JP2629145C - - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a structure for rolling a seedling plant by an actuator in a riding rice transplanter. 2. Description of the Related Art In a riding type rice transplanter in which a seedling planting device is supported in a rolling manner, the inclination of the seedling planting device due to the inclination of the body due to the unevenness of a cultivator and the seedling planting due to the inclination of the rice field itself. The inclination of the seedling placement device, the reciprocating slide drive of the left and right seedling rests, and the inclination of the seedling placement device due to the difference in the remaining amount of seedling between the left and right planting strips of the seedling rest are caused. As such a riding type rice transplanter, those described in the following [1] to [3] are conventionally known. [1] The seedling planting device is rotatably connected to the rear end of the connection mechanism on the fuselage side, and based on the detection result of the tilt detection mechanism provided in the seedling planting device, the seedling planting device is moved along the rice field. The rolling operation is forcibly performed by an actuator to correct the inclination of the seedling plant as described above (for example, JP-A-61-149007). [2] When the fixed support side portion of the seedling planting device is rotatably connected to the rear end of the connection mechanism on the machine side, the seedling that is reciprocally slid left and right with respect to the rollable fixed support side portion. A pair of left and right springs is provided over a portion on the platform side and a portion on the coupling mechanism side connected to the body side. Thereby, the inclination of the seedling planting device caused by the right and left reciprocating slide drive of the seedling placing table is particularly prevented by the spring (for example, Japanese Utility Model Publication No. Sho 62-22099). [3] An actuator is provided in the connecting mechanism on the machine body side, and the actuator and a portion on the seedling stand side that is reciprocally slid left and right are connected via a pair of left and right springs. Thus, both the inclination of the seedling placement device by the left and right reciprocating slide drive of the seedling nest and the inclination of the seedling placement device by factors other than the left and right reciprocal slide drive of the seedling nest both cooperate with the actuator and the spring. The seedling-planting device is subjected to a rolling operation so as to be corrected by the operation (for example, actual
-80811). [0004] In a riding type rice transplanter, a mat-shaped seedling accompanied by a large increase or decrease in weight is placed on a seedling holder over the entire width of the seedling planting apparatus. Along with the planting operation, the seedling rest is reciprocally slid right and left. Therefore, if no control is added, the center of gravity of the seedling plant is not stabilized at a fixed position, and always moves largely left and right during the seedling planting operation. In addition, the amount of shift of the center of gravity does not always change in proportion to the amount of movement of the seedling cradle. Due to various factors, such as the inclination of the traveling body due to the unevenness of the vehicle, it may vary considerably. [0005] Therefore, according to the conventional technique described in the above [1], if the seedling placement device is inclined to the right when the seedling mounting is slid to the right, for example, the seedling placement device may be used. Although it is possible to perform a rolling operation on the left side of the seedling planting device so as to follow the rice field, as an actuator for performing such a rolling operation,
Large actuators must be provided so that operation under all conditions is possible. In other words, the seedling rest is located at the end, the seedling amount is the largest, and the rolling operation of the seedling planting device can be performed without any trouble even under conditions such as a large unevenness on the tillage surface and a large inclination of the machine. Therefore, there is room for improvement in terms of overall miniaturization and reduction of production cost. [0006] In the conventional technique described in the above [2], when the fixed support side of the seedling planting device is rotatably connected to the rear end of the connection mechanism on the fuselage side, the rotatable fixing is performed. A pair of left and right springs is provided over a portion on the seedling stand side that is reciprocally slid to the left and right with respect to the support side portion and a portion on the connection mechanism side connected to the body side. Thereby, in particular, the inclination of the seedling planting device due to the reciprocating slide drive of the left and right of the seedling rest is suppressed by the spring. However, even with this spring, there is no change in what is desired so that effective operation is possible under all the conditions related to the tilting factor of the seedling planting device as described above. As for the biasing force of the spring,
The seedling rest is located at the end, the seedling volume is the largest, the cultivation surface has large irregularities, and the machine can be rolled without trouble even under conditions such as a large inclination of the machine. A power or a power close thereto is set.
