JP4543247B2 - Rice transplanter - Google Patents

Description

The present invention is mounted on a planting machine for planting work with the machine body traveling by planting unit provided in the body, to a planting machine for controlling the operation of the travel operation and the planting of the aircraft.

Oite the planting machine for planting work with the machine body traveling by planting unit provided on the body, planting was as shown in Patent Document 1, for controlling the operation of the planting unit in conjunction with the turning operation of the machine body The machine is known. This rice transplanter controls at least the planting process of reciprocating and the turning process of making a U-turn at the end in the reciprocating planting operation at the center until reaching the round planting operation at the ridge. . In the planting process, a plurality of seedlings are planted according to the forward traveling of the aircraft by lowering the planting part and turning on the transmission clutch. In the turning stroke, the planting operation is stopped by clutch-off of the planting unit, and the planting unit is lifted and then moved to an adjacent position by a U-turn. In this adjacent position, planting is resumed from the previous planting end position by the lowering of the planting part and the clutch-on control. In this way, by introducing the turning supplementary control that automatically controls the planting unit in conjunction with the turning operation, the burden on the operator can be reduced.

However, since the planting range is determined based on the turning motion of the airframe in the above-mentioned turn attendant control, it cannot be applied to a case where the planting stop range is wider or conversely narrower than the turning operation region. In some cases, due to the interrelationship between the specifications of the work equipment such as the number of planting ridges and various field conditions, a large operational burden due to cumbersome manual operation may be imposed.
JP 2002-335720 A

The problem to be solved is to provide a rice transplanter applicable to a wide range of conditions in order to reduce the operation burden on the operator.

The invention of claim 1 includes a planting unit that controls the turning operation of the airframe for planting under traveling, and controls the operation of the planting unit in conjunction with the turning operation. In the rice transplanter provided with the above, the control unit includes a plurality of turning patterns for turning control of the machine body, and includes switching means for selecting and operating one turning pattern from among the turning patterns, and the control unit Checks the ascent mode switch of the planting part, and when it is not in the ascending mode, checks the drive shaft rotation speed and waits until the rotation speed reaches the first value. On the condition that the planting part is lowered, and then the planting start automatic switching switch is turned on, the drive shaft rotational speed is checked and waits until the rotational speed reaches the second value. When the second value is reached, planting Turn control means for controlling the operation, and after reading each sensor value, wait until the shift position reaches the planting speed, and when the shift position reaches the planting speed, check the switching means and select the switching means. And a turning pattern control means for performing a turning process of a pattern according to the above.
According to a second aspect of the present invention, the turn control means checks the drive shaft rotational speed and waits until the rotational speed reaches the third value prior to the operation command of the planting unit. characterized by operating the fertilization unit on condition that the operation of the swing is not in an abnormal operation state.
The invention according to claim 3 is characterized in that the turn control means controls the cutting of the planting clutch in conjunction with the turning of the aircraft and raises the planting unit, and the planting unit cuts off the planting clutch in conjunction with the aircraft turning. It is characterized by being able to switch between control that does not rise.
According to a fourth aspect of the present invention, the turn control means can be switched between a state in which the planting portion is automatically operated and a state in which the planting portion is manually operated when the drive shaft rotational speed reaches the second value. It is characterized by being.
According to a fifth aspect of the present invention, the turning pattern selected by the switching means raises the planting portion based on detection of stoppage due to the end of the forward movement of the airframe, then moves backward, and then the drive shaft rotation speed is increased by the forward movement of the airframe. Back turn to start counting and control the turn, automatic turn to start counting the drive shaft rotation by turning the steering wheel and turning the drive shaft by stopping the planting operation It is a headland adjustment turn in which the counting of the number is started and the turn is controlled by the steering operation for the subsequent turn.
In the invention of claim 6, when the planting unit is not in an operating state, the control unit sets the automatic turn if there is a handle operation, and sets the headland adjustment turn if the aircraft advances without a handle operation. Set . If the vehicle is not in the aircraft advance state without the steering wheel operation and is in the aircraft advance state within the range set by the timer , the control for setting the back turn is performed.

