JP2022150112A - Transplanting machine - Google Patents

Abstract

To provide a transplanting machine in which the control of lifting/operating a planting work machine before contacting to a ridge in the turning traveling and lowering/operating the planting work machine before arriving at a planting work reopening position is constituted more easily and less costly.SOLUTION: A transplanting machine includes: a traveling machine body; a steering handle, a planting work machine, an actuator for bringing the planting work machine into lifting/lowering operation to the traveling machine body; turning detection means for detecting the turning operation; and a control unit for controlling the lifting/lowering operation of the planting work machine. The control unit is constituted to lift and operate the planting work machine from a work height of enabling the planting work to a non-working position, when detecting the turning operation of operating the steering wheel by a predetermined amount or more. The control unit is constituted to start the lowering operation for the work height of the planting work machine in the initial time of the return operation, when detecting the return operation of returning the steering wheel from the turning operation position to a neutral position.SELECTED DRAWING: Figure 8

Description

TECHNICAL FIELD The present invention relates to a transplanter provided with a control section for controlling the up-and-down operation of a planting machine.

A traveling machine supported by front and rear wheels, a steering handle for steering the traveling machine, a planting machine connected to the rear of the traveling machine so that it can be lifted and lowered, and the planting machine attached to the traveling machine. an actuator for raising and lowering the traveling machine body; a turning detection means for detecting a turning operation of the traveling machine body; is detected, the planting machine is operated to rise from the working height to the non-working height, and when it is detected that the traveling machine body has traveled a predetermined distance, the planting machine is operated Conventionally known is a transplanter described in Patent Literature 1, which is configured to be able to perform automatic planting control for lowering from a non-working height toward a working height.

According to the transplanter of the above document, when the planting work in the field is started, the planting machine is raised from the working height to the non-working height when turning travel is started at the end of the field, and the turning travel is completed. To reduce the operation burden on an operator during work traveling, because the planting machine can be automatically lowered from the non-working height to the working height until the planting work is restarted. However, in addition to the turning operation of the traveling machine body, it is necessary to separately provide a sensor for detecting the steering distance and traveling speed during turning traveling of the traveling machine body, and the planting work Since the details of control for controlling the elevation of the machine are also complicated, there is a problem that costs may be required.

JP 2015-47090 A

The present invention makes the control of raising the planting machine before contacting a ridge during turning travel and lowering the planting machine before reaching the planting work restart position simpler and at a lower cost. An object of the present invention is to provide a configured transplanter.

In order to solve the above problems, the present invention firstly comprises a running body supported by front and rear wheels, a steering handle for steering the running body, and a planter connected to the rear of the running body so that it can be lifted and lowered. a working machine, an actuator for raising and lowering the planting machine with respect to the traveling machine body, turning detection means for detecting a turning operation of the traveling machine body, and a control section for controlling the raising and lowering operation of the planting machine. When a turning operation of steering the steering handle by a predetermined amount or more is detected, the control unit moves the planting machine from a working height at which planting work can be performed to a non-working position When the return operation of returning the steering handle from the turning operation position to the neutral position is detected, the lowering operation toward the working height of the planting machine is performed at the initial stage of the return operation. is configured to start

Secondly, a side clutch provided for each pair of left and right rear wheels for interrupting power transmission to the rear wheels, and a side clutch for disconnecting power transmission to the rear wheels on the inner side of the turn when the steering handle is operated to turn. a linking mechanism for operating a side clutch, the linking mechanism having an operating member that operates in the same direction when the traveling machine body is turned left and right by the steering handle; The means is characterized by a detection sensor that detects the operating position of the operating member.

Thirdly, the control unit is configured to delay the timing of starting the lowering operation of the planting machine to the working height as the operation speed of the returning operation of the steering handle is slower. and

According to the control unit, during planting work, the planting machine is operated to rise before contacting the ridge during turning travel, and the planting machine is operated to descend before reaching the planting work restart position. In addition, the turning operation of the traveling machine body and the return operation of returning the steering handle from the turning operation position to the neutral position can be performed without separately providing complicated sensors for the automatic planting control. Since it is configured to be realized by the turning detection means for detecting the above, the cost can be further reduced.

