JP6247147B2 - Passenger rice transplanter - Google Patents

Description

  The present invention relates to a riding rice transplanter, and more particularly, to a riding rice transplanter in which a planting part is attached to a rear part of a traveling part so that the planting part can be moved up and down, and a leveling device is attached in front of the planting part so that the vertical position can be adjusted.

  Conventionally, there is a passenger rice transplanter disclosed in Patent Document 1. That is, in Patent Document 1, a planting part that allows planting seedlings to be planted in a farm field is attached to the rear of the traveling part that is capable of self-propelling, and the field leveling is performed just before the planting part. A riding rice transplanter has been disclosed in which a device is attached so that the vertical position can be adjusted so that seedlings can be planted in a farmed field.

  In these riding rice transplanters, the planting unit is controlled (planting) so that the planting depth of the seedling by the planting unit is maintained at the set depth based on the planting set height (set depth). And the leveling height of the leveling device is controlled so that the leveling device is maintained at the leveling level from the surface based on the change of the planting setting height (setting depth). .

JP2008-263884

  However, in the above-described riding rice transplanter, the leveling height of the leveling device is based on the height of the lower end of the planting part, that is, the height of the bottom surface of the float determined by the planting setting height (setting depth). Is controlled, and the amount of float sinking with respect to the rice field (float sinking amount) is not considered. For this reason, when the float is sinking with respect to the field, the leveling rotor provided at the lower end of the leveling device also sinks, while when the float is lifted from the field in the field where the surface water is stretched, the leveling rotor also Depending on the value of float settlement due to the state of the field (for example, the hardness of the surface and the water depth of the surface water), the leveling device is excessively deep or shallow and inappropriate. There is a problem that the leveling accuracy of the leveling device cannot be ensured satisfactorily by being controlled.

  Accordingly, the present invention appropriately adjusts the vertical position of the leveling device on the basis of the height (table surface height) from the surface that is not related to the amount of float settlement to the predetermined location of the planting unit, It aims at providing the riding rice transplanter which can ensure the leveling accuracy favorably.

The invention according to claim 1 is provided with a planting part that can plant seedlings on a rice field behind a traveling part capable of self-running, and is attached to be movable up and down via an elevating mechanism part, immediately before the planting part. A riding rice transplanter in which a leveling device for leveling the surface of the field is attached so that the vertical position can be adjusted by the vertical position adjustment means, and the float is supported by a float support shaft provided in the planting part ,
A table surface height detecting means for detecting a table surface height which is a height from a predetermined location of the planting part to the table surface;
A float that attaches the front side to the lower part of the planting part so that it can swing up and down, and slides on the rice field,
A float angle detecting means for detecting a float angle which is a rocking angle in the vertical direction of the float;
Leveling height setting operation means for setting the leveling height of the leveling device;
A control means for connecting the field height detecting means, the float angle detecting means and the leveling height setting operation means to the input side, and connecting the vertical position adjusting means to the output side,
With
The table surface height detection means is supported by the planting unit so as to rotate up and down about a predetermined axis, and has a detection body provided to slide along the table surface. It is configured to detect the amount of change in the rotation angle of the part that rotates forward and backward in conjunction with the operation,
The control means acquires the detection value detected by the surface height detection means and the float angle detection means and the setting value set by the leveling height setting operation means, respectively, and leveling based on these detection values and setting values The height target value is calculated, and the leveling height of the leveling device is adjusted by controlling the vertical position adjusting means based on the calculated target value.

  According to the first aspect of the present invention, the control means includes a detection value of the field height detected by the height detection means, a detection value of the float angle detected by the float angle detection means, and a leveling height setting operation means. Is obtained by setting the desired leveling height setting value of the operator (user) set by, and the leveling height target value is calculated based on the detected value and the setting value, and based on the calculated target value Since the leveling height of the leveling device is adjusted by controlling the vertical position adjusting means, the leveling device can be arranged at an appropriate leveling height, and the leveling accuracy can be ensured satisfactorily. .

Invention of Claim 2 is invention of Claim 1, Comprising: A control means is the state which the float sank with respect to the rice field from the detection value of the rice field height detected by the rice field height detection means. In the case of
When the float angle detected by the float angle detection means is an elevation angle, the final target value of the leveling height is calculated by adding a correction value that increases the leveling height, while the float detected by the float angle detection means is calculated. When the angle is a depression angle, a final leveling height target value is calculated in consideration of a correction value for decreasing the leveling height, and the control means controls the vertical position adjusting means based on the calculated final target value. Controlling and adjusting the leveling height of the leveling device.

  In the invention according to claim 2, when the control means that has acquired the detected value of the surface height detected by the surface height detection means determines that the float is in a state of sinking with respect to the surface, the float angle is When the float angle detecting means detects that an elevation angle (a depression angle) has been made, the control means determines that the hardness of the surface is hard (soft), and corrects the leveling device to move down (up). The final level value of the leveling height is calculated in consideration of the value, and the leveling height of the leveling device is adjusted by controlling the vertical position adjusting means based on the calculated final target value. Therefore, the leveling device can be disposed at a more appropriate leveling height, and the leveling accuracy can be further ensured.

  The invention according to claim 3 is the invention according to claim 1 or 2, wherein a threshold value is set for each of the surface height detecting means and the float angle detecting means, and one of the threshold values is set. When a detected value exceeding the detected value is detected, the control means controls the vertical position adjusting means to adjust the leveling height of the leveling device to a storage position where the leveling device is separated from the surface to a predetermined position. And

  In the invention according to claim 3, when a detection value exceeding either one of the threshold values set in the field height detection means and the float angle detection means is detected, the control means changes the vertical position adjustment means. Since the leveling height of the leveling device is adjusted to the storage position where the leveling device is separated from the surface to the predetermined position, interference between the leveling device and its surrounding parts caused by shaking of the entire fuselage is controlled. It can be avoided. Here, the adjustment of the leveling height to the storage position of the leveling device can be intentionally set by the operator (user) operating the leveling height setting operation means.

  The invention according to claim 4 is the invention according to claim 3, wherein when the control means controls the vertical position adjusting means to adjust the leveling height of the leveling apparatus to the storage position, the leveling apparatus is driven. Is characterized by being stopped.

  In the invention according to claim 4, since the leveling height of the leveling device is adjusted to the storage position and the driving of the leveling device is stopped, the unintended leveling operation of the leveling device can be suppressed, thereby improving safety. Can do.

  According to the present invention, the leveling device is appropriately adjusted to adjust the vertical position based on the height (field surface height) from the surface that is not related to the amount of float settlement to the predetermined location of the planting part. A riding rice transplanter capable of ensuring good leveling accuracy can be provided.

The left view of the rice transplanter as this embodiment. The left view of a planting part. The front view of a planting part. Control block diagram. Explanatory drawing of the left side of a planting part. Control structure explanatory drawing of a center float. Plane explanatory drawing of a surface height detection means. Explanatory drawing of leveling height control. Explanatory drawing of leveling height control as a modification. Plane explanatory drawing of the float of a planting part. FIG. 11 is a view taken along the line I-I in FIG. 10. II-II arrow directional view of FIG. Explanatory drawing of the left side of a planting depth setting means. Front explanatory drawing of a planting depth setting means. Explanatory drawing of the left side of the planting depth setting means as a modification. Front explanatory drawing of the planting depth setting means as a modification. The perspective explanatory drawing of an up-and-down position adjustment means. Plane explanatory drawing of an up-down position adjustment means. The left view of an up-and-down position adjustment means. The left side operation | movement explanatory drawing of an up-down position adjustment means. Expansive plane explanatory drawing of an up-and-down position adjustment means. The left view of the traveling part as other embodiment.