The rice transplanter of the present invention has the following effects.
Since the rice transplanter having the configuration of claim 1 includes a plurality of turning patterns in the control unit, it is possible to turn various conditions, and since it includes switching means for selecting and operating the turning pattern, The turn is controlled with the turn pattern selected by the operation of the switching means. Therefore, when turning the aircraft, it is possible to control the planting unit in conjunction with the turning operation of the aircraft according to the field situation and work contents by selecting a preferred turning pattern by simple switching operation of the selection means. it can.
The rice transplanter of the structure of Claim 2 can adjust the discharge delay by a long discharge path, and can match the timing of fertilization by operation | movement of the fertilizer part prior to planting.
Since the rice transplanter of the structure of Claim 3 can level the surface of a farm field by the float part with which the planting part was equipped, it can erase a wheel trace and can clean a farm field. On the other hand, the planting part can be raised and swiveled so that it does not hit in Takatsuki.
The rice transplanter having the configuration of claim 4 can improve workability during turning by properly using automatic processing and manual processing according to the situation of the work site.
The rice transplanter of the structure of Claim 5 can select a back turn, an automatic turn, and a headland adjustment turn.
In the rice transplanter having the configuration of claim 6, when the operator performs the first stroke in the teaching mode, the turning pattern is automatically selected without operating the turn selection switch. Can be improved.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
Figure 1 is Ru side view der of rice planting machine. The rice transplanter 1 supports the vehicle body so that it can be driven by four wheels by the turning wheels 2 and 2 and the rear wheels 3 and 3, and controls the steering handle 4, the operator seat 5, the engine 6, the planting part 7, and various devices. It provided with a control section of the later to be.

Planting unit 7 vertically movably mounted vignetting via the elevating unit 11 to the aft body, via a planting clutch (not shown) in addition to work planting multi-start in accordance with the running of the machine body, in conjunction with the planting operation A feeding unit 13 for sequentially feeding seedlings, a fertilizing unit 14 for discharging medicinal fertilizer, a float unit 15 for leveling, and the like are provided.

The control unit is configured to perform a turning process of a pattern according to the selection from “back turn”, “automatic turn”, and “headland adjustment turn” by switching operation of the turn changeover switch (switching means) 21 in FIG. . As shown in FIG. 3A, the “automatic turn” is a turning pattern in which planting is stopped in response to a steering operation for turning, and planting is resumed in a predetermined procedure accompanying the turning of the aircraft. As shown in Fig. 3 (b), the "back turn" is the one that proceeds to the position close to the eaves, stops and stops planting, and then resumes planting along with the subsequent aircraft turn. As shown in FIG. 3 (c), the “headland adjustment turn” is to stop planting from a position before the aircraft turns and further advance, and to resume planting incidental to the subsequent aircraft turn. .

O configuration of the controller 22 to the signal processing, as shown in the system diagram of Figure 4, another input signal selector switch 21 for selecting the turning pattern, various switches, a signal of the sensor receiving, It also controls actuators for various equipment for running and work operations. Specifically, on the input side, a finger lever switch 23a for planting operation command, an automatic planting start changeover switch 23 for automatic planting operation selection, a planting unit ascent mode switch 24 for automatic ascending selection of the planting unit 7, HST lever position sensor 25 for detecting a shift operation, steering angle sensor 26 for detecting a steering operation, a time lag adjusting dial 27 for adjusting a time, a brake pedal sensor 28 for detecting a brake operation, and a hydraulic cylinder on the output side An electromagnetic hydraulic valve 11b for raising and lowering the planting part 7 through 11a, a planting clutch operating solenoid 31 for operating the planting part, a fertilizing clutch operating solenoid 32 for operating a fertilizer machine, an HST motor 33 for tilting the HST lever, etc. are connected. To do.

