traveling machine body 2, and includes a planting unit 13 for planting the seedlings S on the ridges 5, and a seedling supply for supplying the seedlings S to the planting unit 13. The apparatus is mainly provided with a device 14, a soil covering ring 15 for covering and crushing the root of a planted seedling, and a perforating means 16 for forming a planting hole in a multi-film covering the ridge 5.

The transplant frame 12 comprises a main frame 12A having a front portion fixed to the transmission case 6 and a movable frame 12B having a front portion pivotally connected to the transmission case 6 so as to be rotatable around the left and right axes. , Main frame 12A
The seedling supply device 14 is provided on the
The steering handle 4 is attached to the rear end of the 2A, and the planting means 13, the covering wheel 15 and the drilling means 16 are supported on the movable frame 12B. The planting means 13 is supported by the swinging link mechanism so as to move up and down while moving back and forth. The seedlings S are dropped and supplied at an upper portion of the locus thereof, and a beak-shaped openable / closable opener is provided at a lower portion. When the ridge 5 enters the ridge 5 at the lower end side of the locus, the opener opens back and forth to form a planting hole in the ridge 5 and to plant the seedling S held in the planting means 13 in the planting hole. It has become.

The seedling supply device 14 includes a seedling tray feeding device 18 for intermittently feeding a seedling tray 17 containing a large number of soil block seedlings vertically and horizontally and a seedling tray feeding device 18 disposed in front of the seedling tray feeding device 18. And a seedling transfer device 19 that takes out seedlings one by one from the tray 17 and transports them to the planting means 13. A pair of soil covering rings 15 are arranged right and left behind the planting means 13 so as to sandwich the seedling planting portion, roll on the upper surface of the ridge 5, support the rear part of the movable frame 12B, and at the same time, Is pressed from both the left and right sides to crush the soil at the same time.

The piercing means 16 is supported by a parallel link so as to move up and down in conjunction with the swinging link mechanism of the planting means 13. When the piercing means 16 descends, a heating element provided at the lower end thereof is multiply connected. By pressing against the film, a hole for implantation is formed in the multi-film.
A support frame 21 for mounting the battery 20 is attached and fixed to a front portion of the body frame 7.
A support cylinder 22 having an axial center in the left-right direction is fixed, and the left and right inner ends of a pair of left and right front wheel support shafts 23 are rotatably inserted around the left-right axis in the support tube 22. A mounting tube 24 is externally fitted to the outer end side in the left-right direction of 23. An upper end of a front wheel support arm 25 is connected and fixed to each of the left and right mounting cylinders 24, and a front wheel 10 is rotatably mounted on a lower end of each front wheel support arm 25 via an axle around a left and right axis.

The front wheel support arm 25 is configured to be expandable and contractible by a hydraulic cylinder, and is controlled by an arm expansion and contraction device 30 having a hydraulic circuit and the like shown in FIG.
Under the control described above, the front wheel support arm 25 can be adjusted to expand and contract. On both left and right sides of the transmission case 6, transmission cases 29L, 29 supporting the rear wheel 11 at the lower part.
R is arranged, and the transmission case 29 is
L, 29R are supported so as to be movable left and right and rotatable around the wheel transmission shaft 28. A rolling shaft 33 disposed in the left-right direction is supported at a middle portion in the front-rear direction of the body frame 7 via a bearing 34 so as to be rotatable around the left-right axis and movable back and forth. An elevating cylinder 35 is disposed in front of the rolling shaft 33 in the middle in the left-right direction, and is fixed to the body frame 7. The piston rod of the elevating cylinder 35 is connected to a rolling shaft 33, and the rolling shaft 33 can be moved back and forth by the retraction of the piston rod of the elevating cylinder 35.

Brackets 36 are fixed to both left and right sides of the rolling shaft 33, front connecting brackets 37 are fixed to the left and right front wheel support shafts 23, and the left and right supported cylinders 31L and 31 are fixed.
A rear connection bracket 38 is fixed to R. The right bracket 36 projects downward, and the left bracket 36 and the front and rear connection brackets 37,
Reference numeral 38 projects upward. The bracket 36 and the rear connection bracket 38 are connected by a connection link 39, and the front connection bracket 37 and the rear connection bracket 38 are connected by a connection rod 40. The connecting link 39 and the connecting rod 40 are provided with bifurcated joints at the front and rear ends, and these bifurcated joints are pivotally connected to the brackets 36, 37, and 38 via pins so as to be rotatable around left and right axes. Have been.

Therefore, by moving the piston rod of the lift cylinder 35 up and down, the left and right link 3
9 is pushed and pulled back and forth, the transmission cases 29L and 29R swing up and down relatively with respect to the traveling body 2A via the rear connecting bracket 38, and the connecting rod 40 is pushed and pulled back and forth to form the front connecting bracket. 37, the front wheel support arm 25 is connected to the traveling body 2A via the front wheel support shaft 23 and the mounting cylinder 24.
Relative to the traveling body 2A, so that the front and rear wheels 10, 11 are grounded. , The traveling body 2A is configured to move up and down with respect to the ground.