Then, since a spring having a considerably large spring constant is selected as a spring, the response of the inclination of the seedling plant to the mud surface is slow, and the response of the rolling operation tends to be poor. In other words, since the seedling planting device is connected to the connection mechanism on the body side by a strong spring, when the body is tilted due to irregularities on the tillage surface, especially when the mud surface is soft,
Even if the seedling-planting device is considerably inclined, there is a problem that it is difficult to generate an action force enough to overcome the urging force of the spring and return the seedling-planting device to the rolling return, and it is difficult for the original rolling correction function to work effectively. In the conventional technique described in the above [3], a pair of left and right springs and the position of one end of the springs are changed in order to correct the attitude of the seedling planting device with respect to the connecting mechanism on the body side. An actuator. Therefore, it is useful in that the spring constant of the spring can be set a little smaller than when the balance is corrected using only the spring, but there are the following problems. That is, in this conventional technique, when the seedling rest is slid to the right and the planting device tilts to the right, the right spring is stretched and the right spring corrects the tilt of the planting device. At the same time, the actuator attempts to correct the inclination of the seedling planting device by rolling the seedling planting device based on the detection of the inclination sensor. In this case, when the right spring is extended by the slide drive of the seedling rest to the right, the right spring is extended by the actuator which is simultaneously activated. At this time, it is actually very difficult to control the completion of the stretching action of the right spring by the actuator so that the right and left weight of the seedling planting device is completely balanced. The right spring tends to be stretched more than necessary. For this reason, after the actuator is stopped, the right spring tries to contract, and the actuator on the inclination of the seedling planting device is actuated again, and the right spring repeatedly expands and contracts. As a result, the actuator repeats its operation frequently in an attempt to suppress this state, which may cause a hunting phenomenon in which the position of the planting device is not stable. [0008] Although both the spring and the actuator are used, the acting force required for correcting the balance of the seedling planting apparatus is not limited to acting on the actuator regardless of the use of the spring. Since there is no change, a large actuator requiring a large output is required to perform the rolling operation of the seedling planting device as in the conventional technique described in the above [1]. According to the present invention, in a riding type rice transplanter, a rolling operation of a seedling planting device by an actuator can be easily performed while suppressing an influence of a left-right reciprocating slide drive of a seedling rest, and a hunting phenomenon does not occur. It is intended to be configured so as to be performed stably. A feature of the present invention resides in the following configuration of the riding type rice transplanter as described above. The seedling planting device, which is composed of a seedling rest that reciprocates left and right and a fixed support-side portion that supports the seedling rest so that it can reciprocate left and right, is fixed to the rear part of the coupling mechanism on the traveling body side with respect to the rear. Along the front and rear axes around the support-side portion and freely connectable to the rolling, around the fixed support-side portion of the planting device and the connection mechanism,
An actuator for rolling operation of the seedling planting device is erected, and a spring for biasing the inclination of the seedling planting device by the reciprocating slide drive of the left and right seedling rests to the return side,
The left and right sides of the seedling rest are slidably driven back and forth, and the right and left sides of the seedling rest are laid across a portion of the coupling mechanism away from the longitudinal axis, and the spring is mounted on the seedling rest .