Further, a side clutch provided for each pair of left and right rear wheels for interrupting power transmission to the rear wheels, and a side clutch for disconnecting power transmission to the rear wheels on the inner side of the turning when the steering handle is operated to turn. The linking mechanism has an operating member that operates in the same direction when the traveling machine body is operated to turn left or right by the steering handle, and the turning detection means is According to the detection sensor that detects the operating position of the operating member, the turning operation of the traveling body can be detected with a simpler configuration, so that the cost can be kept lower and the turning operation can be performed. As a detection means, a steering sensor for detecting a steering operation can be installed on the steering shaft of the steering handle, a pitman arm, or the like.

In addition, according to the control unit configured to delay the timing of starting the lowering operation of the planting machine to the working height as the operation speed of the return operation of the steering handle becomes slower, The planting machine can be raised before contacting the ridge during turning travel, and the planting machine can be controlled to move downward before reaching the planting work restart position.

1 is an overall side view of a riding rice transplanter to which the transplanter of the present invention is applied; FIG. 1 is an overall plan view of a riding rice transplanter to which the transplanter of the present invention is applied; FIG. FIG. 3 is a plan view of a main part showing a steering mechanism; FIG. 4 is a side view of a main part showing a steering mechanism; FIG. 4 is a perspective view showing a steering interlocking mechanism; It is a model diagram showing a work route during planting work in a field. It is a block diagram of a control part. It is the flowchart which showed the processing of automatic planting control.

1 and 2 are an overall side view and an overall plan view of a riding rice transplanter to which the transplanter of the present invention is applied. This riding rice transplanter comprises a traveling machine body 3 supported by a pair of left and right front wheels 1, 1 and rear wheels 2, 2, and a hydraulic lifting cylinder 5 connected to the rear of the traveling machine body 3 via an elevating link. It is equipped with a planting work machine 6 which is vertically provided.

An engine (not shown) surrounded by a bonnet 8 is mounted on the front side of the machine body frame 7 that supports the traveling machine body 3, and a worker can get on the rear side of the engine to perform steering operations, etc. A control section 9 is provided for performing

The control unit 9 includes a seat 11 on which an operator sits, a steering handle 12 for steering the front wheels 1 via a steering mechanism described later, and one of the left and right sides of the steering handle 12 (the left side in the example shown). A main gear shift lever 13 provided on the front side of the steering handle 12, an operation panel 16 provided with various operation tools, and one of the left and right sides of the seat 11 (the right side in the example shown). A work machine lever 17 is provided, and a floor step 18 is formed below the seat 11 .

The operation panel 16 is provided with an auto-planting switch 15 for switching to an auto-planting mode, which will be described later, and a mode display lamp (display lamp) 55 for displaying the work status during execution of the auto-planting mode. . When the mode is switched to the automatic planting mode, automatic planting control is executed by the control unit 50, which will be described later in detail. Details will be described later.

The steering mechanism has a steering interlocking mechanism that enables a small turn by disengaging a side clutch in the rear axle case 21 on the inner side of the turn when a turning operation, which is a steering operation exceeding a predetermined level, is performed. It has a mechanism 10 , an interlock release mechanism 20 for canceling the disengagement operation of the side clutch by the steering interlocking mechanism 10 , and turning operation detection means 40 for detecting turning operation by the steering handle 12 . The steering interlocking mechanism 10, the interlocking releasing mechanism 20, and the turning operation detecting means 40 will be described later.

The work machine lever 17 is operated to swing back and forth, thereby operating a hydraulic valve for operating the lifting operation of the lifting cylinder 5 via a lifting device (not shown), thereby operating the planting work machine. 6 is configured to be able to operate the up-and-down operation.

Specifically, when the working machine lever 17 is operated to a predetermined lowered position, the planting working machine 6 is switched to a lowered state in which it moves down to the lower end side by its own weight, and the working machine lever 17 When is operated to swing backward to a predetermined raised position, the planting work machine 6 is switched to a raised state in which it is raised, and when the work machine lever 17 is operated to a predetermined fixed position, When the lifting operation of the planting work machine 6 is stopped and it is switched to a fixed state in which it is fixed at an arbitrary height position, and the work machine lever 17 is operated to a predetermined planting position, from the engine side The transmitted power is transmitted to the planting work machine 6 side, and the planting work is performed by the planting work machine 6 lowered to the working height.

