JP2001204213A - Planting device in seedling planting machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a planting device in seedling planting machine for stabilizing the planting posture of planted seedlings independently of the travel speed. SOLUTION: This planting device in the seedling planting machine is obtained by installing a posture changing means for changing an admitting posture of planting pawls 9 for scraping off seedlings from a seedling-carrying platform 4 for carrying the seedlings to be planted in a field and planting the seedlings in the field into the field surface into the rear tilting direction according to a change in the travel speed to the high-speed side in the planting device 3 connected through a lifting and lowering link 2 to the rear of a travel machine body 1.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a planting apparatus for a seedling plant such as a rice transplanter.

[0002]

2. Description of the Related Art Conventionally, a seedling transplanter such as a rice transplanter has a structure in which a planting device is connected to the rear of a traveling machine via a lifting link so as to be able to move up and down, and the planting device is planted in a field. A seedling mounting table on which seedlings to be placed are placed, and planting claws for scraping the seedlings from the seedling mounting table by rotation and planting the seedlings in a field. The planting device is configured to change the number of rotations of the planting claws in accordance with the vehicle speed, and to plant seedlings at regular intervals in the traveling direction regardless of the vehicle speed.

[0003]

On the other hand, in the above-mentioned seedling planting machine, the approaching position of the planting claws into the field scene is set so that the seedlings are planted almost vertically in the field, but the characteristics of the field, the characteristics of the seedling, or Depending on the vehicle speed (the number of rotations of the planted seedlings), the planting posture of the seedlings may be inclined forward or backward. In particular, it is known that the vehicle speed has a relatively large influence on the planting posture of the seedlings because the inertial motion of the planted seedlings varies according to the change in the acceleration momentum when the seedlings are pushed and released by the planting claws.

However, since the number of rotations of the planting claws generally changes in accordance with the vehicle speed as described above, the above-mentioned inertial motion and the like are not taken into account. Although following the vehicle speed, there is a disadvantage that the planting posture of the seedlings may be disturbed due to the inertia or the like.

[0005]

According to the present invention, there is provided an implanting apparatus for connecting a planting device 3 to a rear side of a traveling body 1 via a lifting link 2 and a planting device. In the seedling planting machine provided with the seedling mounting table 4 on which the attaching device 3 mounts the seedlings to be planted in the field, and the planting claws 9 for scraping the seedlings from the seedling mounting table 4 and planting them in the field,
Provide attitude change means for changing the approach attitude to the field scene,
A first feature is that the attitude changing means changes the approach attitude in the backward tilt direction in accordance with a change in the traveling speed to a high speed side.

The second feature is that a speed detecting means for detecting the traveling speed of the traveling body 1 is provided, and the attitude changing means is structured to be automatically operated based on information from the detecting means.

A third feature is that the posture changing means comprises a link changing mechanism for changing the mounting angle of the elevating link 2 and swinging the planting claw 9 integrally with the seedling placing table 4.

Fourthly, the manual operation means 33 for arbitrarily operating the attitude changing means by the operation of the operator, and the operation instruction means of the attitude changing means are switched to at least one of the speed detecting means 34 and the manual operating means 33. A switching means is provided.

[0009]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 is a schematic side view of a main part of an elevating link portion of a seedling transplanter (rice transplanter). A base end portion of an elevating link 2 is attached to a body frame 1a of a traveling machine body 1. A planting device 3 for planting seedlings is connected via the lifting link 2. As in the conventional case, the planting device 3 is lowered by the lifting link 2 and the traveling machine 1 is caused to travel in the field, so that the seedlings are planted in the field.

The planting apparatus 3 includes a seedling mounting table 4 on which seedlings for planting are mounted, and a planting unit 6 for scraping the seedlings from the seedling mounting table 4 and planting the seedlings in a field as in the prior art. The attaching unit 6 has a planter case 7 to which a driving force is inputted from the planting device 3 side, a planter arm 8 rotatably supported by the planter case 7, and a seedling mounted on the planter arm 8 for placing the seedling. A beak 9 which is a planting nail for planting the seedlings of the table 4 in a field is provided.

The planter arm 8 is driven to rotate by the driving force of the planter case 7 to rotate the beak 9 about the center of rotation of the planter arm 8 in the same manner as in the prior art, so that the beak 9 is placed along the rotation locus. 4, the seedlings are scraped, and the scraped seedlings are held and planted and inserted into a field to perform the planting operation. In the planting device 3, the planter case 8 and the seedling mounting table 4 are integrally fixed to the body frame (planting machine frame) 3 a side of the planting device 3 for ascending and descending.

Further, the driving force is input to the planter case 8 from the traveling machine body 1 side as in the prior art, and the number of revolutions of the planter arm 8 is changed according to the traveling speed of the traveling machine body 1, whereby the planting device 3 It is configured to plant seedlings at regular intervals in the traveling direction following the vehicle speed (running speed) of the traveling machine body 1.

