JP2002335722A - Apparatus for controlling pitching of rice transplanter - Google Patents

Abstract

PROBLEM TO BE SOLVED: To reduce lifting of a seedling feeder to an untransplanting position in the swing steering of a rice transplanter and to lightly carry out the steering. SOLUTION: This apparatus for controlling pitching is characterized by carrying out the swing steering of the rear part of a rice transplanting device 5 while turning to the upper side against a lift link 2 in the rice transplanter in which the rice transplanting device 5 having a float is connected to the rear side of the body 1 through the lift link 2.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a pitching control device for a seedling plant, and more particularly, to a planting device having a float connected to a rear side of a vehicle body via a lift link. Is controlled to change the inclination angle in the front-rear direction.

[0002]

2. Description of the Related Art A lift link is connected to a rear part of a tractor body, and a seedling plant having a float is connected to a rear end of the lift link. At the time of turning steering, the lift link raises the seedling transplanting device to the position of the non-seedling planting posture.

[0003]

In such a seedling plant, a large power and a long time are required in order to raise the seedling-planting device to a large non-seedling-planting position at the time of turning steering or the like. The turning steering becomes slow. For this reason, the turning controllability is improved by changing the inclination angle of the seedling plant in the front-rear direction with respect to the lift link on the vehicle body side.

[0004]

According to a first aspect of the present invention, there is provided a seedling planter for connecting a seedling planting device 5 having floats 3, 4 to a rear portion of a vehicle body 1 via a lift link 2.
The pitching control device is characterized in that the rear portion of the seedling plant 5 is rotated upward with respect to the lift link 2 to perform turning steering.

According to a second aspect of the present invention, there is provided a seedling planting machine for connecting a seedling planting apparatus 5 having floats 3 and 4 to a rear portion of a vehicle body 1 via a lift link 2 by tilting the vehicle body 1 in the front-rear direction. The pitching control device is characterized in that a rear portion of the seedling plant 5 is provided so as to be vertically rotatable with respect to the lift link 2.

According to the third aspect of the present invention, the pitching control is performed together with the elevation control by the lift link 2. According to a fourth aspect of the present invention, the pitching control is performed by raising the seedling plant 5 to a predetermined position by lifting and lowering control by the lift link 2.

[0007]

According to the first aspect of the present invention, the seedling planting operation is performed in a state where the seedling plant 5 is lowered by the lift link 2 and the floats 3 and 4 are slid on the ground. When turning back and forth at the end of the seedling planting process such as a headland, the rear part of the seedling plant 5 is moved upward with respect to the lift link 2 from the state of the seedling posture, so that the rear part of the seedling plant 5 is moved. The seedlings are lifted to a non-seedling state, and the floats 3 and 4 are turned in a state of approaching the soil surface.

Therefore, the seedling plant 5 can be brought into a non-seedling posture simply by raising and tilting the rear portion of the seedling plant 5 with respect to the lift link 2 without raising the whole plant, and smoothly turning. It can be performed. Moreover, the seedling plant 5 can be quickly and quickly performed by the tilting operation. or,
When there are large irregularities on the soil surface, the floats 3 and 4 that slope down forward are leveled by the ground contact at the front.

According to the second aspect of the present invention, the rear portion of the seedling plant 5 is moved downward by the inclination of the vehicle body 1 in the forward downward direction, and the rear portion of the seedling plant 5 is moved upward by the inclination of the vehicle body 1 in the rear downward direction. Therefore, the seedling depth and the planting posture of the seedling plant 5 are kept constant. According to the third aspect of the present invention, since the pitching control by the vertical movement of the rear part of the seedling plant 5 is performed together with the elevation control of the seedling plant 5 by raising and lowering the lift link 2, the seedling plant 5 and seedling planting by the same are performed. Can be controlled accurately and smoothly.

