JP2997011B2 - Planting part attitude control system for riding rice transplanter - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (a) Field of Industrial Application The present invention relates to a planting portion attitude control device for a riding rice transplanter.

(B) Conventional technology Conventionally, as an example of a riding rice transplanter, there is one in which a planting unit is connected to a rear of a traveling unit so as to be able to move up and down by a lifting device.

The planting section is provided with a seedling platform in a forward-high, low-back, forward-tilting position, and a worker riding on the traveling section replenishes a seedling mat on the seedling platform with the traveling section, so-called seedling laying operation. I do it.

The planting portion is detachably connected to the rear end of the lifting device by a hitch portion.

(C) Problems to be Solved by the Invention However, in the above-described riding rice transplanter, the seedling mounting table has a forwardly inclined posture close to a vertical rising shape, and the upper end of the seedling mounting table located on the traveling unit side and the rear end of the traveling unit. There is a problem in that the workers are not able to smoothly and reliably transfer seedlings from the traveling section to the seedling mounting table because there is a certain interval between them so as not to hinder the raising and lowering of the planting section. Was.

In addition, the planting section is detachably connected to the rear end of the elevating device by a hitch section. However, the detaching operation by the hitch section cannot be easily performed when the planting section is in the forwardly inclined posture. was there.

(D) Means for Solving the Problems In the present invention, the planting section is connected to the rear of the traveling section via a lifting link mechanism, and the lifting link mechanism can be raised and lowered by a lifting hydraulic cylinder. An inclination sensor for detecting an angle of a forward and backward inclination of a traveling part in a planting portion posture control device of a riding rice transplanter, wherein a top link forming a portion is expanded and contracted by an actuator to control the posture of the planting portion. A feedback sensor that detects the length of expansion and contraction of the vehicle, and a control unit that controls the operation of the actuator based on the detection results of these sensors. Operation to control the driving mechanism of the traveling unit and the planting unit in a non-driving state, and to control the planting unit so that the planting depth of the planting unit is kept constant. There is provided cents planting platform attitude control device of the riding rice transplanter, characterized in that is tuned to the operation of the actuator for tilting operation.

Another characteristic is that the operation position is a seedling operation position.

In addition, the planting section is connected to the rear of the running section so as to be able to move up and down by a lifting device, and the lifting apparatus is provided with an actuator for swinging the planting section back and forth to change the posture of the planting section, By operating the actuator in synchronization with the forward and backward inclination of the running part, the posture control of the planting part of the riding rice transplanter that enabled the posture control of the planting part to keep the planting depth of the seedling constant. Then, the rear end of the lifting device and the front end of the planting portion are detachably connected by a hitch portion, and the attaching and detaching operation of the hitch portion and the operation of the actuator for tilting the planting portion backward are synchronized. (E) Functions and Effects According to the present invention, the following functions and effects are produced.

That is, in the present invention, the front-rear inclination of the traveling unit is detected by the inclination sensor, and based on the detection result, the control unit causes the top link to expand and contract, and the feedback sensor detects the expansion and contraction of the top link. Based on the results, the control unit stops the expansion and contraction operation of the top link, so that the top link appropriately corrects the forward and backward inclination of the planting part, keeping the planting depth of the seedlings constant and performing planting work. It can be secured well.

Then, when performing the seedling work, each drive mechanism of the traveling unit and the planting unit is operated in a non-driving state. In synchronization with such operation, an actuator that changes the posture of the planting unit,
In order to operate the planting section to tilt forward, the seedling mounting table provided in the planting section further tilts forward to approach a horizontal posture.

For this reason, the seedling mounting table has an upper end close to the rear end of the traveling section and has a forwardly inclined posture close to a horizontal posture, so that the operator can easily replenish the seedling mounting table from the traveling section.

In addition, by setting the operation position as the seedling operation position, the seedling table can be inclined forward by the operation to the seedling operation position, and the seedling operation can be performed easily.

In addition, at the time of attaching / detaching work of the planting portion, the actuator is operated to tilt the planting portion backward in synchronization with the attaching / detaching operation of the hitch portion. It can be easily attached and detached.

Embodiments of the present invention will be described below with reference to the drawings.

(A) shown in FIG. 1 is a riding rice transplanter. The riding rice transplanter (A) includes a planting section (2) behind a self-propelled traveling section (1) and an elevating link mechanism (3). The planting section (2) can be moved up and down by a lifting hydraulic cylinder (4).

Moreover, such a riding rice transplanter (A) is provided with a planting portion attitude control device (60), and the control device (60) can keep the planting depth of the seedling by the planting portion (2) constant. The control device (60) will be described later.

