JP2508346Y2 - Rice transplanter horizontal controller - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention relates to a horizontal control device for a rice transplanter which always keeps a planting portion horizontal during a planting operation to maintain a constant planting depth.

"Prior art" In this type of horizontal control, when the seedling stand moves in the left-right direction, the lateral action of the planting part is unbalanced due to the kinetic force acting in the direction of movement, which lowers the control accuracy. For this reason, the reference value is corrected in advance so that the seedling mounting table is moved upward at the terminal end of the left-right movement and the moving direction is changed each time, so that the adverse effect of the movement of the seedling mounting table is prevented.

However, if such a correction is made at the same time as or before the moving direction of the seedling mounting table changes, the acceleration and the correction by the seedling mounting table when the moving direction changes There is a drawback in that the directions of action of the seedlings coincide with each other and the inclination at the end of the lateral movement of the seedling mounting table in the planting section is further promoted.

[Means for Solving the Problems] Therefore, the present invention has a structure in which the lateral movement of the seedling table is corrected in the horizontal control of the planting section, and the lateral end of the lateral movement of the seedling table is corrected. A terminal detection switch for detecting the movement is provided, and after a certain time has elapsed from the detection operation of the switch, correction is performed for the lateral movement of the seedling table after the movement direction is changed.

[Operation] Therefore, according to the present invention, when the moving direction of the seedling placing table is changed, the tilt acting direction due to the acceleration with respect to the seedling placing table and the tilt acting direction due to the correction are made opposite directions to exert these acting forces. When the moving direction is changed to eliminate the adverse effect of acceleration when changing the moving direction and the moving force of the moving direction side of the seedling stand acts on the planting part after changing the moving direction, the moving direction side is in a downward posture. The upward posture is corrected only on the upper part to eliminate the influence of the movement of the seedling mounting table, which enables highly accurate horizontal control.

[Embodiment] An embodiment of the present invention will be described below in detail with reference to the drawings. FIG. 1 is a horizontal control circuit diagram, FIG. 2 is a side view of a passenger rice transplanter,
FIG. 3 is a plan view of the same, in which (1) is a traveling vehicle on which an operator rides, and the rear end of the vehicle body frame (3) on which the engine (2) is mounted is connected to the mission case (4). The front wheels (6) for traveling paddy fields are supported on both front sides of the mission case (4) through front axle cases (5), and the rear axle cases (7) are provided on both rear sides of the mission case (4) for paddy fields. Rear wheels for driving (8)
Support. Then, a spare seedling mounting table (10) is appropriately attached to both outer sides of the hood (9) covering the engine (2), and the axle case (5) (7) is formed by a vehicle body cover (12) forming a step (11). Etc., a driver's seat (13) is attached to the upper part of the vehicle body cover (12), and a steering handle (14) is provided in front of the driver's seat (13) at the rear of the bonnet (9).

Further, (15) in the figure is a planting part having a seedling platform (16) for multi-row planting and a plurality of planting claws (17) ...
The front-rear-low-rear tilting type seedling stand (16) is supported on the planting case (20) via the guide rail (18) and the guide rail (19) so as to be slidable left and right, and in one direction. A rotary case (21) that rotates at a constant speed is supported by the planted case (20), and a pair of claw cases (22) (22) are arranged at symmetrical positions with respect to the rotation axis of the case (21). , Attach the planting claws (17) (17) to the tip of the claw case (22). Further, a support frame (24) is provided on the front side of the planting case (20) via a rotation fulcrum shaft (23), and a three-point link mechanism (27) including a top link (25) and a lower link (26) is provided. A supporting frame (24) is connected to the rear side of the traveling vehicle (1) via the linking mechanism (27), and a lifting cylinder (28) for lifting and lowering the planting part (15) is provided. ) (8) is driven to move at a substantially constant speed, and at the same time, two planting claws (17) (17) (17) (17) by one rotation of the rotary case (21) from the seedling table (16) that slides back and forth to the left and right. ) Took out two seedlings,
It is configured to continuously perform seedling planting work.

Further, in the figure, (29) is a traveling speed change lever, (30) is a planting operation lever, (31) is a planting sensitivity adjusting lever, (32) is a traveling clutch pedal, and (33) and (33) are left and right brake pedals. .

As shown in FIG. 4, a center float (34) is provided at the lower center of the planting portion (15), and side floats (35) (35) are provided on both left and right sides of the planting portion (15). 34) The rear side is supported by a planting depth adjusting link (36) and the front side is supported by a sensor link (36) and a front side bracket (38).
A pitching fulcrum shaft (39) for swingably supporting the front of the float (34) is provided on the bracket (40) on the rear upper surface of the float (34). Thus, the planting depth is controlled to be constant.

