JP2013201942A - Riding transplanter - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a riding transplanter including a direction indicating device and an operation tool for operating the device, capable of preventing forgetting to operate the operation tool to the neutral operation position, and stopping the direction instruction of the direction indicating device in a suitable timing.SOLUTION: This riding transplanter includes the operation tool 23 having the operation positions for the left turn instruction, the neutrality and the right turn instruction, wherein the riding transplanter includes: a control part 27 for conducting the direction instruction control of the direction indicating devices 11, 26 based on the operation position of the operation tool 23; and a rotation detecting sensor 28 for detecting the rotation of a machine body, and the operation tool 23 is configured to automatically return to the neutral position. The control part 27 continuously executes the direction instruction based on the operation when the left turn instruction or the right turn instruction operation of the operation tool 23 is detected, and also the execution of the direction instruction is stopped when the end of rotation of the machine body is detected by the rotation detecting sensor 28 in the process of executing the direction instruction.

Description

  The present invention relates to a riding transplanter equipped with a direction indicating device.

  Patent Document 1 that includes a direction indication device that gives directions to the left and right, and an operation tool that has operation positions of a left turn instruction, a neutral position, and a right turn instruction, and performs direction instructions via the direction indication device based on the operation of the operation tool. A passenger transplanter shown in FIG.

JP 2002-272221 A

  However, according to the passenger transplanter of the above-mentioned document, when the operating tool operated at the operation position of the left turn instruction or the right turn instruction is forgotten to be operated to the neutral operation position, the direction instruction by the direction indicating device is contrary to the operator's intention. Will continue to be done.

  The present invention includes a direction indication device and an operation tool for operating the direction indication device, and can prevent forgetting to operate the neutral operation position of the operation tool and can stop the direction indication by the direction indication device at an appropriate timing. It is an object to provide a transplanter.

  In order to solve the above-described problems, the present invention firstly relates to a riding transplanter including direction indicating devices 11 and 26 that perform left and right direction instructions, and an operation tool 23 having operation positions for left turn instructions, neutral positions, and right turn instructions. 2, a control unit 27 that performs direction instruction control of the direction indicating devices 11 and 26 based on the operation position of the operation tool 23 and a turning detection sensor 28 that detects turning of the machine body are provided, and the operation tool 23 is set to the neutral position. The control unit 27 is configured to automatically return, and when the left turn instruction or the right turn instruction operation by the operation tool 23 is detected, the control unit 27 continuously executes the direction instruction based on the operation and during the execution of the direction instruction. When the turning detection sensor 28 detects the end of turning of the airframe, execution of the direction instruction is stopped.

  Second, the control unit 27 is characterized in that the turning detection sensor 28 detects the start or end of turning of the airframe when the turning on / off of the planting work machine 6 is interlocked with the turning of the airframe. .

  Third, the turning detection sensor 28 is constituted by a detection sensor that detects the operation amount of the steering handle 16.

  Fourth, the turning detection sensor 28 is constituted by rotation sensors 28a and 28b for detecting the rotation speeds of the left and right rear wheels 2 and 2.

  When the operation tool automatically returns to the neutral operation position and the end of turning of the aircraft is detected by the turning detection sensor during execution of the direction instruction, the execution of the direction instruction is stopped. Forgetting to operate the operation position can be prevented, and direction indication by the direction indication device can be stopped at an appropriate timing. In addition, since the control unit and the turning detection sensor are usually provided in the transplanter in many cases, it is not necessary to add new parts or the like, and the cost can be reduced.

  In addition, the control unit detects the start or end of turning of the airframe by the turning detection sensor when interlocking the turning on / off of the planting work machine with the turning of the airframe. Since the drive control of the planting work machine can be shared by the single control unit and the turning detection sensor, the number of parts can be reduced and the cost can be kept low.