  Embodiments of the present invention will be described below with reference to the drawings. That is, A shown in FIG. 1 is the rice transplanter according to the present embodiment, and the rice transplanter A plants the seedling N on the field surface Fs (see FIG. 5) of the field G behind the traveling unit 1 capable of self-running. The possible planting part 2 is attached to be movable up and down via an elevating mechanism part 3, and a leveling device 4 for leveling the field surface Fs is attached immediately before the planting part 2 so that the vertical position can be adjusted. The field G has a case where the surface water is stretched on the surface Fs at a desired depth of several centimeters and a case where the surface water is not stretched. In this embodiment, the surface water is not stretched, but the surface water is stretched. Moreover, the rice transplanter A of this embodiment is applicable.

[Outline of rice transplanter]
As shown in FIG. 1, the traveling unit 1 includes a lower structure 10 and an upper structure 11 disposed on the lower structure 10. The lower structure 10 has a front axle case (not shown) attached with a pair of left and right front wheels 12, 12 and a rear axle case 15 attached with a pair of left and right rear wheels 14, 14 at a constant interval in the front-rear direction. The case 15 is opened and connected to each other via a connecting support body 16 that extends in the front-rear direction. On the front axle case, a transmission case 18 is linked and connected to extend forward from the transmission case 18 to form a front support body 17. The transmission case 18 and the rear axle case 15 are interlocked and connected via a transmission shaft 19. 12 a is an axle of the front wheel 12, and 14 a is an axle of the rear wheel 14.

  The upper structural body 11 has the engine 20 mounted on the front support body 17 and interlocks the engine 20 and the transmission case 18. The engine 20 and the steering shaft 21 disposed immediately behind the engine 20 are covered with a bonnet 22, and a steering wheel 23 is attached to the upper end portion of the steering shaft 21. An operation panel portion 22 a is stretched on the upper end portion of the bonnet 22. A flat step portion 24 is stretched around and around the bonnet 22, and a seat support base 25 is integrally connected to the rear from the step portion 24. A seat 26 is provided on the seat support 25. A transmission mechanism case 27 is provided at the rear portion of the transmission shaft 19 and attached to the front wall of the rear axle case 15. The transmission mechanism case 27 transmits power transmitted from the engine 20 via the transmission shaft 19 to the leveling device 4 described later. The transmission mechanism case 27 incorporates an electric clutch 27a (see FIG. 4), and the electric clutch 27a is controlled by the control means 53 so that the power transmission to the leveling device 4 can be connected and disconnected as will be described later. .

  Then, power is transmitted from the engine 20 to the transmission case 18 → the front axle case and the transmission shaft 19 → the rear axle case 15 so that the front and rear wheels 12, 12, 14, and 14 can be driven. The upper structure 11 is provided with an operation tool (not shown) for operating the operation unit 1 and the planting unit 2 and for moving the planting unit 2 up and down.

  As shown in FIGS. 1 and 2, the planting unit 2 is provided with a planting mission case 29 via a planting frame 31. The planting frame 31 includes a pair of left and right vertically extending pieces 31a and 31a extending in the up and down direction, and a middle part left and right extending piece 31b horizontally extending between the middle parts of both the vertically extending pieces 31a and 31a. The lower left and right extending pieces 31d are horizontally extended between the lower portions of the upper and lower extending pieces 31a and 31a and horizontally formed, and are formed in a rectangular frame shape when viewed from the front, and are erected toward the front and upper side. doing. The lower left and right extended pieces 31d are formed in a square pipe shape, and a plurality of (four in this embodiment) planting transmission cases 30 are extended from the lower left and right extended pieces 31d to the rear. The auxiliary transmission case 30 is arranged at an appropriate interval in the left-right direction. A planting mission case 29 is mounted on the central portion of the lower left and right extending piece 31d, and transmission shaft cases 38, 38 are extended from the rear of the planting mission case 29 to the left and right sides. Each planting transmission case 30 is linked to the planting mission case 29 via 38. Above the planting mission case 29, a seedling stage 32 is attached via a planting frame 31 so as to be capable of reciprocating left and right.

  A center portion of the rotary case 33 is rotatably attached to the rear portion of each planting transmission case 30 via a rotation shaft 39, and planting claws 34 and 34 are attached to both ends of the rotary case 33. Below the planting transmission case 30 and the like, a center float 35 that is a sensor float and two side floats 36 are arranged on each of the left and right sides thereof, and the planting transmission case 30 and the like are provided by these floats 35 and 36. Is supported on the surface Fs. Reference numeral 37 denotes a planting transmission shaft. The planting transmission shaft 37 includes a power take-off shaft (not shown) provided at the rear end of the traveling unit 1 and an input shaft (not shown) projecting forward from the planting mission case 29. (Not shown).

  Then, power is taken into the planting mission case 29 from the traveling unit 1 through the planting transmission shaft 37, and the power is transmitted from the planting mission case 29 to the planting transmission case 30 through the transmission shaft case 38. By rotating the rotary case 33 attached to the attached transmission case 30, the seedling N (seedling stock) is transferred from the seedling mat M placed on the seedling placing stand 32 by the planting claws 34, 34 attached to both ends of the rotary case 33. ) Is cut to plant seedlings N (seedlings) on the field surface Fs. K is a planting locus (see FIG. 5). Reference numeral 45 denotes a seedling removal amount adjusting lever.

  As shown in FIGS. 1 and 2, the elevating mechanism 3 extends in the front-rear direction between a vertical frame 28 erected on the rear axle case 15 of the traveling unit 1 and a planting frame 31 of the planting unit 2. A top link 40 and a pair of left and right lower links 41, 41 extending in the front-rear direction, and an upper end portion of connecting pieces 42, 42 formed by projecting upward from the front portions of the lower links 41, 41; A lifting cylinder 43 is interposed between the connecting support body 16 and the connecting support body 16. And the planting part 2 is raised / lowered via the lower links 41 and 41 and the top link 40 by operating the raising / lowering cylinder 43 to extend and contract.

  The leveling device 4 is a device for leveling the field surface Fs (particularly, rough headland), and is attached to the planting frame 31 of the planting unit 2 as shown in FIGS. That is, the leveling device 4 is based on the leveling means 50 that contacts the surface Fs and performs the leveling function, the vertical position adjustment means 52 that adjusts the leveling means 50 in the vertical direction, and the detection result of the actual height of the field surface Fs described later. And a control means 53 for controlling the leveling height of the leveling means 50 by adjusting the leveling means 50 by the vertical position adjusting means 52. The control means 53 is disposed at an appropriate location of the traveling unit 1. A leveling transmission shaft 54 is interposed between the leveling means 50 and the transmission mechanism case 27 of the traveling unit 1. The power from the engine 20 is transmitted to the transmission shaft 19 → the transmission mechanism case 27 → the leveling transmission shaft 54 → the leveling means 50, and the leveling means 50 leveles the surface Fs.

