JP3274368B2 - 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 rice planting machine in which a grounding float is connected to a traveling plant body so as to be able to move up and down so as to be able to swing up and down around a rear fulcrum.

[0002]

2. Description of the Related Art When the swinging posture of the ground float is lowered forward with respect to a target posture, the seedling planting device is lowered, and when the swing posture of the ground float is raised higher than the target posture, Control means for raising and lowering the seedling planting device is provided, so that the relative height between the working device and the ground float is kept constant.

[0003]

Next, in the final stage of planting on a headland, when planting in a corner of a field with a seedling planting apparatus A in a field scene while climbing a ridge at an exit of the field. The lifting control form will be described. When the planting operation is performed while escaping from the field scene in this way, mud pushing by the grounding float occurs. That is, as shown in FIG. 4, when the traveling body 1 climbs the slope of the ridge, the traveling body 1
Is in a forward rising posture, but the sensing float 14A is in a posture of following the field scene, and thus is in a forward falling state with respect to the target posture. Therefore, as shown in FIG. 3, the seedling planting device A is lowered so that the sensing float 14A which is to maintain a constant vertical interval L with respect to the seedling planting device A is in a front-up posture with respect to the field scene. So the sensing float 14A
The portion protruding rearward from the rear swing axis X enters the field scene, and when planting and running in that state, mud pushing occurs, and the seedling planting device A is to be pushed up on the contrary.

[0004] An object of the invention according to claim 1 is to provide a rice transplanter capable of performing appropriate planting without mud pushing even when planting on a headland at an exit of a field.

[0005]

[Means for Solving the Problems]

[Structure] A characteristic structure according to the first aspect of the present invention is that a grounding float is connected to a seedling planting device which is vertically connected to a traveling machine so as to be vertically swingable around a rear fulcrum, and the swinging posture of the grounding float is provided. When the seedling is lowered forward with respect to the target posture, the seedling planting device is lowered, and when the swinging posture of the ground float is raised above the target posture, the raising and lowering control is performed to raise the seedling planting device. Having control means,
In the case where the signal for lowering the seedling planting device by the control means is continued for a set time or more, the float target posture is configured to be corrected to the front lowering side, and its operation and effect are as follows. It is as follows.

[Operation] In other words, when planting on a headland at the exit of a field, the rear end of the grounding float tends to plunge into the field scene if the control sensitivity is set for flatland work. If the falling signal lasts longer than the set time,
Set the control sensitivity to the sensitive side. Then, the posture of the grounding float shifts forward and downward with respect to the seedling planting apparatus, but can be in a state along the surface with respect to the field scene,
It is possible to suppress the plunging state into the field scene at the rear end, so that planting without mud push can be performed.

[Effect] Therefore, even when planting on a headland while escaping from a field scene, planting without mud pushing becomes possible, and adverse effects such as pushing down already planted seedlings can be avoided.

[0008] The object of the invention according to claim 2 is as follows.
Is the same as

According to a second aspect of the present invention, there is provided a seedling planting apparatus which is connected to a traveling machine so as to be able to move up and down.
A ground float is connected so as to be able to swing up and down around the rear fulcrum, and when the swing posture of the ground float is lowered forward with respect to a target posture, the seedling planting device is lowered and the swing posture of the ground float is adjusted. Has a control means for raising and lowering the seedling planting device when the seedling planting device rises up from the target posture, and the control means causes the seedling planting device to descend and the descending signal continues for a set time or more. In such a case, the seedling planting device is configured to be forcibly raised, and the operation and effect thereof are as follows.

According to the present invention, when the descending signal continues for a set time or more, the seedling planting apparatus is forcibly raised, and the descending signal is continuously continued. Avoid receiving push-up force. Therefore, even when planting on a headland while escaping from a field scene, planting without mud pushing becomes possible, and adverse effects such as pushing down already planted seedlings and the like can be avoided.

[0011]

Embodiments of the present invention will be described below with reference to the drawings. As shown in FIG. 1, a drive-type front wheel 1 and a drive-type rear wheel 2 that are steered.
The engine 4 is mounted on the front part of the traveling body 3 provided with a hydraulic motor, and a hydrostatic continuously variable transmission 5 to which power from the engine 4 is transmitted and a transmission case 6 are arranged on the rear part of the traveling body 3. A steering handle 7 and a driver's seat 8 are arranged at the center of the traveling machine body 3, and a seedling is provided as a working device via a link mechanism 10 driven up and down by a lift cylinder 9 with respect to a rear end of the traveling machine body 3. The rice transplanter as a paddy working machine is configured by connecting the devices A.