The elevating link 2 comprises a fixed frame 11 fixed to the traveling body frame 1a on the traveling body 1 side and a vertical frame 12 fixed to the planting frame 3a of the planting device 3.
Between the left and right lower links 13 and the lower link 13
And a hydraulic cylinder (elevating cylinder) 16 for elevating and lowering is supported on the fixed frame 11 side, and a telescopic rod of the elevating cylinder 16 is provided. The end of 16 a is connected to the upper link 14.

When the elevating cylinder 16 is driven to extend and retract the extensible rod 16a, the upper link 14 swings up and down about the fulcrum shaft 17 on the fixed frame 11 side, and the vertical frame 12 moves up and down. Since the lower link 13 is moved, the lower link 13 is also swung up and down about the fulcrum shaft 18 on the fixed frame 11 side, and the vertical frame 12 is raised or lowered in parallel. That is, when the elevating cylinder 16 is driven (the telescopic rod 16a is expanded and contracted), the planting device 3 is moved up and down in parallel.

On the other hand, the lower end of the fixed frame 11 is rotatably supported by the traveling body frame 1a via a fulcrum shaft 21 via a fulcrum shaft 21 and has an intermediate portion (above the connection point with the traveling body 1). And traveling body frame 1a
A hydraulic cylinder (posture adjusting cylinder) 19 for changing the posture of the lifting link 2 is interposed between the lifting and lowering link 2 and the posture of the lifting link 2 with respect to the traveling body 1 (traveling body frame 1a). It is possible to change and adjust by operation.

That is, when the posture adjusting cylinder 19 (expandable rod 19a) is extended and retracted, the fixed frame 11 is tilted forward and backward about the connection point (fulcrum shaft 21) with the traveling machine frame 1a, and the vertical frame 12 is moved forward and backward. To change the mounting attitude with respect to the lifting link 2 traveling body 1. That is, the planting device 3 is moved up and down
When the posture adjusting cylinder 19 is extended and operated, the planting device 3 is tilted rearward in proportion to (in proportion to) the amount of extension of the telescopic rod 19a. When the cylinder 19 is contracted, the connection posture is inclined forward in proportion to (in proportion to) the contraction amount of the telescopic rod 19a.

By changing the connection posture of the planting device 3, the field scene shown in FIG.
As a result, the angle (entrance angle) θ on the rear side with respect to the traveling direction A when the traveling body 1 moves forward is changed, and the approach posture of the beak 9 with respect to the field scene is changed. In other words, the attitude adjusting cylinder 19 and the rotating shaft supporting structure of the fixed frame 11 and the traveling body frame 1a make the beak 9
The posture changing means is configured to change a posture of the (planting claw) entering the field scene.

At this time, the posture changing means changes the mounting state (posture) of the lifting link 2 with respect to the traveling machine body 1 as described above, and changes the connection posture of the planting apparatus 3 with respect to the traveling machine body 1 by the link changing means. In addition, since the seedling mounting table 4 is integrally fixed to the planter case 7 for vertical movement, the beak 9 (planting claw) is maintained while maintaining the positional relationship between the seedling mounting table 4 and the beak 9. Can be changed with respect to the field scene.

This makes it possible to change the planting posture of the seedlings planted by the beak 9 when the traveling machine 1 is stopped by the posture changing means, that is, the planting device 3 is tilted forward, and the beak 9 enters the field. By increasing the angle and tilting the approaching position of the beak 9 forward, as shown in FIG. 3A, the normal seedling N is planted substantially perpendicularly to the field scene G as shown in FIG. 3), the seedlings N can be planted in a forward leaning posture, the planting device 3 is tilted backward, the approach angle of the beak 9 is reduced, and the approach posture of the beak 9 is leaned backward. As shown in c), the seedlings N can be planted in a backward inclined posture.

On the other hand, the operation of the posture adjusting cylinder 19 (posture changing means) is controlled by a control system provided on the traveling body 1 side. Next, the configuration of the control system will be described. As shown in FIG. 4, the control system 26 includes a mode changeover switch 27 and controllers 28, 29, and 3 corresponding to each operation mode (described later) of the attitude adjusting cylinder 19 selected by the mode changeover switch 27.
1, a position sensor 32 for detecting the position (angle) of the lifting cylinder 2 and the like, that is, the expansion and contraction of the posture adjusting cylinder 19 is controlled by any of the above controllers.

At this time, the control system 26 has an automatic continuous mode, an automatic step mode, and a manual mode as operation modes of the attitude adjusting cylinder 19, which will be described later. Note that the automatic continuous mode automatically and continuously expands and contracts the attitude adjusting cylinder 19 in accordance with the traveling speed of the traveling body 1, and the automatic step mode corresponds to the traveling speed of the traveling body 1. In this case, the posture adjusting cylinder 19 is automatically and stepwise expanded and contracted. In the manual mode, the posture adjusting cylinder 19 is extended and contracted by manual operation of an operator.