[Description of Characteristic Structure of this Embodiment]
Next, a characteristic structure of the present embodiment in the rice transplanter A configured as described above will be described. As shown in FIGS. 4 to 7, the planting unit 2 according to the present embodiment includes a field surface height detection unit 160 that detects a field surface height that is a height from a predetermined location of the planting unit 2 to the field surface Fs. And a control means 53, which connects the surface height detection means 160 to the input side and connects the vertical position adjustment means 52 to the output side. The control means 53 acquires the detection value detected by the surface height detection means 160 and controls the vertical position adjustment means 52 based on this detection value to adjust the leveling height of the leveling device 4. ing. The predetermined part of the planting part 2 here is an axial center position of the float support shaft 121 described later in the present embodiment, and the height from the axial center position of the float support shaft 121 to the surface Fs is a surface height H4. It is said. Moreover, the height from the axial center position of the float support shaft 121 to the lower surface of the center part of the center float 35 located immediately below is set as the planting depth setting height H2.

  In the present embodiment configured as described above, the control unit 53 acquires the detection value of the surface height H4 detected by the surface height detection unit 160, and controls the vertical position adjustment unit 52 based on the detection value. Since the leveling height H1 of the leveling device 4 (height from the surface Fs to the lower end of the leveling rotor 61 described later) is adjusted, the leveling device 4 can be arranged at an appropriate leveling height H1. Therefore, the leveling accuracy can be ensured satisfactorily. For example, when the control unit 53 determines that the surface height H4 is high from the detection value of the surface height detection unit 160, the leveling device 4 is appropriately lowered and arranged, while the surface height detection unit 160 detects If it is determined from the values that the field height is low, the leveling device 4 is appropriately raised and arranged.

  The control means 53 is a microcomputer device including a CPU (Central Processing Unit), a RAM (Random Access Memory), a ROM (Read Only Memory), and the like. As shown in FIG. 4, on the input side of the control means 53, a planting depth setting operation means 190, a leveling height setting operation means 192, an adjustment operation detecting means (sector gear detector) 110, and a set planting depth are provided. The detecting means 135, the float angle detecting means 157, the surface height detecting means 160, the pitching angle detecting means 180, the vehicle speed detecting means 185 and the like are connected. Further, an electric motor 82, a control valve 44, a planting depth setting motor 191 and an electric clutch 27a are connected to the output side of the control means 53.

  The table surface height detection means 160 is pulled by the traveling unit 1 and is moved along the field surface Fs as the planting unit 2 arranged at the planting work position moves (so as to trace the surface of the field surface Fs). It is made to slide. That is, the rice field height detection means 160 detects the actual height of the rice field Fs (the height of the rice field on which the seedling N is planted). Then, the leveling height H1 of the leveling device 4 is appropriately adjusted by controlling the vertical position adjusting means 52 based on the detected actual height value of the field surface Fs.

  Further, when the center float 35 sinks with respect to the field surface Fs, based on the detection result detected by the field surface height detection means 160, the amount of subsidence of the center float 35 (the amount of sinking into the mud-shaped field surface Fs) H5 is obtained. It can be calculated.

  That is, when the detection main body 171 is rotated up and down around the axis of the support rod 166 corresponding to the undulation of the surface Fs, the vertical displacement amount is detected by the sensor main body 168, and the detection result is It is transmitted to the control means 53.

  In addition, a pitching angle detection unit 180 (pitching angle detection sensor) that detects a pitching angle (tilt angle) in the front-rear direction of the traveling unit 1 is provided at a predetermined position on the upper structure 11 behind the seat 26. Then, the pitching angle detection means 180 detects the pitching angle in the front-rear direction of the traveling unit 1 to detect whether the traveling unit 1 is rising forward or falling downward. The pitching angle detection means 180 is connected to the input side of the control means 53 as described above. In the control means 53, the detected value detected by the surface height detection means 160 is detected by the pitching angle detection means 180. The correction value is calculated in consideration of the detected value, and the leveling height H1 of the leveling device 4 is adjusted by controlling the vertical position adjusting means 52 based on the calculated correction value.

  That is, by adding the detection value detected by the pitching angle detection means 180 to the detection value detected by the surface height detection means 160, the detection value of the surface height H4 is corrected, and based on the correction value. The leveling height H1 of the leveling device 4 is adjusted by controlling the electric motor 82 of the vertical position adjusting means 52. Therefore, the leveling accuracy can be increased.

  Here, when the pitching angle of the traveling unit 1 rises forward (elevation angle), the float 35 of the planting unit 2 tends to sink to the field surface Fs, while the pitching angle of the traveling unit 1 falls forward (decline). The float 35 of the planting part 2 tends to float from the surface Fs. Therefore, for example, the detection value of the surface height H4 is corrected by correcting the detection value detected by the surface height detection means 160 in accordance with the detection value of the average pitching angle of 1 second or more. That is, by correcting the detected value of the surface height H4 in a direction that increases the tendency of the posture change of the float 35 according to the average pitching angle of 1 second or more, the leveling device 4 based on the correction value of the surface height H4 is corrected. Appropriate vertical position adjustment control is possible. The correction value of the surface height H4 here is calculated by adding the detection value of the average pitching angle of 1 second or more detected by the pitching angle detection means to the detection value detected by the surface height detection means 160. can do.

  A vehicle speed detecting means 185 (vehicle speed sensor) for detecting the vehicle speed (speed in the forward direction) of the traveling unit 1 at a predetermined position of the lower structural body 10 (for example, the axle 12a of the front wheel 12 or the axle 14a of the rear wheel 14). Is provided. The vehicle speed detection means 185 is connected to the input side of the control means 53 as described above. In the control means 53, the detection value detected by the vehicle speed detection means 185 is added to the detection value of the surface height detection means 160. Then, the correction value is calculated, and the leveling height H1 of the leveling device 4 is adjusted by controlling the electric motor 82 of the vertical position adjusting means 52 based on the calculated correction value.

  That is, by adding the detection value detected by the vehicle speed detection means 185 to the detection value detected by the surface height detection means 160, the detection value of the surface height H4 is corrected, and based on the correction value, The leveling height H1 of the leveling device 4 is adjusted by controlling the electric motor 82 of the position adjusting means 52. Therefore, the leveling accuracy can be increased.

  Here, if the angle of the float 35 of the planting part 2 rises forward (elevation angle) as the vehicle speed of the traveling part 1 increases, the amount of settlement of the float 35 on the surface Fs tends to increase. If the angle of the float 35 of the planting unit 2 decreases forward (decline) as the vehicle speed of the traveling unit 1 is reduced, the amount of subsidence H5 of the float 35 on the paddy field tends to decrease. Therefore, the surface height H4 is corrected by correcting the detection value detected by the surface height detection means 160 in accordance with the detection value of the vehicle speed. That is, appropriate vertical position adjustment control of the leveling device 4 based on the correction value of the surface height H4 by correcting the detection value of the surface height H4 in a direction that weakens the tendency of the posture change of the float 35 according to the vehicle speed. Is possible. The correction value of the surface height H4 here can be calculated by subtracting the detection value detected by the vehicle speed detection means 185 from the detection value detected by the surface height detection means 160.

  Further, the detection value detected by the surface height detection means 160 is added with both the detection value detected by the pitching angle detection means 180 and the detection value detected by the vehicle speed detection means 185, so that It is also possible to adjust the leveling height H1 of the leveling device 4 by correcting the detection value of the height H4 and controlling the electric motor 82 of the vertical position adjusting means 52 based on the correction value. By doing so, the proper leveling height H1 can be maintained, and the leveling accuracy can be improved.

