JP3062234B2 - 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 section is vertically connected via an elevating link mechanism provided at the rear of the traveling section so that the height of the planting section relative to the ground is kept constant and the traveling section is moved forward and backward. By providing an inclination sensor for detecting the inclination posture, the inclination sensor activates the planting portion posture changing means provided on the elevating device, and the planting portion maintains a constant inclination before and after the ground, so that accurate seedlings can be obtained. There is a planting section attitude control device of a riding rice transplanter that has been planted.

(C) Problems to be Solved by the Invention However, the ratio between the detected value of the tilt sensor and the operation amount of the planting portion posture changing means, that is, the optimum value of the sensitivity is as follows:
Depending on the soil quality of the field, for example, in a sandy field, the running up position of the running unit is small, so the sensitivity is made more sensitive than in the case of standard soil, and in the case of clay, the running up position of the running unit is large. Therefore, it is necessary to adjust the sensitivity according to the soil of the field, such as making the sensitivity less sensitive than that of the standard soil, and it is necessary to arrange a sensor to detect the soil of the field, and the structure becomes complicated. It was disadvantageous in terms of cost.

(D) Means for Solving the Problems According to the present invention, a planting portion is connected to the rear of the running portion so as to be able to move up and down by a lifting link mechanism, and the lifting link mechanism changes the posture of the planting portion with respect to the running portion. Attachment part attitude change means is provided, and a tilt sensor for detecting the front and rear inclination attitude of the traveling part is provided on the traveling part, and the planting part attitude change means is operated based on the detection result of the inclination sensor to set the planting part's ground attitude. In the planting portion attitude control device for a riding rice transplanter, wherein the inclination of the traveling portion detected by the inclination sensor is small, the detected value of the inclination sensor and the planting portion posture changing means are controlled. It is an object of the present invention to provide a planting section attitude control apparatus for a riding rice transplanter characterized by decreasing the above ratio when the ratio to the operation amount is increased and the amount of forward running of the traveling section is large.

(E) Function / Effect According to the present invention, when the soil in the field is sandy, the forward rising posture of the traveling unit is small, and when the soil is clayey, the forward rising posture is large. When the value is small, the sensitivity is set to a value suitable for the soil without detecting the soil of the field by making the sensitivity larger than that of the standard soil, and gradually decreasing the sensitivity as the front elevation posture of the traveling unit becomes larger. , The posture of the planting portion can be kept constant.

As described above, since it is not necessary to detect the soil quality of the field, the structure is simplified without the need for a sensor therefor, and the cost can be reduced.

(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 part (2) behind a self-propelled traveling part (1) and a lifting link mechanism (3). The planting part (2) can be moved up and down by an elevating hydraulic cylinder (4), and the planting part posture changing means (60) is provided to keep the planting depth of the seedling constant. Each of the above components will be described below.

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 interlockingly connected to 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.

Also, (20) is a floor which also serves as a floor surface, a speed change guide, a fender, a seat mounting plate (20a), etc., and is integrally molded from a synthetic resin such as FRP which has high rigidity, and the body frame (10) Stretched above. Reference numeral (21) denotes a hood, which covers the engine (11) and a steering shaft (23) of an operation unit (12) described later.

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.

In addition, a control device (C) and an inclination sensor (S1) for detecting the forward and backward inclination of the traveling section (1) are arranged at the rear of the upper surface of the floor (20).

Also, (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 bonnet (21), and (32) is a shift lever of the seat (25). Planting part lifting lever arranged on the right side, (33) is the bonnet (21)
, A clutch pedal arranged on the left side of the hood (21), a brake pedal arranged on the left side of the hood (21), and (35) a spare seedling mounting table.

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 on the rising edge, respectively, and between the upper ends of both arms (46) and (46) and the body frame. (10) A lifting rod is interposed between the upper and lower arms of the arms (46) and (46) and the rear ends of the left and right lower links (45) and (45) via a lifting hydraulic cylinder (4). (48) (4
8) is interposed.

As shown in FIGS. 3 and 4, the top link (51) includes left and right link members (51C) (51b) forming an attachment base (51b) 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).

(52b) and (52e) are detection switches for detecting the expansion / contraction limit of the expansion / contraction screw (52b) and stopping the driving of the expansion / contraction drive motor (52c). (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) 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). 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 outer position, the lifting hydraulic cylinder (4) is directly connected to the reservoir (82), so that the planting portion (2) adapted to the optimum planting depth is connected. 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.

As shown in FIG. 6, the control device (C) includes an automatic switch (C2), a planting portion elevating lever switch (32b), a planting switch (C3), a speed change switch (C4) on the input side of the controller (C1). ), Engine tachometer (C5), sensitivity setting device (C
6) Connect the tilt sensor (S1), the center return switch (C7), the hardness sensor (C8), and the feedback sensor (C9), and on the output side, the telescopic drive motor (52c) of the planting part posture changing means (60) Is connected, and the value of the front-back inclination of the planting portion (2) detected by the inclination sensor (S1) is input to the control device (C), and the output from the control device (C) based on the detected value is given by By operating the telescopic drive motor (52c) to expand and contract the top link (51), the planting section (2)
Is kept constant with respect to the planting surface.

 (D) is a power supply, (E) is a relay.

In particular, in this embodiment, the ratio (sensitivity) between the detection value of the tilt sensor (S1) and the operation amount of the telescopic drive motor (52c) is
The following relationship is set.

That is, by increasing the sensitivity when the detection value of the inclination sensor (S1) is small, and decreasing the sensitivity as the detection value of the inclination sensor (S1) increases, the field is sandy and the front of the traveling section (1). When the rising amount is small, the forward inclination amount of the planting portion (2) with respect to the running portion (1) is reduced. When the field is clay and the running amount of the running portion (1) is large,
By maintaining the posture of the planting section (2) with respect to the ground constant by increasing the amount of forward inclination, the planting section (2) can perform an accurate planting operation.

In this embodiment, as shown in FIG. 7, in addition to the control device (C), various control devices (C2) and (C3) that are electrically operated are mounted. C)
Turn on the power (E) of (C2) and (C3) with one switch (Sw)
・ Connect so that it can be turned off to prevent forgetting to turn on the power.

[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, FIG. 6 is a circuit diagram showing a configuration of a control device, FIG. 7 is a circuit diagram of a control device power supply. (A): Riding rice transplanter (C): Control device (1): Traveling unit (2): Planting unit (3): Elevating link mechanism (60): Planting unit posture changing means

Claims (1)

(57) [Claims] 1. A planting part (2) is connected to the rear of the running part (1) by a lifting link mechanism (3) so as to be vertically movable, and the planting part for the running part (1) is connected to the lifting link mechanism (3). (2) The planting portion posture changing means (60) for changing the posture is provided, and the running portion (1) is provided with a tilt sensor (S1) for detecting the front-back tilting posture of the running portion (1). Sensor (S1)
In the planting unit posture control device of the riding rice transplanter (A), the planting unit posture changing means (60) is operated based on the detection result to maintain the ground posture of the planting unit (2) constant.
When the amount of forward movement of the traveling section (1) detected by the inclination sensor (S1) is small, increase the ratio between the detection value of the inclination sensor (S1) and the operation amount of the planting section posture changing means (60). The above-mentioned ratio is reduced when the amount of forward running of the traveling section (1) is large, and the attitude control device for the transplanting section of the riding rice transplanter is characterized in that the ratio is reduced.