JP2015173638A - Rice transplanter - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a rice transplanter capable of correcting the displacement between a farm field contact area that a float detects and an actual farm field surface by detecting the farm field surface, and detecting an appropriate planting height, thereby preventing improper planting.SOLUTION: A rice transplanter equipped with a float that detects a farm field contact area includes a sensor provided separately from the float, for detecting a farm field surface. The sensor includes a detection part for tracking the farm field surface, a swing shaft included in a support part that swingably supports the detection part, and a potentiometer sensor for measuring a swing angle of the swing shaft, and detects the height of the farm field surface on the basis of the swing angle.

Description

  The present invention relates to a rice transplanter.

  Conventionally, a float for detecting a ground contact surface of a farm is provided, the field surface is detected by the float, the planting height of the seedling is detected from the detection result, and the seedling is adjusted to an appropriate height. Rice transplanters that plant trees are known.

JP 2012-170426 A

Because the float sinks from the field surface due to its own weight and a gap occurs between the actual field surface and the field contact surface detected by the float, it cannot be adjusted to an appropriate planting height, There were cases where planting defects occurred.
The present invention detects a field surface, corrects a deviation between the field contact surface detected by the float and the actual field surface, detects an appropriate planting height, and prevents a planting machine from preventing planting defects. The issue is to provide.

  A rice transplanter according to the present invention is a rice transplanter provided with a float for detecting a ground contact surface of a field and a sensor for detecting the surface of the field, which is provided separately from the float, and the sensor follows the surface of the field. And a swing shaft included in a support portion that swingably supports the detection portion, and a potentiometer that measures a swing angle of the swing shaft, and the surface of the field based on the swing angle Detect the height of.

  In the first embodiment of the present invention, the potentiometer includes a potentiometer shaft that detects a swing angle of the swing shaft, and the potentiometer shaft and the swing shaft are arranged coaxially.

  In a second embodiment of the present invention, the potentiometer has a potentiometer shaft that detects a swing angle of the swing shaft, and the potentiometer shaft is connected to the swing shaft via a sector gear.

  In a third embodiment of the present invention, the potentiometer has a potentiometer shaft that detects a swing angle of the swing shaft, and the potentiometer shaft is connected to the swing shaft via a link.

  In a fourth embodiment of the present invention, the potentiometer has a linear shaft that detects a swing angle of the swing shaft, and a contact portion of the swing shaft with the linear shaft is a cam-like shape. And the swing angle of the swing shaft is measured based on the movement distance of the linear shaft.

  In the above embodiment, it is preferable to provide a case for housing a structure for detecting the swing angle of the swing shaft.

  The sensors are provided on both sides of the float, and the sensors provided on both sides are supported by a common swing shaft.

  ADVANTAGE OF THE INVENTION According to this invention, the field surface can be detected and a planting defect can be prevented by detecting appropriate planting height.

It is a side view of a rice transplanter. It is a top view of a planting part. It is a side view of a planting part. It is a perspective view which shows 1st embodiment of the structure which detects the rocking | fluctuation angle of a rocking | fluctuation shaft. It is a top view which shows 1st embodiment of the structure which detects the rocking | fluctuation angle of a rocking | fluctuation shaft. It is a figure which shows 2nd embodiment of the structure which detects the rocking | fluctuation angle of a rocking | fluctuation shaft. It is a figure which shows the case which accommodates the structure which detects the rocking | fluctuation angle of a rocking | fluctuation shaft. It is a figure which shows 3rd embodiment of the structure which detects the rocking | fluctuation angle of a rocking | fluctuation shaft. It is a figure which shows 4th embodiment of the structure which detects the rocking | fluctuation angle of a rocking | fluctuation shaft. It is a figure which shows the arrangement position of the sensor with respect to a float.