  At least one of the detection means 180 and 185 described above can be adopted, and both detection means 180 and 185 are adopted in this embodiment. When the detection values detected by the detection means 160, 180, and 185 are equal to or greater than a predetermined value and the detection time is less than the predetermined time, the control means 53 that has acquired the detection values is Control of the electric motor 82 of the vertical position adjustment means 52 based on the detection values of the detection means 160, 180, 185 is not executed.

  Thus, for example, when at least one of the surface height detection means 160, the pitching angle detection means 180, and the vehicle speed detection means 185, which is a detection means, detects a local change in the surface due to a clod or a contaminant. Does not calculate the correction value of the field height H4 based on the detected values. In that case, since the vertical position adjustment control (leveling height control) by the vertical position adjustment means 52 of the leveling device 4 is not executed, it is unnecessary to cope with the sudden undulation of the field surface Fs. Control of the leveling height H1 of the leveling device 4 can be prevented.

  The present embodiment is also characterized by the following configuration. That is, as described above, on the input side of the control means 53, the leveling height setting operation means 192 for setting the leveling height according to the preference of the operator and the adjustment operation for detecting the adjustment operation of the vertical position adjustment means. The detection means 110 etc. are connected. On the other hand, a planting depth setting motor 191 which is an electric motor as an actuator for adjusting the vertical position of the center float 35 and an electric clutch 27 a built in the transmission mechanism case 27 are connected to the output side of the control means 53. .

  That is, as shown in FIG. 8, the control means 53 detects the detected values V1, V2 detected by the surface height detection means 160 and the float angle detection means 157 and the set values set by the leveling height setting operation means 192, respectively. V3 is acquired, and the leveling height target value V4 is calculated based on the detected values V1, V2 and the set value V3, and the vertical position adjusting means 52 is controlled based on the calculated leveling height target value V4. Thus, the leveling height H1 of the leveling device 4 is adjusted (leveling height control).

  As a modified example of the leveling height control described above, as shown in FIG. 9, the control means 53 changes the center float 35 from the detection value V1 of the field height H4 detected by the field height detection means 160 to the field surface Fs. If the float angle detected by the float angle detection means 157 is an elevation angle when it is determined that the ground level has settled, the final height of the leveling is taken into account by adding a correction value V5 that increases the leveling height H1. The target value V6 may be calculated, and the control unit 53 may control the vertical position adjusting unit 52 based on the calculated final level height target value V6 to adjust the leveling height of the leveling device 4. it can.

  Further, when the control unit 53 determines that the center float 35 is in a subsidized state with respect to the field surface Fs from the detection value V1 of the field surface height H4 detected by the field surface height detection unit 160, the float angle is detected. If the float angle detected by the means 157 is a depression angle, the final leveling height final target value V6 is calculated by taking into account the correction value V5 for decreasing the leveling height H1, and the final leveling height final target thus calculated is calculated. Based on the value V6, the control means 53 controls the vertical position adjusting means 52 to adjust the leveling height of the leveling device 4.

  As described above, the control unit 53 determines the float angle detection unit 157 when the subsidence amount H5 of the center float 35 can be calculated and converted from the detection value V1 of the table surface height H4 detected by the table surface height detection unit 160. Based on the float angle detected by the above, the hardness of the surface Fs is estimated, and the final leveling height target value V6 is calculated by adding the correction value V5 based on the estimation result to the leveling height target value V4.

  Furthermore, threshold values (upper limit value and lower limit value that are limit values) are set in the field height detection means 160 and the float angle detection means 157, respectively, and the detected value V1 that exceeds either threshold value. , V2 is detected, the control means 53 controls the vertical position adjustment means 52 so that the leveling device 4 is separated from the field surface Fs to a predetermined position (for example, the axial position of the float support shaft 121). The leveling height H1 of the leveling device 4 is adjusted up to (height). When the control unit 53 controls the vertical position adjusting unit 52 to adjust the leveling height H1 to the storage position, the driving of the leveling device 4 is stopped. That is, the control unit 53 controls the disconnection of the electric clutch 27 a built in the transmission mechanism case 27 so that power is not transmitted to the leveling device 4.

  The leveling height target value V4 changes every calculation cycle (for example, several ms), but the leveling height H1 does not need to be frequently controlled. Therefore, the leveling height target value V4 is low-pass with respect to the leveling height target value V4. filter) or the like, it is possible to stabilize the control accuracy of the leveling height H1.

  That is, an LPF (not shown) is built in the CPU of the control means 53, and the high frequency component of the leveling height target value V4, that is, a signal in a high frequency band is removed by the LPF. Then, the leveling height target value V4 is passed through the LPF, and only the low frequency component of the detected value V4 is acquired by the control means 53. By doing so, the control means 53 can control the electric motor 82 on the assumption that there is no signal in the high frequency band, and the leveling height control of the leveling device 4 can be suppressed. That is, the leveling height control sensitivity can be set insensitive. The leveling height control sensitivity can be set to the insensitive side where the control gain is low.

  Further, as another embodiment in which the leveling height control sensitivity is set to insensitive, a moving average (simple moving average, weighted moving average, exponential moving average, etc.) of the leveling height target value V4 acquired by the control means 53 within a certain time is included. ) Is stored in the ROM, the CPU reads the program, substitutes the acquired leveling height target value V4 into the program, calculates the moving average value, and calculates the calculated moving average value. The electric motor 82 is controlled based on the above. By setting the moving average section (fixed time) at this time to be long, the leveling height control sensitivity can be appropriately set to be insensitive.

  In this way, the leveling height control sensitivity of the leveling device 4 is insensitive, and further, insensitive to the planting depth control sensitivity of the planting unit 2 described later, the sudden field Fs due to clumps and impurities. It is possible to prevent the leveling of the ground level from being sensitively controlled in response to the undulations. As a result, an appropriate leveling height can be maintained. Therefore, at the time of leveling work on a headland or the like, unnecessary leveling height control of the leveling device 4 can be eliminated, and the leveling ability to level the unevenness of the field surface Fs can be improved.

  The control means 53 is configured as described above, and the control means 53 detects the field height detection value V1 detected by the field height detection means 160, the float angle detection value V2 detected by the float angle detection means 157, and the leveling. The operator (user) 's preferred leveling height setting value V3 set by the height setting operation means 192 is acquired, and the leveling height target value V4 is obtained based on the detected values V1, V2 and the setting value V3. And the vertical position adjustment means 52 is controlled based on the calculated target value V4 to adjust the leveling height H1 of the leveling device 4. Therefore, the leveling device 4 is adjusted to an appropriate leveling height H1. Therefore, the leveling accuracy can be ensured satisfactorily.

  When the control means 53 that has acquired the detection value V1 of the surface height H4 detected by the surface height detection means 160 determines that the center float 35 is in a state of sinking with respect to the surface Fs, the float angle When the float angle detecting means 157 detects that the angle of elevation is (an elevation angle), the control means 53 determines that the hardness of the surface Fs is hard (soft) and lowers (rises) the leveling device 4. The final leveling height target value V6 is calculated in consideration of the correction value to be controlled, and the vertical position adjusting means 52 is controlled based on the calculated final target value V6, so that the leveling height of the leveling device 4 is controlled. H1 is adjusted. Therefore, the leveling device 4 can be disposed at a more appropriate leveling height H1, and the leveling accuracy can be further ensured.

