JP3829315B2 - Mud softness detection device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention is used for mobile agricultural machines for paddy fields such as rice transplanters and flooded direct seeders.
[0002]
[Prior art]
A float that slides while swinging the surface of the mud around the horizontal axis supports work devices such as a seedling planting device and a seeding device. Then, if the mud is hard, the hunting of the float (extremely rocking) with the slanted forward slanted posture as the standard posture, compared to the tilt angle (reference posture) of the float in the standard paddy field ), And if mud is soft, mud pushing by the lower surface of the float is prevented with the posture inclined slightly forward and downward as a reference posture. In addition, when the mobile agricultural machine comes to a deep paddy field, the wheels sink, and the float tilts forward from the respective reference posture, the working device and the horizontal axis rise to return to the reference posture, and the shallow cultivator When the wheel floats and the float tilts forward and downward, the work device and the horizontal axis descend and return to the reference posture. This raising and lowering keeps the working device at a certain height from the mud surface.
[0003]
Here, judgment of the hardness of the mud was made based on the experience of the operator. In addition, a resistor provided on the side of the float is always plunged into the mud, and the mud mud is detected based on the inclination angle of the resistor when the float slides on the mud surface. It was supposed to be set.
[0004]
[Problems to be solved by the invention]
According to the operator's experience in judging the hardness and degree of mud, a large error occurs due to individual differences. If the resistor placed on the side of the float is always plunged into the mud, the leveled mud surface will be roughened.
[0005]
[Means for Solving the Problems]
In order to solve the above-mentioned problem, the present invention provides a resistor 46 on a float 30 that slides while swinging the surface of the mud around the horizontal axis 33 so as to protrude from the upper side toward the mud. A hardness / softness detection device is configured to detect the hardness of the mud according to the inclination angle of the float 30 when the body 46 protrudes toward the mud.
[0006]
DETAILED DESCRIPTION OF THE INVENTION
Next, an embodiment of the present invention will be described.
A seedling transplanter 2 is mounted after the traveling vehicle body 1 to form a rice transplanter. (FIGS. 1 and 2).
The traveling vehicle body 1 is configured as follows. A main gear box 4 and a rear wheel gear box 5 are attached to the front and rear of the frame 3, and a front wheel 6 and a rear wheel 7 are disposed outside these. An engine 8 is attached to the frame 3, and its power is transmitted to the front wheels 6 and the rear wheels 7 via the transmission in the main gear box 4, and these are rotated on the paddy field and the traveling vehicle body 1 moves forward. It is like that.
[0007]
A floor 9 is integrally provided on the main gear box 4 and the frame 3, and a cover 10 protruding from the floor 9 covers the engine 8. A seat 11 is provided on the cover 10, and a handle frame 12 protrudes upward from the front portion of the floor 9. A steering wheel 13 is disposed on the handle frame 12, and the front wheel 6 is steered by the operation to change the course of the traveling vehicle body 1.
[0008]
The support column 14 extends upward from the rear portion of the frame 3, and this and the subsequent lifting frame 15 are connected by a parallel link 16. The front part of the elevating cylinder 17 is attached to the frame 3, and the rear end of the piston rod protruding obliquely upward from this is connected to the lower end of the arm 18 extending downward from the upper link 16. Then, when the lift valve 19 (FIG. 5) sends the oil discharged by the pump (not shown) to the lift cylinder 17, the piston rod protrudes and the lift frame 15 rises while maintaining the same posture. When returned to the tank, the lifting frame 15 is lowered.