As shown in FIG. 1, the rice transplanter 1 includes an engine 2, a power transmission unit 3, a planting unit 4, and a lifting unit 5. The planting unit 4 is connected to the airframe via the lifting unit 5, and can be automatically moved up and down by controlling the operation of the lifting unit 5. Power from the engine 2 is transmitted to the planting unit 4 via the power transmission unit 3. The rice transplanter 1 plants seedlings in the field by the planting unit 4 while traveling by driving the engine 2.
This embodiment demonstrates the case where the seedling planting operation | work by the predetermined planting depth is performed from the field surface in the state where the rice field water was stretched in the field. It should be noted that the same technical idea can be applied to planting work in a state where the rice field water is not stretched in the field.

  The driving force from the engine 2 is transmitted to the PTO shaft 7 through the transmission 6 in the power transmission unit 3. The PTO shaft 7 is provided to protrude rearward from the transmission 6. Power is transmitted from the PTO shaft 7 to the planting transmission case 8 through the universal joint, and the planting unit 4 is driven. A drive shaft 9 is provided rearward from the transmission 6, and a driving force is transmitted from the drive shaft 9 to the rear axle case 10.

The planting unit 4 includes a planting arm 11, a planting claw 12, a seedling stage 13, a float 14, and the like. The planting claw 12 is attached to the planting arm 11. The planting arm 11 is rotated by the power transmitted from the planting transmission case 8.
A seedling is supplied to the planting claw 12 from a seedling stage 13. With the rotational movement of the planting arm 11, the planting claws 12 are inserted into the field, and seedlings are planted so as to have a predetermined planting depth (the amount of nail protrusion of the planting claws 12). In this embodiment, a rotary planting claw is employed, but a crank type may be used.

[float]
As shown in FIG. 2, the planting unit 4 includes a plurality of floats (a center float 14 </ b> A and two side floats 14 </ b> B in the present embodiment) arranged in the left-right direction. Each float is attached to a planting frame 15 constituting the planting unit 4. More specifically, the front end of each float is supported so as to be swingable in the vertical direction with respect to the planting frame 15, and the rear end of each float is linked to a rotation support shaft 16 provided on the planting frame 15. It is attached to be movable up and down via.
As shown in FIG. 3, an appropriate sensor such as a potentiometer is attached to the rotation support shaft 16 or the link mechanism 17, and the link height h0 is detected by the sensor. This link height h0 is detected as the amount of protrusion of the planting claw 12 (the distance between the tip of the planting claw 12 and the bottom surface of the float). Then, as will be described later, the actual planting depth h (h = h0 + d) is detected using the settlement amount d of the center float 14A.

  The center float 14A arranged at the center is used as a float detection body for detecting the ground contact surface of the field. Specifically, the target angle β of the float is determined based on the swing angle of the center float 14A that changes according to the unevenness of the field (the rotation angle in the pitching direction according to the resistance received on the front surface of the float: the float angle α). However, the planting height (planting depth) is controlled so that the float angle α approaches the target angle β.

[Leveling equipment]
As shown in FIG. 2, a leveling device 20 for headland leveling is provided in front of the planting unit 4 and in front of the floats 14 (14 </ b> A and 14 </ b> B). The leveling device 20 is supported by the planting frame 15 so that the height can be changed.
A part of the power from the drive shaft 9 is branched to the leveling transmission shaft 21 via the rear axle case 10, and directed to both sides from the leveling transmission shaft 21 via the universal joint 22, the input shaft 23 and the leveling transmission case 24. Is transmitted to the extended drive shaft 25. A plurality of rotors 26 are fixed to each drive shaft 25, and the rotor 26 is rotated by the rotational drive of the drive shaft 25 to level the field.

  The leveling device 20 is disposed in such a manner that the center is disposed forward, and is inclined from the front toward the rear as it goes from the center to both sides. That is, it is provided so that the central portion is positioned in front of other portions. When viewed from above, the leveling device 20 is arranged in a letter C shape.

  A space can be secured in front of the center float 14 </ b> A by arranging the leveling device 20 in a U-shape when viewed from above. By using this space to move the center float 14A forward, a sensor 30 described later can be arranged without difficulty between the flat part of the center float 14A and the planted seedling. Moreover, even if the position of the rotation support shaft 16 of the center float 14A is arranged at the same side surface position as the side float 14B, the center float 14A can be made as long as possible by using the space in front of the center float 14A.