  Further, when detection values V1 and V2 exceeding either one of the threshold values set in the field height detection means 160 and the float angle detection means 157 are detected, the control means 53 controls the vertical position adjustment means. 52, the leveling device 4 adjusts the leveling height H1 of the leveling device 4 to the storage position where the leveling device 4 is separated from the surface Fs to a predetermined position. Interference with the peripheral parts can be avoided. Here, the adjustment of the leveling height H1 up to the storage position of the leveling device 4 can be intentionally set by the operator (user) operating the leveling height setting operation means 192. At this time, the control means 53 controls the leveling device 4 to adjust the leveling height to the storage position, and controls the disconnection of the electric clutch 27a so as to stop the driving of the leveling device 4. Therefore, the unintended leveling device 4 is not intended. The leveling operation can be suppressed, and safety can be improved.

[Specific Explanation of Each Means above]
Next, the configuration of the surface height detection means (field height detection sensor) 160 will be specifically described. That is, as shown in FIGS. 5 to 7, the surface height detection means 160 is attached to the front wall of the portion of the lower left and right extension piece 31 d located directly above the center float 35 via the detection means support 161. ing. The detection means support 161 has a fixed-side support piece 162 attached to the front wall of the lower left and right extending piece 31d, and a rear end of the movable-side support piece 164 via a pivot 163 having an axis line directed in the left-right direction to the fixed-side support piece 162. The movable support piece 164 is swingable up and down by pivotally supporting the part. A cylindrical pivot piece 165 having an axis line in the left-right direction is attached to the movable support piece 164.

  The surface height detection means 160 pivotally supports a central portion of a support rod 166 having an axis line in the left-right direction on the cylindrical pivot piece 165 so as to be rotatable forward and backward around the axis line. The base end portions of a pair of left and right detection bodies 167 and 167 are attached to the left and right end portions of the support rod 166, respectively, and the distal end portions of both detection bodies 167 and 167 are brought into contact with the surface Fs. A sensor main body 168 such as a potentiometer is attached to the movable support piece 164, and the rotation of the support rod 166 that rotates forward and backward in conjunction with the lifting and lowering operations of the two detection bodies 167 and 167 by the sensor main body 168 (change in rotation angle). It is configured to detect (amount). A detection value (detection information) detected by the sensor main body 168 is transmitted to the control means 53.

  Since the pair of left and right detectors 167 and 167 are similarly attached to the left and right ends of the support rod 166, only the attachment structure of the left detector 167 will be described below. That is, the detection body 167 is attached to the left end portion of the support rod 166 by fitting the cylindrical boss portion 176, and extends the detection arm 169 rearward and downward from the boss portion 176 to A horizontally long rectangular plate-shaped attachment plate 170 is attached to the end portion with its surface facing up and down, and the front edge portion of the bowl-shaped detection main body 171 is attached to the attachment plate 170.

  The detection main body 171 includes a plurality of (in this embodiment, six) rod-shaped detection main body forming pieces 172 bent in an L shape when viewed from the side, and is arranged at intervals in the left-right direction, and the front end of the detection main body forming piece 172 An integrally connecting piece 173 formed in a horizontally long plate shape in the left-right direction with the surface facing in the up-down direction is integrally connected to the edge. Then, the upper surface of the integral connecting piece 173 is superposed on the lower surface of the mounting plate 170 and is mounted with mounting bolts 174. The detection main body 171 is grounded in a line contact manner with the field surface Fs in the latter half part, and slides along the field surface Fs on the field surface Fs, and responds to the shape change of the field surface Fs and the lifting operation of the center float 35. To move up and down (oscillate). For example, when sinking to the surface Fs or floating in the surface water (when the surface water is stretched), the detection body 171 is swung up and down in the opposite direction, and the support rod 166 rotates forward and backward. Is done. The sensor body 168 detects the amount of change in the rotation angle of the support rod 166 at that time, thereby detecting the vertical swing angle of the detection body 171 and transmitting the detection result to the control means 53. The control means 53 calculates the field height H4 from the acquired detection result. Then, as described above, the subsidence amount H5 of the center float 35 (the subsidence amount to the mud-like field surface Fs) can be measured from the calculated value of the surface height H4.

  The detection main body forming piece 172 is formed in an elongated shape to reduce the contact area between the field surface Fs and the surface water (when the surface water is stretched), thereby reducing the resistance of the detection main body formation piece 172 to the surface Fs, The detection main body forming piece 172 is difficult to be separated from the field surface Fs. The detection main body forming piece 172 is formed of a plurality of rods and is formed in a rake shape, thereby preventing impurities from being caught in the detection main body forming piece 172. As a material constituting the detection main body forming piece 172, a material such as a wire having a strength that can hold the shape with respect to a desired length is suitable. A suitable length of the detection main body forming piece 172 is, for example, such that the detection main body forming piece 172 extends above the surface water in a state where the detection main body forming piece 172 is in contact with the field surface Fs. The detection arm 169 can be provided with a regulating member (not shown) that regulates the downward rotation angle of the detection body 171 to limit the rotation range of the detection body 171. By doing so, the detection main body 171 can be reliably separated from the ground when the planting part 2 is raised.

[Description of Center Float 35]
As shown in FIG. 6, the center float 35 includes a front part 35 a formed in a left and right horizontally long rectangular plate shape, and a rear part formed in a front and rear vertical rectangular plate shape extending rearward from the center part of the rear end edge of the front part 35 a. 35b. The left and right widths of the rear part 35b are formed narrower than the left and right widths of the rear edge of the front part 35a, and the corners formed by the right and left parts of the rear edge of the front part 35a and the left and right side edge front parts of the rear part 35b. The detection main body 171 is disposed in the part 175. That is, the detection main body 171 slides on the surface Fs after the left and right side portions of the front portion 35a slide, and the seedling N is planted on the field Fs by the planting claws 34 behind the detection main body 171. The main body 171 is configured to perform a detection function steadily.

[Description of structure related to planting depth control]
The planting part 2 enables the planting depth control for maintaining the planting depth setting height H2 by the elevating mechanism part 3 through the control means 53, and the structure relating to this planting depth control is described below. This will be specifically described.

That is, as shown in FIGS. 11 to 13, the planting part 2 pivotally supports a float support shaft 121 extending in the left-right direction below the planting transmission case 30 so as to be rotatable about its axis. . A base end portion (front end portion) of a pair of left and right float support arms 122 extending in the front-rear direction is connected to the float support shaft 121 at intervals in the left-right direction, and a distal end portion (rear end portion) of the float support arm 122 is provided. ) Are pivotally connected by pivots 124 having the axis line in the left-right direction through the pivot brackets 123. The front end portion and the rear end portion of the center float 35 and the side float 36 are supported so as to be swingable in the vertical direction around the axis of the pivot 124. In the middle of the float support shaft 121, a lower end portion of the planting depth setting lever 125 is fixed, and the planting depth setting lever 125 is extended forward and upward. parts that make up the.