[0009]
The seedling planting device 2 is configured as follows. A gear box 20 is attached to the lower part of the lifting frame 15 so as to be able to swing around the rolling shaft 21 in the front-rear direction. Three implantation frames 22 extend rearward from the gear box 20 at equal intervals, and oval rotating cases 23 are attached to both sides of each rear part. After the planting clutch case 24 is fixed to the column 14 and a part of the power of the engine 8 in the main gear box 4 reaches the gear box 20 via the planting clutch 24a (FIG. 5) therein, It passes through the implantation frame 22 and is transmitted to the respective rotation cases 23 so that they rotate counterclockwise as viewed from the right (FIG. 1). A pair of implantation rods 25 are attached to the respective rotating cases 23, and the planetary gears therein turn around while maintaining the same posture along with the above rotation. A seedling receiving plate 26 having six seedling intakes 26a is fixed to the planting frame 22 in a horizontally long manner, and the tip ends of the pair of planting ridges 25 are alternately arranged at the initial stage of the above-described swiveling descending. To pass through.
[0010]
The struts 27 extend obliquely upward from the front portions of the lateral implantation frames 22 and are supported by the upper ends thereof and the front portions of the seedling receiving plates 26 so as to move left and right. The seedling stage 28 is inclined forward and is divided into six sections by five partition walls between the left and right side walls, and is reciprocated by a part of the power of the engine 8 reaching the gear box 20. A belt conveyor 29 is disposed in each section.
[0011]
Then, the mat-like group seedlings are placed on the respective sections with the rear end protruding on the seedling receiving plate 26. When the rear end of the group seedling comes on the seedling collection opening 26a by the lateral movement of the seedling mount 28, one stock is cut off at the front end of the planting ridge 25. The cut off seedlings are lowered together with the planting ridges 25 and transplanted so as to pierce the mud at the lower end of the turning. When the seedling stage 28 comes to the right end (or left end) by the above movement and the removal of the left end (or right end) of the rear end of the group seedling is completed, the belt conveyor 29 feeds the group seedling to the seedling receiving plate 26 side. The seedling stage 28 starts to move to the left (or right). By repeating this, seedlings are transplanted into 6 rows.
[0012]
Floats 30 are arranged under the respective implantation frames 22 so as to slide on the mud surface (mud surface) of paddy fields as the traveling vehicle body 1 moves forward.
The float 30 is made as follows. A pivot shaft 31 (FIG. 4) is disposed on the lower abdomen of the implantation frame 22, and the rear portion of each float 30 is swingably attached to an arm 32 extending downward from the rear side by a horizontal shaft 33. When 34 is turned, each horizontal shaft 33 is moved up and down so that the planting depth of the seedling can be adjusted.
[0013]
A central float 30A (referred to as a center float) is formed as shown in FIG. A support plate 35 is attached to the gear box 20 by links 36 and 37 that are parallel in the vertical direction, and is moved up and down in the same posture. When the arm 38 extends downward from the rotating shaft 36a integrated with the upper link 36, the lower end thereof is connected to the middle of the adjusting lever 34 by the rod 39, and the horizontal shaft 33 is moved up and down by the operation of the adjusting lever 34, The support plate 35 moves up and down in the same direction by substantially the same amount. An intermediate portion of the lever 40 is swingably attached to a rotation shaft 36b in front of the upper link 36, and a rear end thereof is connected to a front portion of the center float 30A by a rod 41. A tilt sensor (tilt sensor using a potentiometer) 42 is fixed to the support plate 35, and the arm 42 a and the front end of the lever 40 are connected by a rod 43. When the center float 30 </ b> A swings around the horizontal axis 33, the arm 42 a swings and the measured value of the tilt sensor 42 changes, and the measured value is input to the control device 44.
[0014]
A groove 45 is provided on the bottom surface of the center float 30A in the front-rear direction, and when the center float 30A sinks from the mud surface, the mud soil enters into the mud surface so as to increase, and flows forward in its forward movement. . Therefore, as the mud becomes softer, the sinking amount of the center float 30A increases and the amount of soil entering the groove 45 increases. A flap (resistor) 46 is attached to the support 47 of the center float 30A by a horizontal shaft 46a, and when the rotation motor 48 attached to the gear box 20 is turned on, the arm 48a rotates once in the counterclockwise direction, After extending the flap 46 into the groove 45, the wire 49 is loosened and the flap 46 is pulled out from the groove 45.