5 to 7, a central vertical frame (41) integrally connected to the upper end of the support frame (24),
Seedling support (42) (4)
2) Left and right rolling restriction springs (43) (43) are provided between them, and a horizontal feed screw shaft (45) is provided inside the upper fixed box (44) of the vertical frame (41). Axis (45)
A rolling motor (46) is interlockingly connected to the screw shaft (45) and a spring pressure adjusting plate (49) is attached to a moving body (47) connected to the screw shaft (45) via a fixing plate (48). ) And the upper fittings (50) of the columns (42) and the regulating springs (43) are stretched by a spring mounting plate (51) via a spring mounting plate (51) so that the left and right sides of the seedling table (16) can be adjusted. While controlling the rolling generated by the lateral feed, when the planting part (15) is tilted to the left and right, the rolling motor (46) is driven in the forward and reverse directions to apply the spring force of the left and right restricting springs (43) (43). The planting part (15) is maintained horizontally by controlling it to be in an unbalanced state.

Further, while the left and right ends of the box (44) are provided with left and right limit switches (53) (54) for detecting the left and right movement ends of the moving body (47) via the left and right switch bases (52) (52), A single central return switch (55), which is a regulating spring position switch for detecting the central return of the moving body (47), is provided at a substantially central position on the left and right sides of the box (44) via a mounting base (56). The reset switch (55) is a cam plate (57).
The cam body (5) is provided with a U-shaped engaging groove (58) for engaging with the base end of the L-shaped fixing plate (48).
7) has a cam body (57) pivotably supported by the mounting base (56) via a swing fulcrum shaft (59), and between the mounting base (56) and the cam body (57). A fulcrum-over spring (60) is stretched over the fulcrum, and when the movable body (47) is returned to the substantially left-right center position of the screw shaft (45), the fixing plate (48) is engaged with the engaging groove (58).
The cam body (57) that engages with the cam body (57) is rotated against the spring (60) to move the cam body (57) over the fulcrum, and the bent piece (57) on one end side of the cam body (57) is engaged.
a) is contacted with or released from the actuator (55a) of the switch (55) so that the switch (55) is switched from an on or off continuation state to off or on. By detecting the switching of 55) from on to off or from off to on, the center return of the moving body (47) is detected.

In addition, (61) is a rolling-regulating auxiliary spring stretched between the left and right sides of the box (44) and the seedling mounting table (16).
Reference numeral 2) denotes a rolling detection horizontal sensor provided at an upper central position of the planting case (20).

Further, as shown in FIG. 8, a lateral feed transmission mechanism (64) is attached to a planting drive case (63) in which a central planting case (20) is fixed.
The speed change mechanism (64) is fitted with an input shaft (65) in a freely rotatable manner and fixed to a transverse feed shaft (66) of a seedling mounting table (16). Each of the three transmission gears (68) constantly meshing with the gear (67) is slid through a leaf spring (69) in an axial keyway (65a) formed in the input shaft (65). A single switching key (70), which is selectively engaged with any one of the gears (67), and is slidably fitted to the input shaft (65) and integrally connected to the key (70); Switching sleeve (7
1) a left and right slidable shifter shaft (74) connected to the sleeve (71) via a shifter fork (72) and having a locking ball groove (73) for holding a shift position on one side; (74), a transverse feed lever (77) engaged and connected via a shift arm (75) and a lever shaft (76), and a locking ball (7) in the ball groove (73).
And a regulating shaft (79) for engaging and holding the shifter shaft (74) to fix the position of the shifter shaft (74).
The locking ball engagement groove (80) formed on the ball (78) resists the regulation spring (81) interposed between the drive case (63) and the shaft (79) case (63) outer head (79a). When moving to the position, the restriction on the shifter shaft (74) by the ball (78) is released and the gear shift lever (77) shifts the gear at the shift position.

On the other hand, a left and right reciprocating feed screw groove (82) is formed on the outer side of the drive case (63) of the lateral feed shaft (66) and is fixed to the seedling placing table (16) via a bracket (83). The boat key (85) of the transverse feed body (84) is connected to the screw groove (82), and the seedling table (16) is reciprocated left and right by the rotation of the screw shaft (82). There is.