The seedling planting apparatus A cuts out a mat-shaped seedling W placed on the seedling placing stand 11 by a planting arm 13 provided in a rotary case 12 which rotates in synchronization with the running speed of the machine body, and plants the plant in a field scene. In addition to a system for performing the operation, a ground leveling float 14 as a plurality of grounding floats is provided at a lower portion, and is configured for 8-row planting.

As shown in FIG. 3, a plurality of leveling floats 1
4, the leveling float at the center position in the left and right direction
The sensing float 14A) is attached to the planting depth adjusting shaft 15.
With respect to the swinging end of the arm-shaped member 16 integrally formed with the shaft, it is swingably supported around an axis X in a lateral posture as a rear fulcrum, and urges a front portion thereof downward. A setting spring 17 is provided, and an arm 18 swinging integrally with the sensing float 14A and an operating arm 19A of the float sensor 19 are linked via a rod 20 to thereby determine the swinging posture of the float 14A. It is configured to be able to measure at 19. Further, when the planting depth adjusting shaft 15 is rotated, the position on the spring receiving side is maintained so as to maintain the urging force of the spring 17 for setting the sensing pressure, and the posture of the float 14A is changed to the float sensor 19. And a correction link 21 for correcting the attitude of the case of the float sensor 19 around the axis of the operation arm 19A of the float sensor 19 so as to accurately detect the case. Also, this sensing float 14
A controls the height of the seedling planting apparatus A with respect to the field scene S to the control system during control for automatically raising and lowering the seedling planting apparatus A by following the height change of the field scene S (hereinafter, referred to as automatic elevating control). give feedback.

As shown in FIG. 1, a raising / lowering lever is provided on the right side of the driver's seat 7 for raising and lowering the seedling planting device A and for turning on and off a planting clutch (not shown) built in the transmission case 6. 24. This lifting lever 24
As shown in FIG. 5, the seedling planting device A is lowered by setting the seedling planting device A in the “down” position in the path formed in the guide 25, and the seedling planting device A is set in the “up” position. When the lifter 24 is set to the "neutral" position, it is linked with the control system so as to maintain the seedling planting device A at that level. When the raising / lowering lever 24 is set to the "on" position, the planting clutch is engaged and operated. , The leveling float 14 provided in the seedling planting device A
When the (sensing float 14A) is in contact with the control system, an automatic elevating control is performed to maintain a predetermined height with respect to the field when the ground is in contact with the ground. When the lever 24 is set to the "automatic" position, the raising and lowering of the seedling planting apparatus A is permitted according to the operation of the forced lifting lever 26 provided near the steering handle 7 and at the same time, when the seedling planting apparatus A is raised, the planting clutch is automatically turned on. This makes it possible to perform a simple cutting operation. In addition, as shown in FIG. 2, a potentiometer type lever sensor 27 for measuring the operation position of the elevating lever 24 is provided at the base end of the elevating lever 24.

The sensing float 14A is urged by the spring 17 in a direction in which the front part is pushed down, so that when the seedling planting apparatus A is relatively displaced in the ascending direction with respect to the field scene S, the sensing float 14A is moved. Changes to a forward-lowering position around the axis X, and conversely, when the seedling planting device A is relatively displaced in the downward direction with respect to the field scene S, the sensing float 14A rises forward around the axis X. The change in the posture is measured by the float sensor 19, and the posture of the sensing float 14A is set to the target posture based on the signal from the float sensor 19, that is, the vertical distance L from the seedling planting apparatus A.
Is controlled so as to maintain the height of the seedling planting apparatus A with respect to the field scene S by raising and lowering the seedling planting apparatus A so as to keep the height constant.

As shown in FIG. 2, the traveling body A has a control sensitivity setting unit 28 for setting a target attitude of the sensing float 14A.
And the target attitude of the sensing float 14A can be set. As shown in FIG. 2, the traveling machine body 3 includes a control device 32 having a microprocessor (not shown) for automatically controlling the raising and lowering of the seedling planting device A. 27, a system for inputting signals from the control sensitivity setting unit 28 and the float sensor 19 is formed, and an output system for an electromagnetic valve 33 for controlling the lift cylinder 9 is formed. The solenoid valve 33 holds a neutral position in a non-driving state, is configured to be operable at an ascending position and a descending position by supplying power to the solenoid, and is proportional to the power supplied to the solenoid. It is configured to change the opening.