  Alternatively, using the space formed by the leveling device 20, the position of the rear end surface of the center float 14A can be left as it is, and the front end surface can be extended forward. Improvements can be made. Further, by increasing the area of the center float 14A, the sensing ability is increased, and the raising and lowering of the planting part 4 can be optimally controlled. Furthermore, when changing the float shape of the center float 14 </ b> A, the flow and shape balance of the mud flow can be optimally designed, and the accuracy of the lifting control of the planting unit 4 can be further improved.

[Sensor]
As shown in FIGS. 2 and 3, in the center float 14 </ b> A, a sensor 30 that detects the field surface is provided immediately before the planting position P of the planting unit 4. The sensor 30 extends from the front toward the rear. The sensor 30 is supported by the planting frame 15 so as to be swingable in the pitching direction, and hangs down by gravity around the swing fulcrum, so that the state where the tip is in contact with the field surface is maintained. That is, the rice transplanter 1 proceeds so that the tip of the sensor 30 always follows the field surface.
By measuring the rocking angle θ of the sensor 30, the positional relationship between the sensor 30 and the field can be detected, and the actual height of the field (the height of the field on which the seedling is planted) can be detected. Thus, by detecting the actual height of the field with the sensor 30, the subsidence amount d of the center float 14A (the amount of subsidence into the mud field) can be measured.

As described above, the sensor 30 is provided separately from the center float 14 </ b> A used for detecting the field ground contact surface, and the field surface is detected in the vicinity of the planting position P by the sensor 30. Thus, by realizing sensing immediately before planting seedlings with the sensor 30, the sensing accuracy can be improved.
In this embodiment, the planting position P is the side of the rear end portion of the float that rotates via the link mechanism 17. In addition, the position immediately before the planting position P is a field after leveling with a float to plant seedlings, and in order to sense such a stable field, the uneven shape appearing on the surface of the field is a sensor. 30 and the influence of the muddy water flow caused by the float on the sensor 30 can be reduced.

As shown in FIGS. 2 and 3, the sensor 30 includes a detection unit 31 that follows the unevenness of the field surface and a support unit 32 that supports the detection unit 31 so as to be swingable in the pitching direction.
The detection unit 31 is configured by a plurality of rod bodies 40, and is formed in a rake shape by supporting the same ends of the plurality of rod bodies 40 on the stay 41. Each rod 40 is arranged in parallel in the front-rear direction, and in a side view, extends from the base part toward the rear lower side, and the tip part following the field surface has an angle with the horizontal plane from the base part side. It is bent from the middle so that it becomes smaller. The stay 41 is fixed to the column 42.
The support portion 32 includes a stay 41 that supports each rod body 40, a support column 42 that supports the stay 41, and a swing shaft 43 provided on the planting frame 15. The base end portion of the column 42 is connected to the swing shaft 43. That is, the swing shaft 43 supports the support column 42 so as to be swingable.
As described above, the detection unit 31 is supported by the support unit 32 in a swingable manner, and detects the field surface by measuring the swing angle when the detection unit 31 follows the field surface.

[Structure to detect the swing angle of the swing shaft]
The potentiometer 50 is used to detect the swing angle θ of the sensor 30, that is, the swing angle of the swing shaft 43. The potentiometer 50 includes a potentiometer shaft 51 that rotates in accordance with the rotation of the swing shaft 43, and detects the swing angle of the swing shaft 43 by measuring the rotation angle of the potentiometer shaft 51.
Hereinafter, various embodiments relating to the structure and arrangement of the potentiometer 50 will be described.

[First embodiment]
In the first embodiment shown in FIGS. 4 and 5, the potentiometer 50 includes a potentiometer shaft 51 provided coaxially with the swing shaft 43.

The potentiometer 50 is disposed on the outer side at one end of the swing shaft 50 so as to be provided coaxially with the swing shaft 43. A potentiometer shaft 51 of the potentiometer 50 is provided so as to protrude to the swing shaft 43 side. The potentiometer shaft 51 is connected to the support column 42 via an arm 52 and a fixing pin 53. The arm 52 is provided along a support 42 that extends rearward and downward. One end of the arm 52 is fixed to the potentiometer shaft 51, and the other end of the arm 52 is fixed to the column 42 via a fixing pin 53.
In addition, the potentiometer 50 is provided in the appropriate position of the planting part 4 so that the position with respect to the rocking | fluctuation shaft 43 may not change.