1 is an overall side view of a riding transplanter to which the present invention is applied. It is a perspective view which shows the structure of a front side operation panel. It is a rear view of a display panel. It is explanatory drawing which shows notionally the structure of automatic planting control. It is a front view which shows the structure of a turning detection sensor. (A), (B) is the top view and front view of a rear axle case which show the structure of a rotation sensor. It is a block diagram of a control part. It is a flowchart of the main routine of a control part. It is a process flow figure of a subroutine of direction indication control. It is a processing flow figure of a subroutine of automatic planting control. It is a processing flow figure of a subroutine which shows other examples of automatic planting control.

  FIG. 1 is an overall side view of a riding transplanter to which the present invention is applied. The illustrated riding transplanter includes a traveling machine body 3 having a pair of left and right front wheels 1, 1 and rear wheels 2, and a planting work machine 6 connected to the rear side of the traveling machine body 3 via a lifting link 4 so as to be movable up and down. And a lifting cylinder 7 provided between the traveling machine body 3 and the planting work machine 6 so as to drive the planting work machine 6 up and down.

  The planting work machine 6 has a seedling placing surface 8a formed on the back side and a seedling placing stand 8 that is steeply inclined upward toward the front, and is disposed below the seedling placing stand 8 so as to be on the seedling placing stand 8. A planting part 9 for scraping off seedlings and planting them in a farm field, and a pair of blinker lamps (direction indicating devices) 11 and 11 respectively disposed on the left and right side parts of the seedling mounting base 8 are provided. The planting unit 9 is driven and controlled by a planting clutch (not shown) that intermittently powers the engine.

  The traveling machine body 3 is provided with a control unit 13 behind a bonnet 12 covering the engine. The control unit 13 includes a seat 14 on which an operator is seated. A steering handle for steering operation is provided in front of the seat 14. A front operation panel 17 having 16 is disposed, and a switching lever 18 is provided on the side of the steering handle 16 to perform forward / backward switching of the airframe by a swinging operation.

  FIG. 2 is a perspective view showing the configuration of the front operation panel. The steering handle 16 is supported on the vehicle body side by a steering shaft 19 protruding upward from the front operation panel 17 so that the steering handle 16 can be rotated around the steering shaft 19 (steering operation). Is covered by the steering cover 21. The main body of the steering handle 16 is attached to the exposed upper end portion of the steering shaft 19.

  The steering cover 21 is provided with a planting operation lever 22 protruding outward (rightward in the illustrated example) so as to be swingable. The planting operation lever 22 on the front operation panel 17 is positioned below the planting operation lever 22. A direction instruction lever (operation tool) 23 for performing a direction instruction operation is provided in an upward projecting state, and a display panel 24 is installed in front of the steering cover 21 in the front operation panel 17.

  The direction indicating lever 23 performs a left turn instruction operation by swinging left from the left and right neutral position, and performs a right turn instruction operation by swinging right from the left and right neutral position. That is, the left swing position of the direction indicating lever 23 becomes the left turn instruction operating position for instructing the left turn of the direction indicating devices 11 and 26 (FIGS. 1 and 3), and the right swing position turns the direction indicating devices 11 and 26 right. The right turn instruction operation position for the instruction operation is set, and the left and right neutral positions are neutral operation positions for not operating the direction indication devices 11 and 26.

  Incidentally, the direction indicating lever 23 is a momentary type operating tool that automatically returns to the neutral operation position in a non-operating state where the operator is not touching. Specifically, the direction indicating lever 23 is provided by an elastic member or the like (not shown). Is biased to the neutral operating position.

  FIG. 3 is a rear view of the display panel. The display panel 24 has a pair of left and right blinker lamps (direction indicating devices) 26 and 26. The pair of left and right blinker lamps 26 and 26 and the left and right blinker lamps 11 and 11 on the planting work machine 6 side can be used for various notifications in addition to the direction instruction. The direction indicator devices 11 and 26 may notify that the seedling stand 8 is out of seedling.

