JP4424472B2 - Paddy field machine - Google Patents

Description

  The present invention relates to a seedling transplanter such as a riding rice transplanter.

  Currently, the riding type rice transplanter is equipped with a seedling planting device at the rear of the traveling vehicle body, and when the traveling vehicle body moves forward, it runs a drawing marker for drawing on the topsoil surface where the traveling vehicle body passes in the next stroke. They are provided on the left and right in the forward direction of the vehicle body (Japanese Patent Laid-Open No. 2003-9610).

  The present applicant has previously filed a drawing marker driving device capable of operating drawing markers provided on the left and right sides of the traveling vehicle body with a single operating means (Japanese Patent Application No. 2003-316993).

  The drawing marker driving device that can operate the left and right drawing markers filed by the applicant of the present application with a single operating means is used to turn the actuator that operates each L-shaped arm corresponding to the left and right drawing markers to a rotational motion of a single cam. It is configured to control while detecting the rotational movement position of the interlocking pin and the rotation angle of the cam.

FIG. 15 shows a part of the configuration of the drawing marker driving device that can operate the drawing markers provided on the left and right sides of the traveling vehicle body with a single operating means.
As shown in FIG. 15, a potentiometer 193 is provided on the support plate 188 that rotates integrally with the circular plate 189 with projections to detect the direction of the pin 188 a that moves along a circular locus, and the projection 189 a of the circular plate 189 is further provided. A switch 187 that is driven when contacted is provided, the rotational position of the disk 189 is determined by the switch 187 or the potentiometer 193, and the driving of the drawing marker driving actuator is started or stopped.

The position of the potentiometer detection pin 188a differs between FIG. 15 (a) and FIG. 15 (b), or between FIG. 15 (c) and FIG. 15 (d), but the inclination angle of the pin holder 192 is the same. Therefore, the potentiometer 193 is different in the position of both potentiometer detection pins 188a in FIGS. 15 (a) and 15 (b), or the position of both potentiometer detection pins 188a in FIGS. 15 (c) and 15 (d). The difference cannot be detected. Therefore, a disc 189 with a protrusion is provided, and the position of the potentiometer detection pin 188a in both FIGS. 15 (a) and 15 (b) depends on whether or not the protrusion 189a of the disc 189 contacts the motor switch 187. It is possible to detect a difference, or a difference in position between the potentiometer detection pins 188a in FIGS. 15 (c) and 15 (d).
JP 2003-9610 A Japanese Patent Application No. 2003-316993

  In the drawing marker driving device shown in FIG. 15 previously filed by the applicant, the pin 188 a sandwiched between the holding tools 192 is moved in the longitudinal direction of the holding tool 192 when the support plate 188 rotates. There is a region (between FIG. 15 (a) and FIG. 15 (b), between FIG. 15 (c) and FIG. 15 (d)) in which the inclination position of the holding tool 192 hardly changes. At this time, since the change width of the detection value of the pin 188a of the potentiometer 193 becomes small, the stop accuracy of the drawing marker is deteriorated as described above.

  Accordingly, an object of the present invention is to provide a paddy field work machine that can drive and control the drawing markers 53L and 53R on both the left and right sides of the machine body with a relatively simple configuration using a single drive device.

The problems of the present invention are solved by the following means.
According to the first aspect of the present invention, the traveling vehicle body 2 is provided with the farm working unit 4 and, as the traveling vehicle body 2 moves forward, travels on the drawing markers 53L and 53R for drawing on the topsoil surface through which the traveling vehicle body 2 passes in the next stroke. Line drawing that is provided on the left and right in the forward direction of the vehicle body 2 and that allows the left and right line drawing markers 53L and 53R to be held at either the working position for drawing on the topsoil surface or the storage position for non-drawing with a single operation means. In the paddy field machine provided with the marker driving device 82, the drawing marker driving device 82 includes an actuator 85 that is a driving source, a single cam 84 that is operated by the power of the actuator 85, and an outer peripheral surface of the cam 84. An operation connecting member including operation arms 80L and 80R for switching the left and right drawing markers 53L and 53R between the drawing position and the storage position according to the contact position of the cam 8 and the cam 8; The disc 89 with a plurality of projections 89a that rotate integrally on the same axis as the shaft 89 and the projections 89a provided at a plurality of locations on the outer periphery of the disc 89 are detected to determine that the cam 84 has reached the target rotational position. First detection means 87 for driving or stopping the actuator 85, second detection means 93 for detecting the circular movement position of the circularly moving pin 88a that rotates integrally with the cam 84, and the first detection means 87. And the second detection means 93 are paddy field work machines provided with a control device 120 that drives or stops driving the actuator 85 according to the detection results of the protrusions 89a and the pins 88a, respectively.