The operation of the automatic elevating control is set as shown in the flowchart of FIG. 6. In this control operation, the signal from the control sensitivity setting unit 28 and the float sensor 19 is input and the signal P1 from the float sensor 19 is input. Is determined to be within the dead band of the signal P from the control sensitivity setting unit 28, and if it is within the range, the solenoid valve 33 is held at the neutral position. It is determined whether the signal exists on the descending control side or on the ascending control area side, and the ascending operation or descending operation of the seedling planting apparatus A is performed (steps # 101 to # 106).

When raising and lowering the seedling planting apparatus A by the automatic raising and lowering control device, if the field is hard, the control sensitivity setting device 28 is set to a large value of 5 or more, so that the sensing float 14A is controlled. Spring 17
When the field is soft, the control sensitivity setting unit 28 is set to a small value of 3 or less to control the target posture of the sensing float 14A. Can be controlled in a state where the urging force of the spring 17 acts weakly on the front part of the sensing float 14A with the front side lowered.

Next, a description will be given of an ascending / descending control form in which planting is performed by the seedling planting device A in the field scene S while climbing the ridge at the exit of the field scene S at the final stage of planting on the headland. When the planting operation is performed while escaping from the field scene in this way, mud pushing by the grounding float occurs. As shown in FIG. 4, when the traveling body 1 climbs the slope of the ridge, the traveling body 1 assumes a forward-upward posture. However, the sensing float 14 </ b> A is in a posture following the field scene. It is in a down state. Therefore, the seedling planting device A descends so that the sensing float 14A that attempts to maintain a constant vertical interval L with respect to the seedling planting device A is in a front-up posture with respect to the field scene. The portion protruding rearward from the rear swing axis X enters the field scene, and when planting and running in that state, mud pushing occurs, and the seedling planting apparatus A is to be pushed up on the contrary. The following control is performed in order to solve the above inconvenience. That is,
As shown in FIG. 6, it is determined whether or not the descending signal has been output for a set time or more. Is corrected to the control sensitivity set value P (# 107 to # 1).
11 steps).

[Other Embodiment] In addition to the above-described embodiment, the present invention automatically raises the seedling planting apparatus A when the descent signal continues for a set time or more in step # 208 in FIG. It may be activated to release the mud pushing state.

[Brief description of the drawings]

FIG. 1 is an overall side view of a rice transplanter.

FIG. 2 is a block circuit diagram of a control system.

FIG. 3 is a side view showing an arrangement of a float sensor.

FIG. 4 is an operation diagram showing a state of planting when escaping from a field surface.

FIG. 5 is a plan view showing an operation path of a lifting operation lever.

FIG. 6 is a plan view of a control box.

FIG. 7 is a flowchart of an automatic elevating control routine.

[Explanation of symbols]

 3 Traveling body 14A Ground float 32 Control means A Seedling plant X Rear fulcrum

──────────────────────────────────────────────────続 き Continued on the front page (58) Field surveyed (Int.Cl. ⁷ , DB name) A01C 11/02 342 A01C 11/02 320 A01B 63/10

Claims (2)

(57) [Claims] 1. A seedling planting device connected to a traveling body so as to be able to move up and down, a grounding float is connected so as to be able to swing up and down around a rear fulcrum, and the swinging posture of the grounding float is lowered forward with respect to a target posture. And a control means for performing a raising / lowering control for raising and lowering the seedling planting device when the swinging posture of the ground float becomes higher than the target posture when the seedling planting device is lowered. In the case where the signal for lowering the seedling planting device is continued for a set time or more,
A rice transplanter configured to correct the float target posture to the front downward side. 2. A seedling planting device connected to a traveling machine so as to be able to move up and down, and a grounding float is connected so as to be able to swing up and down around a rear fulcrum, and the swinging posture of the grounding float is lowered forward with respect to a target posture. And a control means for performing a raising / lowering control for raising and lowering the seedling planting device when the swinging posture of the ground float becomes higher than the target posture when the seedling planting device is lowered. A rice transplanter configured to lower the seedling planting device and forcibly raise the seedling planting device when the lowering signal is continued for a set time or more.