JP2629146B2 - Riding rice transplanter - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION The present invention relates to a riding type rice transplanter,
The present invention relates to a structure of a rolling operation of a seedling plant by an actuator.

[0002]

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 the cultivator, and the seedling planting device due to the inclination of the rice field itself. Tilt, left and right reciprocating slide drive of seedling rest,
The inclination of the seedling planting apparatus occurs due to the difference in the remaining amount of seedlings between the left and right planting strips of the seedling rest.

[0003] Among such riding type rice transplanters, 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 due to the reciprocating slide drive of the seedling rest, in particular, is prevented by the spring (for example, see Japanese Utility Model Publication No. 62-22).
099). [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. A device in which the seedling planting device is subjected to a rolling operation so as to be corrected by an operation (for example, Japanese Utility Model Laid-Open No. 58-80811).

[0004]

In a riding type rice transplanter, a mat-shaped seedling with a large increase or decrease in weight is placed on a seedling support over the entire width of the seedling planting apparatus. Accordingly, the seedling rest is reciprocally slidably driven left and right. 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], for example, if the seedling placement device is tilted to the right when the seedling mounting is slid to the right, the seedling placement device is used. Although it is possible to perform a rolling operation on the left side of the seedling planting apparatus so as to follow the rice field, it is possible to operate under any conditions as an actuator for performing such a rolling operation. Thus, it is necessary to equip a large actuator. 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.

In the conventional technique described in the above [2], when the fixed support-side portion of the seedling planting device is connected to the rear end of the connection mechanism on the body side in a freely rotatable manner, 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 aircraft is tilted greatly. An urging force sufficient to perform the rolling operation of the planting device or an urging force 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 machine body side by a strong spring, if the machine body is tilted due to unevenness of the cultivation surface, etc., the seedling planting device is considerably inclined particularly when the mud surface is soft. However, there is a problem that it is difficult to generate an acting force for overcoming the urging force of the spring and to return the seedling plant to rolling, and it is difficult to effectively perform the original rolling correction function.

In the prior art described in the above [3],
A pair of left and right springs and an actuator for changing the position of one end of the spring are provided for correcting the posture of the seedling planting device with respect to the connection mechanism on the machine body side. 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 art, 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 a spring and an actuator are used, the acting force required to correct the balance of the seedling planting apparatus is irrespective of the use of the spring.
Since there is no change in acting on all the actuators, 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 placing table, and no hunting phenomenon is caused. It is intended to be configured so as to be performed stably.

[0010]

A feature of the present invention resides in the following configuration of the riding type rice transplanter 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. The fixed support is connected via a support-side portion so as to be freely rollable around the front-rear axis, and via a rolling operation actuator of the seedling planting apparatus and a first spring connected to an output portion of the actuator. A second spring for connecting the body part and the connection mechanism and biasing the inclination of the seedling planting device by the reciprocating slide drive of the seedling rest to the return side in a direction parallel to the seedling rest surface of the seedling rest. In the state along the surface, the left and right sides of the seedling planting device are erected respectively over a portion of the seedling stand that is reciprocally slidably driven left and right and a portion of the coupling mechanism side away from the front-rear axis. Check the inclination of An operation of displacing the output section of the actuator based on a detection result from the tilt detection mechanism and performing a rolling operation of the seedling planting device around the front-rear axis so as to be along a rice field via the first spring. Means are provided.

[0011]

[I] [I] The cause of the inclination of the seedling placement device is that the lateral movement of the seedling placement device itself, as described above, is caused by the inclination of the seedling placement device by the reciprocating slide drive of the left and right seedling placement platforms. The factors that change the relative relationship between the amount and the amount of movement of the center of gravity in a nearly proportional relationship, the inclination of the seedling planting device due to the inclination of the aircraft due to the unevenness of the tillage, and the inclination of the seedling planting device due to the inclination of the rice field itself This is due to factors that are not directly related to the amount of movement of the seedling rest, such as the inclination or the inclination of the seedling planting equipment due to the difference in the remaining amount of seedlings at 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 different from that of the present invention. When the second spring is constructed so as to span the connecting mechanism on the body side and the portion on the moving seedling rest side, the movable second spring is returned with the right-left sliding drive of the seedling rest. The power is gradually increased, and the return biasing force of the second spring attempts to correct the inclination of the seedling planting device to the right.