  According to the second aspect of the present invention, the traveling vehicle body 2 is provided with the farm working unit 4 and, as the traveling vehicle body 2 moves forward, travels on the drawing markers 53L and 53R for drawing on the topsoil surface through which the traveling vehicle body 2 passes in the next stroke. Line drawing that is provided on the left and right in the forward direction of the vehicle body 2 and that allows the left and right line drawing markers 53L and 53R to be held at either the working position for drawing on the topsoil surface or the storage position for non-drawing with a single operation means. In the paddy field machine provided with the marker driving device 82, the drawing marker driving device 82 includes an actuator 85 that is a driving source, a single cam 84 that is driven by the power of the actuator 85, and is capable of rotating forward and reverse. 84. Operation linking member including operation arms 80L and 80R for switching the left and right drawing markers 53L and 53R between the drawing position and the storage position according to the contact position with the outer peripheral surface of 84. The disc 89 having the projection 89a that rotates coaxially with the cam 84 and the projections 89a provided at a plurality of locations on the outer periphery of the disc 89 are detected to determine that the cam 84 has reached the target rotational position. A plurality of first detection means 87 for stopping driving of the actuator 85 is provided, and the protrusion 89a of the disk 89 and the plurality of first detection means 87 are formed by the protrusion 89a due to a difference in forward and reverse rotation directions of the disk 89. A paddy field arranged at a position where the actuator 85 is driven or stopped at the three-dimensional space position of the substantially same drawing markers 53L and 53R even if the detection condition of the detection means 87 is changed and there is a difference in forward and reverse rotation directions. It is a work machine.

  According to the first aspect of the present invention, the rotational positions of the support plate 88 and the circular plate 89 can be detected by the detection means 93 and 87, so that the three-dimensional spatial position control of the drawing markers 53L and 53R can be accurately performed using the actuator 85. Can do well.

  According to the second aspect of the present invention, since the rotational position control of the disk 89 can be detected by the detection means 87a ′ and 87b ′ with the rotational direction of the disk 89 being forward and reverse, the drawing markers 53L, 53R three-dimensional spatial position control can be performed with high accuracy using the actuator 85.

A six-row planting type rice transplanter as an embodiment of the present invention will be described in detail with reference to the drawings.
A side view and a plan view of the paddy field working machine (rice transplanter) of this embodiment are shown in FIGS. 1 and 2, respectively.

  In this rice transplanter 1, a seedling planting section as an agricultural work machine section 4 is connected to a rear side of the traveling vehicle body 2 via a lifting and lowering connecting device 3 so as to be lifted and lowered. The traveling vehicle body 2 is a four-wheel drive vehicle including a pair of left and right front wheels 10 and 10 and rear wheels 11 and 11 which are drive wheels. A mission case 12 is disposed at the front of the fuselage. Front wheel final cases 13 and 13 are provided on the left and right sides of the front wheels, and front wheels 10 and 10 are attached to front wheel axles that protrude outward from a front wheel support portion that can change the steering angle of the front wheel final cases 13 and 13. . Further, the front end portion of the main frame 15 is fixed to the rear portion of the transmission case 12, and the rear wheel gear case 18 is supported by a rear wheel rolling shaft provided horizontally at the front and rear of the rear end of the main frame 15 in the horizontal direction. The rear wheels 11 and 11 are attached to a rear wheel axle that is supported in a freely rolling manner and projects outwardly from the rear wheel gear cases 18 and 18.

  The engine 20 is mounted on the main frame 15, and the rotational power of the engine 20 is transmitted to the transmission case 12 via a first belt transmission device 21 and a second belt transmission device 23 capable of continuously variable transmission. Then, after being shifted by the transmission in the transmission case 12, the power is separated into traveling power and external power to be extracted.

  A part of the traveling power is transmitted to the front wheel final cases 13 and 13 to drive the front wheels 10 and 10, and the rest is transmitted to the rear wheel gear cases 18 and 18 to drive the rear wheels 11 and 11. Further, the external take-out power is transmitted to a planting clutch case 25 provided at the rear portion of the traveling vehicle body 2, and then transmitted to the seedling planting unit 4 through a planting transmission shaft 26.

  The upper part of the engine 20 is covered with an engine cover 30, and a seat 31 is installed thereon. A front cover 32 that houses various operation mechanisms is provided in front of the seat 31, and a handle 34 for steering the front wheels 10 and 10 is provided above the front cover 32. The engine cover 30 and the front cover 32 have horizontal floor steps 35 on the left and right sides of the lower end. The rear portions of the front cover 32 and the floor step 35 are rear steps 36 that are higher than the floor step 35. On both the left and right sides of the front part of the traveling vehicle body 2, spare seedling platforms 38, 38 on which replenishment seedlings are placed are provided so as to be pivotable between a position projecting laterally from the machine body and a position stored inside. ing.

