JP5986860B2 - Transplanter - Google Patents

Description

  The present invention relates to a transplanter capable of adjusting the sensitivity of a sensor to ground pressure.

  A sensing body disposed on the lower end side of the planting work machine so as to swing up and down by contact pressure, a control means for controlling raising and lowering of the planting work machine based on the vertical swing position of the sensing body, and sensing A wire that adjusts the sensitivity to ground pressure by changing the reference posture of the body, and an operating mechanism that operates the wire, the operating mechanism that rotates and operates the sector gear that pushes and pulls the wire A transplanter described in Patent Document 1 including an actuator to be operated is conventionally known.

Japanese Patent No. 4301826

  According to the above configuration, since it is necessary to secure a space for the sector gear that pushes and pulls the wire to rotate, it is necessary to secure a wide space for installing the operation mechanism, and the rotation angle of the sector gear Since the relationship with the amount of pushing and pulling of the wire is not constant, the configuration becomes complicated and it is difficult to ensure the accuracy of wire operation.

  According to the present invention, in the transplanter provided with a wire for adjusting the sensitivity to the ground pressure by changing the standard posture of the sensor and an operation mechanism for operating the wire, the operation mechanism can be configured more simply and compactly. It is an object of the present invention to provide a transplanter capable of operating the device accurately and efficiently.

In order to solve the above problems, the present invention firstly includes a sensing body 17A disposed on the lower end side of the planting work machine 6 so as to swing up and down by a ground pressure, and a vertical swing position of the sensing body 17A. The control means 26 for controlling the raising and lowering of the planting work machine 6 based on the above, the wire 41 for adjusting the sensitivity to the ground pressure by changing the reference posture of the sensing body 17A, and the operating mechanism 42 for operating the wire 41, in transplantation machine wherein the actuating mechanism 42 includes a reel 46 for winding the wire 41, have a motor 47 for rotating or pivoting drives the reel 46, the engaging portion 46b which rotates integrally with the reel 46 And a stopper 49 abutting against the locking portion 46b, the rotation range of the reel 46 is configured to be less than one rotation from a predetermined initial position .

  Second, a control unit 50 for controlling the rotation or rotation of the reel 46 is provided. The control unit 50 calculates the position of the wire 41 based on a control signal output to the motor 47 and calculates the position. The rotation or rotation of the reel 46 is controlled based on the position of the wire 41.

  Since the operating mechanism is composed of a reel for winding a wire and a motor for rotating or rotating the reel, the installation space for the operating mechanism can be reduced as compared with the case of using the sector gear of the prior art. Since the reel and the rotation shaft of the motor can be arranged on the same axis, the configuration of the operating mechanism is simplified. Further, since the wire is pushed and pulled in the tangential direction of the reel, the wire can be operated accurately and efficiently.

  A control unit for controlling the rotation or rotation of the reel is provided. The control unit calculates the position of the wire based on a control signal output to the motor, and rotates the reel based on the calculated wire position. Or according to what controls rotation, since it is not necessary to separately provide sensors for detecting the position of the wire, the cost can be kept low.

  According to the configuration in which the rotation position of the reel is set to be less than one rotation from a predetermined initial position, the wires wound around the reel do not overlap with each other, so that the accuracy of the wire operation is increased.

It is a side view of the riding rice transplanter to which the transplanter of the present invention is applied. It is a top view of the riding rice transplanter to which the transplanter of this invention is applied. It is a side view which shows the arrangement configuration of a sensing wire. It is the perspective view which showed the operation part, and its principal part enlarged view. (A) is a diagram showing a reel before wire winding, and (B) is a diagram showing a reel in a wire winding state. It is the side view which showed the control valve periphery. It is a block diagram of a control part. It is a flowchart of a sensitivity adjustment process. It is a flowchart of a power on / off process.

  1 and 2 are a side view and a plan view of a riding rice transplanter to which the transplanter of the present invention is applied. The riding rice transplanter shown in the figure includes a traveling machine body 3 supported by a pair of left and right front wheels 1 and 1 and rear wheels 2 and 2, and a planting plant supported by a rear portion of the traveling machine body 3 through a link mechanism 4 so as to be driven up and down. Attached work machine 6 is provided.

  The traveling body 3 is provided with a control unit 8 in which an operator gets behind a bonnet 7 surrounding an engine (not shown) on the front side. The control unit 8 includes a seat 9 on which an operator is seated and a front side of the seat 9. A steering handle 11 provided, a travel speed change lever 12 supported on the left side of the steering handle 11, and a lift lever 13 provided on the side of the seat 9 are provided.