  As shown in the flowchart of FIG. 5, the control process by the control unit 22 waits until the shifting position reaches the planting speed (S2) after each sensor value is read (S1), and the switch 21 for selecting the turn. Is checked (S3), and a turning process of a pattern according to the selection from “back turn”, “automatic turn”, and “headland adjustment turn” is performed. Each turning process performs an individual process according to the difference in the planting stop position.

  The turning pattern will be described in detail. The “back turn” is based on the condition that the HST lever is neutral (S11) and the main clutch is not “disengaged” (S12) according to the signal from the HST lever position sensor 25. It waits until the clutch becomes “ON” and commands the planting part “rising” and the planting clutch “OFF” (S13).

  In this case, the detection accuracy of the turning control can be improved by detecting the neutrality of the HST lever. In addition, a wrinkle detection sensor such as a contact sensor (not shown) is provided at the front end of the body, and the HST lever is returned to neutral via the lever tilting device 33 according to a detection signal when approaching the side surface of the wrinkle to automatically stop. By configuring, it is possible to prevent the collision with the rod and improve the positioning accuracy, and to secure the subsequent control accuracy.

  In the case of the main clutch “disengaged”, it is possible to cope with an abnormal stop or the like during planting by stopping the turning process, including the case where continuation of the stop for a predetermined time or more is detected. At this time, it is configured to return to the “back turn” process when the operator performs a reverse operation. In addition, since the planting part “rise” is performed before the backward movement of the aircraft, the planting part 7 cannot be fully raised during the backward movement of the aircraft due to the normal backlift operation that raises the working unit with the backward movement of the aircraft. Since the situation of biting into the topsoil is avoided, breakage of the float portion 15 can be prevented.

  Next, the vehicle travels a predetermined distance backward (S14) with a lapse of a predetermined time in order to alleviate the impact. During this reverse travel, the time margin allows the operator to receive less shock due to switching of the traveling direction and prevent biting into the topsoil when the ascending operation of the planting part 7 is slow. Moreover, since the planted field scene is disturbed by the wheel traces caused by the backward movement, and it is troublesome to erase the wheel traces without defeating the seedlings, the backward movement is restricted to the range up to the planting end position.

  After a predetermined time elapses, a forward operation (S15) is waited, and a distance count by drive shaft rotation is started (S16). The operability can be improved by configuring the aircraft to move forward by a tilt command of the HST lever instead of the forward operation. Further, by providing a time lag until the aircraft starts moving forward, the shock received by the operator can be suppressed, and by providing the time lag adjustment dial 27, it is possible to set the preferred time for backward and forward movement, so that operability Can be improved.

  The planting is resumed from a predetermined position accompanying the turning operation of the airframe by predetermined left or right turn control (S18, S18) to be described later in response to a steering operation (S17) for turning following the start of forward movement. The predetermined turn control (S18) is based on the left and right common subroutine processing, and is configured to be incorporated into other turning patterns.

  In the case of using a rice transplanter with a small number of planting lines, the control of the “back turn” process is carried out by planting the work section by planting up to a position close to the culm in the reciprocating planting operation in the center of the field. In order to adapt to the width, it is possible to reduce the circumferential planting work width of the ridge part. In the case where the control of the turning process is stopped by the signal of the brake pedal sensor 28, safety can be ensured in case of abnormality.

  In the “automatic turn”, distance counting is started (S22, S22) in the same manner as described above in response to a steering operation for turning (S21), and planting is resumed from a predetermined position by corresponding turn control (S18, S18). . In addition, the “headland adjustment turn” starts distance counting (S32) in the same manner as described above under the condition of the planting “cutting” operation (S31), and continues the forward movement and then responds to the steering operation (S33) for turning. Then, planting is resumed from a predetermined position by performing turn control (S18, S18).