  The lifting and lowering connecting device 3 has a parallel link configuration, and includes a single upper link 40 and a pair of left and right lower links 41 and 41. The links 40, 41, 41 are rotatably supported at the base side by a link base frame 42 erected at the rear end of the main frame 15, and a vertical link 43 is connected to the tip side. A connecting shaft 44 that is rotatably supported by the farm work unit 4 is inserted into and connected to the lower end of the vertical link 43, and the farm work unit 4 is connected so as to be able to roll around the connection shaft 44.

  A piston rod of a lifting hydraulic cylinder 45 whose base is pivotally attached to the main frame 15 is connected via a spring to the tip of a seedling support frame 46 formed integrally with the upper link 40, and the cylinder 45 is hydraulically connected. By extending and contracting, the upper link 40 rotates up and down, and the seedling planting part moves up and down while maintaining a substantially constant posture.

  The seedling planting section has a six-row planting structure, a transmission case 50 that also serves as a frame, a seedling mounting base 51 that feeds the seedlings to the seedling take-out outlets 51a,. A seedling planting device 52 for planting seedlings supplied to the seedling outlet 51a,..., A pair of left and right drawing markers 53L, 53R for drawing the aircraft path in the next stroke to the topsoil surface.

  In the lower part of the seedling planting part, a center float 55 is provided in the center, and side floats 56, 56 are provided on the left and right sides thereof. When the aircraft is advanced with these floats 55 and 56 in contact with the mud surface of the field, the floats 55 and 56 slide while leveling the mud surface, and the seedlings are planted by the seedling planting devices 52. Planted. Each of the floats 55 and 56 is rotatably attached so that the front end side thereof moves up and down according to the unevenness of the soil surface, and the vertical movement of the front part of the center float 55 is detected by a vertical movement detection mechanism (see FIG. The planting depth of the seedling is always maintained constant by switching the hydraulic valve that controls the lifting hydraulic cylinder 45 according to the detection result to raise and lower the seedling planting part.

  Although the seedling planting portion is not shown in detail, the seedling mount 51,... Is slidable left and right by the power on the traveling vehicle body via the planting transmission shaft 26 (FIG. 1). By reciprocating movement, the seedling located at the lowest stage of the seedling placing stand 51 is supplied to the seedling outlet 51a (FIG. 2), and the planting device 52,. When the seedling platforms 51,... Move to the end of the left and right stroke and all the seedlings at the lowest stage are planted, the seedling feeding belt 60 is operated to transfer the seedlings on the stage downward by one stage.

  Further, a hook clutch 103 (FIG. 8) that switches the operation and stop of the planting device 52 by two adjacent units is provided in the transmission case 50. Since this clutch is often operated “disengaged” at the time of work on the heel side, it is usually called the “slave clutch” described above. The hook clutch 103 (FIG. 8) is turned on and off by the hook clutch lever 54 provided on the handle post.

  Further, as shown in the plan view of FIG. 3 and the front view of FIG. 4, when the marker wires 81 </ b> L and 81 </ b> R that are linked to the raising and lowering operation of the seedling planting unit are pulled, the drawing markers 53 </ b> L and 53 </ b> R are drawn. When the marker wires 81L and 81R are raised and the marker wires 81L and 81R are returned, the drawing markers 53L and 53R fall over due to the tension of the springs 92L and 92R. The drawing markers 53L and 53R are not drawn to the topsoil portion of the field in the standing (storage) posture, and are drawn to the topsoil portion of the field in the fall posture.

Next, the operation mechanism of the drawing marker 53 will be described.
As shown in FIGS. 1 and 2, the drawing marker driving device 82 is provided with a marker 53 at the center of the plate 63 that spans the support member 58 of the seedling placement table 51 provided on the center float 55 and the side float 56. A drive device 82 is provided.

  The driving device 82 of the marker 53 is provided with a disk 86 having a motor 86 supported by a support plate 83 and a gear 86a meshing with a gear 85a provided on a rotating shaft portion of the motor 85 in the peripheral portion. . The rotating shaft 86b of the disk 86 is provided with a projection 89a on the surface side of the support plate 83 on the surface side of the support plate 83 at the periphery of the central axis every 90 degrees from the center axis for operating the switch 87 for detecting the position of the cam 84. Further, the cam 84 provided on the opposite surface of the support plate 83 through the switch plate 89 and the support plate 83 and the rotary shaft of the potentiometer detection pin support plate 88 provided in parallel with the cam 84 are also used. Since the switch 87 for detecting the position of the cam 84 is turned on every 90 degrees of rotation of the circular plate 89 with protrusions, the marker 53 can be controlled to the left, the left, the right, and the non-acting four states. .