[0015]
Therefore, when the flap 46 enters the groove 45, the center float 30A turns clockwise around the horizontal axis 33 and inclines forward so as to hit the mud flowing in the groove 45 and get over the mud. The inclination angle becomes larger as the amount of mud flowing in the groove 45, that is, mud becomes softer.
The raising / lowering lever 50 is arrange | positioned at the right of the seat 11, and the rotation angle is input into the control apparatus 44 by the raising / lowering lever sensor 50a (FIG. 5).
[0016]
The control device 44 outputs the following to the lift valve 19 and the implantation clutch 24a as input.
(1) When the elevating lever 50 is operated in the clockwise direction when viewed from the right (FIG. 1) and is in the “raised” position, the elevating valve 19 becomes “raised” to supply oil to the elevating cylinder 17 and The frame 15 (the seedling planting device 2) is raised.
[0017]
(2) When the elevating lever 50 is operated counterclockwise from that position to reach the “lower” position, the elevating valve 19 is “lowered” and the oil in the elevating cylinder 17 is returned to the tank, and the seedling planting device 2 goes down. When the sensor floater 30A hits the mud surface by the descending and the inclination becomes the reference posture, the lift valve 19 is made “neutral” by the reference value of the input from the inclination sensor 42 at that time, and the oil discharged from the pump is put into the tank. While returning, the oil in the raising / lowering cylinder 17 is closed, and the height of the seedling planting apparatus 2 is maintained in that position. It should be noted that the planting clutch 24 a is “entered” at this position of the lift lever 50.
[0018]
(3) When the elevating lever 50 is operated slightly clockwise from that position, the planting clutch 24a is set to "disengage", and when it is further operated, it becomes (1).
When the traveling vehicle body 1 moves forward in the paddy field in the state of (4) and (2), comes to a deep place in the cultivator and the traveling vehicle body 1 sinks and becomes selfish, the horizontal axis 33 descends and the center float 30A tilts forward. . Then, the input value from the inclination sensor 42 rises from the reference value, and the input is output to the lift valve 19 to raise the seedling planting device 2. When the input value returns to the reference value due to this rise, the lift valve 19 is set to “neutral” and the rise is stopped. On the contrary, when the traveling vehicle body 1 comes to a shallow place on the cultivator and floats, the center float 30A is inclined forward and downward. Then, the seedling planting device 2 is lowered until the input value from the inclination sensor 42 returns to the reference value.
[0019]
{Circle around (5)} When the traveling vehicle body 1 becomes {circle around (2)} while moving forward through the paddy field, the rotating motor 48 is rotated once after a predetermined time.
{Circle around (6)} A timer setting dial 51 is provided, and the rotation motor 48 is rotated at set intervals by the input thereof.
(7) When the flap 46 enters by the operation of the rotation motor 48, the inclination of the center float 30A changes during that time. With the input value from the changed inclination sensor 42, the hardness of the mud is measured as shown in FIG. 6, and the reference posture based on the hardness of the center float 30A is changed. Note that C in FIG. 6 is a paddy field with a standard mud hardness, and a constant and a formula to be added / subtracted / divided to / from B are experimentally determined so that C matches A, and when flap 46 protrudes, This is a correction value of B obtained. When the flap 46 protrudes, (4) stops.
[0020]
In practicing the present invention, instead of (or in addition to) inputting the “ON” of the implantation clutch 24a by the lift lever 50, the operation of the throttle lever 52 and the shift lever 53 is controlled by the respective sensors 52a and 53a. When the forward speed of the traveling vehicle body 1 is changed, it is output to the rotation motor 48 and the mud hardness can be measured.
[0021]
When the angle sensor 54 is provided in the gear box 20 or the frame 3 and the seedling planting device 2 or the traveling vehicle body 1 is tilted sideways beyond a certain range, it can be output to the rotating motor 48 and the mud hardness can be measured.