Elastic deformation in which the right and left springs are urged toward the return side when the seedling rest is located at the center of the right and left sides of the seedling planting device , while being arranged along a plane parallel to the seedling resting surface. Operating means for operating the actuator so that the seedling planting apparatus is along the rice field surface, based on a detection result from a tilt detection mechanism that detects left and right inclination of the seedling planting apparatus. It is. [I] The cause of the inclination of the seedling planting device is as described above, as described above, such as the inclination of the seedling planting device caused by the reciprocating sliding drive of the seedling stage left and right. The relative relationship between the amount of lateral movement and the amount of movement of the center of gravity changes in a nearly proportional relationship, as well as the inclination of the seedling planting equipment due to the inclination of the aircraft due to the unevenness of the cultivator, and the seedling planting due to the inclination of the rice field itself. Due to factors that are not directly related to the amount of movement of the seedling rest, such as the inclination of the seedling rest, or the inclination of the seedling resting equipment due to the difference in the remaining amount of seedling between the left and right planting strips of the seedling rest. There are several possible factors. [II] Among the inclinations of the seedling planting apparatus due to such a plurality of factors, the inclination of the seedling planting apparatus caused by the left and right reciprocating slide drive of the seedling mounting table is, as in the present invention, When the spring is constructed between the connecting mechanism on the fuselage side and the part on the moving seedling rest side, the return biasing force of the spring on the moving side gradually increases as the seedling rest slides left and right. Then, the inclination of the seedling planting device is corrected by the return biasing force of the spring. When the spring is provided as described above, as described in the above item [I], of the total force for tilting the seedling planting device, the force due to the reciprocating sliding of the left and right of the seedling rest is:
Since it is supplemented by the right and left springs, the actuator only has to act on the remaining force. Therefore, in the configuration of the present invention, the rolling of the seedling planting device is performed in comparison with the configuration in which the actuator is actuated to perform the rolling operation of the seedling planting device for all of the sum of the forces for tilting the seedling planting device. The actuator to be operated may have an output smaller than the total output required for the rolling operation by an amount corresponding to the urging force of the spring. [III] Further, as described above, the rolling operation of the seedling planting device is performed by the two operation systems of the actuator and the spring arranged in parallel, so that the seedling planting device using the actuator is provided. Is also performed accurately with little possibility of hunting. That is, in the present invention, an actuator is provided over the connecting mechanism and the fixed support side of the seedling planting apparatus. Apart from this actuator, a portion of the seedling rest side which is reciprocally slidably driven left and right and a front-rear shaft A spring is provided on each of the right and left sides over a portion of the coupling mechanism away from the core. As described above, since the object on which the rolling force by the actuator works and the object on which the return urging force by the spring works separately, the operation of the actuator does not act as the working force for directly expanding and contracting the spring. Therefore, the amount of extension of the spring tends to change in accordance with the amount of reciprocating movement of the seedling rest. And, since the spring has a tendency to change the biasing force that closely follows the reciprocating movement of the seedling rest, the balance of the seedling rest itself is less likely to be lost due to the lateral movement of the stand itself. There is little need to correct the inclination due to the imbalance of the stand itself, and the operation of the actuator is based on the inclination of the aircraft due to the unevenness of the cultivator, the inclination of the rice field itself, or the left and right of the seedling stand, as described above. It is sufficient to operate the apparatus mainly for correcting inclination by a factor that is not directly related to the amount of movement of the seedling mounting table, such as the inclination of the seedling planting apparatus due to the difference in the remaining amount of seedlings in the planting strip. In addition, the frequency of occurrence of the inclination or the amount of inclination due to this kind of factor is considerably smaller than the case where the balance is lost due to the lateral movement of the seedling nest, so that the operation frequency or the amount of operation of the actuator is considerably reduced. It can be reduced in proportion. [0015] Then, as described in the preceding paragraph [I], for example, the right-side spring is stretched by the slide drive of the seedling placing table to the right, and the inclination of the seedling planting device to the right is being corrected. So, for example, assuming that the seedling plant tilts further to the right due to the inclination of the airframe due to the unevenness of the cultivator and the inclination of the rice field itself, according to the above-described conventional technology [3], Actuating the actuator causes the spring to work more strongly (extend). Moreover, the extension of the spring at this time is naturally larger than the urging force sufficient to correct the collapse of the left-right balance of the seedling planting apparatus corresponding to the reciprocating movement of the seedling nest in the horizontal posture. Therefore, as the inclination of the planting device is corrected horizontally, it is necessary to quickly operate the actuator in the reverse direction to adjust the biasing force of the spring. And, while this actuator is operating in the reverse direction and correcting the rolling posture of the seedling planting