That is, the vehicle speed continuous controller 28 and the vehicle speed selection controller 29 are connected to a vehicle speed detecting device 34 which is provided on the traveling machine 1 and detects the traveling vehicle speed of the traveling machine 1.
Detects the traveling vehicle speed of the traveling body 1 based on information from the vehicle speed detecting device 34, and based on the vehicle speed, the posture adjusting cylinder 1
9 is automatically extended and retracted, and an operation unit 33 is connected to the manual controller 31 as manual operation means that can be operated by an operator. It has a structure that can be expanded and contracted manually.

That is, the automatic continuous mode and the automatic step mode use the attitude adjusting cylinder 1 based on the traveling speed of the traveling body 1.
9 (posture changing means) is automatically operated, and the manual mode is an automatic operation mode.
This is a manual operation mode in which the (posture changing means) is manually operated by an operation from the operator side. The vehicle speed detecting device 34 has a structure for extracting the traveling speed of the traveling body 1 from a speedometer mechanism or the like provided on the traveling body 1 side (that is, a structure similar to the structure for transmitting the traveling speed to the speedometer side). The detailed explanation is omitted.

The mode changeover switch 27 can be set by switching either the vehicle speed continuous controller 28 or the vehicle speed selection controller 29 as an automatic controller of the attitude adjusting cylinder 19 and the manual controller 31 as a manual controller. Is configured as

The position sensor 32 is connected to each of the controllers 28, 29, and 31. Each controller is planted by the position sensor 32 regardless of whether the control of the posture changing means is manual or automatic. Device 3
Is fed back, and the expansion and contraction of the posture adjusting cylinder 19 (posture changing means) is adjusted based on the position of the planting device 3.

As described above, when the operator or the like desires automatic control, the control system is used to adjust the attitude of the attitude adjusting cylinder 1.
The controller 9 is set in the vehicle speed continuous controller 28 or the vehicle speed selection controller 29. If manual control is desired, the controller 9 is set in the manual controller 31. The mode can be switched to either the vehicle speed detection device (means) 34 or the operation section 33 (manual operation means), and the mode changeover switch 27 is provided as this switching means.

When the mode changeover switch 27 is switched to the automatic continuous mode, the vehicle speed continuous controller 28 responds to the vehicle speed such that the beak 9 is tilted backward as the vehicle speed increases, so that the approach angle θ of the beak 9 becomes smaller. Then, the attitude adjusting cylinder 19 is linearly and automatically extended and contracted (in proportion to the proportion).

When the mode is switched to the automatic step mode, the vehicle speed selection controller 29 gradually increases the vehicle speed (when the vehicle speed is within a predetermined range, the entry angle of the beak 9 is kept constant, and If it exceeds, the angle of entry is changed stepwise to the next range of vehicle speed.) The beak 9 is tilted backward and the attitude adjusting cylinder 19 is stepped in accordance with the vehicle speed so that the angle of entry of the beak 9 decreases stepwise. And expand and contract automatically.

As a result, when the traveling speed of the traveling machine body 1 increases, the planting posture of the seedlings tilts forward due to the inertial operation of the planted seedlings due to the change in the acceleration momentum when the seedlings are pushed and separated by the beak 9 during planting of the seedlings. At this time, the approach angle of the beak 9 is automatically switched to a direction in which the approach angle of the beak 9 decreases linearly or stepwise. (Meaning that the running body 1 is tilted backward when stopped), and the seedlings are planted almost vertically due to the above-mentioned inertia and the like.

Since the approach attitude of the beak 9 is changed and set based on the traveling speed of the traveling body 1, the approach attitude (angle θ) of the traveling body 1 according to the inertia force at each traveling speed of the traveling body 1 is changed. The seedlings are automatically set according to the running speed, that is, the seedlings are planted almost perpendicularly to the field scene regardless of the running speed, and the planting posture of the seedlings is stabilized.

Further, when the mode changeover switch 27 is switched to the manual mode, the entry angle of the beak 9 can be set manually by the operator.
By adjusting the approaching posture (angle θ) of the seedling, the planting posture of the seedlings can be made vertical more accurately than in the automatic operation mode in some cases, and the planting posture of the seedlings can be made more stable.

As described above, since the approach angle of the beak 9 is changed and adjusted by the support angle of the planting device 3 (the mounting attitude of the lifting link 2), the approach angle adjusting mechanism of the beak 9 is relatively simple. In addition to being advantageous in terms of cost, since the positional relationship between the beak 9 and the seedling mounting table 4 is always maintained, the scraping state of the seedling by the beak 9 does not change, and the approach angle of the beak 9 with respect to the field scene is changed. Regardless, Beak 9
Of the seedling placing table 4 is maintained, and the beak 9 can scrape the seedlings from the seedling placing table 4 stably under almost the same conditions.