[Description of Configuration of Planting Depth Setting Unit 193]
The planting depth setting means 193 is configured so that the center float 35 and the side float 36 can be set to a set planting depth. That is, as shown in FIGS. 11, 14 and 15, the planting depth setting lever 125 is passed through a vertically long rectangular opening 127 formed in the front portion of the lever guide body 126 and protrudes forward and upward. At the same time, it is possible to set the planting depth by manual operation by grasping the tip. The lever guide body 126 is formed of a front surface portion and left and right side surface portions extending rearward and downward from left and right side edge portions of the front surface portion. Then, a guide body support arm 143 is provided on the lower left and right extended piece 31d of the planting frame 31 so as to project forward and upward, and the lever guide body is formed by the tip of the guide body support arm 143 and the upper surface of the lower left and right extended piece 31d. 126 is supported. A pair of left and right slide guide pieces 128, 128 are attached to the back side of the opening 127 of the lever guide body 126, and the rectangular plate-like slide body 129 is slidable vertically between the slide guide pieces 128, 128. It is arranged. In the slide body 129, a horizontally long locking groove 131 for locking the locking piece 130 provided at the base of the planting depth setting lever 125 is formed in multiple stages in the vertical direction, and the left end of the locking groove 131 is formed. A lever guide groove 132 that extends in the vertical direction and communicates with the left end portion of each locking groove 131 is formed in the portion.

  A planting depth setting motor 191 is disposed on the upper left side of the lever guide body 126, and the planting depth setting motor 191 is provided with an upper end portion of a slide support shaft 133 extending in an up-down direction and extending in an interlocking manner. The slide support shaft 133 is arranged behind the front surface of the lever guide body 126. A slide ring 134 is fitted on the outer peripheral surface of the slide support shaft 133, and the slide ring 134 can be moved up and down along the axis of the slide support shaft 133 in conjunction with the rotation of the slide support shaft 133. Yes. A slide body 129 is connected to the slide ring 134 so that the slide body 129 moves up and down integrally with the slide ring 134. A set planting depth detecting means 135 such as a potentiometer is attached to the left side surface portion of the lever guide body 126.

  The set planting depth detection means 135 includes a detection main body 136 and a detection terminal 137 attached to extend from the detection main body 136 to the front, and an engagement piece 138 attached to the proximal end portion of the planting depth setting lever 125. The detection terminal 137 is engaged in an orthogonal state from above. And the detection main body 136 detects the amount of vertical rotation displacement of the planting depth setting lever 125 through the engagement piece 138 and the detection terminal 137 engaged in the orthogonal state. When the upper and lower limit stop sensors 139, 140 such as limit switches are provided on the left side surface of the lever guide body 126, and the action pin 141 protruding from the slide ring 134 acts on any of the sensors 139, 140, By stopping the planting depth setting motor 191, the sliding operation of the slide ring 134 is stopped and restricted at the upper limit position or the lower limit position.

  A lever support 142 protrudes forward in the middle of the float support shaft 121. The lever support 142 protrudes forward and upward, and is bent from the middle and protrudes forward. . On the upper surface of the lever support 142, the base end portion of the planting depth setting lever 125 is superposed vertically. The planting depth setting lever 125, the lever support 142, the float support shaft 121, and the float support arm 122 are integrally connected. Reference numeral 144 denotes an actuator cover.

  With this configuration, when the planting depth setting lever 125 is rotated upward (downward) about the axis of the float support shaft 121, the float support arm 122 opposes the downward (upward) direction. The center float 35 and the side float 36 connected to the float support arm 122 are moved up and down. That is, the float support shaft 121 is pivotally operated by the planting depth setting lever 125 with the fulcrum support shaft 121 as a fulcrum, so that the axial center position (center float 35 and side float 36) of the pivot 124 is changed in the vertical direction. Thus, the planting depth setting height H2 (setting depth) can be changed. At this time, the planting depth setting lever 125 is slid in the vertical direction along the lever guide groove 132, and is locked in the locking groove 131 of the desired slide body 129 via the locking piece 130. The axial center position (center float 35 and side float 36) of the pivot 124 is fixed.

  As shown in FIG. 6, the center float 35 pivotally connects the lower end portion of the connecting rod 146 to the front end portion thereof via a connecting piece 145, and the upper end portion of the connecting rod 146 is interlocked to the planting depth interlocking mechanism 147. doing. The planting depth interlocking mechanism 147 has a fixed body 148 attached to the front wall in the middle of the lower left and right extending piece 31d, and is formed in a side-view shape through a pivot 149 having an axis line in the left-right direction. The bent portion of the body 150 is pivotally supported, and the connecting body 152 is connected to the front end portion of the movable body 150 via the connecting pin 151, while the lower end portion of the movable body 150 is connected to the float support shaft 121 via the interlocking rod 153. A standing interlocking arm 154 is connected. A swing support shaft 155 having an axis line in the left-right direction is pivotally supported on the connecting body 152, and a base end portion (rear end portion) of the vertical swing arm 156 is connected to the left end portion of the swing support shaft 155. The upper end portion of the connecting rod 146 is connected to the tip end portion (front end portion) of the vertical swing arm 156. As shown in FIG. 13, a float angle detecting means 157 such as a potentiometer for detecting the swing angle (swing displacement amount) of the swing support shaft 155 is attached to the right side of the connecting body 152 to detect the float angle. The means 157 can detect a float angle indicating the vertical posture of the center float 35 (an elevation angle or a depression angle of the center float 35 swinging in the vertical direction around the pivot axis 124). The detection information (detection value) of the float angle detection unit 157 is transmitted to the control unit 53.

  The float angle detecting means 157 can detect the posture of the center float 35 as described above, and the control means 53 is planted by the elevating cylinder 43 via the control valve 44 so that the bottom surface of the center float 35 is horizontal. The part 2 is controlled to be lifted.

  That is, while the center float 35 follows the ground surface Fs in contact with the ground surface Fs, when the planting unit 2 moves up and down following the change in the posture of the traveling unit 1, the planting unit 2 extends from the surface Fs accordingly. (The planting depth H3 of the seedling N by the planting claw 34) may change. Then, a change in the height from the surface Fs to the planting part 2 (planting depth H3 of the seedling N by the planting claw 34) is detected by the float angle detecting means 157, and hydraulic oil is supplied to the lifting cylinder 43. The control valve 44 to be discharged is controlled by the control means 53, the planting part 2 is driven up and down by the lifting cylinder 43, and the planting depth H3 of the seedling N by the planting part 2 (planting claw 34) is set to the set depth. Maintained. This is the planting depth control.

  Further, the surface height detection means 160 detects that the center float 35 is in a subsidence state with respect to the field surface Fs, and the float angle detection means 157 indicates that the float angle of the center float 35 forms an elevation angle (a depression angle). Is detected, the control means 53 determines that the soil of the field G is hard (soft), and controls the leveling device 4 to the lowering (upward) side.

  The above-described planting depth setting means 193 has a planting depth setting lever 125 that is manually operated. FIGS. 16 and 17 show a modification of the planting depth setting means 193. Without providing the height setting lever 125, the planting depth is automatically set only by knob-rotating the planting depth setting operation means 190.

  That is, the planting depth setting means 193 as a modification has the same basic structure as the planting depth setting means 193 described above, but without setting the planting depth by the planting depth setting means 193, The difference is that the planting depth can be set by the depth setting operation means 190.

  Specific differences are as follows. That is, as shown in FIGS. 16 and 17, the base end portion (rear upper end portion) of the rod-shaped first interlocking piece 200 that extends forward and downward is attached to the front end portion of the lever support 142, and The second interlocking piece 201 is provided at the front end portion (front lower end portion) so as to project toward the slide support shaft 133, while the second interlocking piece 201 is connected to the slide support shaft 133 from the slide ring 134 that is externally fitted to the first interlocking piece. The second interlocking piece 201 and the third interlocking piece 202 are connected by projecting a third interlocking piece 202 on the 200 side. An engagement piece 138 is attached to the slide ring 134, and the detection terminal 137 of the set planting depth detection means 135 is engaged with the engagement piece 138 in an orthogonal state from above. The detection main body 136 detects the amount of vertical sliding displacement of the slide ring 134 via the engagement piece 138 and the detection terminal 137 engaged in the orthogonal state.