device, or immediately after the correction, if the inclination of the aircraft body recovers or tilts in the opposite direction, During the adjustment or immediately after the adjustment, the biasing force of the spring may be excessively weakened or insufficiently adjusted. There is a possibility that a state in which the spring repeatedly expands and contracts, and a state in which the actuator is frequently operated in the forward and reverse directions, thereby causing a hunting phenomenon in which the posture of the planting device is not stable. However, in the present invention, as described above, the rolling of the seedling planting apparatus is performed in two systems by the actuator and the spring arranged in parallel. By that to perform the work, the influence of one of the working in the hard state have on the other hand, is obtained by easily avoiding the occurrence of such hunting phenomenon. [IV] According to the configuration of the present invention, when the rolling operation of the seedling planting device by the actuator is stopped, for example, when traveling on a road, the right and left springs move the seedling planting device to the left and right center positions. It is biased back to the side. Thus, when the vehicle is running on a road while the rolling operation of the seedling planting device by the actuator is stopped, it is less likely that the seedling planting device swings right and left due to the vibration of the body. Even if the seedling planting device swings right and left, the biasing force of the left and right springs acts as a deterrent force against the swinging of the seedling planting device, so that the load applied to the actuator can be reduced. As described above, in the riding type rice transplanter in which the seedling planting apparatus is rotatably connected, the connection mechanism on the body side, the fixed support side part and the seedling stand on the seedling planting apparatus side. By arranging the actuator and the spring in parallel across the side portion and arranging them so as to function separately, the rolling operation of the seedling planting apparatus can be performed while sharing the rolling operation of the seedling planting apparatus with two systems including the actuator and the spring. This makes it possible to perform the rolling operation of the seedling planting device with a relatively small actuator with high accuracy, and to reduce the size of the actuator for the rolling operation of the seedling planting device and the production associated therewith. The cost could be reduced. As described above, by providing the actuator and the spring, it is possible to avoid that the urging force of the spring is directly changed by the operation of the actuator, and that the influence of the fluctuation of the urging force of the spring directly affects the actuator. Thus, in order to correct the fluctuation of the biasing force of the spring that is caused by a factor other than the reciprocating movement of the seedling nest and the actuator is not due to the change in the posture of the seedling planting device. It is used in a state where it can be suppressed as much as possible. Therefore, the actuator is actuated in order to avoid the influence of the change in the biasing force of the spring on the change in the posture of the seedling planting apparatus. And the occurrence of the hunting phenomenon of the rolling control can be suppressed, and the stable rolling operation can be performed, so that the planting accuracy of the seedling planting apparatus can be improved. When the seedling nest is located at the center of the right and left sides of the seedling planting apparatus, the spring is configured to be elastically deformed to the tension side, thereby stopping the rolling operation of the seedling planting apparatus by the actuator. However, since the right and left sway of the seedling planting device is reduced, the load on the actuator is suppressed, and while protecting the actuator, it is possible to run on the road in a state where the seedling planting device is stabilized. Thus, the traveling performance of the riding rice transplanter was able to be improved. Hereinafter, a riding type rice transplanter according to an embodiment of the present invention will be described with reference to the drawings. As shown in FIGS. 1, 6, and 7, a transmission case 3 is connected to a support frame 2 extending left and right from a central planting transmission case 1, and extends from the left and right transmission cases 3 and the planting transmission case 1. A total of six sets of planting cases 4 are rotatably supported around the horizontal axis P1 of the power transmission case 3 to be driven, and two sets of planting arms 5 are provided at both ends of the planting case 4. Is supported. A single transverse feed shaft 6 is disposed through the planting transmission case 1, and a support member 7 is connected to both ends of the transverse feed shaft 6 to form a lower first guide rail 8 and an upper second guide rail. 9, a lower part of the back of a seedling rest 10 slidably supported in the left-right direction is connected to the support member 7, and the transverse feed shaft 6 is driven reciprocally and laterally in the axial direction to thereby provide a seedling rest. 10 is reciprocally slidably driven left and right. That is, the seedling rest 10 that reciprocates left and right, and the fixed support side portion A that supports the seedling rest 10 so as to be reciprocally movable left and right (the planting mission case 1, the support frame 2, the transmission case 3, and the second guide). (Consisting of the rail 9) constitutes a seedling planting apparatus. The seedling planting apparatus configured as described above can freely roll around the longitudinal axis P2 at the lower rear end of the link mechanism 11 (corresponding to a coupling mechanism) extended from the body (not shown). A backward hydraulic cylinder 12 (corresponding to an actuator) is fixed to the upper rear end of the link mechanism 11, and a piston rod 12a protruding left and right from the hydraulic cylinder 12 and the second guide rail 9 are used for flexibility. It is connected via a spring 13, and the whole seedling planting device is rolled around the longitudinal axis P2 by the expansion and contraction operation of the hydraulic cylinder 12. A pair of springs 14 extends between the rear end of the link mechanism 11 and the left and right support members 7.