  The planting machine 6 includes a seedling stage 14 on which seedlings to be planted in a farm are placed, and a planting unit 16 arranged in parallel in the left-right direction below the seedling stage 14. The planting unit 16 is configured to perform a planting operation for scraping off the seedlings on the seedling stage 14 and planting the seedlings on the field.

  The planting work machine 6 is provided with a plurality of floats 17 arranged in the left-right direction on the lower side of a planter case 15 that is motively transmitted to the planting part 16. A front end side of each float 17 is supported so as to be swingable up and down, and a float support arm 19 is connected to a rear side of each float 17 via a rotation shaft 18. The float support arm 19 is connected to a planting depth adjustment lever 22 via a pipe shaft 21 in the left-right direction. The float support arm 19 is interlocked with the forward / backward swing operation of the planting depth adjustment lever 22. Is configured to rotate up and down. Thereby, the planting depth is adjusted by the float 17 being displaced in the vertical direction.

  The center float 17A arranged at the center among the plurality of floats 17 in the left-right direction functions as a sensing body that senses the earth pressure from the farm scene, and the ground height of the planting machine 6 is detected by sensing the earth pressure of the sensing body. Is controlled. Incidentally, the center float 17A is configured to adjust the intensity of the earth pressure sensed by the front part swinging up and down. Details will be described later.

  The planting work machine 6 is driven up and down by a lifting cylinder (hydraulic cylinder) 10 that is a hydraulic actuator. The lift lever 13 raises the planting work machine and lowers the planting work machine. The lowering state (or the lowering stop state in which the lowering is stopped at the lower end side) and the planting state in which the planting operation is performed can be switched.

  Further, an elevating control valve 30 is provided in the hydraulic path from the hydraulic pump to the elevating cylinder 10, whereby the elevating cylinder 10 is expanded and contracted. The control valve 30 has a rectangular operation arm 35 in a side view (see FIG. 3 and the like), and the planting work machine 6 is controlled to move up and down by controlling the rotation operation of the operation arm.

  At this time, between the planting work machine 6 side and the traveling machine body 3 side, a linkage mechanism 26 that links the vertical swing of the front end side of the center float 17A and the rotation operation of the operating arm 35 is provided. In addition, an earth pressure sensitivity adjusting device 27 for adjusting the sensitivity of earth pressure sensing by the center float 17A is connected to the middle part of the linkage mechanism 26. A detailed configuration will be described below.

  Next, the configuration of the linkage mechanism and the hydraulic pressure sensitivity adjusting device will be described with reference to FIGS. FIG. 3 is a side view showing the arrangement configuration of the sensing wires, FIG. 4 is a perspective view showing the operation unit and an enlarged view of the main part, and FIG. 5 (A) shows the reel before winding the wire. FIG. 5B is a view showing the reel in a wire winding state, and FIG. 6 is a side view showing the periphery of the hydraulic valve.

  The linkage mechanism 26 is connected to the vertical sensing rod 28 connected to the front end side of the center float 17 </ b> A, a swing arm 29 connected to the upper side of the sense rod 28, and the swing arm 29. A connecting rod 31 extending in the front-rear direction and an operation rod 33 linked to the front end side of the connecting rod 31 via a link 32 are provided. The operating rod 33 is linked to the operating arm 35 via a linkage member 34 and is urged forward by tension springs 36 and 37.

  The ground height of the planting work machine 6 based on the center float 17A is such that when the earth pressure from the field is increased and the center float 17A is in a forwardly raised posture, the sensing rod 28 is upward, the connecting rod 31 and the operation rod 33 are rearward. Accordingly, the actuating arm 35 rotates rearward, and the planting work machine 6 is driven up.

  On the other hand, when the center float 17A is separated from the field and assumes a forward-lowering posture, the sensing rod 28 moves downward, the connecting rod 31 and the operating rod 33 move forward, and accordingly, the operating arm 35 rotates forward to plant. The auxiliary work machine 6 is driven downward.

  That is, according to the linking mechanism 26 having the above configuration, the center float 17A as the sensing body is properly positioned at any time (substantially horizontal) when the planting machine 6 is lifted and lowered to a position where planting work can be performed. The ground height of the planting work machine 6 is controlled so as to be in contact with the farm scene.

  The earth pressure sensitivity adjusting device 27 has a wire 41 whose one end is connected to the planting work machine 6 side such as the sensing rod 28 and the other end of the wire 41 is connected and fixed to the traveling machine body 3 side. An operation unit 42 provided on the plate 38 and a control unit that sets and executes the operation amount of the wire 41 are configured.