According to a fourth aspect of the present invention, the pitching control of the seedling planting apparatus 5 is performed together with the elevation control, but when the seedling planting apparatus 5 is raised to a predetermined position, the pitching control is suppressed. Unnecessary pitching control operation can be omitted, and this pitching can eliminate obstacles such as a part of the seedling plant 5 contacting a part of the vehicle body 1 or the like.

[0011]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described with reference to the drawings. The seedling transplanter has a front wheel and a rear wheel 6, and is provided with a lift link 2 that can move up and down on the rear side of a riding four-wheel drive traveling tractor body 1 that is driven and driven by an engine 3 mounted on the front part. The seedling planting apparatus 5 is connected via the. The seedling plant 5 accommodates seedlings grown in a mat shape on the upper part of the seedling planting frame 8 and intermittently feeds the seedlings while reciprocating right and left. Seedling guide 10 for guiding lateral movement, and this seedling guide 10
A seedling planting device 12 that acts on the seedling outlet 11 to plant the separated and held seedlings on the soil surface, and a center float 3 that supports the bottom of the seedling planting frame 8 and slides on the soil surface while leveling. And the side floats 4 on the left and right sides. In such a seedling plant 5, both the seedling tank 9 and the seedling planting device 12 are configured in a double-row planting form, and seedlings are planted on the soil surface leveled by the floats 3 and 4.

A support bracket 13 at the rear of the vehicle body 1
The lift link 2 as a lower link and the upper link 7 parallel to the upper part are connected to each other by hinge pins 14 and 15 so as to be rotatable up and down. A connection bracket 16 at the front center portion of the seedling plant frame 8 is connected to the lift link 2 and the rear end of the upper link 7 by hinge pins 22 and 23. The lift arm 17 integrated with the lift link 2 is connected to the rear end of a lift cylinder 18 which is expanded and contracted by hydraulic pressure between a part of the vehicle body 1 and a manual operation by a lift lever or the center float 3. Is moved up and down by automatic interlocking etc. In the automatic operation by the center float 3, the center float 3 is connected to the lift control valve 20 of the lift cylinder 18 on the vehicle body 1 side via the wire 19.
Moves up and down around the rear float support shaft 21, the elevating cylinder 18 is extended, and the seedling plant 5 is raised.
Conversely, when the center float 3 moves down, the seedling plant 5 is lowered, and the raising and lowering control is performed so as to keep the seedling depth constant.

Reference numeral 35 denotes a driver seat on the rear part of the vehicle body 1 and 36 denotes a fender that covers the rear wheels 6. Numeral 37 denotes a rolling shaft, to which the seedling-planting frame 8 is connected to the connecting bracket 16 so as to be tiltable left and right. Here, in a seedling planting machine that connects a seedling planting device 5 having floats 3 and 4 to a rear portion of the vehicle body 1 via a lift link 2, the rear portion of the seedling planting device 5 is rotated upward with respect to the lift link 2. The pitching control device is characterized in that the vehicle is steered by turning. Thus, the seedling planting operation is performed in a state where the seedling plant 5 is lowered by the lift link 2 and the floats 3 and 4 are slid on the ground. When turning back and forth at the end of the seedling planting process such as a headland, the rear part of the seedling plant 5 is moved upward with respect to the lift link 2 from the state of the seedling posture, so that the rear part of the seedling plant 5 is moved. The seedlings are lifted to a non-seedling state, and the floats 3 and 4 are turned in a state of approaching the soil surface.

For this reason, the seedling plant 5 can be set in a non-seedling posture only by raising and tilting the rear portion of the seedling plant 5 with respect to the lift link 2 without raising the whole plant, and smoothly turning. It can be performed. Moreover, the seedling plant 5 can be quickly and quickly performed by the tilting operation. or,
If the front wheel and the rear wheel stir the soil due to the turning of the body, and large unevenness is formed on the soil surface of the headland, the floats 3 and 4 are leveled by the ground contact in front. At this time, since only the front portions of the long front and rear floats 3 and 4 are in contact with the ground, the length of the contact area of the floats 3 and 4 in the front and rear direction is shortened, and the contact area is reduced. Even if the airframe is turned while the airplanes 4 and 4 are in contact with the ground, the floats 3 and 4 can turn smoothly because the resistance from the soil surface is small. In addition, if the body is turned while the float is in contact with the ground in a state of a large contact area in the conventional structure of the seedling transplanter, the resistance of the floats 3 and 4 from the soil surface is increased, so that the soil is smooth. In such a case, it was not possible to make a turn, or the soil surface was damaged by the floats 3 and 4.