  The cam 84 is configured such that the rotatable rollers 90R and 90L provided at the end portions on the base side of the pair of L-shaped arms 80R and 80L for driving the pair of markers 53R and 53L are in contact with the side surfaces thereof. The pair of L-shaped arms 80R and 80L are supported so as to be rotatable about rotation shafts 80Ra and 80La provided on the support plate 83. The left and right marker driving wires 81R and 81L are connected to the distal ends of the pair of L-shaped arms 80R and 80L, and the ends of the pair of L-shaped arms 80R and 80L are supported by the support plate 83. The springs 92R and 92L are always urged toward the sides where the tip portions approach each other. When the tip ends of the pair of L-shaped arms 80R and 80L are biased toward the sides approaching each other, the marker 53 is in an upright state and is not drawn on the field.

  When the pair of L-shaped arms 80R or 80L is rotated by the motor 85 and the roller 90R or 90L comes into contact with the large diameter portion of the cam 84, the movement of the pair of L-shaped arms 80R or 80L loosens the wires 81R and 81L. Then, the marker 53R or 53L falls to the drawing position of the field and performs drawing. Further, when the roller 90R or 90L comes into contact with the small diameter portion of the cam 84 by the rotation of the motor 85, the wires 81R and 81L are pulled by the movement of the pair of L-shaped arms 80R or 80L, and the marker 53R or 53L stands up. .

  A pin 88 a is fixed to the potentiometer detection pin support plate 88, and the rotation shaft of the holding tool 92 sandwiching the pin 88 a is provided on the surface portion of the potentiometer 93, and the potentiometer detection pin support plate 88 drives the motor 85. When rotating with force, the pin holder 92 rotates, and the degree of rotation can be detected by the potentiometer 93. The potentiometer 93 is fixed to a support table 95 on the support plate 83.

  In the marker driving device 82 having the above-described configuration, the geared disk 86 is rotated by the rotation of the motor 85, and the cam 84 that rotates integrally with the disk 86 moves to a position (marker standing position) that is initially close to each other. A pair of L-shaped arms 80R and 80L swing to drive the wires 81R and 81L. If the rotation of the motor 85 is, for example, a right rotation in FIG. 4, the L-shaped arm 80L for the left marker swings to cause the left marker 53L to fall. At this time, based on the shape of the cam 84, the L-shaped arm 80R for the right marker maintains the initial position. When the projection 89a of the disc 89 with projections hits the switch 87 by the rotation of the motor 85, the rotation of the motor 85 stops and the left and right markers are held at the respective positions.

  When the rotation of the motor 85 is in the direction opposite to that described above, the L-shaped arm 80R for the right marker swings to the left (dotted line side), the right marker 53R falls, and the left marker 53L stands up (stored). It becomes.

  FIG. 5 is a front view showing the positional relationship between the disc 89 with the protrusion 89a that contacts the switch 87, the detection pin 88a of the potentiometer 93, the support plate 88 provided with the pin 88a, and the pin clamping device 92.

  The potentiometer detection pin support plate 88 of the marker driving device 82 is rotated by the driving force of the motor 85. In the present embodiment, the detection value of the potentiometer 93 is preferentially stopped or the switch 87 is switched depending on the position where the cam 84 is stopped. Change whether to stop with priority.

  As shown in FIG. 5A to FIG. 5D, the detected value of the potentiometer 93 and the protrusion that contacts the switch 87 according to the position when the pin 88a of the support plate 88 and the protrusion 89a of the support plate 89 rotate. 89a changes. At this time, when the support plate 88 rotates, the pin 88a sandwiched between the holding tools 92 moves in the longitudinal direction of the holding tool 92 so that the tilt position of the holding tool 92 hardly changes. At this time, since the change width of the detection value of the pin 89a of the potentiometer 93 is small, the stopping accuracy of the drawing marker 53 is deteriorated as already described as a problem in the prior art.

Therefore, in this embodiment, the switch 87 is turned on instead of the potentiometer 93 in the vicinity of the rotation region shown in FIGS. 5A and 5D where the swinging angle of the holding tool 92 with the pin 88a interposed therebetween hardly changes. The driving of the motor 85 is stopped not by the switch 87 but by the potentiometer 93 at the positions shown in FIGS. 5B and 5C where the driving angle of the holding device 92 with the pin 88a interposed therebetween is greatly changed. Stop.
In this way, the setting of the left and right drawing markers 53 to the drawing position and the control of standing (storage) from the drawing position can be performed more precisely.