That is, the traveling body 2A is driven by the lifting cylinder 35, the left and right connecting links 39, the left and right connecting rods 40 and the like.
Of the vehicle body 31 (see FIG. 5) that adjusts the height of the body. FIG. 7 shows details of the power transmission system in the transmission case of the transplanter. In FIG. 7, the input section of the transmission case 6 and the output section of the engine 8 are linked by a wrapping transmission means 44. The power that has entered the transmission case 6 by the winding transmission means 44 is branched into the traveling system and the transplant system, the traveling system power is taken out from the wheel transmission shaft 28, and the transplant system power is transmitted to the PTO horizontal shaft 41 and the PTO front-rear shaft 42. Taken out of

At the left and right ends of the wheel transmission shaft 28, a transmission case 29 which swings up and down around the axis is pivotally supported, and through this transmission case 29, the left and right rear wheels (traveling drive wheels, traveling devices).
11 is supported, and the wrapping transmission means 43 in the transmission case 29 is supported.
a allows the rear wheel 11 to be driven. Left and right rear wheels 1
1 rolls the groove between the ridges 5. The left and right transmission cases 29 swing up and down around the axis of the wheel transmission shaft 28, so that the relative vertical position between the rear wheel 11 and the traveling machine body 2A can be adjusted. The planting means 13 can be moved up and down by a crank motion of a crankshaft 50 interlocked with a winding transmission means 49. When the planting means 13 rises due to the rotation of the crankshaft 50, it is detected by the upper limit detection switch 48.
The upper limit detection switch 48 detects that the planting means 13 is at the top dead center.

Although not shown, the planting means 13 is provided with an opening / closing means so that the beak is opened when the planting means 13 descends and pierces the ridge 5, so that the piercing of the beak can be performed. With the opening open, a hole is made in the ridge 5 and a seedling with soil is planted. The power of the engine 8 is supplied by the
To the input shaft 51. In the transmission case 6, the rotation shaft 52, the intermediate shaft 53, the intermediate shaft 54, the back shaft 57, the wheel transmission shaft 28, and the PTO horizontal shaft 4 are parallel to the input shaft 51.
1 are rotatably supported, and a PTO front-rear shaft 42 in the front-rear direction is provided so as to protrude rearward.

The gear 51a on the input shaft 51 is meshed with the idle gear 55 on the rotary shaft 52. The clutch gear 56 is slid on the idle gear 55 so that the engagement portion engages with the idle gear 55 so that the input gear is engaged. Power can be transmitted from the shaft 51 to the rotation shaft 52. The clutch gear 56 is resiliently pressed in the direction in which it engages with the idle gear 55, and forms a pawl-type main clutch 58. Gears 60 and 61 are supported on the rotating shaft 52 in addition to the clutch gear 56 so as to be integrally rotatable.
A transmission gear body 62 is slidably and integrally rotatably supported on the intermediate shaft 53.
Gear portions 62A and 62C that can be meshed alternatively with 0 are formed.

Gears 63 and 64 are provided on the back shaft 57. The gear 63 is engaged with the gear 61, and the gear 64 can be engaged with a gear portion 62C of the transmission gear body 62. Therefore, the sliding of the transmission gear body 62 enables the speed change of two forward speeds and one reverse speed. That is,
A traveling transmission mechanism 65 is constituted by the transmission gear body 62, the gear 60, and the gear 56. When the gear portion 62C is meshed with the gear 60, the first forward speed F1 (planting) is established, and the gear portion 62
When A engages with the gear 56, the second forward speed F2 (movement) is established. When the gear portion 62C is connected to the back shaft 57 side, the reverse R is obtained.

A transmission gear 66 and a parking brake (not shown) are provided on the intermediate shaft 53.
Is engaged with a large gear 68 fixed to the wheel transmission shaft 28. One end of the rotating shaft 52 protrudes from the transmission case 6, an electromagnetic clutch 72 is fixed to the outer end thereof, and a cylindrical coupling shaft 73 is formed so as to surround the outer end of the rotating shaft 52. Are rotatably supported by the transmission case 6. The rotation shaft 52 and the coupling shaft 73 rotate integrally with the operation of the electromagnetic clutch 72, so that the power for the transplantation system can be branched and taken out.

A gear 74 and a gear 79 are fixed to the coupling shaft 73.
Can be engaged with the idler gear 75 loosely fitted to the
9 can mesh with a gear 80 fixed to the intermediate shaft 54,
The idler gear 75 further meshes with a gear 76 on the PTO horizontal shaft 41 to enable the transmission of transplantation system power. Therefore, the speed between the stocks can be shifted in two steps by sliding between the idler gear 75 and the gear 80. The gear 74, the idler gear 75, the gear 79, and the gear 80 allow the planting means 13 to be shifted.
The inter-gear speed change mechanism 81 is configured to be able to move up and down at two steps of lifting speed. That is, an inter-stock transmission mechanism 81 is provided between the engine 8 and the planting means 13, and when the gear 74 and the idler gear 75 mesh with each other, the inter-stock transmission mechanism 81 becomes the high inter-stock transmission 1, and the gear 79 and the gear 80 are connected. When the gears are engaged, the inter-stock transmission mechanism 81 is set to the low-speed inter-stock transmission 2.

