JP2936771B2 - Aircraft attitude control device of seedling transplanter - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a machine attitude control device for a seedling transplanter for transplanting seedlings such as vegetables.

[0002]

2. Description of the Related Art Conventionally, an aircraft vertical control means for detecting the height of an aircraft by a sensor that touches a field scene and vertically controlling the aircraft, and a horizontal sensor for detecting the inclination of the aircraft from side to side to control the aircraft from side to side. In the seedling transplanter provided with the machine rolling control means, the contact surface of the sensor of the machine vertical control means is provided in a flat shape in the lateral direction of the machine.

[0003]

As described above, conventionally,
Since the contact surface of the sensor of the body vertical control means that touches the field scene was flat on the left and right, one side of the body was raised due to the unevenness of the field and the other was lowered, and the body was centered around the left and right center of the body. When rolling, the end of the contact surface of the sensor that is flat to the left and right may be pushed up to the field scene, and the vertical control of the aircraft may be activated. However, at the time of the above-described aircraft rolling, the aircraft may be corrected to an appropriate posture only by the operation of the rolling control, and in such a case, if the aircraft vertical control is activated as described above, the aircraft may be corrected. The posture is difficult to be properly controlled, and the transplanting accuracy of the seedlings is reduced. Therefore, it is an object of the present invention to reduce the above-described problems.

[0004]

SUMMARY OF THE INVENTION In order to solve the above-mentioned problems, the present invention provides an aircraft vertical control means for detecting the height of an aircraft by a sensor which is in contact with a field scene and vertically controlling the aircraft.
In a seedling transplanting machine equipped with a body rolling control means for detecting the horizontal inclination of the body by a horizontal sensor and controlling the body to roll left and right, the contact surface of the sensor of the body vertical control means is curved downward in the body left and right direction. This is a body attitude control device of a seedling transplanter characterized by being provided in a shape.

[0005]

According to the present invention, there is provided a seedling transplanter provided with a body vertical control means and a body rolling control means,
Since the grounding surface of the sensor of the aircraft vertical control means is provided so as to be curved downward in the lateral direction of the aircraft, when the aircraft rolls around the center of the aircraft's left and right, the left and right ends of the sensor's grounding surface Because it is curving upward,
It is difficult to receive the lifting action from the field scene, so that the operation of the machine vertical control, which has conventionally occurred at this time, is less likely to occur, the posture of the machine is appropriately controlled, and the transplanting accuracy of the seedlings is improved.

[0006]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described in detail with reference to the drawings. First, as shown in FIG. 1, the configuration of the entire seedling transplanter will be described. Numeral 1 is a seedling transplanter for transplanting vegetable seedlings while running across a ridge in a field. Reference numeral 2 denotes a traveling transmission case of the seedling transplanter 1. The engine E is mounted directly on the front, and the left and right frames 3 are mounted on the rear.
The front ends of a and 3b are fixed. The planting part transmission case 4 is fixed to the rear end of the left frame 3a, and the transplantation part transmission frame 5 is connected to the rear part. Further, a support frame which is inclined rearward from the upper portion of the transplant portion transmission frame 5 is fixed, and a walking type handle H is continuously provided at the upper end of the frame. At the rear end of the right frame 3b, one end is fixed to a horizontal frame 3c fixed to the rear side surface of the right frame 3a.

Reference numerals 6, 6 denote front wheels, which are attached to the end portions of front wheel transmission cases 7, 7 attached to the left and right sides of the traveling unit transmission case 1, respectively. The power from the engine E is transmitted into the traveling unit transmission case 1 and transmitted from the traveling unit transmission case 1 to the left and right wheel transmission cases 7, 7 to drive the front wheels 6, 6. The positions of the front wheels 6, 6 can be adjusted vertically. That is, the front wheel transmission case 7,
The bosses 7a, 7a integral with the front wheel transmission case 1 are rotatably fitted to and mounted on left and right protruding portions of the traveling unit transmission case 1, and a hydraulic cylinder Av is mounted on the rotation portion of the front wheel transmission case 7, 7. Connected via a rod or the like, and the hydraulic cylinder Av
The front wheel transmission cases 7, 7 swing by the operation of, and the front wheels 6, 6 move up and down with respect to the body.
At this time, the rear wheel support arms 9, 9 for freely supporting the rear wheels 8, 8 swing about the support shaft 10, 10 in conjunction with a rod or the like, and the front wheels 6, 6 and the rear wheel 8 , 8, when the body is moved up and down, horizontality of the body in the front-rear direction is maintained.