  For details of the left or right turn control processing by the subroutine processing, as shown in the flowchart of FIG. 6, the ascending mode switch 24 of the planting unit 7 is checked (S41). Wait until the predetermined turning distance n1 is reached in S42), and instruct the turning operation “decrease” on the condition that the handle angle is equal to or greater than a specified value a (for example, 90 °) in order to determine the turning operation (S44). . On the contrary, in the case of the ascending mode, the planting part “raising” is commanded (S41a). If the handle angle is not equal to or greater than the specified value a, the process is terminated after an alarm output (S43a).

  Next, the drive shaft rotation number check (S45) waits until a predetermined turning distance n2 ′ is reached, and the fertilizer clutch “ "On" is commanded (S47). If the handle angle is equal to or greater than the specified value b, the process is terminated after an alarm output (S43a) as described above.

  Subsequently, on condition that the planting start automatic changeover switch 23 is “ON”, the drive shaft rotation number check (S49) waits until a predetermined turning distance n2 is reached, and planting “ON” is commanded (S50). At the same time, the process is terminated by clearing the drive shaft rotation count (S51). If the planting start automatic change-over switch 23 is not “ON”, the process is terminated. In this case, the degree of freedom can be ensured by configuring so that it can be manually operated as described later.

  Thus, by the left or right turn control process, planting is resumed from a predetermined position by operating the planting unit 7 in conjunction with the turning operation of the aircraft, and by the operation of the fertilizer before planting, The timing of fertilization can be adjusted by adjusting the discharge delay due to the long discharge path.

  In addition, since various turning patterns can be easily configured according to the combination of subroutine processing, the turning processing according to conditions can be applied by the changeover switch and the simple control processing configuration.

  Next, a method for selecting a turning pattern by teaching will be described. FIG. 7 is a flowchart for selecting a turning pattern by teaching. In the first stroke, the operator performs “ON” and “OFF” of the planting unit 7 to store the turning state when the operator comes to the headland and automatically selects a suitable turn form by the first teaching.

  Specifically, after waiting until the teaching mode (S61), the control waits until the planting clutch “ON” is checked (S62), and if there is a steering operation (S63), the automatic turn mode is set (S63a). If it corresponds to the “machine forward” (S64) of the HST motor without operating the steering wheel, the headland adjustment turn mode is set (S64a). If neither is applicable, the timer is set (S65) and waits, and if the HST motor is “airframe forward” (S66) within that range, the back turn mode is set (S66a).

  By configuring the control unit in this manner, when the operator performs the first stroke in the teaching mode, the turning pattern is automatically selected without operating the turn selection switch 21, so that the operation becomes simple. Operability can be improved.

  Next, another handling of the planting clutch after the turn will be described. FIG. 8 is a flowchart of another control process for the planting clutch after the turn. After turning 180 °, after reading the rotation sensor (S71), the automatic clutch selection switch “ON” is checked (S72), and if applicable, the rotation count value is greater than or equal to the specified value (S73). After waiting until it becomes, the planting clutch “ON” is commanded (S75). If the selection switch “ON” is not applicable, the planting clutch “ON” is commanded (S75) after waiting until the finger lever is lowered (S72a).

  By configuring the control unit in this way, automatic processing and manual processing of the planting operation can be selected by the automatic start switch 23. In the case of manual processing, the operator can adjust the planting start in accordance with the operation of the finger lever switch 23a. Therefore, by using both automatic processing and manual processing according to the situation at the work site, workability during turning can be improved. Can be improved.

  In addition, the planting clutch is turned off in conjunction with the turning of the aircraft, while the elevation mode of the planting unit 7 is configured to be automatic or manual by the elevation mode selection switch, so that It is possible to make a turn while stopping the interlocking rise and maintaining the height position as it is during work. By turning the aircraft in this way, the surface of the field can be leveled by the float 15 provided in the planting part 7, so in the case of the hardness that the marks of the traveling wheels remain in the field, You can erase the wheel marks and clean the field. On the other hand, the planting part 7 can be raised and swiveled so that it does not hit with a high altitude. Thus, in addition to the clutch-and-lift swivel interlocking process for the planting part 7, the user's selection range can be expanded and adaptability can be improved by a two-mode switch in which only lifting and lowering is manual.