The lifting device includes an operation member (not shown) that operates a hydraulic valve that operates the extension and contraction operation of the lifting cylinder 5, a working machine operating cam motor 22 that operates the operating member, and an operating position of the working machine operating cam motor 22. is provided, and by controlling the drive of the work machine operation cam motor 22 by the control unit 50, the lifting operation of the planting work machine 6 can be controlled. is configured as

The planting machine 6 includes a seedling platform 26 on which seedlings planted in a field are placed, and a planting unit for planting the seedlings placed on the seedling platform 26 to the field side. 27, and a pair of left and right markers 28 which are swung left and right to form a mark for the next process on the field, are connected by the lifting link 4 and the lifting cylinder 5 so as to be able to move up and down, and a PTO shaft 29. The power transmitted through is intermittently operated by the planting clutch 31 .

According to the transplanter configured as described above, by switching to the planting state in which the planting machine 6 is driven in a state in which the planting machine 6 is lowered to the working height on the lower end side, A planting operation (working travel) can be performed in which the seedlings placed on the seedling mounting table 26 are planted in the field while traveling.

Incidentally, when the turning operation of the traveling body 3 is detected during planting work (work travel), the control unit 50 raises the planting work machine to the highest position (non-working height). It is configured to be able to execute automatic planting control that automatically starts the operation and lowers the planting work machine 6 to the working height before restarting the planting work. The details of the automatic planting control will be described later.

Next, based on FIGS. 3 to 5, the steering interlocking mechanism, the interlocking release mechanism, and the turning operation detecting means, which constitute the steering mechanism, will be described. 3 and 4 are a plan view and a side view of the main part showing the steering mechanism, and FIG. 5 is a perspective view showing the steering interlocking mechanism.

The steering interlocking mechanism 10 includes a steering shaft (not shown) rotatable around its own axis integrally with the steering handle 12, a power steering device 32 installed on the lower side of the steering shaft, and the steering wheel. A pitman arm 33 supported so as to be swung from side to side via a shaft, a rotating plate 34 arranged below the pitman arm 33, and rotating in the opposite direction as the rotating plate 34 rotates. A pair of left and right first rods 36, 36 which are pushed and pulled and extend in the front-rear direction, first arms 37, 37 in the left-right direction connected to the rear end sides of the respective first rods 36, 36, and the vertical pivot shafts 39, 39 that rotatably support the first arms 37, 37; a front-rear second rod 38 connected to the left and right outer ends of the first arms 37, 37; 38.

The rotating plate 34 is attached to the lower end of the steering shaft and is rotated integrally with the pitman arm 33. The rotating plate 34 is an elongated flexible hole to which the front end sides of the pair of first rods 36, 36 are connected. 34a, 34a are formed.

The first arms 37 , 37 are pivotally supported on the lower end side of the vertical rotation support shaft 39 arranged on the left and right outer sides of the rear end of the first rod 36 . side is attached and fixed to the body frame 7 side.

An operating member 45 for operating a side clutch in the rear axle case 21 is connected to the rear end side of the second rods 38, 38. By operating the second rod 38 in the longitudinal direction, the side clutch is operated. It is configured so that the clutch can be engaged and disengaged.

According to this configuration, when the operator turns the steering handle 12, the steering interlocking mechanism 10 rotates the steering shaft, rotates the rotation plate 34 to the left and right, and rotates the inner side of the turn. 1 rod 36 is operated backward →the first arm 37 is rotated clockwise in plan view about the rotary support shaft 39 →the operation member 45 is pulled forward by pulling the second rod 38 forward. Only the side clutch on the inner side of the turn can be disengaged via the At this time, the side clutch on the outside of the turn can be maintained in the connected state.

That is, when the operator turns the steering handle 12, the power transmission to the rear wheels on the inside of the turn is automatically cut off, and the power transmission to the rear wheels on the outside of the turn is continued. , making it possible to make small turns.