A bevel pinion 77 is fixed to the PTO horizontal shaft 41 and meshes with a bevel gear 78 on the PTO front-rear shaft 42 to divide the power for transplantation into two systems. , The seedling supply device 14 is driven by the PTO front and rear shaft 42, respectively. A rotation pulse sensor 85 is attached to an outer end of the rotation shaft 52 from the electromagnetic clutch 72. For example, the rotation pulse sensor 85 may have a structure in which the proximity sensor counts the unevenness of the sprocket externally fixed to the rotation shaft 52 using a proximity sensor.
The second rotation is detected, and several tens of pulses are generated for each rotation of the rotating shaft 52.

Therefore, every time the crankshaft 50 makes one rotation from the rising state of the planting means 13 (the upper limit detection switch 48 is in the detecting state), as shown in FIG. Return to the ascent position. When the implanting means 13 returns to the raised position, the electromagnetic clutch 72 is demagnetized and the power for the transplantation system is turned off, and as shown in FIG. A strain between the corresponding reference minimum strains (120 mm or 240 mm) or more is obtained. In other words, if the inter-strain is set by the control means 111 described later, when the upper limit detection switch 48 detects the rise of the planting means 13, the electromagnetic clutch 72 is demagnetized and the transplant system power is turned off, so that the inter-strain is set. The electromagnetic clutch 7
2 counts the pulses during demagnetization, and then activates the electromagnetic clutch 72 to transmit the power of the transplantation system, and descends the implanting means 13 which has been raised to perform the implantation. By changing the number of pulses counted while the electromagnetic clutch 72 is demagnetized, the interval between the lines is adjusted.

For example, the rotation pulse sensor 85 generates 24 pulse signals for each rotation of the rotating shaft 52. If the inter-stock transmission mechanism 81 is set to the inter-stock transmission 1, the crankshaft is During one rotation of 50, the transplanter 1 travels 12 cm, the rotation shaft 52 rotates three times, and the rotation pulse sensor 85 generates 72 pulse signals. At this time, the rotation pulse sensor 85 generates six pulse signals while the transplanter 1 travels 1 cm (per 1 cm between strains). Further, if the inter-stock transmission mechanism 81 is set to the inter-stock transmission 2, for example,
During rotation, the transplanter 1 travels 24 cm, and the rotation shaft 52
Rotates six times, and the rotation pulse sensor 85 outputs a pulse signal of 14
Four pulses are generated. At this time, the rotation pulse sensor 85 generates six pulse signals while the transplanter 1 travels 1 cm (per 1 cm between strains).

FIG. 5 is a block diagram of the control system. In FIG. 5, 101 is a main switch, and 102 is a main clutch switch, which is a switch for enabling connection of the main clutch 58. Reference numeral 103 denotes an inter-stock speed change switch constituted by a limit switch.
1 is provided corresponding to an inter-stock speed change lever 87 for performing a speed change operation. When the inter-stock speed change mechanism 81 is set to the inter-stock speed change 2, this is detected and turned on. Reference numeral 104 denotes a stock setting means (a stock adjustment dial) for setting the stock, which includes a stock setting switch 105 and a stock setting variable resistor 106, and a stock setting switch 10
5 can be switched between two stages of on and off (A, B), and the variable resistor 106 between the stocks has seven stages (1, 2, 3, 4,
5,6,7), and therefore, the inter-stock setting means 1
04 has 14 stages (A-1, A-2, A-3, A-4, A-5, A-6, and A-6) as shown in FIGS.
A-7, B-1, B-2, B-3, B-4, B-5, B
-6, B-7).

Reference numeral 107 denotes an inclination detecting means, which is constituted by an angle sensor of a pendulum type or the like, and detects the vertical inclination angle α of the transplanter 1 in the vehicle longitudinal direction. Reference numeral 108 denotes a planting relay. When the planting relay is excited, a current flows through the solenoid 72a of the electromagnetic clutch 72, and the electromagnetic clutch 72 is intermittently connected via the planting relay 108. 1
Reference numeral 11 denotes a control unit which is configured by a microcomputer or the like having a function of counting pulses from the rotation pulse sensor 85 and other arithmetic processing functions. The control unit 111 receives a signal from the inclination detection unit 107 and The arm extension / contraction device 30 is controlled in accordance with the inclination angle detected by the inclination detecting means 107 so that the traveling body 2A maintains the horizontal state regardless of the inclination of the vehicle body, and the height of the planting means 13 is kept constant. In this way, the apparatus is configured to control the body lifting device. That is, in the case of the climbing slope, the front side of the traveling body 2A rises, so that the arm extension / contraction device 30 is controlled so as to reduce the front wheel support arm 25, and the traveling body 2A is maintained in a horizontal state despite the climbing slope of the field. I do. In addition, since the planting means 13 provided at the rear of the traveling body 2A rises with respect to the field by the reduction of the front wheel support arm 25 at this time, the body lifting device 31 is controlled to lower the traveling body 2A. Then, the planting means 13 is kept at a certain height from the field, irrespective of the extension / contraction operation of the front wheel support arm 25. Also, in the case of a downward slope, the front side of the traveling body 2A descends, so that the arm extension / contraction device 30 is controlled to extend the front wheel support arm 25, and the traveling body 2A is maintained in a horizontal state despite the downward inclination of the field. I do. At this time, the extension of the front wheel support arm 25 causes the planting means 13 provided at the rear of the traveling body 2A to descend with respect to the field, so that the vehicle body elevating device 31 is controlled so that the traveling body 2A rises. Then, the planting means 13 is kept at a certain height from the field, irrespective of the extension / contraction operation of the front wheel support arm 25.