When the second spring is provided as described above,
As described in the preceding section [I], of the total force for tilting the seedling planting device, the force of the left and right reciprocating slides of the seedling rest is compensated by the right and left second springs. Then, the actuator only has to act on the remaining force. Therefore, as compared with the configuration in which the actuator is actuated to perform a rolling operation on the seedling planting device for all of the sum of the forces for tilting the planting device,
In the configuration of the present invention, the actuator for rolling the seedling planting device may have an output smaller than the total output required for the rolling operation by an amount corresponding to the urging force of the second 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 second spring arranged in parallel, so that the seedling planting by the actuator is performed. The rolling operation of the attachment device is also performed with high accuracy in a state where hunting is less likely to occur. That is, in the present invention, an actuator is provided over the connection mechanism and the fixed support side of the seedling planting device, and separately from this actuator, in a state along a plane parallel to the seedling placing surface of the seedling rest, The left and right second springs are provided on the left and right sides of the portion on the side of the seedling nest that is reciprocally slidably driven left and right and on the portion of the coupling mechanism that is separated from the longitudinal axis. As described above, since the object on which the rolling action force is exerted by the actuator and the object on which the return biasing force is exerted by the spring are separately configured, the operation of the actuator does not act as the action force for directly expanding and contracting the second spring. Therefore, the amount of extension of the second spring tends to change in accordance with the amount of left and right reciprocation of the seedling rest.

[0015] The second spring in the state parallel to the seedling rest surface of the seedling rest has a tendency to change the biasing force that well follows the left-right reciprocating movement of the seedling rest. The balance is less likely to be lost due to the lateral movement, and therefore, the actuator need not perform tilt correction due to the balance of the seedling nest itself. The amount of movement of the seedling rest, such as the inclination of the airframe due to the unevenness of the rice field, the inclination of the rice field itself, or the inclination of the seedling planting equipment due to the difference in the remaining amount of seedlings on the left and right planting strips of the seedling rest. May be operated mainly for the purpose of inclination correction due to factors not directly related. 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.

Then, as described in the preceding item [I], for example, by sliding the seedling rest to the right, the second
In the state where the spring is stretched and the inclination of the seedling planting device to the right is being corrected, the seedling planting device tilts further to the right side, for example, due to the inclination of the body due to unevenness of the cultivator or the inclination of the rice field itself. Assuming a state, according to the above-mentioned conventional technology [3], the actuator is actuated to make the spring connected to the seedling rest work more strongly (extend). Moreover,
The extension of the spring at this time is naturally larger than the biasing force enough to correct the collapse of the left-right balance of the seedling planting device corresponding to the left-right reciprocating movement amount of the seedling rest in the horizontal posture, 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 lorry of the seedling planting apparatus is provided in two systems by the actuator and the second spring arranged in parallel. By that to perform the grayed operation, 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] Then, the second spring is erected along a plane parallel to the seedling laying surface of the seedling laying bed, over a portion on the seedling nest side and a portion on the connecting mechanism side. Therefore, the urging force of the second spring does not adversely affect the lateral movement of the seedling rest. That is, for example, this second spring is
Assuming that a pair of left and right springs is provided in a state where the connection end to the traveling machine body is located on the front side of the connection end to the seedling rest, the biasing force of each spring is equal to the left and right. Although there is not much problem, as the urging force of the left and right springs becomes larger than the urging force of the left and right other springs with the lateral movement of the seedling rest, the urging force becomes one end of the seedling rest. This acts to draw the seedlings strongly toward the front side of the fuselage, giving a twisting effect to the seedling rest during sliding movement, which may cause adverse effects such as a sliding resistance with twisting. On the other hand, as described above, the book in which the second spring is erected between the portion on the seedling mounting side and the portion on the coupling mechanism side along the plane parallel to the seedling mounting surface of the seedling mounting base. According to the invention, even if the biasing force of the left and right springs is unbalanced due to the lateral movement of the seedling rest, the biasing force acts as a return action against the rolling of the seedling rest, and is strong in the front-rear direction. Since it does not cause an attracting action, there is no inconvenience of causing the above-mentioned adverse effects.