The interlock release mechanism 20 includes a left-right swing shaft 41 provided above the pair of first rods 36, 36, a tubular member 42 fitted to the swing shaft 41, and the tubular member. A pair of left and right rocking arms 43, 43 extending forward and downward from 42 and supported so as to rock back and forth about the rocking shaft 41, and between the pair of rocking arms 43, 43. a connecting rod 44 connecting the connecting rod 44, third rods 46, 46 in the front-rear direction extending rearward from the connecting rod 44 and connected to the left and right inner sides of the first arms 37, 37, and the cylindrical member A pedal arm 47 extending rearward from 42, a release pedal 48 extending from the rear end side of the pedal arm 47 toward the upper surface of the floor step 18, and the release pedal 48 on the non-operating side. and an elastic member 49 for biasing.

According to this configuration, when the operator depresses the release pedal 48, the interlocking release mechanism 20 causes the swing arm 43 to swing forward (upward) about the swing shaft 41. pulling the third rods 46, 46 forward → rotating the first arm 37 counterclockwise about the rotating support shaft 39 in a plan view → pushing the second rod 38 backward As a result, the disengaging operation of the side clutch via the operating member can be released (canceled).

The turning operation detection means 40 includes a turning detection arm 51 that swings according to turning operation by the steering handle 12 and a turning detection arm 51 that is attached and fixed to the rear side of the swing shaft 41 to detect the amount of swinging of the turning detection arm 51 . and a turning detection potentiometer (turning operation detection sensor) 52 for detection. The turning detection potentiometer 52 has a detection arm 52a that rotates while being biased toward the turning detection arm 51 side. .

The turning detection arm 51 extends rearward from the cylindrical member 42 mounted on the swing shaft 41, so that the turning detection arm 51 detects whether the steering handle 12 is turned left or right. is also upwardly oscillated about the oscillating shaft 41 . In other words, the turning detection arm 51 is configured to swing in the same direction regardless of whether it is turned left or right.

According to this configuration, the turning operation detection means 40 has a more compact range in which the turning detection arm 51 (detection arm 52a) swings during the turning operation, so that the turn detection potentiometer 52 needs to detect the turning operation. Since the certain swing range is also narrowed, the entire device can be constructed simply, at low cost, and with good space efficiency.

Further, according to the turning operation detection means 40, compared to the case where the turning operation is detected by providing sensors for detecting the lateral swing of the pitman arm 33, the configuration can be made more compact. It can be installed on the upper side with respect to the field scene. For this reason, even if it is difficult to install the turning operation detection means 40 in a small transplanter without sufficient space on the lower surface side of the traveling body 3, the turning operation detection means 40 can be easily installed. versatility is improved.

Next, based on FIG. 6, a working method (path) for planting in a field using the transplanter described above will be described. FIG. 6 is a model diagram showing a work route during planting work in a field.

As shown in FIG. 6, the transplanter described above travels straight from one end of the field to the other end (see (1) in FIG. 6), and then moves to the other end of the field. Once the planting machine 6 is raised to the non-working height, it turns and travels (see (2) in FIG. 6), and then the planting machine 6 is raised to the working height in an adjacent row. It is returned (lowered) to resume work traveling (see (3) in FIG. 6). By repeating this work travel and turning travel, seedling planting work can be carried out all over the inside of the field. Also, by finally performing the planting work on the outer peripheral surface side of the field, the seedlings can be planted all over the field.

At this time, when the planting machine 6 is lowered to the working height and the planting unit 27 is driven while the planting unit 27 is being driven, the control unit 50 controls the operator to operate the steering handle. 12 is detected to have been steered more than a predetermined amount (that the traveling machine body has been turned), the planting machine 6 is automatically raised to a non-working height. At the same time, automatic planting control is performed to automatically lower the planting machine 6 to the working height again before reaching the work restart position where the traveling body 3 finishes turning and planting work is restarted. configured to run. The automatic planting control will be described below.

Next, based on FIG.7 and FIG.8, the automatic planting control by the said control part is demonstrated. FIG. 7 is a block diagram of the control unit. The input side of the control unit 50 includes the auto planting switch 15 for operating the execution of the auto planting mode, the work machine operation cam potentiometer 23, and the lift angle for detecting the elevation position of the planting work machine 6. A potentiometer 56 and the turning detection potentiometer (turning operation detection sensor) 52 are connected. A lamp 55 is connected (see FIG. 7).

