JP6726125B2 - Paddy work machine - Google Patents

Description

The present invention relates to a paddy working machine for transplanting seedlings or supplying seed paddy to a field.

In Patent Document 1, in addition to a float that senses a field contact surface, a sensor that detects the field surface is provided immediately in front of the planting position to detect the amount of subsidence of the float and correct the gap in float sensing. Machine is disclosed.

JP, 2014-128220, A

Generally, in a rice transplanter for odd-row planting, a U-shaped center float or L-shaped center float for single-row planting is used to level a portion corresponding to the central row, which is a fraction. Further, the sensor in Patent Document 1 is preferably arranged in the center float which is a sensing float, and in consideration of the weight balance of the rice transplanter, a U-shaped float having a symmetrical shape is preferable.

When the sensor of Patent Document 1 is adopted for the U-shaped float, since both sides of the planting position are covered with the float, the flow of water around the sensor is weakened, and impurities are easily accumulated on the sensor. Will end up. Then, when foreign substances are accumulated on the sensor, the detection result of the sensor may be affected. In view of the above, the present invention is a seedling transplanter for odd-row planting or a seeding machine for odd-row, such as paddy field working machine that supplies odd-row seedlings or paddy to the field, in the center float to sense the field ground plane. Provided is a technique for suppressing the accumulation of contaminants on a provided sensor for detecting a field surface.

A paddy working machine according to an embodiment of the present invention includes a main working unit that supplies an odd number of seedlings or seed paddy to a field, and the main working unit includes a center float that detects a field grounding surface, and the center float. And a sensor that is provided separately and detects the surface of the field immediately before the planting position of the seedlings or the position of supplying the seed paddy. A portion corresponding to the row has a shape that is opened laterally, and the sensor is arranged at a position corresponding to the two rows on the left and right.

The main working unit includes a groover that forms a groove for supplying the seed paddy, and a feeding unit that feeds the seed paddy into the groove that is made by the grooving device, and is provided on the field surface detected by the sensor. Accordingly, the main working unit is moved up and down so that the groove making device forms a groove having a substantially constant depth.

The main working unit includes a groover that forms a groove for supplying the seed paddy, and a feeding unit that feeds the seed paddy into the groove that is made by the grooving device, and is provided on the field surface detected by the sensor. Accordingly, the main working portion is tilted in the rolling direction so that the groove grooving device corresponding to each of the sensors forms a groove having the same depth.

The sensors arranged at the positions corresponding to the right and left two lines of the center float are arranged inside the outermost side of the center float.

According to the present invention, it is possible to suppress the accumulation of contaminants on the sensor for detecting the field surface, which is provided in the center float that senses the field contact surface.

The side view of the rice transplanter as an example of a paddy work machine. The top view of the planting part as an example of a main working part. The side view of a planting part. The figure which shows the water flow around a center float. The figure which shows the structure of a sensor. The side view of the seeder as an example of a paddy work machine. Top view of the center float.

As shown in FIG. 1, a rice transplanter 1 as an example of a paddy working machine includes an engine 2, a power transmission unit 3, a planting unit 4, and an elevating unit 5. The planting part 4 is connected to the machine body via the elevating part 5, and can be automatically moved up and down by controlling the operation of the elevating part 5. Further, the planting part 4 is connected to the elevating part 5 via a rolling shaft (not shown), and can be tilt-controlled in the rolling direction. The power from the engine 2 is transmitted to the planting section 4 via the power transmission section 3. The rice transplanter 1 travels by driving the engine 2 and plants seedlings in the field by the planting unit 4. The rice transplanter 1 of this embodiment is a seedling transplanter for odd-row planting, and the planting unit 4 as the main working unit is for planting odd-numbered seedlings such as 5, 7, and 9 rows.

The driving force from the engine 2 is transmitted to the PTO shaft 7 via the transmission 6 in the power transmission unit 3. The PTO shaft 7 is provided so as to project rearward from the transmission 6. Power is transmitted from the PTO shaft 7 to the planting transmission case 8 via the universal joint, and the planting unit 4 is driven. A drive shaft 9 is provided rearward from the transmission 6, and the drive force is transmitted from the drive shaft 9 to the rear axle case 10. Further, power is transmitted from the rear axle case 10 to the ground leveling device 20 arranged behind the rear axle case 10.

The planting section 4 includes a planting arm 11, a planting claw 12, a seedling stand 13, a float 14, and the like. The planting claw 12 is attached to the planting arm 11. The planting arm 11 is rotated by the power transmitted from the planting transmission case 8.

