JP3124739B2 - 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 example of a riding rice transplanter, as described in Japanese Patent Publication No. 57-27682, a planting section is connected to a rear of a traveling section via a parallel link mechanism so as to be able to move up and down. The top link forming a part of the parallel link is made extendable and retractable by a hydraulic cylinder, and even when the running part is tilted back and forth along the unevenness of the tillage, this is immediately detected, and the top link is set by the hydraulic cylinder. The planting depth of the seedlings is kept constant by supporting the planting part at a certain height from the planting surface by tilting the posture of the planting part back and forth by expanding and contracting. There is.

[0003]

However, in the case of the above-mentioned riding rice transplanter, the traveling part and the planting part are brought as close as possible to each other in order to achieve a balance between the front and rear and the compactness of the body.
When the planting work was performed in Asada, the rear wheel provided on the traveling part and the planting plant were used because the float of the planting part was close to the plow and the planting part was at a low position close to the plow. There is a risk that the seedling mounting table provided in the attachment section with a front-back-to-low inclination posture will collide with the planting section when the posture is changed in the forward inclination direction, and the seedling mounting table may be damaged.

[0004] In addition, even when the traveling section climbs up the ridge immediately after the completion of the planting operation, there is a possibility that the raising operation of the planting section is delayed and the seedling mounting table collides with the rear wheel.

[0005]

According to the present invention, a planting portion is connected to a rear portion of a traveling portion via a lifting link mechanism, and the lifting link mechanism can be raised and lowered by a lifting hydraulic cylinder. In a planting portion attitude control device of a riding rice transplanter, which is capable of correcting the front-back inclination of the planting portion by extending and contracting a top link forming an actuator, a seedling provided at least in a rear wheel and a planting portion provided in a traveling portion. According to a planting part attitude control device for a riding rice transplanter, wherein the range of correcting the front-back inclination of the planting part can be changed according to the elevation position of the planting part within a range where the mounting table does not interfere. It is.

[0006]

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) has a planting section (2) connected via a lifting link mechanism (3) behind a self-propelled traveling section (1), and moves the planting section (2) up and down hydraulic pressure. It can be moved up and down by the 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).

An elevating position sensor (S4) is provided at the front end pivot of the top link (51), and the elevating position of the elevating link mechanism (3) can be detected by the sensor (S4). ), A potentiometer or the like is used, and the sensor (S4) constitutes a part of a planting portion attitude control device (60) described later.

At the front ends of the left and right lower links (45) and (45), left and right elevating arms (46) and (46) are provided in an upright manner, respectively, 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).

As the telescopic drive motor (52c), a stepped or stepless drive actuator having a small distance such as a linear stepping motor or a piezoelectric actuator can be used.

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-side hitch main body (49a), while the lower left and right sides of the hitch main 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-up 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) and (63m) of the L-shaped levers (63c) and (63c), and the rear side portions (63n) and (63n) of the interlocking levers (63e) and (63e)
The interlocking wires (63f) and (63f) are interlockingly connected between the left and right drawing markers (not shown). (63h)
Is the axis.

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 this configuration, the L-shaped levers (63c) and (63c) are connected to the wire
(63d) (63d) and the lever (63c) (63
c) the other end (63m) (63m) is connected to the front side of the interlock lever (63e) (63e) (6
3k) and (63k), and rotates the interlocking levers (63e) and (63e) counterclockwise in side view of FIG.
e) The interlocking wires (63f) and (63f) connected to the rear end are pulled to erect the drawing marker so that it can be stored.

At this time, the L-shaped lever locking hook (63q) (63
q) is locked to the L-shaped lever (63c) (63c), and the lever (6
3c) Since the rotation of (63c) is restricted, 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.
(69) is controlled by a sensor (S) for detecting a change in a 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 attitude control device (60) is
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
A feedback sensor (S2) attached to 1), a mission speed sensor (S3) attached to the mission case (13),
Elevating link mechanism that can be raised and lowered by the lifting hydraulic cylinder (4)
(3), an elevation position sensor (S4) for detecting the elevation position of the elevation link mechanism (3), and a control unit (C).

The inclination sensor (S1) is attached to the left side of the up-down link mechanism side hitch portion (61), so that the traveling portion (1) can tilt in the front-rear direction when pitching along the unevenness of the plow. The angle of the front-up slope or the front-down slope is detected.

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)
The up and down tilt of the planted part (2) is corrected by swinging the rear part up and down, and the relative angle between the planted part (2) and the traveling part (1) is kept constant, The planting depth of the seedling by the section (2) can be kept constant.

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

A transmission speed sensor (S3)
Is mounted on the transmission case (13) and detects the rotation speed of the drive shaft of the transmission case (13).

Further, the control section (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. With the elastic length of the link (51),
The detection result of the elevation link mechanism (3) and the elevation position by the elevation position sensor (S4) is input, and the top link (51) is caused to expand and contract based on each detection result.