When the sensor 30 follows the unevenness of the field surface, the support 42 swings around the swing shaft 43 as a fulcrum. In conjunction with the swinging of the column 42, the arm 52 swings around the potentiometer shaft 51. Since the swing angle of the arm 52 is equal to the swing angle of the swing shaft 43, the swing angle of the swing shaft 43 can be detected by measuring the rotation angle of the potentiometer shaft 51.
In this way, the swing angle of the swing shaft 43 can be detected by connecting the potentiometer shaft 51 provided coaxially with the swing shaft 43 to the support column 43 via the arm 52.

As shown in FIGS. 4 and 5, the support column 42 supported by the swing shaft 43 has a crank shape that extends from the base end portion toward the rear lower side and is bent outward. be able to.
A space can be secured on the outer side of the base end by bending the support column 42 outward. By providing the potentiometer 50 in the space, the potentiometer 50 can be arranged without difficulty.

As described above, the backlash can be reduced by arranging the potentiometer shaft 51 coaxially with the swing shaft 43.
In this embodiment, the swing angle of the swing shaft 43 is detected via the arm 52.
The pivot shaft 51 and the swing shaft 43 may be directly connected to detect the swing angle of the swing shaft 43.

[Second Embodiment]
In the second embodiment shown in FIG. 6, the potentiometer 50 includes a potentiometer shaft 51 connected to the swing shaft 43 via a sector gear 60.
The potentiometer shaft 51 is disposed in parallel with the swing shaft 43. A driven shaft 61 is extended and connected to the potentiometer shaft 61. The oscillating shaft 43 and the driven shaft 61 are fixed so that the sector gears 60 (the sector gear 60A provided on the oscillating shaft 43 and the sector gear 60B provided on the driven shaft 61) are engaged with each other.

When the sensor 30 follows the unevenness of the field surface, the support 42 swings around the swing shaft 43 as a fulcrum. As the column 42 swings, the sector gear 60A rotates, and the sector gear 60B that meshes with the sector gear 60A rotates around the driven shaft 61.
The potentiometer 50 detects the rotation angle of the driven shaft 61 by measuring the rotation angle of the potentiometer shaft 51. At this time, the swing angle of the swing shaft 43 is calculated from the rotation angle of the driven shaft 61 based on the gear ratio between the sector gear 60A and the sector gear 60B provided on the driven shaft 61 and the swing shaft 43, respectively.

  In the above configuration, the small swing of the swing shaft 43 can be detected by changing the gear ratio of the sector gears 60A and 60B, so that the detection ability of the sensor 30 can be improved. Further, by providing the potentiometer shaft 51 and the swing shaft 43 at a position apart from one axis rather than coaxially, the degree of freedom of arrangement of the potentiometer 50 is increased.

As shown in FIG. 7, the structure for detecting the swing angle of the swing shaft 43 (in this case, the sector gear 60, that is, the mechanism for transmitting the rotational motion from the swing shaft 43 to the potentiometer shaft 51) is provided to the case 70. Can be stored.
The case 70 accommodates the driven shaft 61, sector gears 60 </ b> A and 60 </ b> B, and a part of the swing shaft 43. The case 70 is provided with a swing shaft 43 penetrating the case 70, and the case 70 is supported by the planting frame 15, so that the swing shaft 43 is swingably supported with respect to the planting frame 15. The case 70 is preferably cast using iron or aluminum.
As described above, by covering the mechanism with the case 70, it is possible to prevent intrusion of mud and the like and improve the durability of the apparatus.

  Note that the structure for detecting the swing angle of the swing shaft 43 can be provided without being housed in the case. In this case, it is excellent in terms of maintenance such as installation, replacement, and repair of the swing angle detection structure of the swing shaft 43, and the manufacturing cost can also be reduced.