Then, the lateral feed body (84) is attached with a restriction release plate (88) which is freely removable via a mounting bracket (86) and a bolt (87), and the seedling table (16) is moved to the left. Only when reaching the end, the left end portion of the release plate (88) is brought into contact with the head portion (79a) of the regulation shaft (79) so that the shaft (79) is moved to the spring (8).
The ball (78) can be engaged with the engagement groove (80) by retreating into the drive case (63) against 1) to release the regulation of the shaft (74) by the ball (78). And a shift of the horizontal feed speed synchronized with the vertical feed by the vertical feed shaft (89) is made possible. Horizontal feed shaft (66)
Is provided with moving end left and right switches (90) (91) for detecting the left and right moving ends of the seedling placing table (16), and the left and right bent parts of the release plate (88) are connected to the left and right switches ( 90) (9
When the contact is brought into contact with the actuator of 1) and the contact is switched from off to on, the end of the right and left movement of the seedling mounting table (16) is detected.

Further, as shown in FIG. 9, the planting operation lever (30)
When positioning the planting part (15) between the “down” position and the “neutral” position for lowering the planting part (15), set the horizontal control mode for horizontally controlling the planting part (15) and the seedling table (16). A control mode switch (92) for appropriately switching to a center return mode for returning to the substantially left and right center of the planting part (15) is provided so as to operate, and the operation lever (30) is set to the "down" position or the planting position. The switch (92) is turned on by the switch operation plate (93) that is integrally connected to the lever (30) between the "down" position and the "neutral" position when switching to the planting low speed and high speed states with the clutch "on". While switching to the horizontal control mode, when the lever (30) is switched to the “neutral” position or the “up” position for raising the planting part (15), the “down” position and the “neutral” position are changed. Switch (92) is turned off during It is those, which is configured as.

Then, as shown in FIG. 1, the rolling motor (4
6) is provided with a horizontal control circuit (95) for controlling the drive via a relay circuit (94). The control mode switch (92), the moving end left and right switches (90) and (91), A reference slope setting device (96) for setting a target voltage which is a reference target value in the above, a horizontal sensor (52), a dead band switch (97) for appropriately changing a dead band width of the target voltage, and a center return switch (55). ) Is input to the control circuit (95) to control the driving of the rolling motor (46).

In addition, the limit switches (53) and (54) are interposed between the relay circuit (94) and the horizontal control circuit (95), and a horizontal automatic and a manual contact (98b) having an automatic contact (98a) and a manual contact (98b) are provided. The horizontal control circuit (95) includes a changeover switch (98) for manual control, and the limit switch (53) (54)
The manual contact (98b) of the changeover switch (98) is connected via the manual switch (99) to the motor (46) without interfering with the automatic operation, even if the control circuit (95) fails. ) Is configured to allow manual operation.

Further, the inclination setting device (96) is provided with a shipping adjustment volume (96a) for performing horizontal adjustment at the time of shipment from a factory and a work operation volume (96b) operated by an operator in a parallel circuit. Residual resistance (100a) on (96a)
(100b) to hold these two volumes (96a)
(96b), the resistance value becomes zero and a large current flows through the setter (96), so that the setter (96) is prevented from burning or the control circuit (95) is damaged. It is composed.

This embodiment is configured as described above, and the tenth embodiment will be described below.
This operation will be described with reference to the flowcharts of FIGS. 13 to 13 and the timing charts of FIGS. 14 to 16.

As shown in FIG. 10, the target set voltage value (Va) based on the slope setting device (96) is input to the control circuit (95), the automatic switch (98) is automatically operated, and the control mode switch (92) is automatically operated. When the mode switch (92) is off, the automatic horizontal control is immediately interrupted and the mode is returned to the central return mode to center the moving body (47). The central return control of the planting part (15) is performed by balancing the left and right regulating springs (43) (43) after returning to the position. The mode switch (92) is turned on at the beginning of mode switching by the on / off operation. After the lapse of t ₁ seconds, and after the lapse of t ₂ seconds from the off state, the mode is switched to each mode.

As shown in FIG. 11, the set voltage value (V _a ) is obtained from the set voltage value (V ₁ ) of the setter (96), and the target voltage value (V _c ) is V _c = aV. ₁ + b (a, b
Is a constant), and during control, this value (V _c ) is set with a correction of a constant value (V _o ) that cancels the influence of the movement of the seedling table (16). Voltage value (V _a )
Then, the seedling placing table (16) reaches the end of the left and right movement, and the left or right switch (90) (91) is changed from OFF to ON to change the movement direction, and then the movement direction is changed from ON to OFF again. The target voltage value V _c is corrected by a constant value (V _o ) after a fixed delay time, and V _a = V _c + V _o and the right switch (when the left switch (90) is switched from on to off. 91)
Each time the switch from ON to OFF, V _a = V _c −V _o , and other than V _a = V _c , the set voltage value (V _a ) is set, and the horizontal sensor (52) is set with these values (V _a ) as the target. ) Detection value (V ₂ )
The horizontal control is based on.