Numeral 11 denotes a seedling mounting table, the front side of which is slidably supported by a support 12 fixedly mounted on the traveling unit transmission case 1, and the rear side of which is fixedly mounted on the transplantation unit transmission frame 5. The receiving rail 13 is slidably supported on the left and right. The right and left reciprocating mechanism connected to the planting part transmission case 4 is connected to the seedling mounting table 11, and the seedling mounting table 11 reciprocates left and right in accordance with the operation cycle of the transplanting device 21 described later. ing. A roller 14 is provided on the bottom of the seedling mounting table 11.
A seedling feed belt 14c is attached to the entire surface of the seedling mounting surface so as to be wound around the seedlings a and 14b, and operates so as to feed the whole seedling by one row every time the rear end row of the placed seedlings is transplanted.

Reference numeral 15 denotes a transplantation device, which is a transplantation portion transmission frame 5.
The power transmitted to the implanted portion transmission case 4 is transmitted through a chain transmission mechanism in the transplanted portion transmission frame 5. The seedling implantation section 16 of the transplanting device 15 operates so as to draw a long elliptical locus vertically without changing its posture. Further, the seedling transplanting part 16 has plate-shaped seedling transplanting blades 17 on the left and right sides, and
The tip of the seedling transplant blade 17, 17 passes through the seedling opening of the seedling receiving rail 13 at the rear end of the seedling mounting table 11, and separates and holds one seedling. Seedling extruded body 1
Extruded and implanted at 8.

[0010] In front of the transplanting device 15, there is provided a groove forming tool 19 for previously forming a groove having a predetermined width and depth at a place where the seedling is planted by the transplanting device 15. In addition, behind the transplanting device 15, there is a crushing device 20 that refills the groove and crushes after the seedlings are planted by the transplanting device 15. This pressure-reducing device 20 is a cylindrical pressure-reducing cylinder 20a, 20a.
Is rotatably supported by a support frame 20b which is elastically urged downward by a spring.

Therefore, the seedling transplanting machine 1 forms a planting groove with the grooving tool 19 while running across the ridges, and transplants seedlings one by one with the transplanting device 15 in the planting groove. Then, a series of operations to suppress the soil with the pressure-reducing cylinders 20a and 20a of the pressure-reducing device 20 are performed. Av is a hydraulic cylinder serving as an actuator for raising and lowering the body. The cylinder portion 21 of the hydraulic cylinder Av is composed of frames 3a, 3b
It is fixed to a support plate 22 that is fixed between them. A spring case 24a equipped with a spring 24 is fitted to the piston rod 23 of the hydraulic cylinder Av up to a step on the rod base side, and a piston arm 25 extending in the left-right direction is provided at the center of the rod at the rod tip side. It is slidably engaged with the engaging hole of the section in the front-rear direction (the direction in which the piston moves). Therefore, the movement of the piston rod 23
Piston arm 2 with spring 24 as a buffer
5 is transmitted. An arm slide shaft 26 fixedly provided between the support plate 22 and the horizontal frame 3c is slidably penetrated through an engagement hole at the center lower portion of the piston arm 25, and the piston arm 25 has a piston rod 23 around the piston rod 23. Is restricted. The left and right ends of the piston arm 25 are connected to the front wheel transmission cases 7 of the front wheels 6
a, 7a are connected to the left and right of the front wheel swing arms 7b, 7b, respectively. The right side is directly connected by a rod 27, and the left side is a rolling hydraulic cylinder Ar.
Are connected via. In the connection on the left side, that is, the cylinder part 28 of the hydraulic cylinder Ar is connected to the left front wheel swing arm 7b, and the piston rod 29 is connected to the left end of the piston arm 25. Further, a rear wheel swing arm 31 is provided on the upper and lower shafts 30 above the center of the piston arm 25.
The left and right ends of the arm 29 are connected to rear wheel swing arms 9a, 9a integral with the rear wheel support arms 9, 9 via connecting rods 32, 32, respectively.

As described above, the hydraulic cylinder A for lifting and lowering the fuselage
When v operates and its piston rod 23 protrudes rearward, the front wheels 6, 6 and the rear wheels 8, 8 both swing downward and the body rises. Conversely, when the piston rod 23 retreats forward, the front wheels 6, 6 and the rear wheels 8, 8 both swing upward and the body descends.

