JP5110100B2 - Rice transplanter - Google Patents

Description

  The present invention relates to a rice transplanter that is mounted on a rice transplanter that performs planting work together with the traveling of the aircraft by a planting unit provided in the aircraft, and controls the traveling operation of the aircraft and the operation of the planting unit.

In a rice transplanter that performs planting work together with traveling by the planting unit provided in the aircraft, as shown in Patent Document 1, a rice transplanter that controls the operation of the planting unit in conjunction with the turning motion of the aircraft is provided. Are 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 turn attendant control that automatically controls the planting unit in conjunction with the turn operation, the burden on the operator can be reduced (see Patent Document 1) .

  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.

In order to solve the above problems, the following technical measures were taken.
That is, the invention of claim 1 is provided with a planting part to control the turning operation of the machine body for planting work while traveling and to control the operation of the planting part in conjunction with the turning operation. In the rice transplanter provided with the control unit, the control unit waits until the distance count reaches the first turning distance , and when the first turning distance is reached, lowers the planting unit on the condition that the turning operation is being performed. subsequently, on condition that the automatic changeover switch start planting is in oN, the distance count to wait until the second pivot distance, and a state operating the planting unit automatically Once turned to a second turning distance The rice transplanter is characterized by comprising a turn control means that can be switched to a state in which the planting unit is operated manually .

The invention according to claim 2 is characterized in that the turn control means controls the cutting of the planting clutch in conjunction with the turning of the machine body and raises the planting part, and interlocks with the turning of the machine body to disconnect the planting clutch. The rice transplanter according to claim 1, wherein the control can be switched to control that does not rise .

According to a third aspect of the present invention, the turn control means waits until the distance count reaches the third turning distance prior to the operation command of the planting unit, and the turning operation is abnormally performed when the third turning distance is reached. The rice transplanter according to claim 1 or 2, wherein the fertilizer is operated on condition that it is not in a state .

According to a fourth aspect of the present invention, 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. Check the ascending mode switch of the planting unit, and if it is not in the ascending mode, wait until the distance count reaches the first turning distance and planting on the condition that the turning operation is in progress when the first turning distance is reached. Next, on the condition that the automatic start switch for planting is turned on, the system waits until the distance count reaches the second turning distance, and when the second turning distance is reached, the operation of the planting part is started. It is configured to command and control, after each sensor value is read, wait until the shifting position reaches the planting speed, and when the shifting position reaches the planting speed, the above switching means is checked, and the pattern according to the selection of the switching means Swivel pattern It was planting machine according to any one of claims 3, further comprising a down control unit from claim 1, characterized.

According to a fifth aspect of the present invention, the turning pattern selected by the switching means raises the planting unit based on detection of stoppage due to the end of the aircraft forward movement, then moves backward, and starts counting the distance when the aircraft advances thereafter. and a back turn takes a turn control, and an automatic turn performs start to turn control the distance count in handle operation for turning, it starts the distance count in operation stop operation of the planting unit, for subsequent turning The rice transplanter according to claim 4, wherein the rice transplanter is a headland adjustment turn in which turn control is performed by operating the handle.

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. 6. The rice transplanter according to claim 5, wherein control is performed to set the back turn if the aircraft is in a forward state within a range set by a timer instead of the forward state without the steering operation . .

The invention according to claim 1 can improve workability during turning by properly using automatic processing and manual processing according to the situation of the work site .

In the invention of claim 2, in addition to the effect of the invention of claim 1, the surface of the field can be leveled by the float part provided in the planting part, so that the wheel mark can be erased to clean the field. it can. On the other hand, the planting part can be raised and swiveled so that it does not hit in Takatsuki .

A third aspect of the present invention, in addition to the effect of the invention according to claim 1 or 2, by the operation of the fertilizer portion prior to planting, it is possible to match the timing of fertilization by adjusting the ejection delay due to a long discharge path.

