JP3062233B2 - 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 section attitude control device for a riding rice transplanter.

(B) Conventional technology Conventionally, a planting portion is vertically connected via an elevating link mechanism provided at the rear of the traveling portion so that the height of the planting portion relative to the ground is kept constant, and An inclination sensor for detecting the forward and backward inclination posture is provided, and the planting part posture changing means provided on the top link of the elevating link mechanism is extended and contracted by the inclination sensor to maintain the plantation part forward and backward inclination posture with respect to the ground. Thus, there is a planting portion attitude control device of a riding rice transplanter that has accurately planted seedlings.

(C) Problems to be Solved by the Invention However, a large load in the tensile direction due to the weight of the planting portion acts on the top link, and therefore, the shortening operation speed of the planting portion posture changing means becomes slow, Therefore, after raising the planting part for a U-turn or the like at the end of the field and then lowering the planting part to the planting position again, the posture control of the planting part is delayed and the planting part is tilted backward. The state lasts for a long time,
During this time, there was a drawback that the seedlings could not be planted accurately.

(D) Means for Solving the Problems According to the present invention, a planting portion is connected to the rear of the traveling portion so as to be able to move up and down by a lifting link mechanism, and the link is extended and retracted to a top link of the lifting link mechanism. In a riding rice transplanter configured to be capable of changing the posture of the planting section with respect to the traveling section by providing a section posture changing means, the return position as the operation origin of the planting section posture changing means is set at the center of the operation of the planting section posture changing means. It is an object of the present invention to provide a planting portion attitude control device for a riding rice transplanter, wherein the device is set so as to be deviated from the position to the contraction side of the same means.

(E) Function / Effect According to the present invention, the return position, which is the operation origin of the planting portion posture changing means, is set to be deviated to the contraction side of the planting portion posture changing device from the center position of the operation of the planting portion posture changing device. Therefore, when the planted portion is lowered to the planted position, the planting portion posture changing means operates in the extension direction, and a tensile load acts on the top link, so the planting portion posture is changed. The operating speed of the changing means is high, and therefore, the operation of controlling the posture of the planting portion is slowed down, so that the planting operation can be started in a short time after the planting portion is lowered to the planting position.

(F) Examples Hereinafter, examples of the present invention will be described 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).

In addition, the riding rice transplanter (A) is provided with a planting portion posture changing means (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) at 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.

Further, (20) is a floor which also serves as a floor surface, a transmission guide, a fender, a seat mounting plate (20a), etc., and is integrally molded from a highly rigid synthetic resin such as FRP, and is mounted on the body frame (10). It is stretched.

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

The operating section (12) has a steering shaft (23) installed 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.

At the rear of the upper surface of the floor (20), a control section (C) constituting a part of the planting section attitude changing means (60) is attached.

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.

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.

As shown in FIGS. 3 and 4, the top link (51) includes left and right link members (51C) and (51d) forming a base (51b) for attachment to the traveling portion (1), and a planting portion posture changing means. (60)
And a link body (52a) serving as a mounting portion to the up-down link mechanism side hitch portion (61).
C) (51d)
These front ends are pivotally connected to a horizontally pivoted shaft (51a) in the upper rear part of the running part (1), and the rear ends are protruded on the left and right sides of the planting part posture changing means (60). Overhang (60a) (60
The front end of the link body (52a) is connected to the center of the rear surface of the planting portion posture changing means (60).

The planting portion posture changing means (60) is provided with the overhanging portion (60a)
Attach the telescopic drive motor (52c) to (60b), fix the telescopic screw (52b) to the output shaft of the motor (52c), and screw the telescopic screw (52b) to the front end of the link body (52a). Thus, the top link (51) is operated to expand and contract by the forward and reverse rotation of the expansion screw (52b).

(52d) and (52e) are detection switches for detecting the expansion / contraction limit of the expansion / contraction screw (52b) and stopping driving of the expansion / contraction drive motor (52c), and (52f) is for contacting the switches (52d) and (52e). Detection rod, (52g) is a bellows cover, (5
2h) is a potentiometer for detecting the expansion / contraction position of the planting portion posture changing means (60).

(P) is a spring pin inserted into the rear end of the telescopic screw (52b). If the detection switch (52d) (52e) or the detection rod (52f) fails, the telescopic drive motor (52c)
Even if is excessively rotated in the extension direction, the same pin (p)
The extension screw (52b) can be prevented from coming off from the front end of the link body (52a).

The hitch part (61) of the lifting link mechanism side is
A locking rod receiving portion (61b) having a U-shaped cross section is provided at the upper end of a), and locking pieces (61c) are provided at the lower left and right sides of the hitch body (61a).
(61c) is installed.

The planting-side hitch part (49) hangs the locking rod (49b) on the top of the rear view portal type hitch body (49a),
Locking pins (49c) and (49c) are provided on the left and right sides of the lower part of the hitch body (49a) to protrude laterally outward, respectively.
c) (49c) can be locked to the locking pieces (61c) (61c).