Seedlings are supplied to the planting claws 12 from the seedling placing table 13. With the rotational movement of the planting arm 11, the planting claw 12 is inserted into the field, and seedlings are planted so as to have a predetermined planting depth (protruding amount of the planting claw 12). In this embodiment, the rotary type planting claw is adopted, but a crank type may be used.

As shown in FIG. 2, the planting unit 4 has a plurality of floats arranged in the left-right direction (this embodiment shows a rice transplanter with seven rows planted, and a center float 14A for arranging the central three rows, It is provided with two side floats 14B) which are arranged laterally and level the two lateral strips. Each of the floats 14A and 14B is attached to a planting frame 15 that constitutes the planting section 4. More specifically, the front end of each float is swingably supported in the vertical direction with respect to the planting frame 15, and the rear end of each float is linked to a rotation support shaft 16 provided on the planting frame 15 by a link mechanism 17. It is attached so that it can be raised and lowered via.

The center float 14A is a sensing float that detects the field ground contact surface at the left-right center of the body of the rice transplanter 1. The centerline of the center float 14A is arranged so as to substantially coincide with the centerline of the rice transplanter 1. The center float 14A is formed in a Π shape when viewed from above. "Π-shape" includes a left-right extending part extending in the left-right direction and two front-rear extending parts extending rearward of the left-right extending part, and connecting the front-rear extending part to the left-right extending part. Each of the parts has a shape in which the parts are separated from the left and right ends by a predetermined distance. That is, the center float 14A has a shape in which the left and right portions of the center float 14A are opened laterally. Then, in the center float 14A, the planting is performed between the two front and rear extending portions and at a total of three locations on both outer sides thereof. In this way, the center float 14A is formed in a Π shape in a top view, and lands the part corresponding to the three central lines.

A land leveling device 20 for headland leveling is provided in front of the planting section 4 and in front of the float 14 (14A, 14B). The leveling device 20 is supported with respect to the planting frame 15 such that the height thereof can be changed. The height of the soil leveling device 20 (rotor height) is detected by an appropriate sensor.

Part of the power from the drive shaft 9 is branched to the ground leveling transmission shaft 21 via the rear axle case 10, and is directed to both sides from the ground leveling transmission shaft 21 via the universal joint 22, the input shaft 23, and the ground leveling transmission case 24. Is transmitted to the drive shaft 25 that is extended. A plurality of rotors 26 are fixed to each drive shaft 25, and the rotors 26 are rotated by the rotational drive of the drive shafts 25 to level the field. A ground leveling transmission case 24 is arranged at the center of the leveling device 20, and power is transmitted from the center to both sides.

The ground leveling device 20 is arranged such that the center thereof is arranged at the front and the slopes are inclined from the front toward the rear as going from the center toward both sides. That is, the central portion is provided so as to be located in front of the other portions, and is arranged in a C shape in a top view. The ground leveling device 20 is configured to secure a space behind the central portion thereof, and allows the center float 14A to be arranged closer to the front by utilizing the space.

As shown in FIG. 3, an appropriate sensor such as a potentiometer is attached to the rotary support shaft 16 or the link mechanism 17, and the link height h0 is calculated based on the value detected by the sensor. The link height h0 is detected as the protruding amount of the planting claw 12 (the distance between the tip of the planting claw 12 and the bottom surface of the float). Then, as will be described later, using the subsidence amount d of the center float 14A, the actual planting depth h (h=h0+d) is detected.

The center float 14A arranged in the center is used as a float detection body for detecting a field contact surface. Specifically, the target angle of the float is determined based on the swing angle of the center float 14A (the rotation angle in the pitching direction according to the resistance received at the front of the float: the float angle α) that changes according to the unevenness of the field. The height of the planting portion (planting depth) is controlled so that the float angle α approaches the target angle.

As shown in FIG. 2 and FIG. 3, in the center float 14A for leveling the central three rows, the sensors 30 for detecting the surface of the field are provided immediately in front of the planting positions on the left and right sides. The sensor 30 extends from the front to the rear. The sensor 30 is supported by the planting frame 15 so as to be swingable in the pitching direction, and hangs down due to gravity around the swinging fulcrum, so that the rear end is kept in contact with the field surface. That is, the rice transplanter 1 advances so that the sensor 30 always follows the surface of the field.

The swing angle of the sensor 30 is measured by an appropriate angle measuring device such as a potentiometer, and the height of the swing spindle of the sensor 30 and the distance between the rear end of the sensor 30 and the swing spindle are used to measure the sensor 30 and the field. The positional relationship of is calculated. Then, the actual height of the field (height of the rice field where the seedlings are planted) is detected. In this way, by detecting the actual height of the field with the sensor 30, the subsidence amount d of the center float 14A (subtraction amount into the muddy field) can be measured.