The control means 111 includes an upper limit detection switch 28, a main clutch switch 102, a stock change switch 103, and a stock setting switch 105 of the stock setting means 104.
And a signal from the inter-stock setting variable resistor 106, and controls the electromagnetic clutch 72 in accordance with a predetermined set control order. The control unit 111 disconnects the electromagnetic clutch 72 via the planting relay 108. Disconnection control means 112 for controlling, connection control means 113 for controlling the connection of the electromagnetic clutch 72, disconnection period setting means 114 for setting the disconnection period of the electromagnetic clutch 72, and the inclination angle detected by the inclination detection means 107 a cutting period correction unit 115 for correcting the cutting period set by the cutting period setting unit 114 in accordance with α.

When the inter-stock speed change switch 103 is off (inter-stock speed change 1), the disconnection period setting means 114 uses the conditions set by the inter-stock speed setting means 104 to set the disconnection period A of the electromagnetic clutch 72 according to the table of inter-stock speed change 1 shown in FIG.
(The number of pulses of the rotation pulse sensor 85 for disconnecting the electromagnetic clutch 72), and when the inter-stock speed change switch 103 is on (inter-stock speed change 2), the inter-stock setting means 10
Based on the conditions set in step 4, the disengagement period A of the electromagnetic clutch 72 (the number of pulses of the rotation pulse sensor 85 for disengaging the electromagnetic clutch 72) is set according to the table for inter-shift 2 shown in FIG.

That is, when the inter-stock speed change switch 103 is off (inter-stock speed change 1), as shown in FIG.
Each time the number of steps set by 4 increases by one step, the disconnection period A of the electromagnetic clutch 72 is set so as to increase by the period during which the rotation pulse sensor 85 generates 6 pulses (1 cm between the stocks). Fine adjustment can be made at 1 cm intervals up to 1 cm. For example, between stock setting means 10
When the number of gears set in step 4 is A-1, the electromagnetic clutch 7
The cutting period A of 2 was set to 42 pulses, and the interval between the stocks was 19c.
m, and when the number of gears is A-6, the disconnection period A of the electromagnetic clutch 72 is set to 72 pulses, and the distance between the lines is set to 24 cm.

When the inter-stock shift switch 103 is turned on (inter-stock shift 2), as shown in FIG.
At 4 cm, each time the number of gears set by the inter-stock setting means 104 increases by one gear, the disconnection period A of the electromagnetic clutch 72 increases.
Is set to increase only during the period in which the rotation pulse sensor 85 generates 12 pulses.
Up to 2 cm intervals can be fine-tuned. In the interval between the stocks of 44 cm to 58 cm, the disconnection period A of the electromagnetic clutch 72 is set so as to increase by the period in which the rotation pulse sensor 85 generates 18 pulses each time the number of stages set by the inter-stock setting means 104 increases by one stage. 44cm between stocks
Fine adjustment is possible at 3 cm intervals up to 58 cm.

For example, when the number of steps set by the inter-stock setting means 104 is A-1, the disconnection period A of the electromagnetic clutch 72 is set to 24 pulses, the inter-stock setting is made 28 cm, and the number of steps set by the inter-stock setting means 104 is A-6. In this case, the disconnection period of the electromagnetic clutch 72 is set to 84 pulses, the interval between the stocks is set to 38 cm, and when the number of gears set by the inter-stock setting means 104 is B-6, the disconnection period A of the electromagnetic clutch 72 is set to 18
Set to 6 pulses to 55 cm between lines. Assuming that the inclination angle detected by the inclination detecting means 107 is α (degree), the cutting period correcting means 115 calculates A × (1 + α) from the cutting period A (pulse) set by the cutting period setting means 114.
The corrected cutting period B (pulse) is obtained by the expression of β). Here, the inclination angle α is a value of “positive (+)” in the case of an upward slope, and is a value of “negative (−)” in the case of a downward slope. β is a correction coefficient, determined by experimental data, is given as a fixed value or a variable value according to the inclination angle α,
By the corrected cutting period B (pulse) obtained by the formula of A × (1 + αβ), the predetermined stock (c) set by the stock setting means 104 shown in FIGS. 10 and 11 is obtained.
The correction coefficient β is determined so that m) is obtained. In other words, by obtaining the corrected cutting period B (pulse) by the formula of A × (1 + αβ), a predetermined stock can be obtained irrespective of the vertical inclination in the vehicle longitudinal direction.
In accordance with the inclination angle α sensed by the inclination detecting means 107, the disconnection time of the electromagnetic clutch 72 is increased when the inclination is upward and the disconnection time of the electromagnetic latch 72 is decreased when the inclination is downward.