Further, in a seedling planting machine in which a seedling planting device 5 having floats 3 and 4 is connected to a rear portion of the vehicle body 1 via a lift link 2, the vehicle body 1 is inclined with respect to the lift link 2 due to the front-rear inclination. The pitching control device is characterized in that the rear portion of the seedling plant 5 is provided so as to be vertically rotatable. As a result, the rear portion of the seedling plant 5 is moved downward by the inclination of the vehicle body 1 in the downward direction, and the rear portion of the planting device 5 is moved upward by the inclination of the vehicle body 1 in the downward direction. The planting posture will be kept constant. Therefore, even if the longitudinal inclination of the vehicle body 1 changes during the turning of the aircraft due to the unevenness of the soil surface of the headland, the floats 3 and 4 are maintained at a predetermined angle with respect to the soil surface, and The contact area such as the contact area or the angle to the ground can be maintained in an appropriate state, and the soil surface of the headland can be properly leveled by the contact of the floats 3 and 4 in front.

The pitching control is carried out together with the lifting control by the lift link 2. Thereby, the pitching control by the vertical movement of the rear part of the seedling plant 5 is performed together with the raising / lowering control of the seedling plant 5 by raising and lowering the lift link 2, so that the posture of the seedling plant 5 and the seedling planting by the seedling plant 5 can be accurately performed. It can be controlled smoothly. Therefore, even if the ground height of the seedling planting apparatus 5 changes during turning the machine due to the unevenness of the soil surface of the headland, the floats 3 and 4 are maintained at a predetermined ground height with respect to the soil surface. The contact area such as the contact area or contact pressure at the front of the 3, 4 can be maintained in an appropriate state, and the soil surface of the headland can be properly leveled by the contact of the float 3, 4 at the front.

Further, the pitching control is characterized in that the seedling plant 5 is lifted to a predetermined position by the lifting control by the lift link 2 and is restrained. As a result, the pitching control of the seedling plant 5 is performed together with the elevation control, but the pitching control is suppressed by raising the seedling plant 5 to a predetermined position, and unnecessary pitching control operation is omitted. This pitching can eliminate obstacles such as a part of the seedling plant 5 coming into contact with a part of the vehicle body 1 or the like.

Here, the seedling planting frame 8 is connected to the lift link 2
The hinge pin 23 of the upper link 7 is pivoted up and down around the hinge pin 22 of the connecting bracket 1.
6, the seedling frame 8 can be rotated back and forth in the area of the elongated hole 24 around the lower hinge pin 22. The rotation of the seedling planting frame 8 is performed by a pitching cylinder 25 which is provided between the upper link 7 and the upper end portion of the connection bracket 16 and which is expanded and contracted by hydraulic pressure or a geared motor. The pitching control valve 26 of the pitching cylinder 25 is output by a manual operation using an up switch 27 or a down switch 28, or an automatic interlocking operation by a turning steering sensor 29, a vehicle front-rear inclination sensor 30, or the like. When the pitching cylinder 25 is extended, the seedling-planting device 5 is pivoted backward and downward, and when the pitching cylinder 25 is shortened, the seedling-planting device 5 assumes a backward-downward posture. At this time, in the region of the elongated hole 24, the seedling transplanting device 5 is in a state where it can freely swing up and down under the soil surface sliding pressure by the floats 3 and 4.