  Further, in the marker driving device 82 ′ of the embodiment shown in FIG. 6, two switches 87a ′ for detecting the rotational position of the disk 89 ′ rotating integrally with the cam 84 without using the potentiometer 93 shown in FIG. An embodiment will be described in which 87b 'is arranged and the left and right drawing markers 53 are set to the drawing position and housed from the drawing position.

  The two switches 87a ′ and 87b ′ are respectively provided at positions shifted by 90 degrees from the rotation locus of the disk 89 ′, and the shape of the disk 89 ′ is formed by connecting two semicircular members having large and small circumferential radii. Use a disk shape.

Disc 89 'when the counterclockwise (counterclockwise) can be go closer to the state shown in FIG. 6 (a) from the state shown in FIG. 6 (d), the second switch 87b' is a disc 89 ' Is in the state shown in FIG. 6A and faces the small radius portion of the disk 89 ′. During this time, the first switch 87a ′ remains in contact with the large radius portion of the disk 89 ′ .
Next, even when the state shown in FIG. 6 (a) approaches the state shown in FIG. 6 (b), the first switch 87a ′ is in contact with the large radius portion of the disk 89 ′. It only faces the small radius part of the disk 89 ′ when it is in the state shown. During this time, the second switch 87b ′ remains facing the small radius portion of the disk 89 ′ .
Then even go closer to the state shown in FIG. 6 (c) from the state shown in FIG. 6 (b), the second switch 87b 'is disc 89' because it faces the small radius portion of the disc 89 ' Is not in contact with, but is in the state shown in FIG. 6C and is in contact with the large radius portion of the disk 89 ′. During this time, the first switch 87a ′ remains facing the small radius portion of the disk 89 ′ .
Can have closer still to the state shown in FIG. 6 (d) from the state shown in FIG. 6 (c), since the first switch 87a 'is a circular plate 89' facing the small radius portion of the disc 89 ' Although not in contact, the first switch 87a ′ comes into contact with the large radius portion of the disk 89 ′ after the state shown in FIG. During this time, the second switch 87b ′ remains in contact with the large radius portion of the disk 89 ′.

Disc 89 'when the right-handed (clockwise), even go closer to the state shown in FIG. 6 (a) from the state shown in FIG. 6 (b), the second switch 87b' of disc 89 ' remain facing the small diameter portion, 'contacts the large diameter portion of the, and FIG. 6 (b) to the disc 89 in the state shown' disc 89 past the state shown in FIG. 6 (a) to the minor radius of the The faced first switch 87a ′ maintains the state in contact with the large radius portion of the disk 89 ′ after the state shown in FIG. 6B .
Next, when the state shown in FIG. 6A is passed and the state shown in FIG. 6D is reached, both the first switch 87a ′ and the second switch 87b ′ are in contact with the large radius portion of the disk 89 ′. However, when the state shown in FIG. 6D is passed, the first switch 87a ′ faces the small radius portion of the disk 89 ′. During this time, the second switch 87b ′ remains in contact with the large radius portion of the disk 89 ′.
Next, when the state shown in FIG. 6D is passed, the first switch 87a ′ comes off the large radius portion of the disk 89 ′ and faces the small radius portion of the disk 89 ′. The second switch 87b ′ remains in contact with the large radius portion of the disk 89 ′ until the state shown in FIG.
Next, after passing the state shown in FIG. 6C, the second switch 87b ′ faces the small radius portion of the disk 89 ′, and the first switch until the state shown in FIG. 6B is reached. 87a 'and the second switch 87b' remain facing the small radius part of the disk 89 ', and after passing the state of FIG. 6B, the first switch 87a' becomes the large radius part of the disk 89 '. Start touching. During this time, the second switch 87b ′ remains facing the small radius portion of the disk 89 ′.

This is shown in Table 1.

  As shown in Table 1, there are four types of setting conditions, whether the disk 89 ′ is counterclockwise or clockwise, so that each of the left and right line drawing markers 53L and 53R is connected to the line drawing position. It is possible to correspond to four kinds of modes of storing operation from the setting and drawing positions. Further, when the switches 87a 'and 87b' are operated in two types of rotation directions of the disk 89 ', the operation modes of the eight types of left and right drawing markers 53L and 53R can be made to correspond.

  Therefore, the operation modes of many left and right drawing markers 53L and 53R can be set at low cost, which is advantageous in terms of cost.

  Further, in FIG. 7, the marker driving device 82 is switched to set the left and right drawing markers 53 at the drawing position and to store them from the drawing position by using one support plate 88 ′ and two potentiometers 93a ′ and 93b ′. The configuration is shown as follows.