First, the traveling section (1) will be described with reference to FIG. 1 and FIG.

As shown in FIGS. 1 and 2, the traveling section (1) includes an engine (11) at a front portion on a body frame (10) and an operating portion (12) at a rear portion.

The transmission case (13) is connected to the engine (11) and attached to the lower rear portion of the body frame (10).

Left and right front axle cases (15) are located on the lower front of the fuselage frame (10).
The front wheels (16) and (16) are attached to the ends of the cases (15) and (15). (19) is a transmission shaft that interlocks the front axle case (15) and the transmission case (13).

A rear axle case (17) is connected to the transmission case (13) at the rear of the fuselage frame (10), and the rear wheels (18) and (18) are mounted on the left and right sides of the case (17). ing.

(20) is a casing body which also serves as a floor surface, a speed change guide, a fender, a seat mounting plate (20a), etc.
It is integrally molded from a synthetic resin having high rigidity and stretched on the body frame (10).

Also, (21) is a bonnet and the engine (11)
And the steering shaft (2
3) covers.

In the driver's seat (12), a steering shaft (23) is erected immediately after the engine (11), and a handle (24) is attached to an upper end of the shaft (23). The seat (25) is placed on the seat mounting plate (20a) located immediately behind.

Further, a control unit (C) constituting a part of the planting portion attitude control device (60) is attached to a rear portion of the upper surface of the casing body (20).

Further, (30) is a shift lever disposed on the left side of the seat (25), (31) is an auxiliary shift lever protruding above the left side of the hood (21), and (32) is a seat ( 25) The planting part elevating lever arranged on the right side of (25), (33) is the clutch pedal arranged on the left side of the bonnet (21), (34) is the brake pedal arranged on the right side of the bonnet (21) ,
(35) is a spare seedling platform.

Also, as shown in FIG. 1, the planting section (2) has a planting mission case (40) at the lower rear of the lifting link mechanism (3).
The front end of the case (40) is mounted so that it can swing left and right, the float (41) is installed below the case (40), the seedling mounting table (42) is installed above the case (40), and the rear end of the case (40) The planting claw (43) is attached to the part. (44) is a transmission shaft interposed between the transmission case (13) and the planting transmission case (40).

As shown in FIGS. 3 and 4, the lifting link mechanism (3) includes a front end of a top link (51) and a left and right lower link (45) at upper and lower sides of a rear portion of the body frame (10).
The front end of (45) is pivotably supported vertically by pivots (51a) (45a), respectively, between the rear end of the top link (51) and the rear ends of the left and right lower links (45) (45). The lift link mechanism side hitch portion (61) is interposed, and the hitch portion (61) is detachably connected to a planting side hitch portion (49) provided upright in front of the planting portion (2).

At the front ends of the left and right lower links (45) and (45), left and right elevating arms (46) and (46) are erected, respectively, so as to stand between the upper ends of both arms (46) and (46) and the body frame. (10) A lifting hydraulic cylinder (4) is interposed between the middle part and the middle part, and between the upper ends of the arms (46) and (46) and the rear ends of the left and right lower links (45) and (45). Connecting rod (48)
(48) is interposed.

In addition, the top link (51) is the link body (52a)
And a telescopic screw (52b) screwed into the link body (52a)
And a telescopic drive motor (52c) for operating the telescopic screw (52b) forward or reverse to expand and contract, and a telescopic screw (52b)
And the detection switches (52d) and (52e) for stopping the drive of the motor (52c) by detecting the expansion / contraction limit of the motor (52c). (52f) is a detection rod, and (52g) is a bellows-like cover. (55) is a thick absorber, (55
a) (55b) is a connecting pin.

The top link (51) forms a part of a planting section attitude control device (60) described later.

The hitch portion (61) on the lifting link mechanism side is provided with a locking rod receiving portion (61) having a U-shaped cross section at the upper end of the hitch body (61a).
While b) is provided, the locking pieces (61c) (61c) are attached to the left and right sides of the lower portion of the hitch body (61a) by rotating and biasing them upward by springs (61d). (61e) is a spring locking pin, (61f) is a lever for unlocking the locking piece (61c), and (61g) is a pivot.

4 The planting side hitch part (49) is provided with a locking rod (49b) on the upper part of the rear view portal type hitch body (49a), and on the lower left and right sides of the hitch body (49a). The locking pins (49c) and (49c) are protruded laterally outward, respectively, so that the locking pieces (61c) and (61c) can be locked to the locking pins (49c) and (49c).