The pair of springs 14 is parallel to the seedling rest surface of the seedling rest 10.
When the seedling rest 10 is located at the center of the right and left sides of the seedling planting device, both springs 14 are longer than their natural lengths, that is, they are elastic to the pulling side. Both springs 14 are assembled so as to be in a deformed state. Next, a structure for detecting the left-right inclination of the seedling planting apparatus will be described. As shown in FIGS. 1, 3, and 7, the ground floats 16a and 16b can swing up and down around the horizontal axis P6 of the first arm 15a extending rearward from the support shaft 15 on the lower surface of the transmission case 3. Installed. A support bracket 17 extends forward from a plurality of portions of the support frame 2 and the transmission case 3, and a pair of crankshafts 18 and 19 are supported rotatably around an axis P <b> 4 of the support bracket 17. On both outer end sides of the crankshafts 18, 19, first crank arms 18 a, 19 a are provided inside the support bracket 17.
a, 19a and the ground floats 16a, 16b are connected as shown in FIG.
A rod 21 erected on the ground floats 16a, 16b is inserted from below into a boss member 20 rotatably supported around a horizontal axis P5 of the first crank arms 18a, 19a, and fixed to the rod 21. A spring 23 is mounted between the washer 22 and the boss member 20. In the normal state as shown in FIG. 2, the upper end of the rod 21 is compressed so that the distance between the washer 22 and the boss member 20, that is, the length A of the spring 23 is compressed to be shorter than the natural length of the spring 23. Stopper 30
Is attached. As shown in FIGS. 1, 3, 4 and 5, second crank arms 18b and 19b whose extending directions are different by 180 ° are attached to both opposing sides of the crankshafts 18 and 19, respectively.
An arm 24 having a long hole 24a is provided over the crank arms 18b and 19b. A stay 25 extends above the support bracket 17, and a control valve 26 for supplying and discharging hydraulic oil to and from the hydraulic cylinder 12 is supported by the stay 25. A spool (not shown) in the control valve 26 and an arm 24 is connected to the central portion of the vehicle through an adjusting rod 27 that can be adjusted to expand and contract. A center float 28 provided at a lower center portion of the seedling planting apparatus is for raising and lowering control, and is attached to the rear end of the first arm 15a around a horizontal axis P6 so as to be vertically swingable. Thus, the vertical movement of the center float 28 is detected, and the entire seedling planting apparatus is controlled to move up and down by the link mechanism 11 so as to maintain the seedling planting apparatus at a certain height from the rice field. Adjustment of the height of the seedling planting apparatus to be maintained from the rice field is performed by rotating the support shaft 15 around its horizontal axis P3, and adjusting the center float 28 and the ground floats 16a, 16a.
This is performed by changing the position of b with respect to the seedling planting device. As shown in FIGS. 1, 3, and 7, a rod 29 extends between a second arm 15b provided on the support shaft 15 and third crank arms 18c and 19c of the two crank shafts 18 and 19.
