JP2698866B2 - Rice transplanter without float - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a floatless rice transplanter configured to detect the height of a planted portion and the inclination of the planted portion at a constant level on a rice field by detecting a sensor provided at the planted portion. is there.

[0002]

2. Description of the Related Art In a planting section of a rice transplanter, a seedling mounting table on which seedlings are mounted is moved left and right, and seedlings are planted on a rice field by planting claws below the table. In such a case, in order to plant the seedlings on the rice field at an appropriate depth, even when the traveling body of the rice transplanter moves up and down or tilts, the planting portion is high relative to the rice field. And the inclination must be kept constant. For this reason, the conventional method has been disclosed in
In No. 11, a plurality of floats are attached below the planting section, and the planting section is moved up and down or rocked according to the movement of the float. In Japanese Patent Application Laid-Open No. 1-137908, a small float is attached to the rear of the planting portion via an arm, and the planting portion is controlled to a constant height by its movement.

[0003]

[Problems to be Solved by the Invention] However, Shokai Sho61
In the case of -131711, a considerable size of float is attached below the planting part, which causes great resistance to water on the rice field surface, slows down the rice transplanter, and allows high-speed planting. Can not. There is also a problem that the planting posture of seedlings is disturbed by muddy water flow generated around the float. JP 1
137908 can only move the planting part up and down, so that when the inclination of the rice field changes, the planting depth cannot be maintained correctly.

[0004]

SUMMARY OF THE INVENTION In order to solve the above-mentioned problems, the present invention provides a rice transplanting machine which has a low resistance and which can maintain a correct planting posture even when the height or inclination of a rice field changes. As a means for that purpose, in a rice transplanter equipped with a planting part configured to be able to move up and down and swing behind the traveling vehicle body, the planting part is brought into direct contact with a sensor on the rice surface. A left and right sensor for detecting the height and inclination of the plant is provided on the planting part, and the height and inclination of the planting part with the rice field are maintained as desired by using electric means, and the distance from the rice field to the rice field is maintained. The left and right sensors for detecting the front and rear wheels and the outermost planting power transmission case are located forward of the front end portions of the outermost planting power transmission cases on the left and right sides of the planting portion. Outside of the trace The sensor is arranged at a position higher than the planting transmission case on the side, and the shape of this sensor is formed in a long rod shape having a narrow width that is curved in the traveling direction, and the tip of the sensor is placed at the planting position. A rice transplanter without a float was configured to be placed nearby.

[0005]

According to the rice transplanter without the float of the present invention constructed as described above, the distance to the rice field is detected by the left and right sensors disposed in the planting section, respectively. Height and inclination are required. Then, the planting unit can be maintained in a constant posture on the rice field by appropriately moving the planting unit up and down and swinging based on the obtained value. Then, the posture of the planting portion can be made desired by appropriately changing the control value.

[0006]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 shows a riding type rice transplanter, wherein (1) is a traveling vehicle body, and (2) is a planting portion towed behind the traveling vehicle body. In the traveling vehicle body (1), an engine (4) is provided inside a hood (3), and its power is transmitted to a front wheel (6) and a rear wheel (7) via a transmission (5) so that the vehicle travels. It has become. Further behind the rear wheel (7), a wheel mark eraser (9) for uniformly erasing the rear of the wheel formed on the rice field (8) is mounted via a support member (10). In the upper part of the vehicle body (1), the driver's seat (1
1), a handle (12) is provided in front of it,
A spare seedling mount (13) is provided at the rear. In the embodiment, when the handle (12) is operated, the front wheel (6) and the rear wheel (7) are turned in opposite phases. FIG. 2 shows a state in which the steering wheel (12) is turned to the left. When the rear wheel (7) is turned, the wheel mark eraser (9) follows and moves to the rear of the rear wheel (7). .

A link (15) for supporting the planting portion (2) is provided at the rear of the vehicle body (1), (16) is an upper arm, (17) is a lower arm, and (18) is a support frame. And these constitute the link (15). The front end of the lower arm (17) is connected to a piston rod (20) of a cylinder (19) constituting an elevation control actuator, and the support frame (18) is provided with a planting portion (2). Thus, when the cylinder (19) operates and the link (15) swings, the planting portion (2) moves up and down.