The resistor flap 46 can be disposed on the side of the center float 30A in place of a rod or a hook. Depending on the penetration depth of the resistor with respect to the mud and the like, the center float 30A can be rotated in the opposite direction according to its hardness.
[0022]
Instead of the resistor (flap 46), the front of the right (or left) end float 30B (FIGS. 6 and 7) is intermittently pushed down in the same manner as the protrusion of the flap 46, and the gear at that time The mud hardness can be detected by the input value from the angle sensor 54 of the box 20. That is, as shown in FIG. 5, when the rotation motor 48A rotates the arm 48b once by the output from the control device 44, the wire 49A swings the float 30B around the horizontal axis 33. When the front part of the float 30B is lowered by the swing, the gear box 20 (the seedling planting device 2) is inclined to the upper right. However, as the mud becomes harder, the sinking amount of the front part of the float 30B becomes smaller. The inclination angle increases. The control device 44 detects the inclination angle by the input from the angle sensor 54 as described above, and sets the reference posture of the sensor float 30A in the same manner as described above.
[0023]
The seedling stage 28 and the like can be provided as follows. The seedling stage 28 is divided by a partition wall 55 at the right end (FIG. 2), and the section 28-1 is folded on the section 28-2 (FIG. 3). Then, after moving the seedling stage 28 to the right and then folding the section 28-1 onto the section 28-2, the center of the remaining seedling stage 28 can be aligned with the center of the traveling vehicle body 1. Yes (run on the road in this state). A blinker 57 is attached to the tip of an arm 56 protruding outward from each column 27. Each arm 56 is provided so as to be bent or stretched in the middle. Then, when the arm 56 is straightened or extended, the pair of winkers 57 are located outside the seedling mounting table 28 in operation (FIG. 2), and when the arm 56 is contracted, the ends are folded as described above. It comes to come just outside of the seedling stand 28 (FIG. 3). In addition, it can replace with the turn signal 57, or can attach a reflecting plate to this. According to this configuration, there is an effect that the winker 57 and the reflection plate can be used both in a state of a small special automobile in which the seedling stand 28 is folded and in a working state in which the seedling stage 28 is expanded.
[0024]
The drawing marker 58 can be provided as follows. Since this is symmetrical, only the right one will be described.
A support arm 59 protrudes from the floor 9 to the right. The iron plate is bent in a U shape to form a rotating plate 60, which is attached to the support arm 59 by a horizontal shaft 61 so as to cover the protruding end (FIG. 10). A marker arm 62 discharges from the rotating plate 60, and a hook-shaped drawing marker 58 is attached to the tip thereof. Then, when the marker arm 62 falls around almost horizontally by turning around the horizontal axis 61, the marker 58 hits the mud and becomes a use posture that draws a line on the mud surface as the traveling vehicle body 1 advances, and when the marker arm 62 stands upright, The marker 58 is raised from the mud and is changed to a non-use posture.
[0025]
A transmission case 63 is disposed on the rear side of the front end of the support arm 59, the inner end of the former is attached to the latter with a pin 64, the outer end of the former is pulled down by a spring, and the stop piece 63a is attracted to the upper surface of the latter. Is fixed (FIGS. 10 and 11).
A main shaft 66 is vertically attached to the transmission case 63, and a worm 69 driven by a motor 68 is biting a worm wheel 67 integral therewith (FIG. 12). An operating shaft 70 is attached to the transmission case 63 sideways, and a fan-shaped worm wheel 71 fixed to the operating shaft 70 with a key is engaged with a worm 72 integral with the main shaft 66. Accordingly, the rotation of the motor 68 is greatly reduced by the two sets of worms and worm wheels and transmitted to the operating shaft 70.