  The detection values of the two potentiometers 93a ′ and 93b ′ change according to the position when the pin 88a ′ of the disk 88 ′ rotates in FIGS. Accordingly, the setting / storage of the marker 53 to the drawing position can be switched.

Also, showing a main part of NaeUe with apparatus in FIG. 9 (side view) and FIG. 8 (rear view).
Engine power is transmitted to the transmission shaft 4a by the bevel gear mechanism in the seedling planting tool transmission gear case 101 of the planting transmission case 102. When the planting clutch 103 is engaged, the claw (not shown) of each seedling planting tool 105 is driven by the chain 106.

  Further, a lead cam that moves to the left and right while engaging a protrusion provided on the inner peripheral portion toward the central axis in a groove 107a provided on the lead cam shaft 107 that is rotating continuously from the seedling planting transmission gear case 101. The seedling stand 51 connected to 108 moves to the left and right.

  When the lead cam 108 moves left and right, for example, when it moves to the left, the left and right lateral feed pieces (with one-way clutch) 109a and 109b in which the contact piece 107b at the tip of the lead cam shaft 107 is directly connected to the vertical feed transmission shaft 109, When the right lateral feed piece 109b hits, the transmission shaft 109 is rotated by one planting of the seedling of the vertical feed belt 60 (FIG. 2). The transmission shaft 109 is interlocked with the shaft of the roller 111, and when the drive side clutch body 112 and the roller 111 are engaged, the longitudinal feed belt 60 for three strips can be moved by one planting of the seedling. .

  The motor base of the marker driving device 82 shown in FIGS. 8 and 9 is provided above the seedling vertical feed cam 107b. Although the wire 81 is routed in the vicinity of the seedling vertical feed cam 107b in the conventional apparatus, the wire drawing marker 53 is provided with a relatively long wire 81. Therefore, the seedling vertical feed cam 107b in which the wire 81 rotates is arranged. I was caught in and cut off. However, when the arrangement shown in FIG. 8 is employed, the motor base is located above the seedling vertical feed cam 107b, so that the wire 81 is not caught by the rotating seedling vertical feed cam 107b.

Further, by providing a motor 85 for driving the marker on the opposite side of the seedling mounting table 51 with the support plate 83 interposed therebetween, mud from a hole for arranging the seedling feeding belt 60 of the seedling mounting table 51 is prevented from the motor. It will not bite into the 85 gear.
Further, since the motor 85 and the control switch 87 are provided below the cam 84, mud does not accumulate on these members.

  As shown in FIG. 4, left and right marker driving wires 81R and 81L are connected to the tip portions of the pair of L-shaped arms 80R and 80L, and the L-shaped arms 80R and 80L connect the rollers 90R and 90L to the cam 84. As shown in FIG. 10, the L-shaped arms 80R and 80L and the member 115 having the rotation fulcrum 115a of the drawing marker are connected to the wires 81R and 81L. When the L-shaped arms 80R, 80L and the wires 81R, 81L are arranged with the rotation fulcrum 84a of the cam 84 interposed therebetween, the abutting biasing force of the L-shaped arms 80R, 80L to the cam 84 is arranged. Can be replaced with a spring 116 for storing and holding the drawing arm 53 from the drawing position of the drawing arm 53 provided on the member 115 having the rotation fulcrum of the drawing marker 53. Can, spring 92R shown in FIG. 4, 92L is not required.

  When the headland is leveled in the field, it may turn while the center float 55 of the farm work unit 4 is lowered. This is sometimes called a floating turn. Even if it does not go up or the agricultural work unit 4 does not move up and down, the drawing marker 53 can be switched.

  In consideration of preventing damage to the drawing marker 53 due to soil resistance, when the farm work unit 4 is raised and turned, the farm work unit 4 is raised prior to the operation of the handle 34. It is preferable to link 53. Therefore, it is desirable to perform control such that the drawing marker 53 is operated at an appropriate timing according to various turning patterns including a floating turn. A control block diagram of this embodiment is shown in FIG. 11, and a control flowchart is shown in FIG.

  The control block is provided with a floating turn mode switch 122, a steering angle sensor 124, a lift link sensor 125, a pitching sensor 126, and a rolling sensor 127.

  Here, the lift link sensor 125 is not shown in FIG. 1, but the link base frame 42 erected on the main frame 15 and the lift upper link 40 that moves up and down the link (connection) device 3. The potentiometer is provided between the lower links 41 and detects the movement of the link (connection) device 3, and can detect that the seedling planting device 3 has been raised to the highest position by manual operation or the like. And the angle-of-attack sensor 117 provided in the front part of the center float 55 detects the height of the farm work unit 4 with respect to the ground. Based on the detected value of the angle-of-attack sensor 117, the control device 120 causes the lift valve 121. And the vertical position of the farm working unit 4 is controlled by a lift hydraulic cylinder 45.