That is, the control unit (C) controls the expansion and contraction operation of the top link (51) according to the control map shown in FIG. 8 so that the traveling unit (1) and the planting unit (2) interfere (at least). If the rear wheel (18) of the traveling section (1) interferes with the seedling table (42) of the planting section (2) due to collision, etc.
(51) is not operated.

Therefore, the correction range of the forward and backward inclination of the planting section (2) can be changed in accordance with the elevation position of the implantation section (2). For example, the descending position of the elevation link mechanism (3) can be changed to ( Px) (P1 <
When Px <Pm), the top link (51) is changed from (Wx) to (Wm).
It is made to expand and contract within the range.

In FIG. 8, (P1) indicates the top link (5
When (1) is in the maximum shortened state, the limit lowering position of the lifting link mechanism (3), (Pm) is the maximum lowering position of the lifting link mechanism (3), and (W1) is the maximum lowering position of the lifting link mechanism (3). The limit shortening length of the top link in the down state, (Ws) is the standard extension of the top link (51), and (Wm) is the maximum extension of the top link (51).

With the above arrangement, the inclination sensor (S1) detects the forward / backward inclination of the traveling section (1), and the control section (C) causes the top link (51) to expand and contract based on the detection result. 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 seedling can be kept constant, and the planting operation can be satisfactorily secured.

At this time, the posture of the planting section (2) is controlled by at least the rear wheel (18) provided in the running section (1) and the seedling table (42) provided in the planting section (2). Since the operation is performed without interference, damage to the seedling mounting table (42) can be prevented.

Further, according to the attitude control of the planting section (2), even when the traveling section (1) climbs the ridge immediately after the completion of the planting operation, the seedling table is kept on the traveling section (1). (42) does not collide, and also in this case, damage to the seedling mounting table (42) can be prevented.

Further, in this embodiment, in addition to the above-described posture control of the planting section (2), the control section (C) has the following planting section.
(2) Attitude control can be performed.

That is, the control unit (C), based on the proportional characteristic straight line (L) obtained from the expansion / contraction control map of the top link (51) shown in FIG. Control the length of the top link (51),
The posture of the planting section (2) can be kept substantially the same as the posture of the float (41).

The expansion / contraction control map of the top link (51) includes a drive shaft rotation speed (hereinafter, referred to as a “mission rotation speed”) of the transmission case (13) proportional to the traveling speed of the traveling unit (1). Experience in advance the relationship between the float (41), which changes in proportion to the speed of the running part in (1), and the length of the top link (51) for tilting the planting section (2) rearward to the same position. It is obtained as a proportional characteristic line (L) depending on the side.

Further, a reference value is stored in the memory of the control section (C), and the reference value sets the posture of the planting section (2) so that the drawing marker raising 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.

The control section (C) is provided with a planting section raising / lowering lever.
When the lever detection switch (85) detects that (32) has been shifted to the neutral position or the planting section raising operation position, or that the non-working state detection switch has been turned off, the extension and contraction are 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 control unit (C) compares the output value of the feedback sensor (S2) with the reference value, and if the output value is equal to the reference value (91Y), stops driving the telescopic operation motor (52c). 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 when the output value of the feedback sensor (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 section (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), automatic control is performed so that the forward and backward inclination posture of the planting section (2) is properly corrected so that the planting operation can be performed satisfactorily (98).

With this configuration, the planting portion elevating lever (3
When 2) is shifted to the neutral position or the planting section raising operation position and the non-working state detection switch is turned off,
In order to set the position of the planting section (2) by the expansion and contraction movement of the top link (51) so that the drawing marker pulling mechanism (63) can operate properly, the drawing marker (63) is moved by the same drawing marker pulling mechanism. It can be stably stored in the upright position, and the direction change of the body can be smoothly performed.

[0061]

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

That is, according to the present invention, the vertical inclination correction range of the planting portion is adjusted so that at least the rear wheel provided in the traveling portion does not interfere with the seedling table provided in the planting portion. Can be changed according to the conditions, so that there is no risk of the seedling mounting table colliding with the rear wheel and being damaged, and, for example, even when the traveling section climbs the ridge immediately after completing the planting work, Since the seedling table does not collide with the table, damage to the seedling table can be prevented.

[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 a control map of a top link and a lifting link mechanism.

FIG. 9 is a telescopic braking map of a top link.

FIG. 10 is an operation flowchart of the planting section attitude 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 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). In a planting portion attitude control device for a riding rice transplanter, the top link (51) forming a part of the lifting link mechanism (3) can be expanded and contracted by an actuator to correct the longitudinal inclination of the planting portion (2). At least the rear wheel (18) and the planting section (2) provided in the running section (1)
Planting section (2) as long as it does not interfere with the seedling table (42)
Adjustment range of the planting section (2) according to the vertical position
An apparatus for controlling the attitude of a transplanting part of a riding rice transplanter, which can be changed .