As described above, the sensor 30 is provided separately from the center float 14A used for detecting the ground contact surface of the field, and the sensor 30 detects the height of the field surface in the vicinity of the planting position to form a sensing float. The subsidence amount of the float 14A is calculated to detect the actual planting depth. Then, by detecting the actual planting depth by the sensor 30, it becomes possible to determine whether or not the planting of the seedlings is properly performed. That is, it is not necessary to adjust the sensitivity according to the field condition, and the sensitivity adjustment is automatically performed by the elevation control using the sensor 30.

Further, by realizing the sensing just before planting the seedlings by the sensor 30, it is possible to improve the sensing accuracy. The planting position in the present embodiment is the side of the rear end of the float that rotates via the link mechanism 17. Further, the position immediately before the planting position is a field after the soil is leveled with a float for planting seedlings, and in order to sense such a stable field, the uneven shape appearing on the surface of the field is detected by the sensor 30. It is possible to reduce the effect on the sensor 30 and the effect on the sensor 30 caused by the muddy water flow generated by the float. By arranging the sensor 30 on the inner side of the outermost side of the center float 14A, the sensor 30 can be made less susceptible to the towing wave generated by the float, and a decrease in sensing accuracy is prevented.

Further, as shown in FIG. 4, the center float 14A is opened laterally, so that the mud flow from the lateral side passes through the inner side along the outer circumference of the float. That is, a water flow that flows out from the side of the center float 14A toward the seedling planting position, and thus toward the sensor 30 side, is generated. This makes it easier for the foreign matters deposited on the sensor 30 to receive the flow from the side of the center float 14A to the sensor 30 side. As described above, the configuration of the center float 14A and the arrangement of the sensor 30 realizes a structure in which impurities are less likely to be deposited on the sensor 30. Therefore, it is possible to reduce the possibility that impurities will affect the sensing by the sensor 30.

As shown in FIG. 3, the sensor 30 is supported by a support portion 32 that is rotatably provided on the swing support shaft 31. The support portion 32 is swingably supported around the swing support shaft 31 in the pitching direction, and the support portion 32 causes the sensor 30 to follow the unevenness of the field surface. The rotation angle of the swing support shaft 31 is detected by the potentiometer 33, and the subsidence amount of the center float 14A is calculated based on the detected value. In order to detect the minute rotation of the sensor 30, it is possible to improve the detectability by interposing a reduction gear or the like between the swing support shaft 31 and the potentiometer 33.

As shown in FIGS. 3 and 5, the sensor 30 includes a stay 40 that is connected to the support portion 32, a ground portion 41 that extends in a substantially horizontal direction and grounds the surface of the field, a stay 40 and a ground portion 41. And an extension portion 42 that extends in the vertical direction so as to connect to each other.

The extension portion 42 and the ground contact portion 41 extend from the stay 40 in a rake shape. Further, it is formed so as to be bent at a portion where the extension portion 42 is connected to the ground portion 41. By forming the rake shape, it is possible to reduce the influence of the fluid force due to the muddy water flow and stabilize the detection performance of the sensor 30. Further, by forming it in a bent shape, the front-rear length can be shortened, and it can be compactly housed while space is limited.

The sensor 30 is a resin-made member formed by integral molding or a light-weight metal member formed by integral molding. By being made of resin, mass production can be easily performed, and the cost of the sensor 30 can be reduced. The life of the sensor 30 can be improved by making the sensor 30. In the case of using a metal material, for example, by molding it into a hollow shape, it is possible to reduce the weight of the sensor 30 and secure its strength.

As shown in FIG. 5, the cross-sectional shape of the ground portion 41 is formed such that the lower portion is wide and the upper portion is narrow. In other words, the ground contact area is made larger by widening the lower part that is in contact with the field surface. Thereby, the surface pressure applied to the sensor 30 is ensured, and the sensor 30 itself is made thin. Further, by making the upper portion which is not in contact with the field surface narrow, it is possible to reduce the amount of mud, water, etc. accumulated on the ground contact portion 41. Accordingly, it is possible to suppress the disturbance of the water flow by the sensor 30 and prevent the accumulation of mud and the like. Further, in the present embodiment, the grounding portion 41 is configured to be vertically long, in other words, the vertical width is larger than the horizontal width. Thereby, the rigidity of the sensor 30 can be ensured.

