JP3124737B2 - Planting part attitude control device for riding rice 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 planting portion attitude control device for a riding rice transplanter.

[0002]

2. Description of the Related Art Conventionally, as an embodiment of a riding rice transplanter, a planting section is connected to the rear of a traveling section so as to be able to move up and down via a lifting link mechanism, and the lifting link mechanism is provided with a planting section attitude changing means. In some cases, the posture changing unit can change the posture of the planting unit in synchronization with the front-back inclination of the running unit.

[0003]

However, in the case of the above-described riding rice transplanter, when the posture of the planting section immediately before ascending is in a forwardly inclined state or a backwardly inclined state in synchronization with the longitudinal inclination of the traveling section. Had a problem that the direction change of the aircraft could not be performed smoothly.

[0004] Further, for example, when it is necessary to change the attitude of the planting section to the backward tilting state after the planting section is raised in the forward tilting state and the body is turned, the attitude change is performed. In some cases, it takes a long time to perform the operation, and the planting depth of the seedling by the planting unit cannot be kept constant.

[0005]

Therefore, according to the present invention, the planting section is connected to the rear of the traveling section so as to be able to move up and down via a lifting link mechanism, and the planting section attitude changing means is provided in the lifting link mechanism. In addition, the posture of the planting section can be changed in synchronization with the front-back inclination of the traveling section, and a lifting / lowering link mechanism is provided for a riding rice transplanter having a drawing marker attached to at least one side of the planting section so as to be capable of being turned upside down. A drawing marker pulling mechanism is interposed between the drawing marker and the drawing marker.
A planting portion posture control device for a riding rice transplanter, wherein the operation of the planting portion posture changing means for changing the drawing marker raising mechanism to a set posture operable properly and the drawing marker standing and storing operation are interlocked. Is to be provided.

[0006]

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

FIG. 1A shows a riding rice transplanter. In the riding rice transplanter (A), a planting section (2) is mounted on a lift link mechanism (2) behind a self-propelled traveling section (1). 3) Connected via
(2) can be raised and lowered by the lifting hydraulic cylinder (4).

In addition, the riding rice transplanter (A) is provided with a planting portion attitude control device (60), and the control device (60) keeps 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 FIGS.
This will be described with reference to FIG.

As shown in FIGS. 1 and 2, the traveling section (1) is provided with an engine (11) at a front portion on a body frame (10).
An operation unit (12) is provided at the rear.

Then, on the lower rear portion of the body frame (10),
The transmission case (13) is linked to the engine (11).

Left and right front axle cases (15) and (15) project from the front lower part of the body frame (10) to the left and right and laterally outward, respectively. Front wheel
(16) (16) is installed. (19) is a transmission shaft that interlocks and connects the front axle case (15) and the transmission case (13).

A rear axle case (17) is connected to a transmission case (13) at a rear portion of the body frame (10), and rear wheels are respectively mounted on left and right side surfaces of the case (17).
(18) (18) is installed.

Reference numeral (20) denotes a casing body which also serves as a floor surface, a transmission guide, a fender, a seat mounting plate (20a), etc., and is integrally formed of a synthetic resin having high rigidity such as FRP to form an airframe. (10) Stretched above.

Further, (21) is a hood, and
(11) and a steering shaft (2
3) is covered.

The operating section (12) includes an engine (1).
Immediately after 1), the steering shaft (23) is erected, and the handle (24) is attached to the upper end of the shaft (23), while the steering shaft (23) is mounted on the seat mounting plate (20a) located just behind the handle (24). seat
(25) is placed.

Further, at the rear of the upper surface of the casing body (20),
A control unit (C) that forms a part of the planting unit attitude control device (60) is attached.

Further, (30) is a speed change lever disposed on the left side of the seat (25), (31) is a sub speed change lever protruding above the left side surface of the hood (21), and (32) is , The planting section elevating lever arranged on the right side of the seat (25), (33) is the bonnet (21)
(34) is the bonnet
The brake pedal arranged on the right side of (21), and (35) is a spare seedling mounting table.

Further, as shown in FIG. 1, the planting section (2)
At the lower rear of the lifting link mechanism (3), the planting mission case (4
Attach the front end of (0) so that it can swing left and right, attach the float (41) below the case (40), and place the seedling table above the case (40).
(42) is attached, and a planting claw (43) is attached to the rear end of the case (40). (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) (45) on the upper and lower sides of a rear portion of the body frame (10). Four
The front end of 5) is pivotally supported vertically by pivots (51a) (45a), and the rear end of the top link (51) and the lower link
(45) Hitch part (61) of the lifting link mechanism side between the rear end of (45)
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 in an upright manner, and are provided between the upper ends of both arms (46) and (46). , Airframe (10)
The lifting hydraulic cylinder (4) is interposed between the upper and lower arms and the left and right lower links (45) (4).
5) Connecting rods (48) and (48) are interposed between the rear end and the rear end.