  The present-purpose transplanter having the above-described configuration is configured such that the direction indicating control for controlling the direction indicating devices 11 and 26 based on the operation position of the direction indicating lever 23, the driving of the planting unit 9 and the raising and lowering of the planting work unit 6 are performed. It is configured to be able to perform automatic planting control linked to turning.

  FIG. 4 is an explanatory diagram conceptually showing the configuration of the auto planting control. In this riding transplanter, first, the planting work machine 6 is driven down to the planting position, and the planting clutch 9 is connected and operated to plant the planting part 9. By moving the aircraft straight in the row direction until the end of the line, the seedlings are planted in the row.

  Then, when the aircraft reaches the edge, after stopping the planting unit 9 by cutting the planting clutch and driving the planting work machine 6 up to the non-working position, until the next row Start the U-turn turning of the aircraft.

  Immediately before the U-turn turning of the airframe is completed, the planting work machine 6 is again driven down to the planting position, and after the U-turn turning of the airframe is completed, the planting clutch 9 is connected and the planting unit 9 is planted. Then, the planting operation in the next row is performed in the same manner as described above, and seedlings are planted on the entire field by repeating this process sequentially.

  In the present transplanter, the planting machine is moved up and down and the planting clutch is intermittently engaged by the U-turn turning by automatic planting control.

  In order to perform the automatic planting control and the direction instruction control as described above, the riding transplanter includes a control unit 27 including a microcomputer, a turning detection sensor 28 for detecting the turning of the aircraft, and a traveling speed detection of the aircraft. And a rotation sensor 29 that also serves as a travel distance detection means (see FIGS. 5 to 7).

  FIG. 5 is a front view showing the configuration of the turning detection sensor. The turning detection sensor 28 is a potentiometer that detects the start of turning, the turning, and the end of turning by detecting a steering operation. The potentiometer 28 is disposed on the steering shaft 19 side in the steering cover 21.

  Specifically, a detection arm (not shown) of the potentiometer 28 is provided on the most downstream side of the transmission mechanism 31 that decelerates the rotation of the steering shaft 19 around the shaft and transmits the gear, and the detection arm of the potentiometer 28 is swung. By detecting the moving angle, the operation amount of the steering handle 16 can be acquired. Then, by acquiring the operation amount of the steering wheel 16 as needed, it is possible to detect the start of turning and the end of turning while the aircraft is turning.

  6A and 6B are a plan view and a front view of a rear axle case showing the configuration of the rotation sensor. The rotation sensor 29 shown in the figure is provided in a rear axle case 32 extending on both the left and right sides. Specifically, a left and right traveling shaft 33 is rotatably supported in the rear axle case 32, and left and right drive shafts 34 for the rear wheels 2 and 2 are supported on the left and right ends of the rear axle case 32, respectively. The front axle side of the rear axle case 32 is supported by a front / rear input shaft 36 to which power from the engine side is inputted, and side clutches (not shown) are provided on the left and right portions of the rear axle case 32, respectively. By the left and right side clutches, the power of the traveling shaft 36 is intermittently transmitted to the left and right drive shafts 34 and 34, respectively, and the left and right rear wheels 2 and 2 are rotationally driven. A detection gear 37 is provided on the traveling shaft 36. The rotation sensor 29 is installed so as to detect the rotation speed of the detection gear 37.

  By detecting the rotation of the detection gear 37 (travel shaft 33) by the rotation sensor 29, the travel distance and travel speed of the airframe are detected.

  The left and right side clutches are intermittently operated by the front and rear swings of the left and right clutch arms 38 and 38 disposed at the left and right portions on the upper surface side of the rear axle case 32. The left and right clutch arms 38 and 38 are illustrated in FIG. It is connected to the steering shaft 19 by a non-interlocking mechanism, and when the left and right turning operation of the aircraft is performed by the steering handle 16, the turning side clutch is disconnected and the turning side clutch is connected. And a smooth turn is made.