(63) shown in FIGS. 3 to 5 is a drawing marker pulling-up mechanism. The mechanism (63) is provided on the pivot (61g) by a pair of left and right brackets (63a) (63a). A pair of left and right L-shaped levers (63c) (63
c) Pivot the middle part and connect one end (63j) (63j) of each lever (63c) (63c) to the middle part of the lower link (45) via wires (63d) (63d). On the other hand, an interlocking lever (63e) is connected to the hitch body (49a) of the planting side hitch (49).
(63e) pivotably supports the middle of the road,
3e) The front side (63k) (63k) of (63e) can be engaged with the other end (63m) (63m) of the L-shaped lever (63c) (63c), and the interlocking levers (63e) (63e) Rear side (63n) (63
Interlocking wires (63f) and (63f) are interlockingly connected between n) and left and right drawing markers (not shown), respectively. (63h) is the axis.

The middle part of the wires (63d) (63d) is wound around reels (63g) (63g) attached to the upper part of the hitch body (61a) of the hitch part (61) of the lifting link mechanism.
(63p) is the pivot, (63q) is the L-shaped lever locking hook,
(63r) is a spring that locks and urges the hook (63q).

With this configuration, the L-shaped levers (63c) and (63c) are connected to the wire (63) in conjunction with the lifting operation of the lifting link mechanism (3).
d) While rotating through (63d), the lever (63c)
The other end (63m) (63m) of (63c) is linked with the interlock lever (63e) (63
e), the interlocking levers (63e) and (63e) are rotated counterclockwise in the side view of FIG. 3 to engage the interlocking levers (63e) and (63e). ), The interlocking wires (63f) and (63f) connected to the rear end are pulled up so that the drawing marker stands up and can be stored.

At this time, the L-shaped lever locking hook (63q) (63q)
L-shaped lever (63c) (63c)
c) Since the rotation of (63c) is restricted, the drawing marker is held in the upright stored state.

The operation of the lifting hydraulic cylinder (4) is controlled by a hydraulic control valve (69) shown in FIG.
Is controlled by a sensor (S) that detects a change in height difference between the planting section (2) and the float (41).

That is, the sensor (S) is a sliding rod (71) having a pivot (61b) projecting from the front upper surface of the float (41) and an elongated hole (70) being drilled in the pivot (41b). Of the mission case (40) in the front extension (40)
Insert the guide pin (72) protruding from a) movably,
The hydraulic control valve (69) spool (7
The outer wire (74) connected to 3), the inner wire (75) of the same wire (74) is connected to the guide pin (72), and the same wire (74) is moved up and down by the float (41).
Is transmitted to the spool (73) of the hydraulic control valve (69) to operate the lifting hydraulic cylinder (4).

The hydraulic control valve (69) is a five-position control valve. In the central neutral position (76), the lifting hydraulic cylinder (4)
Block the side and choke (7
8) The hydraulic pump (P) and the lifting hydraulic cylinder (4) are connected with the interposition of the hydraulic pump (P) and the hydraulic pump (P) and the lifting hydraulic cylinder (4) are directly connected at the left position (79).
At the right position (80) of the neutral position (76), the lifting hydraulic cylinder (4) and the reservoir (82) are connected via the choke (81), and at the right outer position (83), the lifting hydraulic cylinder (83) is directly connected. 4) is connected to the reservoir (82).

Therefore, the position of the planting part (2) is low and the wire (7
4) When the hydraulic control valve (69) side of the inner (75) is retracted, the spool (73) is moved to the left to contract the elevating hydraulic cylinder (4) and raise the planting part (2). Conversely, when the position of the planting portion (2) is high and the hydraulic control valve (69) side of the inner (75) of the wire (74) is pulled out, the spool (73) is moved to the right to raise and lower the hydraulic pressure. By extending the cylinder (4) and lowering the planting part (2), the planting part (2) is supported at a constant height and the planting depth of the seedling is kept constant.

Further, at the center neutral position (76), the lifting hydraulic cylinder (4) side is blocked, and at the left position, the hydraulic pump (P) and the lifting hydraulic cylinder (4) are connected via a choke (78). At the left position (79), the hydraulic pump (P) is directly connected to the lifting hydraulic cylinder (4), and at the right position (80) of the neutral position (76), the lifting hydraulic cylinder (4) is interposed with a choke (81). ) Is connected to the reservoir (82), and at the right outside position, the lifting hydraulic cylinder (4) is directly connected to the reservoir (82), so that the planting section (2) adapted to the optimum planting depth is obtained. When the absolute value of the deviation from the set value of the height difference between the float and the float (41) is small, the planting section (2) is moved up and down at a low speed, and when the absolute value of the deviation is large, the planting is performed. By moving part (2) up and down at high speed, Do proportional operation is to be performed.