The top link (51) is connected to the link body (5
2a) and telescopic screws (52b) screwed to the link body (52a)
And an expansion / contraction drive motor (52c) for rotating the expansion / contraction screw (52b) forward or backward to operate the expansion / contraction, and detecting the expansion / contraction limit of the expansion / contraction screw (52b) and stopping the driving of the motor (52c). It is composed of detection switches (52d) and (52e) and is adjustable in expansion and contraction. (52f) is a detection rod, and (52g) is a bellows-like cover. (55) is a thick absorber, and (55a) and (55b) are connection pins.

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

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

The planting-side hitch portion (49) has a locking rod (49b) mounted on the upper portion of the rear view-portion type hitch body (49a), and the lower left and right sides of the hitch body (49a). Lock pins (49c) and (49c) are protruded laterally outward on each side, and each lock pin (4
The locking pieces (61c) (61c) can be locked to 9c) and (49c).

(63) shown in FIGS. 3 to 5 is a drawing marker pulling mechanism. The mechanism (63) is provided on a pivot (61g) via a pair of left and right brackets (63a) (63a). A pair of left and right L-shaped levers (63c) (63c) are pivotally supported on the horizontally mounted support shaft (63b), and one end (63j) (63j) of each lever (63c) (63c) and the left and right lowers. Wire (63d) (63
d), while the middle part of the interlocking levers (63e) and (63e) is swingably pivoted to the hitch body (49a) of the planting side hitch part (49), and the interlocking lever (63e) (63e) front side (63k) (63k)
Can be engaged with the other ends (63m) (63m) of the L-shaped levers (63c) (63c), and the rear side portions (63n) (63
Interlocking wires (63f) and (63f) are interlockingly connected between n) and the left and right drawing markers (64) and (64) (see FIG. 8). (63h) is the axis. In FIG. 8, reference numeral (66) denotes a drawing marker raising / lowering link mechanism.

The middle part of the wires (63d) (63d) is the hitch body (61a) of the hitch part (61) on the lifting link mechanism side.
(63g) (63g) attached to the upper part of. (6
3p) is the pivot, (63q) is the L-shaped lever locking hook, (63r)
Is a spring that locks and biases the hook (63q).

With such a configuration, the L-shaped levers (63c) and (63c) are connected to the wire by interlocking with the lifting operation of the lifting link mechanism (3).
(63d) (63d) and the lever (63c) (63
c) the other end (63m) (63m) is the front side of the interlock lever (63e) (63e)
(63k) (63k) and the interlocking levers (63e) and (63e)
Rotate counterclockwise as viewed from the side, and use the interlocking lever (63e)
The interlocking wires (63f) and (63f) connected to the rear end of (63e) are pulled so that the drawing markers (64) and (64) can be raised to be in the housed state.

At this time, the L-shaped lever retaining hook (63q) (63
q) is a locking pin (63t) protruding from the L-shaped lever (63c) (63c)
(63t) and the rotation of the levers (63c) and (63c) is restricted, so that the drawing marker is held in the upright stored state.

In FIG. 5, reference numeral (65) denotes an engagement releasing mechanism for releasing the engagement between the L-shaped lever locking hook (63q) and the locking pin (63t). Is operable at hand.

The operation of the lifting hydraulic cylinder (4) is controlled by a hydraulic control valve (69) shown in FIG.
9) 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 connected to the float (4
A pivot (41b) protrudes from the upper surface of the front part of (1), and the pivot (41b)
The lower end of a sliding rod (71) having a long hole (70) drilled in it, and a guide projecting from the front extension (40a) of the planting mission case (40) in the long hole (70). Insert the pin (72) movably, and slide the rod (7
At the upper end of 1), connect the outer of the wire (74) connected to the spool (73) of the hydraulic control valve (69), and connect the inner (75) of the same wire (74) to the guide pin (72). The expansion and contraction of the wire (74) caused by the vertical movement of (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.
(4) Block the side and choke (7
8) with hydraulic pump (P) and lifting hydraulic cylinder (4)
And on its left side (79) a direct hydraulic pump
(P) is connected to the lifting hydraulic cylinder (4), and at the right position (80) of the neutral position (76), the lifting hydraulic cylinder (4) is connected to the reservoir (82) with the choke (81) interposed. Further, at the right outside position (83), the lifting hydraulic cylinder (4) is directly connected to the reservoir (82).