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) comprises a sliding rod (71) having a pivot (41b) projecting from the front upper surface of the float (41) and an elongated hole (70) being drilled in the pivot (41b). The guide pin (72) protruding from the front of the planted transmission case (40) is movably inserted into the long hole (70), and the sliding rod (71)
The outer end of the wire (74) connected to the spool (73) of the hydraulic control valve (69) and the inner (75) of the same wire (74) to the guide pin (72) are connected to the upper end of the float (41). ) Is transmitted to the spool (73) of the hydraulic control valve (69) by the vertical movement of the wire (74) 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) is connected to the lifting hydraulic cylinder (4) with the intermediary of the hydraulic pump (P) and the hydraulic pump (P) is directly connected to the lifting hydraulic cylinder (4) 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 right and left to contract the elevating hydraulic cylinder (4) and raise the planting section (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 right and left to raise and lower the hydraulic cylinder ( 4) is extended, and the planting part (2) is lowered so that 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 1 (P) is directly connected to the lifting hydraulic cylinder (4). At the right position (80) of the neutral position (76), the lifting hydraulic cylinder ( 4) is connected to the reservoir (82), and at the right outer position, the lifting hydraulic cylinder (4) is directly connected to the reservoir (82), so that the planting portion (2) adapted to the optimal planting depth is connected. ) And the float (41) when the absolute value of the deviation from the set value 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, By moving the attachment (2) up and down at a high speed, Proportionality operation is to be performed.

As shown in FIG. 3, the inclination sensor (Sl) constituting a part of the planting portion posture changing means (60) is a hitch portion (61) of the lifting link mechanism side that tilts integrally with the planting portion (2). ) Is attached to the left side via the sensor stay (61r), and the inclination of the planting portion (2) in the front-rear direction (upward inclination or downward inclination)
Angle is detected. (61s) is a connection wiring connecting the inclination sensor (S1) and the control unit (C).

As shown in FIG. 6, the planting portion posture changing means (60) is composed of the telescopic drive motor (52c), a tilt sensor (S1), and a controller (C). ) Is input to the control unit (C), and the telescopic drive motor (52c) is operated by the output from the control unit (C) based on the detected value. By making the top link (51) expand and contract, the posture of the planting portion (2) with respect to the planting surface is kept constant.

With the above configuration, the inclination sensor (S1) detects the front-back inclination of the planting section (2), and the control section (C) causes the top link (51) to expand and contract based on the detection result. The front-back inclination of the attachment part (2) is appropriately corrected, and an accurate seedling planting operation is performed.

Further, the control unit (C) sets a return position (Pr) as an operation origin of the planting unit posture changing unit (60), and expands and contracts the planting unit posture changing unit (60) detected by the potentiometer (52h). When the planting section (2) is raised by the elevating link mechanism (3) in comparison with the position, the planting section posture changing means (60) is automatically returned to the return position (Pr). .

In particular, in the present invention, as shown in FIG. 7, the return position (Pr) is set within the operating range (P1) of the planting portion posture changing means (60).
When the planting part (2) is raised for a U-turn or the like, the planting part posture changing means (60) is automatically set when the planting part (2) is raised for a U-turn or the like. Return position (P
r).

As described above, the return position (Pr) as the operation origin of the planting portion posture changing means (60) is shorter than the center position (P0) of the operating range (P1) of the planting portion posture changing means (60). When the planting part (2) is lowered to the planting position by setting it to be deviated to (P2), the operating direction of the planting part posture changing means (60) changes the load applied to the top link (51). To be in the same direction as
The operating speed is high, and the posture of the planting section (2) can be quickly moved to a predetermined posture, so that the planting operation can be started immediately.

In addition, as shown in FIG. 3, an elevating position switch (S3) is provided near the pivot position of the top link (51).
Turn ON / OFF the switch (S3) at the base of the top link (51)
When the leaf spring (S4) is attached and the planting part (2) falls below the preset position, the switch (S3)
To the control unit (C), and when the output is input to the control unit (C), the planting unit posture changing means (60) is returned to the return position (Pr) to thereby perform planting. Department (2)
It is possible to prevent interference caused by contact between a member disposed at the front end of the seedling table (42) in front of the upper part and a member disposed above the rear part of the floor (20) of the running part (1).

[Brief description of the drawings]

FIG. 1 is a side view of a riding rice transplanter equipped with a planting portion attitude control device according to the present invention, FIG. 2 is a plan view of the rice transplanting machine, and FIG. 3 is an elevation link mechanism and a planting portion attitude changing means. FIG. 4 is a side view, FIG. 4 is a plan view of a lifting link mechanism and a planting portion posture changing means, FIG. 5 is a hydraulic circuit diagram for controlling the lifting link mechanism, and FIG. 6 is a block diagram of the planting portion posture changing device. . FIG. 7 is an explanatory view showing a return position. (A): Rice transplanter (C): Control unit (Pr): Return position (P0): Center position (1): Running unit (2): Planting unit (3): Elevating link mechanism (51): Top Link (60): Planting part posture changing means

Claims (1)

(57) [Claims] 1. A planting part (2) is connected to a rear link of a traveling link (1) by a lifting link mechanism (3) so as to be able to move up and down freely, and is linked to a top link (51) of the lifting link mechanism (3). In a riding rice transplanter (A) configured to be able to change the posture of the planting section (2) with respect to the traveling section (1) by providing a planting section posture changing means (60) that expands and contracts the (51), Return position (P) as the origin of operation of the posture changing means (60)
r) is changed to the central position (P
A planting portion attitude control device for a riding rice transplanter, wherein the device is set so as to be deviated to the contraction side of the means (60) rather than (0).