[Third embodiment]
In the third embodiment shown in FIG. 8, the potentiometer 50 includes a potentiometer shaft 51 connected to the swing shaft 43 via a link 80. The link 80 includes an arm 81 provided on each of the swing shaft 43 and the driven shaft 61 of the potentiometer shaft 51, and a rod body 82 that connects the arms 81.
The potentiometer shaft 51 is disposed in parallel with the swing shaft 43. A driven shaft 61 is connected to the potentiometer shaft 51. An arm 81 (an arm 81A provided on the swing shaft 43 and an arm 81B provided on the driven shaft 61) is fixed in the middle of the swing shaft 43 and the driven shaft 61, respectively. Each arm 81A and arm 81B are provided in a direction orthogonal to the axial direction of the swing shaft 43 and the driven shaft 61, respectively.
The arm 81 </ b> A and the arm 81 </ b> B are interlocked and connected via the rod body 82 so that the arm 81 </ b> B is swung as the arm 81 </ b> A is swung. The rod body 82 has a U-shape in which both ends are bent in the same direction, and both bent ends are fixed to the distal ends of the arm 81A and the arm 81B, respectively.

When the sensor 30 follows the unevenness of the field surface, if the swing shaft 43 rotates, the driven shaft 61 rotates via the link 80. Specifically, the arm 81 </ b> A swings as the swing shaft 43 rotates. By interlocking the rod body 82 connected to the arm 81A, the arm 81B swings about the driven shaft 61 as a fulcrum while keeping the connection distance between the arm 81A and the arm 81B constant. As the arm 81B swings, the driven shaft 61 rotates.
The potentiometer 50 detects the rotation angle of the driven shaft 61 by measuring the rotation angle of the potentiometer shaft 51. Then, the swing angle of the swing shaft 43 is calculated from the rotation angle of the driven shaft 61 based on the lengths of the links provided on the driven shaft 61 and the swing shaft 43 (the lengths of the arms 81A and 81B).

  In the above configuration, since the small swing of the swing shaft 43 can be detected by changing the link length, the detection ability of the sensor 30 can be improved. Further, by providing the potentiometer shaft 51 and the swing shaft 43 at a position apart from one axis rather than coaxially, the degree of freedom of arrangement of the potentiometer 50 is increased.

[Fourth embodiment]
The potentiometer 50 in the first to third embodiments described above includes the potentiometer shaft 51 that rotates with the rotation of the swing shaft 43, and measures the swing angle of the potentiometer shaft 51, whereby the swing shaft 43. Is detected.
In the fourth embodiment shown in FIG. 9, the potentiometer 90 includes a linear shaft 91 that moves linearly as the swing shaft 43 rotates, and the swing shaft is measured by measuring the movement distance of the linear shaft 91. 43 swing angle is detected.
The potentiometer 90 is provided at an appropriate position of the planting portion 4 so that the linear shaft 91 is brought into contact with a cam 92 provided in the middle portion of the swing shaft 43.

The cam 92 is fixed to the outer peripheral surface of the swing shaft 43. As the cam 92 rotates with the rotation of the swing shaft 43, the linear shaft 91 is moved by applying pressure to the linear shaft 91 or loosening it. By measuring the moving distance, the swing angle of the swing shaft 43 is detected.
As shown in FIG. 9, in this embodiment, when the cam 92 rotates in the clockwise direction within the range where it abuts on the linear shaft 91, the pressure on the linear shaft 91 is released and the cam 92 is rotated counterclockwise. In the case of rotation, the linear shaft 91 is pressed.

In the above configuration, since the swing angle of the swing shaft 43 can be detected with a small number of parts such as the linear shaft 91 and the cam 92, a detection structure can be realized with a simple configuration.
The shape of the cam 92 is not limited to that described above as long as the swing angle of the cam 92 can be measured from the movement distance of the linear shaft 91 within the range where it contacts the linear shaft 91.

[Sensor arrangement]
In the above embodiment, as shown in FIG. 10A, the configuration in which the sensor 30 is arranged on the T-shaped float 14 is shown, but in addition to such a T-shaped float 14, FIG. The sensor 30 can be similarly arranged on the L-shaped float 100 as shown in FIG. 10B or the U-shaped float 101 as shown in FIG.