In addition to the effect of the invention according to any one of claims 1 to 3 , the invention according to claim 4 is provided with a plurality of turning patterns in the control unit, so that turning under various conditions is possible. Further, since the switching means for selecting and operating the turning pattern is provided, turning control is performed with the turning 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. I can .

The invention of claim 5, in addition to the effect of the invention of claim 4 can be selected back turn and automatic turn and headland adjusted turn.

According to the sixth aspect of the invention , in addition to the effect of the fifth aspect of the invention, the turning pattern is automatically selected without operating the turn selection switch by the operator performing the first stroke in the teaching mode. The operation becomes simple and the operability can be improved.

It is a side view of the rice transplanter of this 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.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
FIG. 1 is a side view of a rice transplanter. 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. The below-mentioned control part is provided.

  The planting part 7 is attached to the rear part of the machine body so as to be able to move up and down via a lifting part 11 and performs a multi-row planting operation according to the traveling of the machine body through a planting clutch (not shown), and seedlings in conjunction with the planting operation. Are sequentially provided, a fertilizer application unit 14 for discharging medicinal fertilizer, a leveling float unit 15...

  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. .

  As shown in the system diagram of FIG. 4, the input / output configuration of the control unit 22 that performs signal processing receives signals from various switches and sensors in addition to the input signal of the changeover switch 21 for selecting a turning pattern. Control the actuators of various devices for running and working 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 processing, planting is resumed from a predetermined position by operating the planting unit 7 along 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.

DESCRIPTION OF SYMBOLS 1 Rice transplanter 2 Turning wheel 3 Rear wheel 4 Steering handle 7 Planting part 7a Hydraulic cylinder 7b Electromagnetic hydraulic valve 11 Lifting part 14 Fertilizing part 15 Float part 21 Turn 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 a rice transplanter including a planting unit and 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 performing planting work under traveling, The control unit waits until the distance count reaches the first turning distance , and when the first turning distance is reached, the control unit lowers the planting unit on the condition that the turning operation is being performed, and then the planting start automatic changeover switch. If the distance count reaches the second turning distance , the planting unit is automatically operated and the planting unit is operated manually when the second turning distance is reached . A rice transplanter comprising a turn control means that can be switched to a state . The turn control means can be switched between control that cuts the planting clutch and lifts the planting part in conjunction with the turning of the aircraft, and control that cuts the planting clutch and interlocks with the aircraft, but does not raise the planting part. rice transplanter according to claim 1, characterized in that a. Prior to the operation command of the planting unit , the turn control unit waits until the distance count reaches the third turning distance, and the fertilizer is applied on condition that the turning operation is not in an abnormal operation state when the third turning distance is reached. The rice transplanter according to claim 1 or 2, wherein the part is operated . 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. If it is not in the ascending mode, it waits until the distance count reaches the first turning distance, and when it reaches the first turning distance, the planting part is lowered on the condition that the turning operation is in progress, and then , On the condition that the planting start automatic change-over switch is turned on, the system waits until the distance count reaches the second turning distance, and when the second turning distance is reached, it is configured to control the operation of the planting unit, 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. With control means Rice transplanter as claimed in any one of claims 3, characterized in that that. The turning pattern selected by the switching means raises the planting unit based on the detection of stoppage due to the end of the aircraft forward movement, then moves backward, starts the distance count by the forward movement of the aircraft, and performs the turn control. and turn, and automatic turn performs start to turn control the distance count in handle operation for turning, it starts the distance count in operation stop operation of the planting unit, the turn control in steering for subsequent turning The rice transplanter according to claim 4 , which is a headland adjustment turn to be performed. When the planting unit is not in operation, the control unit is set to the automatic turn if there is a handle operation, and is set to the headland adjustment turn if the aircraft is in a forward movement state without the handle operation. 6. The rice transplanter according to claim 5, wherein control is performed so as to set the back turn if the aircraft is in a forward state within a range set by a timer instead of the forward state.

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