On the input side of the controller 31 for performing the various controls, the up switch 27, the down switch 28,
Center float 3 sensor that detects the angle of attack of the float,
A manual / automatic changeover switch 32, a lift link angle sensor 33, a pitching angle sensor 34, and the like are provided in addition to the vehicle body front and rear inclination sensor 30, the turning steering sensor 29, and the like.

Here, the manual / automatic switch 32 is
Pitching control up switch 27 or down switch 2
8 to select whether to perform the operation manually or automatically based on the detection of the turning steering sensor 29, the front-rear inclination sensor 30 and the like.

The lift angle sensor 33 detects the elevation angle of the lift link 2 and is detected by a potentiometer or the like provided near the hinge pin 14 of the lift link 2, and is provided mainly for feedback control. The pitching angle sensor 34 detects the front and rear inclination angles of the seedling planting apparatus 5, and includes a potentiometer for detecting the front and rear positions of the hinge pin 23 with respect to the long hole 24, a stroke sensor for detecting the amount of expansion and contraction of the pitching cylinder 25, and the like. It can be detected and is provided mainly for feedback control. The vehicle body front-rear inclination sensor 30 is provided on the tractor vehicle body 1 and detects an inclination angle of the vehicle body 1 in the front-rear direction. The turning steering sensor 29 is
The steering angle of the steering wheel or the front wheels is detected.

Referring mainly to FIGS. 4 and 5, the controller 31 lowers the seedling plant 5 to the working position, thereby switching the lift control valve 20 by moving the center float 3 up and down to move the lift cylinder 18 up and down. The raising and lowering of the seedling plant 5 is controlled by expanding and contracting. At this time lift link 2
And the upper link 7 is in the inclined state in which the rear portion is lowered.

When the pitching control of the seedling plant 5 is manually performed, the manual and automatic changeover switch 32 is switched to the manual position, and when the raising switch 27 is turned ON at the time of turning or the like, the pitching control valve 26 is switched. As a result, the pitching cylinder 25 is reduced, and the connecting bracket 16 and the rear portion of the seedling frame 8 are appropriately rotated upward around the hinge pin 22 in the region of the elongated hole 24. As a result, the seedling-planting device 5 is also pitched and turned to the forward tilt side (backward upward), and the floats 3 and 4
The rear end of the slab rises from the soil surface and assumes a non-seedling posture. At this time, the front ends of the floats 3 and 4 are in a state of being in contact with the soil surface, or in a state of being in contact with the ground, so that the soil surface can be leveled.

When the turn is completed, the lower switch 2 is turned on.
When the switch 8 is turned on, the pitching cylinder 25 is extended, the rear portion of the seedling plant 5 is lowered, and the rear portions of the floats 3 and 4 are also grounded, and the working posture is set. To automatically perform the pitching control, the manual / automatic switch 32 is switched to the automatic position. As a result, during the seedling planting operation, when the vehicle body 1 is greatly inclined in the front-rear direction or turns around at the ridge,
Pitching control is performed. When the vehicle body 1 leans back and forth, the pitching control valve 26 is output by the detection of the vehicle body tilt sensor 30 to correct the front and rear inclination posture of the seedling plant 5 with respect to the soil surface due to the front and rear inclination of the vehicle body 1.

When turning, the pitching cylinder 25 is reduced by detecting the turning steering sensor 29 by operating the steering handle to the turning angle, and the seedling plant 5 is moved forward around the hinge pin 22. By rotating to the tilt side, the rear portions of the floats 3 and 4 are also raised to the non-working posture.

In such pitching control,
The raising and lowering control of the seedling plant 5 by the center float 3 is also performed in parallel. However, when the height of the seedling plant 5 is raised to a predetermined height or more and the lift link angle sensor 33 detects this, the pitching control is suppressed, and the seedling plant 5 is not rotated forward. Therefore, it is possible to prevent the upper end of the seedling tank 9 from contacting the fender 36 of the vehicle body 1 on the front side. Therefore, the seedling tank 9 can be provided close to the rear portion of the vehicle body 1, and safety can be achieved.