[0026]
A passive body 73 having a chevron claw 73a on the front surface is rotatably attached to a forward projecting portion of the operating shaft 70, and a main moving body 74 having a chevron claw 74a on the rear surface is prevented from rotating on the operating shaft 70 with a key 75. The main moving body 74 is pushed by a spring 76, and the pawl 74a is bitten by the pawl 73a to form a slip clutch 77. A friction plate can be used in place of the claws 73a and 74a. A slip clutch 77 is covered with a case 78.
[0027]
A transmission arm 79 protrudes upward from the passive body 73, and a pin 80 at the protruding end and a pin 81 above the horizontal shaft 61 of the rotating plate 60 are connected by a rod 82.
Therefore, the rotation of the motor 68 is transmitted through the worm 69, the worm wheel 67, the main shaft 66, the worm 72, the fan-shaped worm wheel 71, the operating shaft 70, the main moving body 74, the passive body 73, the operating arm 79 and the rod 82 in this order. The marker arm 62 is reached via the moving plate 60. When the marker arm 62 stands upright and is in the non-use posture shown in FIG. 10, when the motor 68 is rotated forward, the operating arm 79 is rotated counterclockwise and the marker arm 62 is rotated around the horizontal axis 61. Rotate in the same direction, lie down and use posture. On the contrary, when the marker arm 62 is in the use posture, when the motor 68 is reversed, the operating arm 79 rotates clockwise and the marker arm 62 stands upright in the non-use posture. In addition, when the marker arm 62 stops moving by hitting an obstacle during the above movement or the like, the claw 74a slides from the claw 73a.
[0028]
A non-conductive substrate 83 is attached to the side surface of the fan-shaped worm wheel 71 (FIG. 13), and a pair of arc-shaped conductive patterns 84 and 85 are provided thereon. A pair of switches 86 and 87 are disposed outside the substrate 83 so that the brushes 86a and 86b and 87a and 87b are in contact with the patterns 84 and 85 (FIG. 14). Is in the use posture, the brushes 86a and 86b are separated from the pattern 84 and the rotation of the motor 68 is automatically stopped. In the non-use posture, the brushes 87a and 87b are separated from the pattern 85 and the rotation of the motor 68 is automatically performed. It comes to stop.
[0029]
Conventionally, since the micro switch is arranged at the end of the fan worm wheel 71 and pushed by the end face thereof, the transmission case 63 is enlarged, but according to this configuration, this can be remarkably reduced in size. .
If switch buttons 88 and 89 for turning on the left and right motors 68 are attached to the lift lever 50 (FIG. 15), the operability is improved.
[0030]
【effect】
As described above, according to the present invention, the float is swung by the resistor that protrudes into the mud for a short time from the float, and the hardness of the mud is detected by the magnitude of the rocking, so the resistor always enters the mud. Muddy surface is less rough than the ones. In addition, in the case where the float swing is detected by an inclination sensor and the working device (seedling device) is moved up and down depending on the detected value, the inclination sensor can be used to detect mud hardness.
[Brief description of the drawings]
FIG. 1 is a side view of a rice transplanter according to the present invention. FIG. 2 is a plan view of the rice transplanter. FIG. 3 is a plan view of the seedling bed folded. FIG. Its block circuit diagram [Fig. 6] Its flowchart [Fig. 7] Side view of a part of another rice transplanter [Fig. 8] Rear view of part of it [Fig. 9] Rear view of part of the rice transplanter [Fig. 10] An enlarged rear view of a part thereof. [FIG. 11] A plan view thereof. [FIG. 12] A front view of the cut. [FIG. 13] A plan view of the cut. Slope view [Explanation of symbols]
30 float (30A sensor float)
33 Horizontal axis 46 Resistor (Flap)

Claims (1)

A resistor 46 is provided on the float 30 that slides while swinging the surface of the mud around the horizontal axis 33 so that the resistor 46 protrudes toward the mud from above, and the float when the resistor 46 protrudes toward the mud A hardness / softness detection device that detects the hardness of the mud according to the inclination angle of 30.

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