  FIG. 7 is a block diagram of the control unit. On the input side of the control unit 27, in addition to the turning detection sensor 28, the rotation sensor 29, and the direction indicating lever 22, there is a lift angle potentiometer 39 that is a lifting height detecting means for detecting the lifting height of the planting work machine 6. On the other hand, on the output side, the left and right blinker lamps 11, 11, 26, 26 and a cam motor 41 for controlling rotation of a cam plate (not shown) are connected. The cam plate is configured to perform intermittent control of the planting clutch and to perform lifting control of the planting work machine 6 by supplying and discharging pressure oil to and from the lifting cylinder 7. In other words, the cam motor 41 functions as a disengagement unit for the planting clutch and a lifting unit for the planting work machine 6.

  FIG. 8 is a flowchart of the main routine of the control unit. When the process is started, the control unit 27 proceeds to step S1. In step S1, a direction instruction control subroutine is executed, and when the subroutine processing ends, the process proceeds to step S2. In step S2, a subroutine for automatic planting control is executed, and when the processing of the subroutine ends, the processing returns to step S1.

  FIG. 9 is a processing flowchart of a subroutine for direction instruction control. When starting the processing of the direction instruction control subroutine, the control unit 27 proceeds to step S11. In step S11, it is detected whether or not a left turn instruction operation is performed by the direction instruction lever 23. If the left turn instruction operation is not performed, the process proceeds to step S12.

  In step S12, it is detected whether or not a right turn instruction operation has been performed by the direction indicating lever 23. If the right turn instruction operation has not been performed, the process proceeds to step S13. In step S13, the ON / OFF state of the left flag indicating whether or not the left turn instruction operation has been performed in the past by the direction instruction lever 23 is confirmed, and the left flag is in the OFF state (the state in which the left turn instruction operation has not been performed in the past). If so, the process proceeds to step S14.

  In step S14, the ON / OFF state of the right flag indicating whether or not the right turn instruction operation has been performed in the past by the direction instruction lever 23 is confirmed, and the right flag is OFF (the state in which the right turn instruction operation has not been performed in the past). If so, the process ends, and the process returns to the main routine shown in FIG. Incidentally, the left flag and the right flag are set to OFF in the initial state.

  If a left turn instruction operation by the direction indicating lever 23 is detected in step S11, the process proceeds to step S15. In step S15, it is confirmed whether the right flag is ON / OFF. If the right flag is OFF, the process proceeds to step S16. If the right flag is ON (a state in which a right turn instruction operation has been performed in the past), the process proceeds to step S17. move on.

  In step S16, the left flag is set to ON and the process is terminated to return the process to the main routine shown in FIG. 9, while in step S17, the right flag is set to OFF and the process is terminated to return to FIG. Return processing to the main routine shown.

  If a right turn instruction operation by the direction indicating lever 23 is detected in step S12, the process proceeds to step S18. In step S18, it is confirmed whether the left flag is ON / OFF. If the left flag is OFF, the process proceeds to step S19. If the left flag is ON (a state in which a right turn instruction operation has been performed in the past), the process proceeds to step S20. move on.

  In step S19, the right flag is set to ON, and the process is terminated and the process is returned to the main routine shown in FIG. 9, while in step S20, the left flag is set to OFF and the process is terminated to return to FIG. Return processing to the main routine shown.

  In step S13, if the left flag is ON, the process proceeds to step S21. In step S21, the turning detection sensor 28 detects the presence / absence of turning of the airframe. If the turning end is not detected, the process proceeds to step S22. If the turning end is detected, the process proceeds to step S23.

  In step S22, a left turn direction indicating operation for blinking the left side blinker lamps 11, 23 of the left and right blinker lamps 11, 11, 23, 23 is executed, and the process is performed in the main routine shown in FIG. return. On the other hand, in step S23, since the turn is completed, the left flag is set to OFF, the process is terminated, and the process returns to the main routine shown in FIG.