[V] In the present invention, the fixed support-side portion and the connection mechanism are connected to each other via an actuator for rolling operation of the seedling planting device and a first spring connected to an output portion of the actuator. For example, in the state where the actuator is stopped, even if a part of the seedling planting device hits a ridge or the like and the seedling planting device swings left and right, the swing of the seedling planting device is not changed as described above. Absorbed by one spring,
It is difficult to transmit to the output part of the actuator.

[0019]

As described above, in the riding type rice transplanter in which the seedling planting device is connected in a rolling manner as described above, the second spring is effectively erected so that the seedling can be planted in two systems by the actuator and the second spring. By configuring to perform the rolling operation of the planting device, the rolling operation of the seedling planting device can be accurately performed with a small actuator, and the structure of the rolling operation of the seedling planting device can be reduced in size and the production cost can be reduced. I was able to plan. By providing the above-mentioned second spring, the rolling operation of the seedling planting device can be stably performed while suppressing the hunting phenomenon by the actuator, so that the planting accuracy of the seedling planting device can be improved.

Further, since the second spring is erected along the plane parallel to the seedling laying surface of the seedling laying bed, between the portion on the seedling nest side and the portion on the connecting mechanism side, this second spring is provided. The biasing force of the second spring is prevented from acting to tilt the seedling rest in the front-rear direction, and does not adversely affect the sliding movement of the seedling rest.

By connecting the output portion of the actuator and the portion of the seedling placement device on the fixed support side via the first spring, it is difficult for the swing of the seedling placement device to be transmitted to the output portion of the actuator. It is possible to prevent the deterioration of the durability of the part and the actuator itself, and the rolling operation of the seedling planting apparatus by the actuator can be accurately performed over a long period of time.

[0022]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A riding type rice transplanter according to an embodiment of the present invention will be described below 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. Around the horizontal axis P1 of the transmission case 3 to be taken out, two sets each for a total of 6
A set of planting cases 4 is rotatably supported so as to be rotatable, and two sets of planting arms 5 are supported at both ends of the planting case 4.

A single transverse feed shaft 6 is disposed through the planting transmission case 1 and support members 7 are connected to both ends of the transverse feed shaft 6, so that a lower first guide rail 8 and an upper second guide rail are provided. 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 constructed 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-acting hydraulic cylinder 12 (corresponding to an actuator) is fixed to the upper end of the rear end of the link mechanism 11, and a piston rod 12 a (corresponding to an output portion) protruding left and right from the hydraulic cylinder 12 and a second guide rail. 9 are connected via a first spring 13 for accommodation,
By rolling the hydraulic cylinder 12, the entire seedling-planting device is rolled around the longitudinal axis P2. Link mechanism 1
A pair of second springs 14 are provided between the rear end of the first and left and right support members 7, and when the seedling rest 10 is located at the center in the left and right direction of the seedling planting apparatus, both second springs 14 are provided. The two second springs 14 are assembled so that the spring 14 is longer than its natural length, that is, in an elastically deformed state on the tension side.

Next, a structure for detecting the left and right inclination of the seedling planting apparatus will be described. As shown in FIGS. 1, 3, and 7, a ground float 16 is provided 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.
a and 16b are attached to be able to swing up and down. 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 and 19, first crank arms 18a and 19a are provided inside the support bracket 17, and the first crank arms 18a and 19a and the ground floats 16a and 16b are shown in FIG. It is connected as shown in FIG. First crank arm 18
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 a, 19a, and a washer 22 fixed to the rod 21 and a boss. Third spring 2 between member 20
3 is attached. In the normal state as shown in FIG. 2, the distance from the washer 22 to the boss member 20, that is, the length A of the third spring 23 is compressed to be shorter than the natural length of the third spring 23. Rod 21
A stopper 30 is attached to the upper end of the cradle.