  That is, when the angle sensor 117 detects that the front part of the center float 55 has been lifted to an appropriate range or more by an external force, the lift cylinder 45 moves the lifting link device 3 upward to bring the farm work unit 4 to a predetermined position. Further, when the angle sensor 117 detects that the front part of the center float 55 has fallen beyond the proper range, the lift cylinder 45 lowers the lifting link device 3 and lowers the farm working unit 4 to a predetermined position. Let When the front part of the center float 55 is in the proper range (when the detected value of the angle-of-attack sensor 117 is in the proper range and the farm work unit 4 has the proper ground height), the pressure oil in the lift cylinder 45 It is provided to stop the entry and exit of the farm and keep the farm working unit 4 in a fixed position. As described above, the center float 55 is used as a ground sensor for automatic height control of the farm work unit 4.

  Further, the pitching sensor 126 corrects the set position of the drawing marker 53 under the control of the marker driving device 82 in accordance with the degree of pitching of the aircraft, so that the depth of the drawing marker 53 is constant regardless of the forward / backward inclination of the aircraft. Therefore, workability is further improved.

  In other words, the set position of the drawing marker 53 is corrected to the lower side when the front is raised in accordance with the front / rear tilt angle of the aircraft, thereby preventing the drawing from being performed when the aircraft is raised up. In particular, when the drawing marker 53 is provided on the traveling vehicle body side (left and right of the front portion of the traveling vehicle body), it can be prevented that the drawing is not performed. It should be noted that in the forwardly lowered state of the machine body, the drawing can be performed without correcting the set position of the drawing marker 53, so that it is not necessary to perform this correction.

  Further, the set position of the drawing marker 53 can be corrected by detecting the left and right tilt angles and the front and rear tilt angles of the airframe by the rolling sensor 127 and the pitching sensor 126, respectively.

For example, the correction can be performed by setting a correction value of the set position of the drawing marker 53L using the table data of the left drawing marker 53L shown in Table 2. The right line drawing marker 53R also sets a correction value using similar table data.

  Further, when the inclination angle of the aircraft in the front-rear (or left-right) direction is frequently changed, the set position of the drawing marker 53 is corrected according to the left-right inclination angle of the aircraft according to the flow shown in FIG. So that the line can be drawn.

  Further, when the forward rising inclination angular velocity of the airframe is large, the set position of the downward drawing marker 53 is corrected according to the flow shown in FIG. 14 to prevent the drawing.

  The present invention can be applied to a working machine such as a riding rice transplanter.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is an overall side view showing a six-row planting type rice transplanter that is an embodiment of the present invention. It is a top view of the riding type rice transplanter shown in FIG. It is a top view which shows the structure of the drawing marker drive device of one Example of the riding type rice transplanter shown in FIG. It is a front view which shows the structure of the drawing marker drive device of one Example of the riding type rice transplanter shown in FIG. It is a figure explaining the operation | movement aspect of the drawing marker drive device of one Example of the riding type rice transplanter shown in FIG. It is a figure explaining the operation | movement aspect of the pull marker drive device of one Example of the riding type rice transplanter shown in FIG. It is a figure explaining the operation | movement aspect of the drawing marker drive device of one Example of the riding type rice transplanter shown in FIG. It is a principal part rear view of the seedling planting apparatus of the riding type rice transplanter shown in FIG. It is a principal part side view of the seedling planting apparatus of the riding type rice transplanter shown in FIG. It is a mechanism figure of the action | operation connection member of the drawing marker drive device and drawing marker of the riding type rice transplanter shown in FIG. It is a control block diagram of the riding type rice transplanter shown in FIG. It is a flowchart figure for the raising / lowering of the planting apparatus of the riding type rice transplanter shown in FIG. 1, and the operation | movement control of a drawing marker. It is a flowchart figure for the action | operation control of the drawing marker by raising / lowering of the planting apparatus of the riding type rice transplanter shown in FIG. 1, and pitching of a body. It is a flowchart figure for the operation | movement control of the drawing marker by the front rising pitching of the body of the riding type rice transplanter shown in FIG. It is a figure which shows a part of structure of the drawing marker drive device of a prior art.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Rice transplanter 2 Traveling vehicle body 3 Elevating connection device 4 Farm work part 10 Front wheel 11 Rear wheel 12 Transmission case 13 Front wheel final case 15 Main frame 18 Rear wheel gear case 20 Engine 21 First belt transmission device 23 Second belt transmission device 25 Planting clutch Case 26 Planting shaft 30 Engine cover 31 Seat 32 Front cover 34 Handle 35 Floor step 36 Rear step 38 Spare seedling stage 40 Upper link 41 Lower link 42 Link base frame 43 Vertical link 44 Connecting shaft 45 Lifting hydraulic cylinder 46 Base support frame 50 Transmission case 51 Seedling stage 51a Seedling outlet 52 Seedling planting device 53 Drawing marker 54 畦 Clutch lever 55 Center float 56 Side float 58 Support member 60 Seedling feed belt 63 Plates 80R, 80L L-shaped arm 80Ra, 80La Rotating shaft 81R, 81L Marker driving wire 82 Drawing marker driving device 83 Support plate 84, 84 'Cam 84a Rotating fulcrum 85 Motor 85a, 86a Gear 86 Disc 86b Rotating shaft 87 Switch 88 Potentiometer detection Pin support plates 88a, 88b, 88c, 88d Pin 89 Protrusion disc 89a Protrusion 90R, 90L Roller 92 Clamping tool 92R, 92L Spring 93 Potentiometer 95 Support base 101 Transmission gear case 102 Planting transmission case 103 Planting clutch 105 Seedling planting Attachment 106 Chain 107 Lead cam shaft 107a Groove 107b Abutting piece 108 Lead cam 109 Vertical feed transmission shaft 109a, 109b Lateral feed piece 111 Roller 112 Drive side clutch body 115 Member 115 having a rotation fulcrum 115a Rotation fulcrum 1 16 Spring 117 Float angle angle sensor 120 Controller 121 Planting lift valve 122 Floating turn mode switch 124 Steering angle sensor 125 Lift link sensor 126 Pitching sensor 127 Rolling sensor