Next, in the planting portion (2), (22) is a planting case, and power from the traveling vehicle body (1) is transmitted into the planting case (22) via a PTO shaft (not shown). Have been. Reference numeral (23) denotes a seedling mounting table on which seedlings are mounted, and is attached to the planting case (22) via a slide device (24). (25) converts the power transmitted into the planting case (22) by the PTO shaft to the rotating shaft (26).
It is a conduction case to tell. The rotating shaft (26) protrudes left and right at the lower end of the transmission case (25), and a large number of planting transmission cases (27) are mounted side by side at substantially equal intervals. The planting transmission case (27) is equipped with a planting arm (28) having a planetary gear mechanism, and each planting arm (28) is equipped with a planting claw (29). Thus, when power is transmitted to the planting case (22) by the PTO shaft, the slide device (24) operates, the seedling mounting (23) moves laterally, and the planting arm (28) rotates. As a result, the planting claws (29) sequentially pick out the seedlings from the lower end of the seedling mounting table (23) and plant the seedlings on the rice field (8). Each towing nail (29) while pulling the attachment part (2)
By planting in parallel, multiple seedlings are planted on the rice field.

According to the present invention, in a rice transplanter as described above, left and right sensors for detecting the distance from the rice field are arranged at the planting portion, and the height and the inclination of the planting portion are detected by these sensors to make them constant. In this way, the planting posture of the seedlings is maintained to be correct. A center pin (31) protrudes from the front surface of the planting case (22), and the center pin (31) is supported by the support frame (1) of the link (15).
8) The planting case (22) is swingable by being loosely supported by the receiving cylinder (32) provided on the rear surface. A tilt control actuator (35) is mounted on the upper part of the support frame (18), and the rear surface of the seedling mounting table (23) is supported by the actuator (35). FIG. 3 shows the tilt control actuator (35) in plan view, and (36) shows the support frame (1).
8) A fixing bracket fixed to 8). Cylinders (37) and (37) are mounted on both sides of the fixed bracket (36), and their piston rods (38) and (38)
The operating rods (39) and (39) are attached to the control rods, respectively.

At the rear end of the operating rods (39), (39), a rod (40) is provided horizontally, and a bracket (41) fixed to the back of the seedling mounting table (23) plays on the rod (40). Pierced. The rod (40) has a buffer spring (42)
(42) is wound on both sides. Therefore, when the cylinder (37) is operated to move the piston rod (38) forward and backward, the bracket (4) is moved through the cushioning spring (42).
1) is elastically pressed right and left, and the seedling mounting table (23) moves. The planting case (22) is supported swingably, and the whole planting part (2) is centered on the center pin (31) by the lateral pressing of the seedling mounting (23). And the inclination angle of the planting portion (2) with respect to the rice field surface (8) can be changed.

Next, sensors (Sa) and (Sb) for detecting the distance to the rice field surface (8) are provided on the left and right sides of the planting section (2) as described above. , The outermost planting transmission cases (27a) (27)
Sensors (Sa) and (Sb) are mounted at the front end of b). As shown in FIG. 3, the sensors (Sa) (S
b) is disposed outside the left and right rear wheels (7) of the traveling vehicle body (1), and prevents the sensor from picking up noise due to wheel marks formed by the rear wheels (7) during traveling. I'm preventing. By locating the wheel mark eraser (9) behind the rear wheel (7) described above in front of the sensor (S), the wheel mark by the rear wheel (7) is also erased by the mark eraser (9). The detection accuracy of the sensor (S) is improved, and the sensor (S) is mounted at a position above the planting transmission cases (27a) and (27b). The detection accuracy has been improved by preventing water from immersing in the water on the rice field.

The shape of the sensor (S) is a long rod having a narrow width which is curved in the traveling direction. The sensor (S) (Sb) is planted by directly contacting the sensor (Sa) (Sb) with the rice field. The height and inclination of the part are detected. Therefore, the height and inclination can be detected in consideration of the softness and depth of the mud under the water surface, and there are very few errors in keeping the planting posture of the seedlings correct. Further, since the contact area with the rice field is extremely small, there is almost no resistance to water on the rice field, and there is no influence on planting of seedlings.