As shown in FIGS. 1, 3, 4 and 5, second crank arms 18b and 19b whose extending directions are different from each other by 180 ° are attached to both opposing sides of the crank shafts 18 and 19.
An elongated hole 24 extends over both second crank arms 18b and 19b.
An arm 24 provided with a is provided. 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 connected to the stay 25.
, And a spool (not shown) in the control valve 26 and a central portion of the arm 24 are connected via an adjusting rod 27 that is adjustable in expansion and contraction.

A center float 28 provided at the center lower part of the seedling planting apparatus is for raising and lowering control.
It is mounted so as to be able to swing up and down around the horizontal axis P6 at the rear end of a. 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 surface. Adjustment of the height of the seedling planting device from the rice field is performed by rotating the support shaft 15 around its horizontal axis P3 to adjust the center float 28 and the ground floats 16a, 16b. By changing the position with respect to.

As shown in FIGS. 1, 3, and 7, the second arm 15b provided on the support shaft 15 and the two crank shafts 18, 19
And a third crank arm 18c, 19c. As a result, when the support shaft 15 is rotated and the rear sides of the ground floats 16a and 16b and the center float 28 are vertically moved as described above, the crankshafts 18 and 19 are also rotated in conjunction with this operation. And
The front sides of the grounding floats 16a, 16b are also moved up and down in the same manner, regardless of the operation described above.
6b is 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 tilts leftward in the traveling direction and the left ground float 16 a swings upward, this movement causes the third spring 23 and the first crank arm 18 a to swing. The arm 24 is transmitted to the crankshaft 18 through the second crank arm 18b.
It is rotated downward around the connection point with b. 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 supply / discharge operation of the hydraulic oil from the control valve 26 to 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, even if the control valve 26 reaches the stroke end due to the downward displacement of the center of the arm 24, if the ground float 16a is displaced upward, this movement is absorbed by the third spring 23. You.

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, the two crankshafts 18, 19 rotate in the same direction, but the second crank arms 18b, 19b
Arm 2 is projected in the opposite direction.
4 rotates around the axis P4, and the center of the arm 24 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 attached drawings.

[Brief description of the drawings]

FIG. 1 is a plan view of a seedling planting apparatus.

FIG. 2 is a side view showing a connection structure between a ground float and a crankshaft.

FIG. 3 is an overall perspective view showing a tilt detection system of the seedling planting apparatus.

FIG. 4 is a side view of the vicinity of the arm and the control valve in a state where the seedling planting device is inclined leftward in the traveling direction.

FIG. 5 is a side view of the vicinity of the arm and the control valve in a state where 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.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 Seedling stand 11 Connecting mechanism 12 Actuator 12a Actuator output part 13 1st spring 14 2nd spring A Fixed support body side part P2 Front and rear axis center

Claims (1)

(57) [Claims] 1. A seedling rest (10) that reciprocates right and left.
A solid support that supports the seedling rest (10) so that it can reciprocate left and right.
A seedling planting device comprising the fixed support side portion (A),
At the rear of the connecting mechanism (11) on the traveling body side,
Around the longitudinal axis (P2) via the fixed support side part (A)
An actuator for rolling operation of the seedling planting device , which is connected in a freely rotatable manner;
(12) and the output of the actuator (12).
The fixing is performed via the tied first spring (13).
Connecting the support-side part (A) to the connection mechanism (11)
And seedling planting by reciprocating sliding drive of the seedling rest (10)
The second spring (1) for urging the inclination of the attachment device to the return side
4) along the plane parallel to the seedling resting surface of the seedling rest (10)
In the state, the seedling rest (1
0) side, and the part separated from the longitudinal axis (P2).
A tilt detection mechanism that is erected on the right and left sides of the connection mechanism (11) side to detect the left and right tilts of the seedling planting device;
Based on these detection results, the actuator (12)
The output unit (12a) is displaced to operate the first spring.
Through (13), the seedling planting device is moved along the rice field.
An operating hand that performs a rolling operation around the longitudinal axis (P2)
Riding rice transplanter with steps .