  In this way, when the planting depth is set by the planting depth setting operation unit 190, the control unit 53 controls the planting depth setting motor 191 via the set planting depth detection unit 135. Yes. That is, the slide ring 134 is controlled to move up and down along the axis of the slide support shaft 133 that is interlocked and connected to the planting depth setting motor 191, and the lever support 142 is moved via the first to third interlocking pieces 200 to 202. Up and down rotation control is performed with the float support shaft 121 as a fulcrum. The float support arm 122 moves up and down in the opposite direction in conjunction with the up and down rotation of the lever support 142 so that the center float 35 and the side float 36 are arranged at the planting depth setting height H2. Yes. Reference numeral 158 denotes a non-rotating piece protruding from the slide ring 134, and 159 denotes a non-rotating groove formed in the lever guide body 126 for inserting the non-rotating piece 158 to prevent the slide ring 134 from rotating. Reference numeral 177 denotes a support body supporting piece that supports the lower end portion of the slide support body 133 so as to be rotatable about its axis.

[Specific Description of Configuration of Leveling Device 4]
Next, each means 50-53 which comprises the leveling apparatus 4 is demonstrated more concretely. That is, as shown in FIGS. 1 to 3, the leveling means 50 includes a rotor gear case 60 and a pair of leveling rotors 61 and 61 disposed on the left and right sides of the rotor gear case 60. In the rotor gear case 60, there are disposed an input shaft 60a having an axis directed forward and left and right output shafts 60b, 60c directed axially rearward and outward, and a distal end portion (front end portion) of the input shaft 60a. The rear end of the leveling shaft 54 is detachably connected to the base end (rear end) of the input shaft 60a, and the base ends of the left and right output shafts 60b and 60c are connected to each other via a gear. ing. The leveling rotor 61 is configured by coaxially attaching a large number of rotor forming pieces 63 to an outer peripheral surface of a rotor shaft 62 extending in the left-right direction with its axis line directed. As shown in FIG. 2, the rotor forming piece 63 is formed so as to be fitted on the outer peripheral surface of the rotor shaft 62 formed in a rectangular cylindrical shape, and protruded in the radial direction from the outer peripheral surface of the boss portion 64. A plurality of (six in this embodiment) support pieces 65 formed at equal intervals in the circumferential direction, and a leveling piece 66 formed integrally with the tip of each support piece 65 by extending in the axial direction. Formed from. The inner ends of the rotor shafts 62 and 62 are interlocked and connected to the front ends of the left and right output shafts 60b and 60c, respectively, and the rotor shafts 62 and 62 are arranged on the extension lines of the axis of the output shafts 60b and 60c. ing. That is, the rotor shafts 62 and 62 are extended rearward and outward about the rotor gear case 60. The leveling pieces 66 adjacent to the left and right are arranged in alignment in the axial direction, and rotate integrally around the outer periphery of the rotor shaft 62 in conjunction with the rotor shaft 62 so as to level the surface Fs. Yes. A plate-like connecting body 67 is attached to the upper wall of the rotor gear case 60 in a superposed state, and the left side of the tubular shape extending to the rear left side along the left rotor shaft 62 is attached to the rear portion of the connecting body 67. The frame 68 is connected to the inner end of a right tubular frame 68 that extends parallel to the right rotor shaft 62 and extends toward the rear right side. A rotor cover 69 that covers the upper and rear portions of the leveling rotor 61 is attached to each frame 68.

  As shown in FIGS. 17 to 21, the vertical position adjusting means 52 has a rotary shaft 80 that is stretched in the left-right direction so that it can freely rotate in the forward and reverse directions, and upper ends of the rotary shaft 80 are linked to both ends. A pair of left and right vertical movement mechanisms 81 that move up and down in conjunction with forward and reverse rotations of the rotation axis, and a rotary shaft 80 for adjusting the vertical position of the leveling means 50 installed between the lower ends of both vertical movement mechanisms 81 are provided. And an electric motor 82 that can be driven to rotate in the forward and reverse directions. Thus, by rotating the rotary shaft 80 forward and backward by the electric motor 82 controlled by the control means 53, the leveling means 50 can be adjusted in the vertical position via the pair of left and right vertical movement mechanisms 81, and the leveling is adjusted. The height H1 (see FIG. 2), that is, the height from the field surface Fs to the lowest end of the leveling rotor 61 can be steadily controlled with a simple structure. The actuator is not limited to the electric motor 82, and an electric or hydraulic cylinder can be used as appropriate. L is an imaginary front and rear extension line.

  More specifically, the middle part left and right stretched piece 31b is horizontally placed between the middle part of the pair of left and right vertically stretched pieces 31a and 31a forming a part of the planting frame 31, and the middle part left and right stretched piece 31b is left and right. A pair of shaft support pieces 31c, 31c are suspended, and a rotary shaft 80 having an axis line in the left-right direction is horizontally suspended between the shaft support pieces 31c, 31c so as to be rotatable about the axis line. The pair of left and right vertical movement mechanisms 81 and 81 are attached to the left and right side portions of the rotating shaft 80 with the base end portions of the pair of left and right upper arms 84 and 84 projecting forward, while the pair of left and right vertical extending pieces 31a and 31a. A pair of left and right pivot pieces 83, 83 project forward from the lower left and right extending pieces 31 d that support the lower parts of the left and right pairs, and a pair of left and right lower arms 85 projecting forward from the pivot pieces 83, 83. The proximal end of 85 is pivoted. The upper end portions (front end portions) of the upper arms 84, 84 are connected to the upper end portions of a pair of left and right vertical movement rods 86, 86 extending in the vertical direction, and the front end portions (front end portions) of the lower arms 85, 85. ) Is connected to the lower part of each vertical movement rod 86, 86.

  The upper and lower rods 86 and 86 are connected to the upper arms 84 and 84 so that the upper and lower sliding motions are interlocked with the upper and lower swinging motions of the upper arms 84 and 84 and the lower arms 85 and 85 forming a parallel link. It is supported by the lower arms 85 and 85. Ring-like pivot support pieces 87, 87 are provided at the lower end portions of the vertical movement rods 86, 86, and the respective pivot support pieces 87, 87 are pivotally supported through the outer portions of the rotor shafts 62. 88 is a mud plate for preventing mud splashed by the rear wheel 14 from being placed on each of the floats 35, 36, and 36 disposed behind it, and 89 is a space between the frame 68 and the vertically moving rod 86. This is a reinforcing cable staying material interposed between the two.

  A cylindrical sector gear boss 90 is rotatably fitted on the right side of the rotary shaft 80, and the base end of the sector gear 91 is connected to the outer peripheral surface of the sector gear boss 90. The teeth of the sector gear 91 are arranged on a virtual circumference centered on the axis of the sector gear boss 90. A plate-like support side wall 92 is attached to the planting frame 31 so as to be adjacent to the sector gear 91 in a parallel state, and is extended to the left from the upper end edge and the front end edge of the support side wall 92 to form an upper surface forming body 93. And a front surface forming body 94 are formed. An actuator 82 such as an electric motor is attached to the front surface forming body 94 via a bracket 95, and a pinion gear case 96 is attached to the actuator 82. A pinion gear 96 a is attached to the drive shaft 82 a of the actuator 82, and the pinion gear 96 a is disposed in the pinion gear case 96.