The disconnection control means 112 disconnects the electromagnetic clutch 72 when the upper limit detection switch 28 is ON, and sets the disconnection state of the electromagnetic clutch 72 during the disconnection period B of the electromagnetic clutch 72 corrected by the disconnection period correction means 115. When it has not reached, that is, when the corrected electromagnetic clutch 7
The value obtained by sequentially subtracting the number of pulses input when the electromagnetic clutch 72 is disconnected from the number of pulses in the disconnection period B of 2 is 0.
If it is determined that the value is larger than the predetermined value, the electromagnetic clutch 72 is disconnected. The connection control means 113 controls the upper limit detection switch 28
Is off, the electromagnetic clutch 72 is connected, and the disconnection state of the electromagnetic clutch 72 reaches the disconnection period B of the electromagnetic clutch 72 corrected by the disconnection period correction means 115, that is, the corrected disconnection period of the electromagnetic clutch 72. When it is determined that the value obtained by sequentially subtracting the number of pulses input when the electromagnetic clutch 72 is disconnected from the number of pulses B becomes 0, the electromagnetic clutch 72 is connected.

Next, the operation will be described with reference to the flowchart of FIG. In the transfer operation, if the main switch 101 and the main clutch switch 102 are turned on, the electromagnetic clutch 72 is turned on in step 1, and the transfer operation is started. At this time, the control unit 111 receives a signal from the inclination detection unit 107, stores the inclination angle α (degree) detected by the inclination detection unit 107, and stores the inclination angle α (degree) detected by the inclination detection unit 107. In response, the arm extension / contraction device 30 is controlled to extend / contract the front wheel support arm 25,
As a result, the traveling body 2A is maintained in a horizontal state regardless of the inclination of the field. In addition, the control unit 111 includes the planting unit 1.
The body lifting device 31 is controlled so that the height of the body 3 is kept constant. That is, in the case of the climbing inclination, the front side of the traveling body 2A rises, so the control means 111 controls the arm extension / contraction device 30 so as to reduce the front wheel support arm 25,
The traveling body 2A is maintained in a horizontal state despite the uphill inclination of the field. Also, since the planting means 13 provided at the rear of the traveling body 2A rises with respect to the field by the reduction of the front wheel support arm 25 at this time (the planting depth changes in a direction to become shallower), the control means 111 , The vehicle body elevating device 31 is controlled so as to lower the traveling body 2A, and the planting means 13 is moved irrespective of the expansion / contraction operation of the front wheel support arm 25.
At a constant height from the field (keeping the planting depth by the planting means 13 constant). In the case of a downward slope, the front side of the traveling body 2A descends. Therefore, the control means 111 controls the arm extension / contraction device 30 to extend the front wheel support arm 25, and the traveling body 2A despite the downward inclination of the field. Is kept horizontal. In addition, the extension of the front wheel support arm 25 at this time causes the planting means 13 provided at the rear of the traveling body 2A to descend with respect to the field (the planting depth changes in a direction to become deeper), so that the body is raised and lowered. The device 31 is controlled so that the traveling body 2A rises,
Planting means 1 despite the expansion and contraction of front wheel support arm 25
3 is kept at a certain height from the field (the planting depth by the planting means 13 is kept constant).

In step 2, it is determined whether the upper limit detection switch 28 is on or off. If the upper limit detection switch 28 is off, the process returns to step 1. If the upper limit detection switch 28 is on, the process proceeds to step 3. The electromagnetic clutch 72 is turned off. Therefore, while the crankshaft 50 makes one rotation, the electromagnetic clutch 72 is kept on, the planting means 13 is lowered from the raised state and is planted again, and then returns to the raised position, at which point the electromagnetic clutch 72 is turned off. In step 4, it is determined whether the inter-stock speed change switch 103 is on or off. If the inter-stock speed change switch 103 is off, then in step 5, the conditions set by the inter-stock speed change unit 104 are used according to the inter-stock speed change 1 table shown in FIG. A disconnection period of the electromagnetic clutch 72 (the number of pulses of the rotation pulse sensor 85 for disconnecting the electromagnetic clutch 72) is set, and the process proceeds to step 6.

If it is determined in step 4 that the inter-stock speed change switch 103 is ON, the process proceeds to step 8 and proceeds to step 8
FIG. 7 shows the conditions set by the inter-stock setting means 104.
The electromagnetic clutch 72 is controlled by the
Is set (the number of pulses of the rotation pulse sensor 85 for disconnecting the electromagnetic clutch 72), and the routine proceeds to step 9. In step 6, the cutting period A (pulse) shown in FIG. 10 set by the cutting period setting unit 114 is set to the inclination angle α (degree) detected by the inclination detection unit 107 (control unit 1).
11 is the stored inclination angle α, and the control means 11
1, the arm extender 30 is controlled to set the traveling body 2A in a horizontal state, and the inclination angle α (inclination angle of the field) detected by the inclination detecting means 107 before A × (1 + α)
The correction is performed by the expression of β) to obtain the corrected cutting period B (pulse), and the process proceeds to step 7.