Therefore, when the position of the planting portion (2) is low and the hydraulic control valve (69) side of the inner (75) of the wire (74) is retracted, the spool (73) is moved to the left to move up and down. The hydraulic cylinder (4) is contracted to raise the planting part (2), and conversely, the position of the planting part (2) is high and the hydraulic control valve (69) side of the inner (75) of the wire (74) is pulled out. When the spool (73)
To the right to extend the lifting hydraulic cylinder (4),
The planting part (2) is lowered so that the planting part (2) is supported at a certain height and the planting depth of the seedling is kept constant.

At the center neutral position (76), the lifting hydraulic cylinder (4) is blocked, and at the left position, the hydraulic pump (P) and the lifting hydraulic cylinder (4) are connected via a choke (78). In the left position (79), the hydraulic pump (P) is directly connected to the lifting hydraulic cylinder (4) .In the right position (80) of the neutral position (76), the lifting hydraulic pressure (80) is interposed with the choke (81). Connect the cylinder (4) and the reservoir (82), and directly move the hydraulic cylinder
By connecting (4) and the reservoir (82), the absolute value of the deviation from the set value of the height difference between the planted part (2) and the float (41) that is suitable for the optimum planting depth is reduced. At this time, the planting section (2) is moved up and down at a low speed, and when the absolute value of the deviation becomes large,
By moving the planting section (2) up and down at a high speed, a stepwise proportional operation is performed.

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

That is, the planting portion posture control device (60) is the same as that shown in FIG.
As shown in the figure, the inclination sensor (S1) and the telescopic drive motor (52
c) with the top link (51) and the top link (5
It comprises a feedback sensor (S2) attached to 1), a lever detection switch (85), and a control unit (C).

The inclination sensor (S1) is mounted on the upper surface of the front part of the planting mission case (40) on the rolling shaft of the planting part (2).
(44) is attached to the rear, so that the running part (1) detects the angle of the front-back inclination (front-up slope or front-down slope) when pitching along the unevenness of the tillage. I have.

As described above, the tilt sensor (S1) is
The floating operation is not affected by the rolling operation of (1).
By attaching to the planting part (2) which is maintained substantially horizontal by (41), the rolling change (the running part (1) is affected by the change in the forward and backward inclination of the running part (1) detected by the tilt sensor (S1). Change that swings up and down around the longitudinal axis) is prevented.

The top link (51) swings the two hitch portions (61) and (49) back and forth by the expansion and contraction operation, and the planting portion (2)
Swing up and down the rear part to correct the inclination of the planted part (2) in the front-rear direction, keep the angle of the planted part (2) constant, and
(2) The planting depth of seedlings can be kept constant.

The feedback sensor (S2) uses a potentiometer or the like, and is provided with a telescopic drive motor (52c).
And the top link from the rotation speed of the motor (52c)
The expansion and contraction of (51) is detected.

Further, the control unit (C), as shown in FIG.
A detection result of the front and rear inclination of the traveling section (1) by the above-mentioned inclination sensor (S1) is input, and based on the detection result, the top link (51) is output to extend and contract, while the top sensor by the feedback sensor (S2) is output. The detection result of the extension / retraction length of the link (51) is input, and the extension / retraction operation of the top link (51) is stopped based on the detection result.

In addition, a reference value is stored in the memory of the control unit (C), and the reference value sets the posture of the planting unit (2) so that the drawing marker pulling mechanism (63) can operate properly. The reference length of the top link (51) that can be set in the posture is converted into an output value of the feedback sensor (S2) and is set in advance.

Then, the control section (C) performs a raising operation of the planting section (2) and a top link (51) as a planting section posture changing means for changing the planting section (2) to a preset posture. Is controlled in conjunction with the movement of the
When the lever detection switch (85) detects that the position 2) has been shifted to the neutral position or the planting portion raising operation position, or that the non-working state detection switch has been turned off, the expansion and contraction is performed according to the flowchart shown in FIG. The drive of the drive motor (52c) is controlled.

That is, when the lever detecting switch (85) detects that the non-working state detecting switch is turned off,
(90Y), the output value of the feedback sensor (S2) is compared with the reference value by the control unit (C), and if the output value is equal to the reference value (91Y), the drive of the telescopic drive motor (52c) is stopped. Let
(95) If the output value is smaller than the reference value, (92
Y), the telescopic drive motor (52c) is rotated forward, that is, the top link (51) is extended (93), and the feedback sensor
When the output value of (S2) becomes equal to the reference value (91
Y), the drive of the telescopic drive motor (52c) is stopped (95).