As shown in FIG. 10A, when the sensors 30 are arranged on the T-shaped float 14, the sensors 30 are provided on both sides of the float 14. Since planting is performed on both sides of the float 14, the sensors 30 are arranged on both sides of the T-shaped float 14, and the base ends of the columns 42 of the sensors 30 are connected via a common swing shaft 43. Are connected.
With such a configuration, the swing angle of the swing shaft 43 can be measured by the potentiometer 50, and can be copied even if the surface is uneven.

  As shown in FIGS. 10B and 10C, in the L-shaped float 100 and the U-shaped float 101, since the planting position is one place, the sensor 30 is provided alone.

As shown in FIG. 10B, when the sensor 30 is arranged with respect to the L-shaped float 100, the sensor 30 is arranged on the protruding portion on the side of the float 100, and the base end portion of the column 42 of the sensor 30. A swing shaft 43 is provided so as to extend from the right and left sides to the left and right sides (the side opposite to the protrusions on the float 100 side). One end of the swing shaft 43 (the side opposite to the side connected to the support column 42) is supported by the planting frame 15.
It is also possible to support the planting frame 15 at both ends of the swing shaft 43 by providing the swing shaft 43 so as to extend from the base end portion of the support column 42 to the left and right sides.

As shown in FIG. 10C, when the U-shaped float 101 is arranged, the sensor 30 is arranged at the center of the float 101 and extends in the left and right directions from the base end portion of the support column 42 of the sensor 30. A swing shaft 43 is provided so as to be extended. Both ends of the swing shaft 43 are supported by the planting frame 15.
It is also possible to support the planting frame 15 with one end portion of the swing shaft 43 by providing the swing shaft 43 so as to extend from the base end portion of the support column 42 to the left and right sides.

  As described above, the sensor 30 can be arranged without being limited to the shape of the float provided in the rice transplanter 1, that is, the number of strips.

  1: rice transplanter, 4: planting part, 11: planting arm, 12: planting claw, 14: float, 15: planting frame, 20: leveling device, 30: sensor, 31: detection unit, 32: support Part, 42: support, 43: swing shaft, 50 potentiometer, 51: potentiometer, 52: arm, 53: fixed pin, 60: sector gear, 61: driven shaft, 70: case, 80: link, 81: Arm: 82: Rod body, 90: Potentiometer sensor, 91: Linear shaft, 92: Cam

Claims (7)

A float that detects a field ground contact surface, and a rice transplanter that is provided separately from the float and includes a sensor that detects a field surface,
The sensor includes a detection unit that follows the surface of the field, a swing shaft included in a support unit that swingably supports the detection unit, and a potentiometer that measures a swing angle of the swing shaft. And a rice transplanter that detects the height of the field surface based on the swing angle.   The rice transplanter according to claim 1, wherein the potentiometer has a potentiometer shaft that detects a swing angle of the swing shaft, and the potentiometer shaft and the swing shaft are arranged coaxially.   The rice transplanter according to claim 1, wherein the potentiometer has a potentiometer shaft that detects a swing angle of the swing shaft, and the potentiometer shaft is connected to the swing shaft via a sector gear.   The rice transplanter according to claim 1, wherein the potentiometer has a potentiometer shaft that detects a swing angle of the swing shaft, and the potentiometer shaft is connected to the swing shaft via a link. The potentiometer has a linear shaft that detects a swing angle of the swing shaft, and a contact portion of the swing shaft with the linear shaft is formed in a cam shape,
The rice transplanter according to claim 1, wherein a swing angle of the swing shaft is measured based on a moving distance of the linear shaft.   The rice transplanter as described in any one of Claim 1 to 5 which provides the case which accommodates the structure which detects the rocking | fluctuation angle of the said rocking | fluctuation shaft.   The rice transplanter according to any one of claims 1 to 6, wherein the sensors are provided on both sides of the float, and the sensors provided on both sides are supported by a common swing shaft.

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