Further, when the body is tilted to the right, the hydraulic cylinder Ar for rolling is actuated and its piston rod 2
When the cylinder 9 attempts to protrude rearward, the cylinder portion 28 moves forward to rotate the left front wheel swing arm 7b. Then, the left front wheel 6 swings upward,
The rightward tilt is corrected. Conversely, when the hydraulic cylinder Ar for rolling operates and the piston rod 29 attempts to retreat forward when the body tilts to the left, the cylinder portion 28 moves rearward and the left front wheel swing arm 7b Is rotated. Then, the left front wheel 6 swings downward, and the inclination to the left is corrected. In addition, the rear wheel 8,
In the rear wheel 8, the rear wheel oscillating arm 31 is freely rotatable around the vertical axis 30, so that the right and left rear wheels 8, 8 can be freely rolled by the reaction force received from the ground.

Reference numeral 33 denotes a horizontal sensor. The pendulum 35 having a weight 35a, which is integrally attached to the hydraulic cylinder Av for lifting and lowering the fuselage, and is supported on a shaft 34 in the front-rear direction so as to be able to swing left and right, is moved by the swing of the pendulum 35. Hydraulic valve 3 for activating Ar
6 are connected so as to operate the spool 36a. Therefore, the horizontal sensor 33 detects that the pendulum 35 swings to the right with respect to the machine body when the machine body is tilted to the right.
6a is operated to switch the flow of the pressure oil so as to protrude and move the piston rod 29 of the rolling hydraulic cylinder Ar. On the other hand, if the body is tilted to the left, the pendulum 35 swings to the left with respect to the body to push the spool 36a, and the piston rod 2 of the rolling hydraulic cylinder Ar is moved.
9 is operated so as to switch the flow of the pressure oil so as to retreat the 9. When the airframe is in a horizontal state, the pendulum 35 is suspended vertically to the airframe, and the spool 36a blocks the flow of pressure oil to the hydraulic cylinder Ar.

Reference numeral 37 denotes a ridge sensor, and a ridge surface grounding member 38 rotatably supported by a sensor support shaft 39 rotates up and down in accordance with a change in the height of the ridge with respect to the body while sliding on the upper surface of the ridge. To detect the ridge height. The ridge surface grounding body 38 is connected to a sensor-support shaft 39 via a support member 38a fixed to the front upper surface, and the sensor support shaft 39 is provided.
Is a bracket 3a 'fixed to the left and right frames 3a, 3b,
It is supported by support arms 42, 42 fixed to an adjustment shaft 41 that can be rotationally adjusted by a planting depth lever 40 supported by 3b '. Therefore, by operating the planting depth lever 40, the reference position of the ridged surface grounding body 38 with respect to the machine body can be changed.

A valve operating arm 38b is integrated with the support member 38a of the ridge sensor 37, and an operation for operating the tip end of the arm 38b and the spool 43a of the machine vertical hydraulic valve 43. Plate 43b and rod 44
Are connected via. In addition, the valve operation arm 3
8b is connected to a spring 45 that pulls the ground contact portion of the ridge surface grounding body 38 in the direction of turning downward. Therefore,
When the ridge-surface grounding body 38 rotates following the ridge height, the aircraft vertical hydraulic valve 43 is operated in conjunction therewith, and the aircraft vertical hydraulic cylinder Av operates.