6 and 7, the points different from the above example will be described. The pitching angle sensor 34 is connected to the connecting bracket 1.
It is provided near the hinge pin 23 between the upper link 7 and the upper link 7. The position of the hinge pin 23 with respect to the upper link 7 is moved back and forth in the elongated hole 24 region by the geared motor 38, and replaces the pitching control valve 26. Due to the expansion and contraction of the upper link 7, the angle around the hinge pin 22 of the connection bracket 16 changes,
The pitching of the seedling plant 5 can be controlled. The pitching angle sensor 34 can detect the rotation angle of the forwardly tilting connection bracket 16 as the pitching angle with reference to the angle of the seedling planting posture at the lowered position of the lift link 2 and the upper link 7.

Reference numeral 39 denotes a stroke sensor which expands and contracts and detects the elevation angle of the lift link 2. The stroke sensor 39 replaces the lift link angle sensor 33 and is connected between the base of the lift link 2 and the upper portion of the connection bracket 16. Is done. A lift lever 40 for operating the raising and lowering of the seedling plant 5 is provided on the side of the driver's seat 35, and an up switch 27 and a down switch 28 in the form of a push button switch are arranged on the lift lever 40. The manual / automatic switch 32 is provided above the steering post 42 of the steering handle 41.

At the rear of the vehicle body 1 and behind the driver's seat 35, a wide seedling mounting table 43 is provided in the width direction, and a seedling box containing mat seedlings can be moved to the left and right above this. 4
Reference numeral 4 denotes a roller that can move by receiving the seedling box. The seedling tank 9 of the seedling plant 5 is provided such that the upper end thereof is close to the rear part of the seedling table 43, so that the seedling tank 9 can be easily supplied from the seedling table 43 to the seedling tank 9. For this reason, in the pitching control, when the seedling plant 6 is raised above a predetermined value by the elevation control, the seedling tank 9 is prevented from coming into contact with the seedling mounting table 43 by being restrained.

45 is a front wheel, 46 is a side floor, 47
Denotes a rear floor, and 48 denotes an auxiliary seedling mounting table.

[Brief description of the drawings]

FIG. 1 is a side view of a part of a seedling plant.

FIG. 2 is a side view of the seedling plant apparatus.

FIG. 3 is a side view showing the operation state.

FIG. 4 is a block diagram of the pitching control unit.

FIG. 5 is a schematic flowchart thereof.

FIG. 6 is an overall side view of a seedling plant showing a partially different embodiment.

FIG. 7 is a plan view thereof.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Body 2 Lift link 3 Float 4 Float 5 Seedling plant

 ────────────────────────────────────────────────── ─── Continuing on the front page (72) Inventor, Hisashi Kamiya 1-Yakura, Tobe-cho, Iyo-gun, Ehime Pref. LB05 LB16 MA07 MB02 MC12 QA03 QA08 QA11 QA22 QB13 QC17 RA08

Claims (4)

[Claims] 1. A seedling plant that connects a seedling planting device 5 having floats 3 and 4 to a rear portion of a vehicle body 1 via a lift link 2. In the seedling planting machine, the rear portion of the seedling planting device 5 with respect to the lift link 2 is directed upward. A pitching control device characterized in that it is turned to perform a turning steering. 2. A seedling machine for connecting a seedling planting device 5 having floats 3 and 4 to a rear portion of a vehicle body 1 via a lift link 2 with respect to the lift link 2 due to the inclination of the vehicle body 1 in the front-rear direction. A pitching control device, wherein a rear portion of a seedling plant 5 is provided so as to be vertically rotatable. 3. The pitching control includes a lift link 2
The pitching control device for a seedling planter according to claim 1, wherein the pitching control device is performed together with the lifting control by the control. 4. The pitching control includes a lift link 2
The pitching control device according to claim 3, wherein the seedling plant 5 is lifted to a predetermined position by the ascending / descending control, thereby being restrained.