  The pinion gear 96a is engaged with the sector gear 91. 97 is a movable side connecting piece that extends rearward and downward from the sector gear 91, 98 is a fixed side connecting piece that extends rearward and downward from the front surface forming body 94, and 99 is a space between the movable side connecting piece 97 and the fixed side connecting piece 98. The sector gear 91 is urged to rotate clockwise as viewed from the left side by the tension spring 99 via the movable connecting piece 97. With this configuration, the sector gear 91 can be rotated forward and backward via the pinion gear 96a by rotating the drive shaft of the actuator 82 forward and backward.

  An interlocking body 100 formed in a gate shape so as to straddle the sector gear boss portion 90 is attached to the rotating shaft 80. That is, the interlocking body 100 includes arm pieces 101 and 101 that are fixedly attached to the rotation shaft 80 and extend forward and upward from the upper end portion of the sector gear 91, and both arm pieces 101. , 101 is formed in a gate shape from the horizontal piece 102 laid between the two, 101 to avoid interference with the sector gear 91. An engagement recess 103 is formed at the tip of the front edge of the right arm piece 101, and an engagement pin 104 is projected from the upper end of the sector gear 91 toward the right side. The engaging recess 103 is brought into contact with each other. A torsion coil spring 105 is wound around the outer peripheral surface of the sector gear boss 90, and one end of the torsion coil spring 105 is engaged with the lower edge of the sector gear 91, while the other end of the torsion coil spring 105 is connected to the left arm piece 101. The torsion coil spring 105 is engaged with the rear end edge and elastically biased in the direction in which the engagement pin 104 and the engagement recess 103 abut.

  With this configuration, the rotary shaft 80 is rotated forward and backward via the interlocking body 100 in conjunction with forward and reverse rotation of the sector gear 91. The vertical movement of the pair of left and right upper arms 84, 84 is linked to the forward / reverse rotation of the rotary shaft 80, and the vertical movement of the pair of left and right vertical movement rods 86, 86 is linked to the vertical movement of the upper arms 84, 84 In conjunction with each other, the leveling rotors 61 and 61 pivotally connected to the lower end portions of the vertically moving rods 86 and 86 via pivot support pieces 87 and 87 can be adjusted in the vertical position. Further, since the rotary shaft 80 is urged so as to rotate downward by the torsion coil spring 105, even when the leveling rotor 61 vigorously abuts against the convex portion, the leveling rotor 61 bounces upward. Without passing, it will descend quickly after passing the convex part. Further, when a sudden load is applied to the leveling rotors 61, 61 upward from below by the convex surface of the surface Fs or foreign matter, the vertically moving rods 86, 86 → the upper arms 84,84 → the rotating shaft 80 → The load is propagated to the interlocking body 100 so that the interlocking body 100 is rotated clockwise in the left side view against the elastic biasing force of the torsion coil spring 105. That is, as shown in FIG. 10, the interlocking body 100 is rotated in a direction away from the sector gear 91 so as to function as a limiter that prevents a load from acting on the actuator 82 via the sector gear 91. Yes.

  A sector gear detection body 110 such as a potentiometer, which is an adjustment operation detecting means for detecting the rotation operation of the sector gear 91, is attached to the upper portion of the support side wall 92. The sector gear detector 110 has a detection terminal 112 projecting from the detection body 111 toward the engagement pin 104, and the lower end edge of the detection terminal 112 is urged into contact with the peripheral surface of the engagement pin 104. ing. When the sector gear 91 is rotated in the forward / reverse direction, the detection terminal 112 is interlocked via the engagement pin 104 so that the sector gear detector 110 detects the forward / reverse rotation angle of the sector gear 91 via the detection terminal 112. I have to.

  The control means 53 transmits a control signal to the actuator 82 based on the detection result acquired from the sector gear detector 110 to stop the rotation of the actuator 82. In this way, the height (leveling height) of the leveling rotor 61 from the field surface Fs is appropriately controlled, that is, leveling height control is performed.

  FIG. 22 shows a traveling unit 1 as another embodiment, and this traveling unit 1 has the same basic structure as the traveling unit 1 of the above-described embodiment, but does not include a transmission mechanism case 27. It is different. That is, the rear axle case 15 is linked and connected to the terminal end portion (rear end portion) of the transmission shaft 19, and the start end portion (front end portion) of the leveling transmission shaft 54 is linked and connected to the rear axle case 15. The rear axle case 15 is provided with a clutch (not shown) for connecting / disconnecting power to the leveling shaft 54, and this clutch may be mechanically connected / disconnected. In addition, it is possible to adopt a form of connecting / disconnecting electrically.

A rice transplanter 1 traveling unit 2 planting unit 3 lifting mechanism unit 4 leveling device 50 leveling unit 52 vertical position adjusting unit 53 control unit

Claims (4)

A planting part that can plant seedlings on the rice field is attached to the rear of the self-propelled traveling part so that it can be raised and lowered through the lifting mechanism part, and the leveling device that leveles the rice field just before the planting part is moved up and down. It is a riding rice transplanter that is mounted so that the vertical position can be adjusted by the position adjusting means, and the float is supported on the float support shaft provided in the planting part ,
A table surface height detecting means for detecting a table surface height which is a height from a predetermined location of the planting part to the table surface;
A float that attaches the front side to the lower part of the planting part so that it can swing up and down, and slides on the rice field,
A float angle detecting means for detecting a float angle which is a rocking angle in the vertical direction of the float;
Leveling height setting operation means for setting the leveling height of the leveling device;
A control means for connecting the field height detecting means, the float angle detecting means and the leveling height setting operation means to the input side, and connecting the vertical position adjusting means to the output side,
With
The table surface height detection means is supported by the planting unit so as to rotate up and down about a predetermined axis, and has a detection body provided to slide along the table surface. It is configured to detect the amount of change in the rotation angle of the part that rotates forward and backward in conjunction with the operation,
The control means acquires the detection value detected by the surface height detection means and the float angle detection means and the setting value set by the leveling height setting operation means, respectively, and leveling based on these detection values and setting values A riding rice transplanter characterized in that a height target value is calculated, and the leveling height of the leveling device is adjusted by controlling the vertical position adjusting means based on the calculated target value. When the control means determines that the float is in a state of sinking with respect to the rice field from the detected value of the rice field height detected by the rice field height detection means,
When the float angle detected by the float angle detection means is an elevation angle, the final target value of the leveling height is calculated by adding a correction value that increases the leveling height, while the float detected by the float angle detection means is calculated. When the angle is a depression angle, a final leveling height target value is calculated in consideration of a correction value for decreasing the leveling height, and the control means controls the vertical position adjusting means based on the calculated final target value. The riding rice transplanter according to claim 1, wherein the leveling height of the leveling device is adjusted by control.   A threshold value is set for each of the surface height detection means and the float angle detection means, and when a detection value exceeding one of the threshold values is detected, the control means sets the vertical position adjustment means. 3. The riding rice transplanter according to claim 1, wherein the leveling height of the leveling device is adjusted to a storage position where the leveling device is separated from the surface to a predetermined position by controlling.   The riding rice transplanter according to claim 3, wherein when the control means controls the vertical position adjusting means to adjust the leveling height of the leveling device to the storage position, the driving of the leveling device is stopped.

Images