Next, FIG. 4 is a hydraulic circuit diagram for operating the cylinder (19) in the actuator for raising and lowering control, and includes a lifting solenoid (50) and a lowering solenoid (5).
Three-position three-port type electromagnetic hydraulic switching valve having 52)
The hydraulic pump (53) is connected to the cylinder (19) via the. FIG. 5 shows two cylinders (37) (3) in the tilt control actuator (35).
FIG. 7 is a hydraulic circuit diagram for operating the cylinder (3) via a four-position four-port electromagnetic hydraulic switching valve (56) having a rightwardly inclined solenoid (54) and a leftwardly inclined solenoid (55).
7) A hydraulic pump (58) is connected to (37). FIG. 6 shows a control unit (60) that controls each actuator based on the detection values of the left and right sensors (Sa) and (Sb).
(62) is a CPU, (63) is a ROM, and (64) is an interface. (65) and (66) are drivers, which are connected to elevation solenoids (50) and (51) via a driver (65), and connected to inclined solenoids (54) and (55) via a driver (66). I have.

According to the above-described structure, the sensors (S) disposed on the left and right of the planting section (2) are provided.
a) The height and inclination of the planting portion (2) are obtained from the detected value of (Sb), and each actuator is operated so that the height and the inclination match the reference values set in the RAM (61) in advance. Therefore, the planting part (2) always has a constant height and inclination with respect to the rice field (8). In addition, RAM (6
By changing the set value in 1), the height and inclination of the planting portion (2) can be easily changed, and the planting depth of the seedling can be easily changed. Since the signal is electrically transmitted to the sensor (S) and each actuator, the mechanism is simpler than a mechanical type such as a link, and the sensor load can be reduced. It should be noted that the present invention is not limited to the above embodiments, and it is needless to say that
For example, the mounting position of the sensor does not necessarily need to be the outermost planting transmission case. In any case, the sensor may be provided at a position where the height and inclination of the planting portion are known. Further, the number of sensors may be further increased.

[0015]

In any case, according to the rice transplanter without the float of the present invention, the float which has conventionally been a large resistance to the flow of water is eliminated, and the presence or absence of water on the surface of the field is eliminated. Regardless, planting can be performed at high speed. Also, since the contact area with the sensor can be made very small, there is no effect on planting of seedlings. In addition, since the detection is performed by directly contacting the sensor with the rice field, seedlings can be planted in consideration of the softness and depth of the mud. And, by controlling using electric means, the planting depth of the seedlings can be easily changed, and by inclining the planting part, for example, when the rice field is inclined near the shore, etc. However, stable planting is possible. Moreover, since the mounting positions of the left and right sensors are outside the wheel passing position of the traveling vehicle, the planting portion does not float up by inadvertently sensing the field surface disturbed by the wheels, and Since the main part of the sensor is above the planting transmission case, it is not immersed in the water on the rice field, and it is possible to secure high accuracy because it is sensed at wide intervals.

[Brief description of the drawings]

FIG. 1 is a left side view of a rice transplanter.

FIG. 2 is an explanatory view of wheels during turning.

FIG. 3 is a plan view of a planting section.

FIG. 4 is a hydraulic circuit diagram

FIG. 5 is a hydraulic circuit diagram

FIG. 6 is a block diagram of a control unit.

[Explanation of symbols]

 S sensor 1 Traveling car body 2 Planting part 8 Field surface 19 Cylinder 27 Planting transmission case 35 Actuator for tilt control

Claims (1)

(57) [Claims] (1) Vertical movement and swinging can be performed behind the traveling vehicle body.
In a rice transplanter equipped with a planting section
The height of the planting area by contacting the
Left and right sensors are installed in the planting area so that tilt can be detected.
The height and inclination of the planted area with the rice field using electrical means
Is maintained as desired, and the distance to the rice field is detected.
Place the left and right sensors on the outermost
On the front side of the front end of the planting transmission case
The outermost planting transmission case and the front wheels and wheels
It is the outermost planting transmission case outside
And the sensor
Had a narrow width curved toward the direction of travel
Form a long rod, and place the sensor tip near the planting position.
Rice transplanter without float configured to be placed .