In step 7, whether the disconnection state of the electromagnetic clutch 72 has reached the disconnection period B of the electromagnetic clutch 72 corrected in step 6 above, that is, whether the pulse in the disconnection period B of the electromagnetic clutch 72 corrected in step 6 It is determined whether the value obtained by sequentially subtracting the number of pulses input when the electromagnetic clutch 72 is disconnected from the number is 0 or not. If the value is not 0, the process returns to step 3 to disconnect the electromagnetic clutch 72, and If it is 0, the process returns to step 1 to connect the electromagnetic clutch 72. In step 9, the cutting period A (pulse) shown in FIG. 11 set by the cutting period setting unit 114 is set to the inclination angle detected by the inclination detection unit 107 by α (degree) (the inclination angle α stored in the control unit 111). And control means 1
11 to control the arm extension / contraction device 30 and the traveling body 2A
A × (1 + α) in accordance with the inclination angle α (the inclination angle of the field) detected by the inclination detecting means 107 before setting the horizontal state.
The correction is performed by the expression of β) to obtain the corrected cutting period B (pulse), and the process proceeds to step 10.

In step 10, the disconnected state of the electromagnetic clutch 72 is determined by the electromagnetic clutch 72 corrected in step 9.
, Ie, whether the value obtained by sequentially subtracting the number of pulses input when the electromagnetic clutch 72 is in the disconnected state from the number of pulses in the disconnected period B of the electromagnetic clutch 72 corrected in step 9 is 0 or not. And if the value is not 0,
Returning to step 3, the electromagnetic clutch 72 is disconnected, and the value becomes 0.
If so, the process returns to step 1 to disconnect the electromagnetic clutch 72. Therefore, when the inter-stock transmission mechanism 82 is set to the inter-stock transmission 1, the transplanter 1 is rotated while the crankshaft 50 makes one rotation.
1 means that the crankshaft 50 is in a high-speed state by traveling for the reference minimum stock (120 mm), but the disconnection period A of the electromagnetic clutch 72 is increased each time the number of gears set by the stock setting means 104 increases by one gear. , Rotation pulse sensor 85
Is set so as to increase only during the period in which six pulses are generated, so that the inter-stock adjustment amount per stage set by the inter-stock setting means 104 is about 10.0 mm.

When the inter-stock transmission mechanism 81 is set to the inter-stock transmission 2, the transplanter 1 travels by the reference minimum stock (240 mm) while the crankshaft 50 makes one rotation, and the crankshaft 50 Becomes slow. At this time, if the inter-stock speed change switch 103 is off, the inter-stock setting means 1
The inter-stock adjustment amount per step set in step 04 is about 1
Each time the number of gears set by the inter-stock setting means 104 increases by one by turning on the inter-stock speed change switch 103, the disconnection period A of the electromagnetic clutch 72 causes the rotation pulse sensor 85 to output 12 or 18 pulses. Since it is set so as to increase only during the period of occurrence, the inter-stock adjustment amount per stage set by the inter-stock setting means 104 becomes about 20.0 mm or 30.0 mm.

Therefore, the control unit 111 sets a long disconnection time of the electromagnetic clutch 72 with respect to the amount of operation of the inter-stock setting means 104 when the inter-stock is set to be large, and sets the inter-stock to a small when the inter-stock is set to be small. The disconnection time A of the electromagnetic clutch 72 with respect to the operation amount of the inter-stock setting means 104 is set short. Further, when the inter-stock transmission mechanism 81 is shifted to the inter-stock shift 1, the disconnection time A of the electromagnetic clutch 72 with respect to the operation amount of the inter-stock setting means 104 is set short, and the inter-stock transmission mechanism 81 is shifted to the inter-stock shift 2. Then, the disconnection time A of the electromagnetic clutch 72 with respect to the operation amount of the inter-stock setting means 104 is set longer.

At this time, when the inclination angle α detected by the inclination detecting means 107 is 0 degree (when there is no vertical inclination), the cutting period A set by the inter-cell setting means 104 is corrected according to the inclination angle α. The cutting period B obtained is A × (1+
αβ) = A, and the corrected cutting period B becomes equal to the set cutting period A. Therefore, when there is no inclination, the stocks shown in FIGS. 10 and 11 set by the stock setting means 104 can be obtained. Further, when the inclination angle α detected by the inclination detecting means 107 is a value of “positive (+)” (in the case of an upward inclination), the cutting period A set by the inter-stock setting means 104 is corrected in accordance with the inclination angle α. Period B is A × (1+
αβ)> A, and the corrected cutting period B is longer than the set cutting period A. Therefore, in the case of the climbing slope, the slip ratio increases and the stock interval tends to be shortened.
1 can be obtained.