Has been erected. As a result, as described above, when the support shaft 15 is rotated and the rear sides of the ground floats 16a, 16b and the center float 28 are vertically moved,
In conjunction with this, both crankshafts 18 and 19 are also rotated, and the ground floats 16a,
The front side of the ground float 16b is also moved up and down in the same manner, regardless of the operation described above.
6a and 16b are kept substantially parallel to the rice field surface. Even if such an operation is performed, only the crankshafts 18 and 19 rotate in the same direction as shown in FIG. 5 described below, but this does not affect the detection of the inclination of the seedling planting apparatus. Next, the movement of the arm 24 when the seedling plant is tilted left and right will be described. As shown in FIG. 3 and FIG. 4, when the seedling planting device is tilted leftward in the traveling direction and the left ground float 16 a swings upward, this movement is performed via the spring 23 and the first crank arm 18 a. The power is transmitted to the crankshaft 18 and the arm 24 is rotated by the second crank arm 18b downward around a connection point with the other second crank arm 19b. When the arm 24 operates in this manner, the center of the arm 24 is displaced below the axis P4, which is the axis of rotation of the crankshafts 18, 19, and this displacement is detected as the inclination of the seedling planting device, and the control valve 26 Is transmitted to Thereby, the control valve 26
The operation of supplying and discharging hydraulic oil to and from the hydraulic cylinder 12 is performed, and the rolling operation of the seedling planting device is performed so that the seedling planting device follows the rice field. In the state shown in FIG. 4, the control valve 26 is displaced downwardly of the center of the arm 24.
This movement is absorbed by the spring 23 when the ground float 16a attempts to be displaced upward even after reaching the stroke end. When the entire seedling plant is displaced downward and the left and right ground floats 16a, 16b are displaced upward, as shown in FIG. 5, both crankshafts 18, 19 rotate in the same direction. However, since the protruding directions of the second crank arms 18b and 19b are directed in opposite directions, the arm 24 rotates around the axis P4, and the arm 24 rotates.
Is not displaced from the axis P4. In the claims, reference numerals are provided for convenience of comparison with the drawings, but the present invention is not limited to the configuration shown in the accompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a plan view of a seedling planting device; FIG. 2 is a side view showing a connection structure between a ground float and a crankshaft; FIG. FIG. 4 is a side view of the arm and the control valve in the state in which the seedling plant is inclined leftward in the traveling direction. FIG. 5 is an arm and a state in which the entire seedling plant is sunk downward. FIG. 6 is a front view of the seedling planting apparatus. FIG. 7 is a side view of the seedling planting apparatus. DESCRIPTION OF SIGNS 10 Nursery stand 11 Connecting mechanism 12 Actuator 14 Spring A Fixed support side P2 Longitudinal axis

Claims (1)

Claims: 1. A seedling rest (10) reciprocating right and left and a seedling rest (10)
And a fixed support-side portion (A) that supports the right and left reciprocally movably. The fixed support-side portion (A) is connected to a rear portion of the connecting mechanism (11) on the traveling machine body side. And a rolling connection around the front-rear axis (P2) through the fixed support body side portion (A) of the seedling planting device and the connection mechanism (11).
A spring (14) for mounting a rolling operation actuator (12) of the seedling planting device and biasing the inclination of the seedling planting device by the reciprocating sliding drive of the seedling placing table (10) to the return side. Seedling stand (1
0) side and a portion on the connecting mechanism (11) side separated from the front-rear axis (P2), and each of the left and right is erected, and the spring (14) is connected to the seedling rest (10). Parallel to the surface of the seedling
When the seedling rest (10) is located at the center of the right and left sides of the seedling planting apparatus, the left and right springs (14) are elastically deformed to be urged toward the return side. An operation of operating the actuator (12) so that the seedling-planting device follows the rice field based on a detection result from a tilt detection mechanism that detects a left-right tilt of the seedling-planting device. Riding rice transplanter equipped with means.