It is a side view of a field planting machine of the present invention. It is a turn selection switch. It is each turning block diagram of "automatic turn" (a), "back turn" (b), and "headland adjustment turn" (c). It is an input-output system diagram of a control part. It is a flowchart of a control process. It is a detailed flowchart of turn control. It is a flowchart which selects a turning pattern by teaching. It is a flowchart of another control process of the planting clutch after a turn.

1 rice transplanter 2 turning wheel 3 rear wheel 4 steering wheel 7 planting section 7a hydraulic cylinders 7b electrohydraulic valve 11 lifting part 14 fertilization portion 15 float part 21 turns the changeover switch (switching means)
22 control part 23a finger lever switch 23 automatic changeover switch 24 ascent mode switch 24 planting part ascending mode switch 25 lever position sensor 26 steering angle sensor 27 time lag adjustment dial 28 brake pedal sensor 31 planting clutch operating solenoid 32 fertilizing clutch operating solenoid 33 Lever tilting motor

Claims (6)

In rice transplanter equipped with a control unit that controls the turning operation of the planting unit in conjunction with the turning operation, while controlling the turning operation of the machine body for planting work under traveling with a planting unit,
The control unit includes a plurality of turning patterns for turning control of the airframe, and includes switching means for selecting and operating one turning pattern from among the turning patterns.
Further, the control unit checks the ascending mode switch of the planting unit, and if not in the ascending mode, the control unit checks the drive shaft rotation speed and waits until the rotation speed reaches the first value. Then, the planting part is lowered on the condition that the turning operation is in progress.
Next, on the condition that the planting start automatic change-over switch is turned on, the rotational speed of the drive shaft is checked and waits until the rotational speed reaches the second value. Turn control means for controlling to command,
After each sensor value is read, it waits until the gear shift position reaches the planting speed, and when the gear shift position reaches the planting speed, the above switching means is checked, and a turning pattern that performs a turning process according to the selection of the switching means. A rice transplanter comprising a control means. Prior to the operation command of the planting part, the turn control means checks the drive shaft rotation speed and waits until the rotation speed reaches the third value. When the rotation value reaches the third value, the turning operation is in an abnormal operation state. rice transplanter according to claim 1, characterized in that running the fertilization unit on condition that not. The turn control means, in conjunction with the turning of the aircraft, control to cut the planting clutch and raise the planting part,
The rice transplanter according to claim 1 or 2, wherein the planting clutch is disengaged in conjunction with the turning of the machine body, and the planting unit can be switched to a control that does not rise.   The turn control means can be switched between a state in which the planting unit is automatically operated and a state in which the planting unit is manually operated when the drive shaft rotational speed reaches the second value. Item 4. A rice transplanter according to any one of Items 1 to 3. The turning pattern selected by the switching means is
Back turn that raises the planting part based on the stop detection due to the end of the aircraft forward movement, then moves backward, starts counting the drive shaft rotation speed with the subsequent advance of the aircraft, and performs turn control,
An automatic turn that performs a turn control by starting counting the number of rotations of the drive shaft by a steering wheel operation for turning,
5. The headland adjustment turn in which counting of the drive shaft rotation speed is started by an operation stop operation of the planting portion and the turn control is performed by a steering wheel operation for subsequent turning. Rice transplanter as described in any one. When the control unit is not in an operating state,
If there is a handle operation, set the automatic turn,
If the aircraft is moving forward without steering, set the headland adjustment turn,
6. The rice transplanter according to claim 5 , wherein control is performed to set the back turn when the vehicle is in a forward state within a range set by a timer instead of a forward state without a steering operation .

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