When the drive of the telescopic drive motor (52c) is stopped, the posture of the planting portion (2) can be set to a set posture in which the drawing marker pulling mechanism (63) can operate properly.
The same state is maintained while the non-work state detection switch is turned off.

If the output value of the feedback sensor (S2) is larger than the reference value (92N), the telescopic drive motor (52
c) reverse rotation, that is, the top link (51) is shortened (96), and when the output value of the feedback sensor (S2) becomes equal to the reference value (91Y), the telescopic drive motor (52c)
Is stopped (95).

If the non-work state detection switch is not turned off (90N), the automatic mode, that is, the planting section
In the operating state of (2), the front and rear inclination posture of the planting section (2) is appropriately corrected to perform automatic control so that the planting operation can be performed satisfactorily (98).

With the above arrangement, the inclination sensor (S1) detects the forward / backward inclination of the traveling section (1), and based on the detection result, the control section (C) causes the top link (51) to expand and contract. The feedback sensor (S2) detects the expansion / contraction operation of the top link (51), and the control unit (C) stops the expansion / contraction operation of the top link (51) based on the detection result. By (51), the inclination of the front and rear of the planting section (2) can be properly corrected, the planting depth of the seedlings can be kept constant, and the planting operation can be properly performed.

Further, when the planting section lifting lever (32) is in the neutral position,
Or, when the non-working state detection switch is turned off by shifting to the planting portion raising operation position, the posture of the planting portion (2) is changed by the expansion and contraction operation of the top link (51), and the drawing marker raising mechanism (63) In order to adopt a setting posture that can operate properly,
Draw marker by the same draw marker pulling mechanism (63)
(64) can be stably stored in the upright position, and the direction change of the aircraft can be smoothly performed. Here, in the upright storing operation of the drawing marker (64), the drawing marker is linked with the lifting operation of the lifting link mechanism (3) via the lifting mechanism (63), and the lifting link mechanism (3) and the top link ( Since it is not linked with (51), the posture of the planting section (2) is controlled forward or backward by the top link (51) in synchronization with the forward and backward inclination of the traveling section (1). In this case, the lifting stroke of the drawing marker (64) by the drawing marker lifting mechanism (63) changes, and when the lifting link mechanism (3) is raised with the lifting stroll changed in this manner, , Drawing marker pulling mechanism (63)
However, as described above, the posture of the planting portion (2) is changed by the top link (51) to the set posture in which the drawing marker pulling mechanism (63) operates properly, as described above. Therefore, the above-mentioned problem can be solved.

[0051]

According to the present invention, the following effects can be obtained.

That is, when performing the planting operation, the planting operation is performed by reciprocating the riding rice transplanter in a zigzag state in the field. Accordingly, when the planting part is inclined forward and backward, the planting part is also changed to the posture inclined forward and backward by the planting part posture changing means, and the planting depth of the seedlings can be kept constant.

When the aircraft is to make a U-turn,
An operation is performed by the elevating link mechanism to raise the planting portion. In this case, in conjunction with the raising operation of the planting portion,
In order to change the posture of the planting portion to the set posture in which the drawing marker pulling mechanism can operate properly by the planting portion posture changing means, and to change the posture of the drawing marker to the upright stored state by the drawing marker raising mechanism. It is possible to change the direction of the aircraft smoothly, and also to change the posture of the planting part smoothly and reliably thereafter, and to keep the planting depth of the seedling by the planting part constant. Can,
As a result, it is possible to prevent the occurrence of floating seedlings,
The planting work efficiency can be secured well.

[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 implanting unit posture 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 diagram of a raising / lowering operation of a drawing marker.

FIG. 9 is an operation flowchart of the planting section posture control device.

[Explanation of symbols]

 (A) Riding rice transplanter (C) Control unit (S1) Tilt sensor (S2) Feedback sensor (1) Traveling unit (2) Planting unit (3) Elevating link mechanism (60) Planting unit attitude control device

Claims (1)

(57) [Claims] A planting section (2) is connected to a lifting / lowering link mechanism (3) at the rear of the traveling section (1) via a lifting / lowering link mechanism (3) via a planting section attitude changing means. Set it up,
The posture of the planting section (2) can be changed in synchronization with the forward and backward inclination of the traveling section (1), and a line is provided on at least one side of the planting section (2).
On a rice transplanter with the draw marker (64) mounted upside down , draw a line between the lifting link mechanism (3) and the draw marker (64).
And interposed marker pulling mechanism (63) can, with increased manipulation of the planting unit (2), the planting unit (2), drawing markers
-Change the setting position so that the pulling mechanism (63) can operate properly.
Operation of the planting part posture changing means and the drawing marker (64)
A planting portion attitude control device of a riding rice transplanter configured to link upright storage operation .