The turning detection potentiometer 52 detects that the steering handle 12 has been steered (hereinafter referred to as turning operation) to one of the left and right sides by a predetermined amount or more (from the neutral position to the turning operation position) in order to turn the traveling machine body 3. operation) can be detected, and an operation (hereinafter referred to as return operation) of returning the steering handle 12 from the turning operation position to the neutral position by a predetermined amount or more to the return position can be detected. It is configured.

Further, the turn detection potentiometer 52 is configured to be able to detect the operation speed when the steering handle 12 is returned from the turn operation position to the return position when the return operation is detected.

When the auto planting mode is executed, the control unit 50 detects that the steering handle 12 has been steered (turning operation) by a predetermined amount or more from the neutral position for straight traveling during planting work (work travel). When it is done, by switching the planting machine 6 to the raised state, the raising operation from the working height (lower end side) to the non-working height (highest position) is started, When the return operation of starting to return the steering handle from the turning operation position toward the neutral position is detected, automatic planting control for starting the lowering operation of the planting work machine is configured to be executable.

Incidentally, in this embodiment, when it is detected that the steering handle 12 has been steered by 180° or more from the neutral position where the steering wheel 12 is driven straight ahead, the control unit 50 determines that the turning operation has been performed. When it is detected that the steering handle 12 is returned from the turning operation position to the neutral position side by 30°, it is determined that the returning operation has been performed. Operating conditions are not limited to these.

According to this configuration, as shown in FIG. 6, when planting work (working travel) is performed inside the field and turning travel is performed on the end side of the field, the planting work machine 6 is moved to the non-working height at the start of turning. It is possible to control the operation of starting the raising operation toward the right side and the operation of starting the lowering operation of the planting machine 6 in the middle of turning so that the planting machine 6 is lowered to the working height after the end of turning.

That is, it is possible to efficiently prevent the planting work machine 6 from coming into contact with ridges or the like during turning traveling at the end of the field (see (2) in FIG. 6), and the planting work machine 6 can be turned and traveled to the planting work restart position. The planting work can be resumed smoothly at the time (see (3) in FIG. 6). In addition, the operator does not need to directly operate the planting machine 6 using the working machine lever 17 or the like when turning and traveling at the end of the field, and the operation burden is greatly reduced.

Further, when the control unit 50 detects the return operation, the control unit 50 starts the lowering operation of the planting work machine 6 according to the operation speed of returning the steering handle 12 from the turning operation position to the return position. Configured to adjust the timing. Specifically, when the operating speed of the return operation is faster than a predetermined reference speed, the control unit 50 advances the timing (or the lowering speed) of the descent start of the planting work machine 6, and the operation of the return operation When the speed is slower than a predetermined reference speed, it is configured to delay the timing (or descent speed) of the descent start of the work machine 6 with planting.

According to this configuration, it is possible to adjust the timing at which the planting machine 6 starts the lowering operation according to the time required for turning at the end of the field. The lowering operation of the planting machine 6 is started too early and the planting machine 6 contacts the ridge side, or the lowering operation of the planting machine 6 is started too late and the traveling machine body 3 turns. It is possible to efficiently prevent a situation in which the planting work machine 6 is not lowered to the working position and the planting work cannot be resumed smoothly when reaching the planting resuming position after completion of planting.

In addition, when the automatic planting mode (auto planting control) is executed by the automatic planting switch 15, the control unit 50 indicates the working state of the planting machine 6 by the single mode display lamp 55. configured to be displayed. Specifically, when the automatic planting mode is started by the ON operation of the automatic planting switch 15, the mode display lamp 55 lights up, and the lifting operation of the planting machine by the automatic planting control is performed. Once started, the mode display lamp 55 blinks, and when the operation of lowering the planting machine to the working height ends, the mode display lamp 55 goes out, and the auto planting mode also ends.