If the inclination angle α detected by the inclination detecting means 107 is a negative value (in the case of a downward inclination),
The cutting period B obtained by correcting the cutting period A set by the inter-stock setting means 104 according to the inclination angle α is A × (1 + αβ)
<A, and the corrected cutting period B is the set cutting period A
Smaller than. Therefore, in the case of a downward slope, the predetermined stock shown in FIGS. 10 and 11 set by the stock setting means 104 can be obtained, although the stock tends to be long because the vehicle body is pulled forward. In the above-described embodiment, the control unit 111 receives the signal from the inclination detection unit 107, stores the inclination angle α (degree) detected by the inclination detection unit 107, and stores the inclination angle α (degree). In accordance with the inclination angle α (the inclination angle of the field) detected by the inclination detection means 107 before the control unit 111 controls the arm extension / contraction device 30 to bring the traveling body 2A into the horizontal state, In the case of inclination, the cutting time of the electromagnetic latch 72 is lengthened, and in the case of downward inclination, the electromagnetic latch 72 is turned off.
To shorten the cutting time, but instead of this,
From the current inclination angle α detected by the inclination detection means 107 and the telescopic state in which the arm expansion / contraction device 30 is controlled by the control means 111 to extend and contract the front wheel support arm 25, the inclination angle of the traveling field is controlled by the control means 111. According to the calculated inclination angle of the field, the disconnection time of the electromagnetic latch 72 may be lengthened when the slope is up and the disconnection time of the electromagnetic latch 72 may be shortened when the slope is down. Further, an inclination detecting means 1 for detecting an inclination angle of the traveling machine body 2A.
07, an angle sensor for detecting the inclination angle of the field is provided. In accordance with the inclination angle of the field detected by the angle sensor, the disconnection time of the electromagnetic latch 72 is increased in the upward inclination, and the electromagnetic latch 72 is decreased in the downward inclination. The cutting time may be shortened.

FIG. 12 shows another embodiment, in which a field condition mode switch 121 is provided which can set field conditions such as hard, normal, and soft in a traveling section in a plurality of stages. In consideration of the slip ratio of the traveling body 2A under the set field conditions, the disconnection time of the electromagnetic latch 72 is determined in accordance with the inclination angle of the field so that a predetermined stock can be obtained regardless of the inclination angle of the field. Is made longer and the disconnection time of the electromagnetic latch 72 is shortened on the downward slope. For example, even at the same inclination angle of the field, if the field is soft, the slip rate is high, and if the field is hard, the slip rate is low,
Even at the same inclination angle of the field, if the field is soft, the cutting time of the electromagnetic latch 72 is lengthened, and if the field is hard, the cutting time of the electromagnetic latch 72 is shortened. The other points are the same as those in the above embodiment. Therefore, if the inclination angle of the field is detected and only the inclination angle of the field is used, the slip ratio varies depending on the conditions of the field (soil quality, field moisture, etc.), so that it may not be possible to perform more accurate inter-strain adjustment. In this case, in addition to the correction based on the inclination angle of the field, by setting the field conditions roughly in advance in a plurality of stages, it is possible to perform more accurate inter-strain correction in consideration of the field conditions (soil, field moisture, etc.). Can be.

FIG. 13 shows another embodiment, in which a torque sensor 123 is provided on the rear wheel 11, which is a driving wheel, and if the torque is large according to the torque sensed by the torque sensor 123, the electromagnetic latch 72 The cutting time is extended, and if the torque is small, the cutting time of the electromagnetic latch 72 is shortened. That is, when the torque of the rear wheel 11 that is the driving wheel is large, the slip ratio tends to be large because the field is climbed or inclined or the field is soft,
In addition, when the torque of the rear wheel 11 that is the driving wheel is small, the slip ratio tends to be small because the field is inclined downward or the field is hard, and the torque is reduced according to the torque detected by the torque sensor 123. If it is large, the cutting time of the electromagnetic latch 72 is lengthened, and if the torque is small, the cutting time of the electromagnetic latch 72 is shortened, so that it is possible to obtain a more accurate stock. The other points are the same as those in the above embodiment. The front wheel 10
Are the driving wheels, the front wheels 10
, A torque sensor 123 may be provided to detect the torque of the front wheels 10.

In the above-described embodiment, the engine 8 is used as a driving device, but a motor or the like may be used as a driving device instead. Further, the present invention is not limited to the above embodiment, and can be variously modified. For example, the electromagnetic clutch 72 may be attached to the intermediate shaft 53 to connect and disconnect power between the intermediate shaft 53 and the gear 75. Also, the transplanter 11 is illustrated for a multi-ridge type, but for a ridge not coated with a multi-film,
That is, the multi-perforation device 22 may not be provided.

Further, in the above-described embodiment, the inter-stock transmission switch 103 for detecting that the inter-stock transmission mechanism 81 has been shifted to the low-speed inter-stock transmission 2 is provided. Low speed inter-stock shift 2
When it is detected that the speed change operation has been performed,
Although the automatic setting is made so that the disconnection time of the electromagnetic clutch 72 with respect to the operation amount of the operation 04 becomes longer, instead, it is detected that the inter-gear transmission mechanism 81 has been shifted to the high-speed inter-gear shift 1. An inter-stock speed change switch 103 is provided. When the inter-stock speed change switch 103 detects that the inter-gear speed change mechanism 81 has been shifted to the high speed side inter-gear speed shift 1, the disconnection time of the electromagnetic clutch 72 with respect to the operation amount of the inter-stock setting means 104 May be automatically set so as to be shorter.