Claims (2)

Agricultural working unit 4 is provided on the traveling vehicle body 2, and drawing markers 53 </ b> L and 53 </ b> R for drawing on the top soil surface through which the traveling vehicle body 2 passes in the next stroke as the traveling vehicle body 2 moves forward are set to the left and right in the forward direction of the traveling vehicle body 2. A paddy field provided with a drawing marker driving device 82 that can be operated by a single operation means to hold the left and right drawing markers 53L and 53R on either the working position on the topsoil surface or the non-drawing storage position. In the work machine,
The drawing marker driving device 82 includes an actuator 85 as a driving source,
A single cam 84 actuated by the power of the actuator 85;
An operation linking member including operation arms 80L and 80R for switching the left and right drawing markers 53L and 53R between a drawing position and a storage position according to a contact position with the outer peripheral surface of the cam 84;
A disk 89 with a plurality of projections 89a that rotate integrally with the cam 84;
First detection means 87 that detects the projections 89a provided at a plurality of locations on the outer periphery of the disk 89, determines that the cam 84 has reached the target rotation position, and drives or stops the actuator 85; and the cam 84 Second detecting means 93 for detecting the circular movement position of the circularly moving pin 88a that rotates integrally on the same axis,
A paddy field work machine comprising a control device 120 for driving or stopping the actuator 85 according to the detection results of the projection 89a and the pin 88a by the first detection means 87 and the second detection means 93, respectively. Agricultural working unit 4 is provided on the traveling vehicle body 2, and drawing markers 53 </ b> L and 53 </ b> R for drawing on the top soil surface through which the traveling vehicle body 2 passes in the next stroke as the traveling vehicle body 2 moves forward are set to the left and right in the forward direction of the traveling vehicle body 2. A paddy field provided with a drawing marker driving device 82 that can be operated by a single operation means to hold the left and right drawing markers 53L and 53R on either the working position on the topsoil surface or the non-drawing storage position. In the work machine,
The drawing marker driving device 82 includes an actuator 85 as a driving source,
A single cam 84 that can be rotated forward and backward by the power of the actuator 85;
An operation linking member including operation arms 80L and 80R for switching the left and right drawing markers 53L and 53R between a drawing position and a storage position according to a contact position with the outer peripheral surface of the cam 84;
It is determined that the cam 84 has reached the target rotational position by detecting the disc 89 with the projection 89a that rotates coaxially with the cam 84 and the projection 89a provided at a plurality of locations on the outer periphery of the disc 89. A plurality of first detection means 87 for stopping driving of the actuator 85,
The projection 89a of the disc 89 and the plurality of first detection means 87 change the detection condition of the detection means 87 by the projection 89a by the difference in forward and reverse rotation directions of the disc 89, and the difference in forward and reverse rotation directions. Even if there is, a paddy field machine characterized in that it is arranged at a position where the actuator 85 is driven or stopped at the three-dimensional space position of the substantially same drawing markers 53L and 53R.

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