The automatic planting mode may be configured so as not to end unless the automatic planting switch 15 is pressed again. In this case, the mode display lamp 55 returns from blinking to lighting when the operation of lowering the planting machine to the working height is completed.

According to this configuration, the work status of the auto planting mode can be expressed by a single display lamp, so there is no need to provide a dedicated display unit on the operation panel 16 side, and the cost can be further reduced. .

FIG. 8 : is the flowchart which showed the process of automatic planting control. When the processing flow of automatic planting control by the control unit is started, the processing is started from step S1. In step S1, it is checked whether or not the automatic planting mode is switched to the automatic planting mode by the automatic planting switch 15, and if it is detected that the automatic planting mode is ON, the process proceeds to step S2. In addition, in step S1, when the OFF state of auto planting mode is detected, it returns after that.

In step S2, it is confirmed by the work machine operation cam potentiometer 23 and the lift angle potentiometer 56 whether or not the planting work machine 6 is in the planting state or in the lowered state where it is lowered to the working position. When it is detected that the attached working machine 6 has been lowered to the working position, the process proceeds to step S3. In addition, in step S2, when it is detected that the planting work machine 6 is operated at a position higher than the working height, which is the lower end, the process returns thereafter.

In step S3, whether or not the turning operation has been performed is confirmed by the turning detection potentiometer 52, and when the turning operation is detected, the process proceeds to step S4. In step S4, the planting work machine 6 is switched to the raised state via the work machine operation cam motor 22, and the process proceeds to step S5. It should be noted that in step S3, if the turning operation is not detected, then the process returns.

Incidentally, in step S3, in addition to the raising operation of the planting work machine 6, when the planting clutch 31 is in the connected state when the turning operation is detected, the disconnecting operation of the planting clutch 31 is performed. can also be configured to run automatically. According to this configuration, the driving of the planting portion 27 can be reliably stopped during turning traveling at the end of the farm field, so safety is also improved.

In step S5, whether or not the return operation has been performed is confirmed by the turning detection potentiometer 52, and when the return operation is detected, the process proceeds to step S6. In step S5, if the return operation is not detected, the process returns to step S4. Incidentally, when the planting work machine 6 reaches the non-working height, which is the highest position, it is held at the non-working height.

In step S6, the operation speed at the time of the return operation is detected by the turning detection potentiometer 52, and the timing (or lowering speed) for starting the downward operation of the planting work machine 6 according to the detected operation speed of the return operation. is calculated, the lowering operation of the planting machine 6 is started according to the calculated timing, and then the operation is returned.

1 front wheel 2 rear wheel 3 traveling body 5 elevating cylinder (hydraulic cylinder, actuator)
6 planting work machine 10 steering interlocking mechanism (linking mechanism)
12 Steering handle 40 Turning operation detection means (turning detection means)
50 control unit 51 turning detection arm (operating member)
52 rotation detection potentiometer (detection sensor, rotation detection means)

Claims (3)

a running body supported by front and rear wheels;
a steering handle for steering the traveling machine;
a planting work machine connected to the rear of the traveling machine body so as to be able to move up and down;
an actuator that raises and lowers the planting machine with respect to the traveling body;
turning detection means for detecting a turning operation of the traveling body;
A control unit that controls the lifting operation of the planting machine,
The control unit raises the planting work machine from a working height at which planting work can be performed to a non-working position when a turning operation of steering the steering handle by a predetermined amount or more is detected. When the return operation of returning the steering handle from the turning operation position to the neutral position is detected, the operation of lowering the planting machine toward the working height is started at the initial stage of the return operation. A transplanter configured to. a side clutch that is provided for each pair of left and right rear wheels and that connects and disconnects power transmission to the rear wheels;
a linking mechanism that operates a side clutch so as to disconnect power transmission to a rear wheel on the inner side of the turn when turning is performed by the steering handle;
The linking mechanism has an operating member that operates in the same direction when the traveling machine body is turned left and right by the steering handle,
The transplanter according to claim 1, wherein the turning detection means is a detection sensor that detects the operating position of the operating member. 3. The controller according to claim 1 or 2, wherein the slower the operation speed of the returning operation of the steering handle, the later the timing of starting the lowering operation of the planting work machine to the working height. Transplanter.

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