Further, by gradually adjusting the approach posture (angle θ) of the beak 9 with respect to the field scene with respect to the speed of the traveling machine body 1, it is not necessary to adjust the position of the beak 9 more frequently than necessary. Is relatively simple. However, when the approach posture (angle θ) of the beak 9 is linearly adjusted with respect to the speed of the traveling body 1, finer adjustment can be performed.

On the other hand, in the above-described embodiment, the attitude changing means is constituted by the rotating shaft supporting structure of the attitude adjusting cylinder 19, the fixed frame 11, and the traveling body frame 1a. Instead of the attitude adjusting cylinder 19), a motor 41 may be used as shown in FIG. In this case, the mounting posture of the lifting link 2 is changed and adjusted by driving the motor 41 by connecting the fixed frame 11 and the motor 41 provided on the traveling body frame 1a via a connecting mechanism such as a gear mechanism 42. be able to.

At this time, since the actuator of the attitude changing means is the motor 41, the electric control of the attitude changing means becomes easier and more accurate, and the entry angle of the beak 9 can be adjusted more stably.

[0036]

According to the structure of the present invention constructed as described above, the posture of the planting claws entering the field can be changed by the posture changing means according to the traveling speed of the traveling body.
There is an effect that the planting posture of the seedling is stabilized and abnormal posture of the planted seedling caused by the traveling speed is prevented. In particular, there is an advantage that the angle of the planting claw can be automatically adjusted by detecting the traveling speed of the traveling body by the detecting means and automatically operating the attitude changing means based on this information.

At this time, the posture changing means has a mechanism for changing the mounting angle (posture) of the lifting link, so that the planting nail enters the field while maintaining the posture of the planting nail entering the seedling mounting table. The posture can be changed, and the planting posture of the seedlings can be stabilized without affecting the scraping of the seedlings from the seedling mounting table.

Further, the posture changing means can be constituted relatively simply, which is advantageous in cost. In addition, a structure is provided in which manual operation means for causing the posture changing means to be performed by manual operation of the operator is provided, and the operation of the posture changing means can be switched between automatic operation by the speed detecting means and manual operation by the manual operating means by the switching means. By doing so, the operation of the posture changing means can be performed manually, and the seedlings can be planted in a stable planting posture even by manual operation by the operator.

[Brief description of the drawings]

FIG. 1 is a schematic side view of a main part of a lifting link portion of a rice transplanter.

FIG. 2 is a side view of a main part of a beak portion showing a state of planting seedlings in a field.

FIGS. 3A, 3B and 3C are schematic diagrams showing seedling planting postures that change depending on the beak postures.

FIG. 4 is a block diagram of a control system.

FIG. 5 is a schematic side view of a main part of a lifting link portion of a rice transplanter according to another embodiment.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Traveling body 3 Planting device 2 Elevating link 4 Seedling stand 9 Beak (planting claw) 34 Speed detecting means (vehicle speed detecting device) 33 Manual operating means (operation part) 27 Mode switch (switching means)

 ────────────────────────────────────────────────── ─── Continuing on the front page (72) Inventor Takahiro Shinmon 667 Idaicho, Oaza, Higashi-Izumo-cho, Yatsuka-gun, Shimane 1 F-term in Mitsubishi Agricultural Machinery Co., Ltd. (Reference) 2B062 AA11 AA20 AB01 BA13 BA14 BA61 CA04 CA05 2B065 AA05 AA07 AC06

Claims (4)

[Claims] 1. A planting device (3) behind a traveling body (1).
Are connected via a lifting link (2), and the planting device (3) mounts a seedling to be planted on a field, and a seedling mounting (4) scrapes the seedling from the seedling mounting (4). In a seedling plant having a planting claw (9) to be planted in a field, a posture changing means for changing a posture of the planting claw (9) entering the field scene is provided, and the posture changing means comprises a high-speed traveling speed. A planting device in a seedling planter, which changes the approach posture in the backward tilt direction in accordance with the change to the side. 2. A planting machine according to claim 1, wherein a speed detecting means for detecting a running speed of the traveling machine body is provided, and a posture changing means is automatically operated based on information from the detecting means. Attachment device. 3. A link changing mechanism for changing the mounting angle of the lifting link (2) to swing the planting claw (9) integrally with the seedling mounting table (4). Planting equipment in a seedling planter. 4. A manual operating means (33) for arbitrarily operating the attitude changing means by an operation from an operator side, and an operation instructing means for the attitude changing means is at least one of a speed detecting means (34) and a manual operating means (33). 4. The planting apparatus according to claim 2, further comprising a switching means (27) for switching to one of the two.