In the horizontal control mode during the planting work, the motor (46) keeps the detection value (V ₂ ) of the horizontal sensor (52) within the dead zone value (V _b ) of the set voltage value (V _a ). )
Drive control is performed. When V ₂ <V _a −V _b , right raising control of the planting section (15) is performed, and when V _a + V _b <V ₂ , left raising control of the price attaching section (15). Is done. Also these upper left down or the left or right switch (90) be in a Migiage control (91) when the is turned off again turned on from off, t ₃ turned off from the on-operation time and on The leftward raising or rightward raising control is temporarily stopped for a certain time (t ₄ ) until the lapse of seconds.

On the other hand, in the center return mode in which the planting section (15) is raised, the mobile body (47) is moved to the left when the return switch (55) is off immediately after switching to the return mode. The planting part (15) of the plant is moved to the right, and when it is on, the moving body (47) is moved to the right to control the raising of the superposition part (15) to the left. When the return switch (55) that returns to the center position of the feed screw shaft (45) is switched from off to on or from on to off, its rightward raising or leftward raising control is stopped and the left and right regulating springs (43) (43) It is intended to return to the center while keeping the spring force in balance. The center return operation as described above is performed even when the mode is switched from manual to automatic at the time of such planting rise.

Thus, in the case of the above configuration, when the constant value (V _o ) is corrected with respect to the lateral movement of the seedling placing table (16), the left and right switches (90) (91) are turned on and then turned on again. Since the correction is performed after it is turned off, the correction in the moving direction is performed in the up posture only when the moving direction is changed and the net is in the descending posture in the moving direction. The inclination of the planting part (15) due to the movement is prevented. Also, during horizontal control and when changing the lateral movement direction of the seedling table (16) like this, the left and right switch (90)
When (91) is changed from off to on and then from on to off again, the control is interrupted, that is, the control is interrupted for a certain time (t ₄ ) from the on operation time to the time t ₃ seconds elapsed from on to off. When the middle left switch (90) or the right switch (91) is turned off → on → off, the left or right raising control is interrupted between on and off and for t ₃ after turning off. It is possible to prevent overcorrection due to the time delay of the correction operation and further improve the control accuracy.

Furthermore, the detection of the end of the left and right movement of the seedling mounting table (16) is performed by the lateral feed shifting restriction release plate (88), so that no additional parts are required and the configuration is simplified. The detection can be surely performed.

"Effects of the invention" As is clear from the above examples, the present invention is applied to the planting section (1
In the structure for horizontal movement control of 5) to correct the lateral movement of the seedling placing table (16), the end detection switch (90) (for detecting the end of the lateral movement of the seedling placing table (16) ( 91) is provided, and after a certain period of time has passed since the detection operation of the switches (90) (91), the lateral movement of the seedling table (16) after the movement direction change is corrected. After the direction is changed, the movement acting force on the moving direction side of the seedling placing table (16) acts on the planting part (15) and the up posture is corrected only when the moving direction side is in the down posture. It is possible to eliminate the adverse effect caused by the movement of the table (16), and thus, it is possible to achieve a highly accurate horizontal control, which is a remarkable effect.

[Brief description of drawings]

FIG. 1 is a horizontal control circuit diagram, FIG. 2 is an overall side view of a rice transplanter, FIG. 3 is a plan view of the same, and FIG. 4 is a side view of a planting section.
FIG. 5 is a rear view of the horizontal control section, FIG. 6 is an explanatory view of the central return detection section, FIG. 7 is a side view of the horizontal control section, and FIG.
Figure is an explanatory view of the lateral feed section of the seedling table, Figure 9 is an explanatory view of the planting control lever, Figures 10 to 13 are flowcharts, 14
Figures 16 to 16 are timing charts. (15) …… Planting section (16) …… Seedling stand (90) (91) …… Switch

Claims (1)

(57) [Scope of utility model registration request] Claim: What is claimed is: 1. In a structure in which the lateral movement of the seedling table is corrected in the horizontal control of the planting section, a terminal detection switch for detecting the lateral end of the lateral movement of the seedling table is provided. After a certain time has passed from the switch detection operation,
A horizontal control device for a rice transplanter, which is configured to correct the lateral movement of the seedling mounting table after the movement direction is changed.