In such a configuration, the gist of the present invention resides in the configuration of the planting portion attitude control device (60), which will be described below.

That is, as shown in FIG. 7, the planting portion posture control device (60) includes a tilt sensor (S1) and a telescopic drive motor (52c).
The top link (51) having the
It comprises a feedback sensor (S2) attached to 1) and a control unit (C).

The tilt sensor (S1) is attached to the left side of the up-down link mechanism side hitch portion (61), and the tilt in the front-rear direction when the traveling portion (1) pitches along the unevenness of the tillage (front up tilt). Or the angle of the front descent) is detected.

Note that the inclination sensor (S1) can be provided in the traveling section (1).

In addition, the top link (51) swings both the hitch portions (61) and (49) forward and backward by the expansion and contraction operation, and swings the rear portion of the planting portion (2) up and down. By correcting the inclination in front and rear of 2), the relative angle between the planting part (2) and the traveling part (1) is kept constant, and the planting depth of the seedling by the planting part (2) is kept constant. Have to be able to.

The feedback sensor (S2) uses a potentiometer or the like, and is attached to the telescopic drive motor (52c), and the top link (5
1) The expansion and contraction are detected.

Further, as shown in FIG. 7, the control unit (C) inputs the detection result of the forward and backward inclination of the traveling unit (1) by the above-mentioned inclination sensor (S1), and based on the detection result, the top link (51). ) Is output to extend and retract, while the result of detection of the extension and retraction length of the top link (51) by the feedback sensor (S2) is input, and the extension and retraction of the top link (51) is stopped based on the detection result. I try to make it.

With the above configuration, the front-rear inclination of the traveling section (1) is detected by the inclination sensor (S1), and based on the detection result, the control section (C) causes the top link (51) to expand and contract, and The feedback sensor (S2) detects the extension / retraction operation of the link (51), and the control unit (C) stops the extension / retraction operation of the top link (51) based on the detection result. Planting part by (2)
By properly correcting the front-back inclination, the planting depth of the seedlings can be kept constant, and the planting operation can be satisfactorily secured.

In addition, the planting section attitude control device (6
0) is to synchronize the operation of locking the shift lever (30) provided on the traveling portion (1) to the neutral position and the operation of the telescopic drive motor (52c) for tilting the planting portion (2) forward. ing.

That is, as shown in FIG. 8, the neutral position locking portion (85) provided in the lever guide groove (85) of the speed change lever (30).
A lever detection switch (86) is provided in the vicinity of
As shown in the figure, the switch (86) detects the locked state of the shift lever (30) at the neutral position, and the telescopic drive motor (52c) provided on the top link (51) is used by the top link (51). It is driven so as to be shortened. (86a) is a contact terminal, (87) is a relay, (87a)
Is a switching contact.

The neutral position locked state of the transmission lever (30) is set as the seedling operation position, and when the transmission lever (30) is locked at the operation position, the traveling unit (1) and the planting unit (2) are locked. Each drive mechanism can be held in a non-drive state, that is, a clutch disengaged state, so that a safe seedling operation can be ensured.

Therefore, the shifting lever (3
0) with the lever guide groove (85)
When locked to the neutral position lock section (85a), the lever detection switch (86) is turned ON and the telescopic drive motor (52c)
As a result, the top link (51) is shortened, and both the hitch portions (61) and (49) are tilted forward, and the seedlings provided on the planted portion (2) are provided to tilt the planted portion (2) forward. The mounting table (42) can be tilted further forward to approach a horizontal posture.

At this time, when the top link (51) is shortened to the maximum, that is, the detection rod (52f) is moved to the detection switch (52).
When e) is turned off, the telescopic drive motor (52c) stops, so that the seedling mounting table (42) can be held in a substantially horizontal posture.

When the lever detection switch (86) is turned off, the top link (51) is driven by the telescopic drive motor (52c).
Is extended and the detection rod (52f) is moved to the detection switch (52
d) is turned off so that automatic attitude control is started.

For this purpose, the seedling mounting table (42) adopts a forward inclined position close to a horizontal position with the upper end close to the rear end of the traveling section (1), and the operator places the preliminary seedling loading from the traveling section (1). The seedling mat placed on the stand (35) can be easily refilled on the seedling stand (42).