  The wire 41 includes a sensing wire 41A and an outer 41B. One end side of the outer 41B is connected to the upper end side of the sensing rod 28 which is the planting work machine 6 side through the planting side adjuster 43. While being connected, the other end side of the outer 41 </ b> B is connected to the rear end side of the fixed plate 38 via the airframe side adjuster 44.

  Explaining about the planting work machine 6 side to which one end side of the wire 41 is connected, a long hole 28a is formed along the longitudinal direction on the upper side of the sensing rod 28, and is inserted into the long hole 28a. The swing arm 29 is slidably connected to a pin (not shown). The pin is engaged with a tension spring (not shown) for urging the pin toward the lower end of the sensing rod in the sensing rod 28, and one end of the sensing wire 41A is connected, and the pin is push-pull. It is configured to be pushed and pulled in the vertical direction (longitudinal direction of the sensing rod) by the sensing wire 41A which is a wire.

  The operation unit 42 to which the other end side of the sensing wire 41A is connected includes a reel 46 formed so that the sensing wire 41A can be wound, and a reference posture adjusting motor 47 that rotationally drives the reel 46. The reference attitude adjustment motor 47 is disposed so as to be rotationally driven on the same axis as the reel 46 with the fixed plate 38 interposed therebetween, and the driving of the reference attitude adjustment motor 47 is controlled by a control unit 50 described later. .

  The reel 46 is formed with a winding portion 46a around which the sensing wire 41A is wound, and a sensing wire attaching portion 48 to which the tip end side of the sensing wire 41A is attached. The sensing wire attaching portion 48 is composed of the sensing wire 41A. The mounting member bent in the shape of a crank provided at the end of this is inserted into the installation hole of the reel 46. The reel 46 is formed with a pair of notches 46b and 46b that rotate integrally with the reel 46 and that engage with a pin-shaped stopper 49 protruding from the fixed plate 38 side. Yes.

  That is, as shown in FIG. 5, the rotation range of the reel 46 is a range in which the locking portion 46 b on one side is locked to the stopper 49 from the location where the locking portion 46 b on one side is locked to the stopper 49. The rotation of the reel 46 by the reference attitude adjustment motor 47 is configured to be less than one rotation. Thus, when the sensing wire 41A is wound by the winding portion 46a, the sensing wire 41A does not overlap on the winding portion 46a, and the sensing wire 41A is wound in the tangential direction of the reel 46. Alternatively, since the reel 46 is fed out, the rotation amount of the reel 46 and the operation amount of the sensing wire 41A are constant, and the operation unit 42 has a simple configuration and can operate the sensing wire 41A with high accuracy.

  The sensitivity adjustment device 27 configured as described above operates the swing arm 29 and the like via the push-pull operation of the wire 41 by the operation unit 42, so that the reference of the center float 17A according to the rotational speed of the engine and the state of the field. By changing the posture, the earth pressure received by the center float 17A from the field can be adjusted appropriately.

  Specifically, when the farm field is soft, the front side of the center float 17A mainly sinks, making it easier to receive earth pressure on the front side of the center float 17A, and the float mark on the farm field becomes deeper. Therefore, the sensitivity adjusting device 27 swings the front end side of the center float 17A upward to keep the posture horizontal, and operates the connecting rod 31 and the operating rod 33 to the rear side via the swing arm 29, Since the planting work machine 6 can be lifted, the planting work machine 6 can be maintained at an appropriate height.

  On the other hand, when the farm field is hard, the front side of the center float 17A is floated, and only the rear side of the center float 17A is grounded to the farm field, and the farm field is not sufficiently leveled by the float 17. Therefore, the sensitivity adjusting device 27 swings the front side of the center float 17A downward to keep the posture horizontal, and operates the connecting rod 31 and the operating rod 33 forward via the swing arm 29 to plant the center float 17A. Since the attaching work machine 6 can be lowered, the planting work machine 6 can be maintained at an appropriate height. Incidentally, the adjustment of the earth pressure sensitivity of the sensing body according to the hardness of the field can be manually adjusted by a hydraulic sensitivity adjustment dial 57 provided in the control unit 8.

  When the engine speed is low, the lowering of the discharge pressure of the hydraulic pump slows the elevating operation of the planting work machine 6, so the center posture of the center float 17A is adjusted to the front lower side, The front side of the float 17A is easily subjected to earth pressure. On the other hand, when the engine speed is high, the raising / lowering speed of the planting work machine 6 increases due to the increase in the discharge pressure of the hydraulic pump. Therefore, the reference posture of the center float 17A is adjusted to the front rising side, and the center float 17A The front side of is less susceptible to earth pressure. The adjustment of the earth pressure sensitivity according to the engine speed is automatically performed by the control unit according to the engine speed.