That is, when the ridge surface rises with respect to the body, the ridge surface grounding body 38 is pushed up at its ground contact portion and pivots upward around the sensor support shaft 39, and the valve operation arm 38b,
The spool 43a is operated by the connection of the rod 44 and the valve operating plate 43, and the flow of the pressure oil is switched so that the piston rod 23 of the machine vertical hydraulic cylinder Av protrudes. As a result, the left and right front wheels 6, 6 and the rear wheels 8, 8 are simultaneously lowered, and the body moves upward. As the body rises, the ridge surface grounding body 38 rotates downward by the spring 45, and the spool 43a is
When the vehicle reaches the neutral position that blocks the flow of the pressure oil to v, the ascent of the aircraft stops. Conversely, when the ridge surface is lowered with respect to the fuselage, the ridge surface grounding body 38 is rotated downward by the spring 45 around the sensor-support shaft 39 by the spring 45, and the spool 43a is moved to the position of the body vertical hydraulic cylinder Av. The flow of the pressure oil is switched such that the piston rod 23 retreats.
As a result, the left and right front wheels 6, 6 and the rear wheels 8, 8 are simultaneously raised, and the body is moved downward. As the body descends, the ridge surface grounding body 38 is pushed up by the ridge surface and rotates upward, and the spool 43a is in the neutral position where the flow of the pressure oil to the aircraft vertical hydraulic cylinder Av is blocked. When the aircraft descends, the descent stops. In this way, even if the height of the ridge fluctuates, the vertical position of the aircraft with respect to the ridge, that is, the planting position of the transplanting device 15 from the ridge (for example, the lowest point of the planting operation trajectory) is determined. Since the seedling can be maintained at a predetermined position, the planting depth of the seedling can be maintained and controlled at a predetermined depth. still,
Valve operating plate 43 of hydraulic valve 43 for vertical movement of the airframe
Is connected to a wire 46 connected to the body vertical lever Lv, and the body can be manually moved up and down to an arbitrary height by the lever Lv.

The working hydraulic circuit of the hydraulic cylinders Av and Ar is as shown in FIG. Here, 46 is a hydraulic pump, 47 is a flow dividing valve, and 48 and 49 are relief valves. By the way, the ridged surface grounding body 38 is formed of a plate-like member which is wide left and right, and the rear end side is smoothly rolled in the horizontal direction in a side view, and this is a grounding portion. The ground portion has a curved surface that is convex downward in the left-right direction and is smoothly curved. The ground contact portion of the ridge surface grounding body 38 having a curved shape to the left and right has a relatively large ground contact area since the curved surface is formed gently, so that no marked trace is formed on the surface of the ridge. Then, when the aircraft performs a rolling operation with the vicinity of the left and right center of the aircraft as a rolling center, the end of the ground contact portion of the ridge surface grounding body 38 is warped upward, so that the pushing action from the ridge surface can be escaped, Unnecessary machine vertical control operation that has conventionally occurred in this case can be prevented. Therefore, in the case of a transplanting machine that travels in a field with severe unevenness, when the posture control of the vertical and horizontal inclination of the machine is performed at the same time, unnecessary control operation as described above can be prevented, and the planting accuracy is stable and improved. I do.

The seedlings of vegetables and the like to be transplanted by the transplanter as described above are seedlings that have been raised in a form that is divided into individual strains using pots 50 arranged vertically and horizontally. Since the seedlings are vegetable seedlings, the leaves are wider to the left and right than the rice seedlings. Therefore, there is a problem that the leaves are damaged when the transplanting blades 17, 17 enter between the pots 50 and separate by one plant at the time of transplantation. Therefore, if the leaf protection frames 51 shown in FIG. 7 and FIG. 8 are placed in a pot before germination to raise seedlings, the grown leaves do not spread right and left, and damage during transplantation can be prevented.
The leaf protection frames 51 are formed of a biodegradable material, and are arranged at the same pitch as the pots 50 so that the connecting portions 5 are formed.
1b are connected to each other. In addition, lighting windows 51a are opened in each of the protective frames 51.

[Brief description of the drawings]

Fig. 1 Side view of a field transplanter

FIG. 2 is a side view of a main part of the body attitude control unit.

FIG. 3 is a plan view of a main part of the aircraft attitude control unit.

FIG. 4 is a cross-sectional rear view of a main part of the body attitude control unit.

FIG. 5 is a sectional view showing a configuration of a horizontal sensor.

FIG. 6 is a hydraulic circuit diagram of the body attitude control.

FIG. 7 is a perspective view of a seedling box showing a state in which a leaf protection frame is attached.

FIG. 8 is a cross-sectional side view of a seedling grown with a leaf protection frame.

[Explanation of symbols]

 33: Horizontal sensor 37: Ridge sensor 38: Ridge grounded body Av: Hydraulic cylinder for vertical movement of machine body Ar: Hydraulic cylinder for rolling control

Claims (1)

(57) [Claims] 1. An aircraft vertical control means for detecting the height of an aircraft by a sensor that touches a field scene and vertically controlling the aircraft,
In a seedling transplanting machine equipped with a body rolling control means for detecting the horizontal inclination of the body by a horizontal sensor and controlling the body to roll left and right, the contact surface of the sensor of the body vertical control means is curved downward in the body left and right direction. A body attitude control device for a seedling transplanter, wherein the device is provided in a shape.