In the above-described embodiment, the inter-stock transmission mechanism 81 can be set to the inter-stock transmission 1 and the inter-stock transmission 2. However, the number of inter-stock transmission gears is not limited to two, and the number of inter-stock transmission gears is not limited to two. May be changed to three or more steps.

[0048]

According to the present invention, the traveling body 2A can be automatically kept horizontal by the expansion and contraction of the front wheel support arm 25 even when the field is inclined up or down.
Moreover, regardless of the extension and contraction of the front wheel support arm 25, the planting means 1
3 can be kept constant, and the planting posture and the planting depth of the planting means 13 can be secured as in the case of a flat field, and the planting accuracy can be improved. Also,
When the field is on the uphill slope, the electromagnetic clutch 72
The cutting time can be increased to obtain a predetermined strain,
Further, when the field is inclined downward, the predetermined time interval can be obtained by shortening the disconnection time of the electromagnetic clutch 72, even though the running machine 2A is pulled forward and the interval between the shares tends to be long. Therefore, it is possible to reliably obtain a predetermined stock between slopes even on a slope.

[Brief description of the drawings]

FIG. 1 is an overall side view of a transplanter according to an embodiment of the present invention.

FIG. 2 is a plan view of the transplanter.

FIG. 3 is a plan view of a traveling body of the transplanter.

FIG. 4 is a side view showing a lifting mechanism.

FIG. 5 is a block diagram of a control system.

FIG. 6 is a flowchart.

FIG. 7 is an explanatory diagram of a power transmission system in a transmission case.

FIG. 8 is an explanatory diagram showing a locus of a planting cup.

FIG. 9 is a plan view showing an inter-stock transmission lever and an inter-stock transmission switch.

FIG. 10 is a diagram illustrating a relationship between a disconnection period of the electromagnetic clutch set by the stock setting means and the stock.

FIG. 11 is a diagram showing a relationship between the electromagnetic clutch disengagement period set by the stock setting means and the stock.

FIG. 12 is a block diagram of a control system showing another embodiment.

FIG. 13 is a block diagram of a control system showing another embodiment.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Transplant machine 2a Running body 8 Engine (drive device) 10 Front wheel 11 Rear wheel 25 Front wheel support arm 30 Arm expansion / contraction device 31 Aircraft elevating device 72 Electromagnetic clutch 81 Inter-stock transmission mechanism 107 Inclination detection means 111 Control means 121 Field condition mode switch 123 Torque Sensor

Claims (4)

[Claims] 1. A traveling body (2A) includes a front wheel support arm (2).
A front wheel (10) supported via 5) and a rear wheel (11)
And a planting means (13) on the rear side of the traveling body (2A), the traveling body (2A) is supported by the front wheels (10) and the rear wheels (11), and the front wheels (10) and the rear In a transplanter provided with a body lifting device (31) that raises and lowers the traveling body (2A) by moving the wheel (11) up and down relatively to the traveling body (2A), the front wheel support arm (25) is An inclination detecting means (107) is provided which is configured to be extendable and contractable and detects a vertical inclination angle in the front-rear direction of the traveling body (2A). The inclination detecting means (107) is arranged such that the traveling body (2A) maintains a horizontal state. The arm extension / retraction device (30) is controlled in accordance with the inclination angle detected in (107), and the body is moved up and down so that the front wheel support arm (25) keeps the height of the planting means (13) constant regardless of the extension / contraction. Control device (31) Control means (1
(11) An implanting machine provided with: 2. A planting means (1) which moves up and down with a traveling device.
3) is connected to the driving device (8) in an interlocking manner, and an electromagnetic clutch (72) is provided for connecting and disconnecting the driving device (8) and the interlocking means (13). According to the inclination angle of the field, the cutting time of the electromagnetic latch (72) is increased in the upward inclination and the disconnection time of the electromagnetic latch (72) is shortened in the downward inclination according to the inclination angle of the field. The transplanting machine according to claim 1, wherein: 3. A planting means (1) which moves up and down with a traveling device.
3) is connected to the drive device (8) in an interlocked manner, and an electromagnetic clutch (72) is provided for connecting and disconnecting the drive device (8) and the planting means (13). (123), and the torque sensor (1) is provided.
According to the magnitude of the torque detected in step 23), if the torque is large, the cutting time of the electromagnetic latch (72) is increased, and if the torque is small, the cutting time of the electromagnetic latch (72) is shortened. The transplanter according to claim 1, wherein 4. A field condition mode switch (121) capable of setting field conditions in a plurality of stages is provided, taking into account the slip ratio of the traveling body (2A) under the field conditions set by the field condition mode switch (121). , Traveling aircraft (2
In accordance with the inclination angle of the field, the electromagnetic latch (7
The transplanting machine according to claim 2 or 3, wherein the cutting time of (2) is lengthened, and the cutting time of the electromagnetic latch (72) is shortened on the downward inclination.