  Furthermore, if the right flag is ON in step S14, the process proceeds to step S24. In step S24, the turning detection sensor 28 detects the presence / absence of the turn of the airframe. If the turn end is not detected, the process proceeds to step S25. If the turn end is detected, the process proceeds to step S26.

  In step S25, a right turn direction indicating operation for blinking the right side blinker lamps 11, 23 among the left and right blinker lamps 11, 11, 23, 23 is executed, and the process is performed in the main routine shown in FIG. return. On the other hand, in step S26, since the turn is completed, the right flag is set to OFF, the process is terminated, and the process returns to the main routine shown in FIG.

  According to such a configuration, for example, when a left turn instruction operation is performed by the direction instruction lever 23, the direction instruction lever 23 is mechanically automatically returned to the neutral operation position, and the control unit 27 performs first subroutine processing. The process proceeds from step S11 → step S15 → step S16, and in the next subroutine process, the process proceeds from step S11 → step S12 → step S13 → step S21 → step S22, and the turn signal lamps 11 and 26 operate to turn left.

  On the other hand, when the right turn instruction operation is performed by the direction instruction lever 23 during the left turn instruction operation, the direction instruction lever 23 is mechanically automatically returned to the neutral operation position, and the control unit 27 performs the first subroutine processing. Thus, the process proceeds from step S11 → step S12 → step S18 → step S20, and the left turn instruction operation and operation are cancelled.

  When the right turn instruction operation is performed by the direction instruction lever 23, the direction instruction lever 23 is mechanically automatically returned to the neutral operation position, and the control unit 27 performs step S11 → step S12 → step S18 → step in the first subroutine processing. The process proceeds to S19, and in the next subroutine process, the process proceeds from Step S11 → Step S12 → Step S13 → Step S14 → Step S24 → Step S25, and the blinker lamps 11 and 26 operate to turn right.

  On the other hand, when the left turn instruction operation is performed by the direction instruction lever 23 during the right turn instruction operation, the direction instruction lever 23 is mechanically automatically returned to the neutral operation position, and the control unit 27 performs the first subroutine process. Thus, the process proceeds from step S11 to step S15 to step S17, and the right turn instruction operation and operation are canceled.

  Further, when the turning of the airframe is completed by the process of step S24 → step S26 and the process of step S21 → step S23, the left / right direction indicating operation is automatically stopped. For this reason, there is no need to provide a complicated interlocking mechanism for mechanically returning the direction indicator lever 23 to the neutral operation position by the reverse handle operation of the steering handle 16 during turning, and the direction indication stop can be executed at an appropriate timing. The configuration is simplified.

  FIG. 10 is a processing flowchart of a subroutine for automatic planting control. When the control unit 27 starts processing of the automatic planting control subroutine, the process proceeds to step S31. In step S31, it is confirmed whether or not the turning flag indicating whether or not the U-turn turning at the shore described above is being performed. If the turning flag is OFF, the process proceeds to step S32. Incidentally, the turning flag is set to OFF in the initial state.

  In step S32, the turning detection sensor 28 detects the start of turning of the airframe. If the start of turning is not detected, the process ends and the process returns to the main routine shown in FIG. 9, while the start of turning of the airframe is detected. If so, the process proceeds to step S33.

  In step S33, it is considered that the U-turn turning at the shore has started, the turning flag is set to ON, the planting clutch is disconnected, the planting work machine 6 is raised to the non-working position, and step S34 Proceed to In step S34, counting of the travel distance D from the turning start position is started, the processing is ended, and the processing is returned to the main routine shown in FIG.

  In step S31, when the turning flag is ON, the process proceeds to step S35. In step S35, the travel distance D by the count is confirmed. Here, when the aircraft advances to the lowered position X where the planting work machine 6 is driven to descend, the travel distance D becomes the distance L1, and the aircraft advances to the planting position Y where the planting work machine 6 is operated to engage the planting clutch. The travel distance D is a distance L2 (> L1).