  Incidentally, as shown in FIG. 6, the control valve 30 is provided with an elevating operation mechanism for operating the control valve 30 separately from the linkage mechanism 26, and the elevating operation mechanism controls the control valve 30. A pin 51 provided on the operating arm 35 to be operated, a cam member 52 formed with an abutting portion 52a that abuts on the pin 51, and a drive motor 53 that rotationally drives the cam member 52 are provided. Thereby, the planting work machine 6 can be lifted and lowered by controlling the drive of the drive motor 53 by the control unit in accordance with the operation of the lifting operation lever for lifting and lowering the planting work machine 6.

  The cam member 52 is formed with a gear portion 52 b that directly meshes with the pinion gear 54 on the drive shaft of the drive motor 53. For this reason, the structure for rotationally driving the cam member 52 is simplified, the number of parts is reduced, and the cost can be kept low.

  FIG. 7 is a block diagram of the control unit. The control unit 50 is configured using a microcomputer (including a storage device 55 such as a CPU, a ROM, and a RAM), and is mounted on the traveling machine body 3. On the input side of the control unit 50, a lift lever sensor 51 that detects the operation position of the lift lever 13, a lift angle sensor 52 that detects the height position of the planting work machine 6, and an engine rotation that detects the engine speed. The sensor 53, the angular velocity sensor 54 for detecting the angular velocity of the planting work machine 6 in the left-right tilt, the horizontal potentiometer 56 for detecting the left-right tilt angle of the planting work machine 6, and the reference posture of the center float 17A are manually adjusted. A hydraulic pressure sensitivity adjustment dial 57 is connected to a key switch 60 for detecting ON / OFF of the engine, and on the output side of the controller 50, the attitude of the center float 17A is changed to adjust the earth pressure sensitivity. A reference attitude adjustment motor 47, a horizontal control motor 58 that adjusts the horizontal inclination of the planting work machine 6, and a fuel supply solenoid 59 that adjusts the amount of fuel supplied Etc. are connected.

  The control unit 50 drives the horizontal control motor 58 according to the left / right inclination of the planting work machine detected by the angular velocity sensor 54 or the horizontal potentiometer 56, thereby keeping the planting work machine horizontal and stable. It is configured to allow planting work. Since the configuration is the same as that of the prior art, the details are omitted.

  The storage device 55 such as a ROM of the control unit 50 includes a sensitivity adjustment process for controlling the reference posture of the center float 17A according to various conditions, a power on / off process for setting the reel position when the power is turned on and off, and the like. A control program to be executed is stored. Hereinafter, the contents of the sensitivity adjustment process and the power on / off process will be described.

  FIG. 8 is a flowchart of sensitivity adjustment processing. When the sensitivity adjustment process is executed, the process proceeds to step S1. In step S1, it is determined whether or not a condition (control execution condition) for changing the earth pressure sensitivity is detected. If a condition for changing the earth pressure sensitivity of the center float 17A is detected, the process proceeds to step S2. If that is not necessary, then return.

  Specifically, by the lift lever sensor 51 and the lift angle sensor 62, when the lift lever is in the lowered position or the planting position and the planting work machine 6 is in the descent stop state, or the planting work machine 6 Is lowered from the predetermined height position to the lower side, and the planting work machine 6 is in the descent stop state, the process proceeds to step S2. When other control execution conditions are not satisfied, that is, when the planting work machine 6 is not in the descent stop state, the process returns after step 1.

  In step S2, the rotation position X of the reference attitude adjustment motor 47 stored in the storage device 55 such as a RAM is read, and then the process proceeds to step S3.

  In step S3, a rotation position (hereinafter, a target position) of the reference attitude adjusting motor 47 that calculates a suitable attitude of the center float 17A that is the sensing body is calculated according to various conditions. The target position is calculated based on the target value A calculated based on the engine speed detected by the engine rotation sensor 53 and the target value B calculated according to the operation position of the hydraulic pressure sensitivity adjustment dial 57.・ It is set.

  Specifically, the target value A is set such that the reference posture of the center float 17A becomes higher on the front side as the engine speed becomes higher, and the reference posture of the center float 17A becomes lower as the engine speed becomes lower. Installed so that it is on the front-lower side. Further, the target value B is adjusted such that the reference posture of the center float 17A is increased as the hydraulic sensitivity adjustment dial 57 is operated to the softer side, and the hydraulic sensitivity adjustment dial 57 is operated to the harder side. The reference posture of the center float 17A is adjusted so as to be lowered forward.