Further, the forward tilting operation of the seedling mounting table (42) is not limited to the operation of the shift lever (30) and the seedling operation lever (36), but is an inevitable operation of various operation levers at the time of seedling operation. When the lever is shifted to the non-drive state of the riding rice transplanter (A),
It can also be synchronized.

Further, as shown in FIG. 3, an engagement / disengagement detection switch (88) is provided on the locking piece (61c) of the hitch portion (61) on the lifting link mechanism side, and as shown in FIG. By
The locking piece (61c) and the locking pin (49
c) detecting the disengaged state with the top link (51) and driving the telescopic drive motor (52c) provided on the top link (51) so that the top link (51) is extended, while the locking piece (61c) And the engagement state of the lock pin (49c) and the retractable drive motor (52c) are driven so that the top link (51) is shortened.

Therefore, in order to remove the planting section (2),
When the engagement between the engagement piece (61c) and the engagement pin (49c) is released, the engagement / disengagement detection switch (88) detects the disengagement state, and the top link (51) extends to move up and down. Since the link mechanism-side hitch portion (61) has a front-to-back and rear-to-high inclination posture as a whole, if the elevating link mechanism (3) is lowered in the same state, the locking rod of the hitch portion (61) is locked. The engagement between the receiving portion (61b) and the locking rod (49b) of the planting side hitch portion (49) can be easily performed, and the removal work of the planting portion (2) can be performed quickly and easily. Can be completed.

In addition, when performing the mounting work of the planting portion (2), as described above, when the elevating link mechanism (3) in which the top link (59) is in the extended state is raised, the front portion of the planting portion (2) is raised. Is lifted, the locking pin (49c) moves to the locking piece (61c) side, engages with the locking piece (61c), and the engagement detection switch (88) detects the engaged state As a result, the top link (51) is shortened, and both the hitch portions (61) and (49) can be set upright, so that the mounting work of the planting portion (2) can be completed quickly and easily. Can be.

[Brief description of the drawings]

FIG. 1 is a side view of a riding rice transplanter equipped with a planting section attitude control device according to the present invention. FIG. 2 is a plan view of the rice transplanter. FIG. 3 is an enlarged side view of the planting section attitude control device. FIG. 4 is a plan view of the planting section attitude control device. FIG. 5 is a front view of a drawing marker pulling mechanism. FIG. 6 is a hydraulic circuit diagram for controlling the lifting link mechanism. FIG. 7 is a block diagram of a planting section posture control device. FIG. 8 is an explanatory plan view of a lever detection switch. FIG. 9 is a circuit explanatory diagram including a lever detection switch. FIG. 10 is an explanatory diagram of a circuit including an engagement / disengagement detection switch. (A): Rice transplanter (C): Control unit (S1): Tilt sensor (S2): Feedback sensor (1): Traveling unit (2): Planting unit (3): Elevating link mechanism (60): Planting Attachment posture control device

Claims (3)

(57) [Claims] A planting section (2) is connected to a rear side of a traveling section (1) via a lifting link mechanism (3), and the lifting link mechanism (3) can be raised and lowered by a lifting hydraulic cylinder (4). ,
The top link (51) forming a part of the elevating link mechanism (3) is expanded and contracted by an actuator, and the planting section (2)
An inclination sensor (S1) that detects the angle of forward and backward inclination of the traveling unit (1) and an expansion / contraction length of the top link (51) Feedback sensor (S2) and these sensors (S1) (S
A control unit (C) for controlling the operation of the actuator based on the detection result of (2), and operating the actuator in synchronization with the forward and backward inclination of the traveling unit (1) to obtain a planting depth of the seedling. Planting part (2) so as to maintain a constant
The operation of disabling each drive mechanism of the traveling unit (1) and the planting unit (2) is synchronized with the operation of the actuator for tilting the planting unit (2) forward. A planting section attitude control device for a riding rice transplanter, characterized in that: 2. An apparatus according to claim 1, wherein the operation position is a seedling operation position. 3. The planting section (2) is connected to the rear of the running section (1) so as to be able to move up and down by an elevating device.
An actuator for swinging the planting section (2) back and forth to change the posture of the planting section (2) is provided, and the actuator is operated in synchronization with the front-back inclination of the running section (1), thereby providing seedlings. A planting section attitude control device of a riding rice transplanter, wherein a posture of a planting section (2) can be controlled so as to keep a planting depth of the planting section constant. ) And the front end of the hitch (6
1) Detachable connection by (49), hitch part (61)
A planting portion attitude control apparatus for a riding rice transplanter, wherein the attaching and detaching operation of (49) is synchronized with the operation of an actuator for tilting the planting portion (2) backward.