  For this reason, in step S35, when the traveling distance D is more than the distance L1 and shorter than the distance L2, it progresses to step S36 in order to drive the planting work machine 6 to the planting position. In step S36, the planting work machine 6 is driven down to the planting position, the process is terminated, and the process returns to the main routine shown in FIG.

  On the other hand, if the travel distance D is greater than or equal to the distance L2 in step S35, the process proceeds to step S37 to activate the planting clutch. In step S37, the turning flag is set to OFF to indicate that the U-turn turning of the airframe has been completed, and the planting clutch is engaged to perform the planting operation, and the process proceeds to step S38.

  In step S38, after resetting the count of the travel distance D, the process is terminated and the process returns to the main routine shown in FIG. The automatic planting control shown in FIG. 4 is executed by the processing as described above.

  Note that, as indicated by phantom lines in FIG. 6, rotation sensors 28a and 28b may be provided on the transmission downstream sides of the left and right side clutches, respectively. By sequentially detecting the rotation difference between the left and right rear wheels 2 and 2 by the left and right rotation sensors 28a and 28b, it is possible to detect the start of turning, the turning and the end of turning of the airframe. In other words, the above-described turning detection sensor 28 may be configured by the left and right rotation sensors 28a and 28b. The left and right rotation sensors 28a and 28b can also function as the rotation sensor 29 described above.

Next, another example of automatic planting control will be described based on FIG.
FIG. 11 is a processing flow diagram of a subroutine showing another example of automatic planting control. In the subroutine shown in the figure, the process of step S34 is omitted, and when the process of step S33 ends, the process ends and the process returns to the main routine shown in FIG.

  In step S31, if the turning flag is ON, the process proceeds to step S39. In step S39, the turning detection sensor 28 detects the end of turning of the airframe. If the end of turning of the airframe is detected, it is considered that the U-turn turning at the end of the above-mentioned time has ended, and the process proceeds to step S40. On the other hand, if the end of turning of the airframe is not detected, the process is terminated and the process returns to the main routine shown in FIG.

  In step S40, the turning flag is set to OFF to indicate that the U-turn turning of the aircraft has been completed, the planting work machine 6 is lowered to the planting position, and the planting clutch is connected. The process is terminated and the process returns to the main routine shown in FIG.

11 blinker lamp (direction indicator)
16 Steering handle 23 Direction indicator lever (operating tool)
26 Winker lamp (direction indicator)
27 Control unit (microcomputer)
28 Turning detection sensor (potentiometer)
28a, 28b Rotation sensor

Claims (4)

  The operation position of the operation tool (23) in a riding transplanter comprising a direction indication device (11, 26) for giving a left / right direction instruction and an operation tool (23) having an operation position for a left turn instruction, a neutral position, and a right turn instruction. And a turn detection sensor (28) for detecting turning of the fuselage, and the operation tool (23) is set to the neutral position. The control unit (27) is configured to automatically return, and when the left turn instruction or the right turn instruction operation by the operation tool (23) is detected, the control unit (27) continuously executes the direction instruction based on the operation and the direction instruction When the end of turning of the airframe is detected by the turning detection sensor (28) during execution of the vehicle, the riding transplanter stops execution of the direction instruction.   The control unit (27) detects the start or end of turning of the airframe by the turning detection sensor (28) when interlocking the turning on / off of the planting work machine (6) with the turning of the airframe. The described passenger transplanter.   The riding transplanter according to claim 1 or 2, wherein the turning detection sensor (28) is constituted by a detection sensor for detecting an operation amount of the steering handle (16).   The riding transplanter according to claim 1 or 2, wherein the turning detection sensor (28) is constituted by a rotation sensor (28a, 28b) for detecting the number of rotations of the left and right rear wheels (2, 2).

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