  In step S4, the number of output pulses required to operate the reel 46 from the rotation position X of the reference attitude adjustment motor 47 read in step S1 to the target position is calculated, and the process proceeds to step S5. In step S5, motor drive pulses are output by the number of output pulses calculated to the reference attitude adjustment motor 47, the reference attitude adjustment motor 47 is driven to rotate, and then the process proceeds to step S6.

  In step S6, a new rotation position X of the reference attitude adjustment motor 47 driven to the target position is calculated based on the number of output pulses, and the process proceeds to step S7. In step S7, the rotation position X of the new reference attitude adjustment motor 47 driven to the target position is stored in the storage device 55 such as RAM, and then the process returns.

  That is, according to the sensitivity adjustment process described above, the rotation position of the reference attitude adjustment motor 47, which is the operation position of the sensing wire 41A, can be calculated without installing additional sensors. Since the installation space for the operation unit 42 can be reduced and the number of parts can be reduced by not installing sensors such as a potentiometer for detecting the moving position, the cost can be reduced.

  FIG. 9 is a flowchart of the power on / off process. When the power on / off process is executed, the process proceeds to step S11. In step S11, when the switch operation of the key switch 60 from the OFF state to the ON state is detected, the process proceeds to step S12, the fuel supply solenoid 59 is switched to the ON state, and then the process proceeds to step S13.

  In step S13, the rotation position of the reference attitude adjustment motor 47 stored in the storage device 55 such as a ROM is substituted for the rotation position X of the reference attitude adjustment motor 47, and the process proceeds to step S14. In step S14, the number of output pulses necessary for operating the reference attitude adjusting motor 47 from the initial position to the read rotation position X is calculated, and the process proceeds to step S15. In step S15, the reference attitude adjustment motor 47 is driven in accordance with the calculated number of output pulses to drive the rotation position X, thereby operating the sensing wire 41A to a predetermined position and then returning.

  In step S11, when the switch operation from the OFF state to the ON state of the key switch 60 is not detected, the process proceeds to step S16. In step S16, the presence / absence of switch operation from the ON state to the OFF state of the key switch is detected. If the switch operation is detected, the process proceeds to step S17.

  In step S17, the rotation position X of the reference attitude adjustment motor 47 at that time is stored in the storage device 55 such as a ROM, and the process proceeds to step S18. In step S18, the rotation position of the reference attitude adjustment motor 47 is returned to the initial position, and the process proceeds to step S19. In step S19, the fuel supply by the fuel supply solenoid 59 is turned off, and then the process returns.

  In step S16, when the switch operation from the ON state to the OFF state of the key switch 60 is not detected, in other words, when the OFF state of the key switch 60 is maintained, or the ON state of the key switch 60 If is maintained, the process returns without doing anything.

  Incidentally, in the power on / off process described above, steps S13 to 15 and step S17 are omitted, and when the key switch 60 is switched from the OFF state to the ON state, the rotation position of the reference attitude adjustment motor must be changed from the initial position. It may be configured to start. In this case, when the switching operation of the key switch 60 to the OFF state is detected in the ROM, it is not necessary to store the rotation position X of the reference attitude adjustment motor in the ROM.

6 Planting work machine 17A Center float (sensor)
26 Linkage mechanism (control means)
41 Wire 42 Operation part (actuation mechanism)
46 reel 47 reference attitude adjustment motor (motor)
50 Control unit

Claims (2)

A sensing body (17A) disposed on the lower end side of the planting work machine (6) so as to swing up and down by contact pressure, and a planting work machine (based on the vertical swing position of the sensing body (17A) ( 6) Control means (26) for controlling the raising / lowering, a wire (41) for adjusting the sensitivity to the ground pressure by changing the reference posture of the sensing body (17A), and an operating mechanism for operating the wire (41) (42), the operating mechanism (42) includes a reel (46) for winding the wire (41), and a motor (47) for rotating or rotating the reel (46). And the rotation range of the reel (46) is predetermined by a locking portion (46b) that rotates integrally with the reel (46) and a stopper (49) that contacts the locking portion (46b). configured to be less than one rotation from the initial position Planting machine.   A control unit (50) for controlling the rotation or rotation of the reel (46) is provided, and the control unit (50) calculates the position of the wire (41) based on a control signal output to the motor (47). The transplanter according to claim 1, wherein the rotation or rotation of the reel (46) is controlled based on the calculated wire (41) position.

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