As shown in FIG. 5, the cross-sectional shape of the extending portion 42 is formed such that the front portion has a narrow width and the rear portion has a wide width. That is, by narrowing the front side in the traveling direction of collision with the muddy water, it is possible to reduce the influence of the fluid force of the muddy water from the front, suppress the floating of the sensor 30, and suppress the deterioration of the detection accuracy. As described above, according to the shape of the sensor 30 of the present embodiment, it is possible to reduce the influence of the muddy water flow accompanying the progress of the rice transplanter 1, and it is possible to improve the sensing accuracy.

In this embodiment, the rice transplanter 1 for 7-row planting is described as an example of an odd-row seedling transplanter, but the present invention is not limited to this. Can be similarly applied. In addition, although the rice transplanter 1 is described as an example of the seedling transplanter in the present embodiment, a paddy working machine including a float for leveling and a center float for detecting a ground contact surface of a field can be used as long as the rice transplanter of the present embodiment. The configurations of the center float 14A and the sensor 30 can be similarly applied. Examples of paddy work machines include a seeder, a transplanter, and a paddy field management work machine.

Next, a seeder 50 as an example of a paddy working machine will be described with reference to FIGS. 6 and 7. The basic structure of the seeding machine 50 is substantially the same as that of the rice transplanter 1 having the planting section 4 for planting odd-numbered seedlings in the field as the main working section, but the odd-rowed seed paddy is used as the main working section in the field. The difference is that a seeding device 51 for supplying is provided. The different points will be described below.

The seeding device 51 is connected to the machine body via the elevating unit 5, and is configured to be capable of automatically elevating in the vertical direction by controlling the operation of the elevating unit 5. Further, the seeding device 51 is connected to the elevating part 5 via a rolling shaft (not shown), and is configured to be tiltable in the rolling direction by rotating the rolling shaft. The seeding machine 50 supplies seed rice to the field by the seeding device 51 while traveling by driving the engine 2. The seeding machine 50 of the present embodiment is a flooded seeder that supplies odd-numbered seeds, and the seeding device 51 as the main working unit supplies seeds to odd-numbered rows such as 5, 7, and 9 rows. Is.

The seeding device 51 includes a feeding device 52, a hopper 53, a float 54, a grooving device 55, and the like. The feeding device 52 supplies the seed paddy stored in the hopper 53 to the field in a predetermined amount and at a predetermined timing. The feeding devices 52 are provided for the number of lines supplied by the seeder 50. A plurality of floats 54 are arranged in the left-right direction and are provided with a center float 54A for arranging the central three rows, and two side floats arranged on the sides thereof for arranging two lateral rows. The float 54 is attached to the seeding frame.

The center float 54A has the same configuration as the center float 14A of the rice transplanter 1. That is, the center float 54</b>A is formed in a “Π shape” when viewed from the top, and is arranged so that its center line substantially coincides with the center line of the seeder 50. The center float 54A is also provided with the sensor 30. That is, in the center float 54A, the sensors 30 are provided immediately in front of the seed paddy supply positions on the left and right sides. In this way, the sensor 30 realizes sensing at the position immediately before the seed paddy is supplied, and the center float 54A in which the sensor 30 is arranged is opened at the side, so that the mud flow from the side is prevented. It will pass inward along the outer circumference of the float. At that time, by arranging the sensor 30 inside the outermost side of the center float 54A, it is possible to reduce the influence of the pulling wave of the float and improve the sensing accuracy.

The groove 54 is attached to the float 54. The grooving device 55 forms a groove in the field for supplying the seed paddy fed by the feeding device 52. The grooving devices 55 are provided in the same number as the feeding devices 52, that is, as many as the number of threads.

The rice transplanter 1 detects the actual planting depth by calculating the subsidence amount of the center float 14A using the detection result of the sensor 30. Then, by detecting the actual planting depth and controlling the raising/lowering section 5 to move up and down, proper planting of seedlings is realized. On the other hand, in the seeder 50, the subsidence amount of the center float 54A is calculated using the detection result of the sensor 30, and the depth of the groove formed by the grooving device 55 is detected. The raising/lowering control of the raising/lowering part 5 is performed so that the detected depth of the groove becomes a predetermined depth. That is, depending on the field surface detected by the sensor 30, the sowing device 51 is moved up and down so that the grooving device 55 forms a groove having a substantially constant depth.

In addition, since the seeding device 51 is attached to the elevating part 5 so as to be tiltable in the rolling direction, using the detection result of the sensor 30, each groove on each side of the center float 54A to which the sensor 30 is attached is used. It is also possible to control the inclination of the seeding device 51 in the rolling direction so that the depths of the grooves formed by the device 55 are the same. That is, by detecting the inclination in the rolling direction of the center float 54A arranged so as to be substantially coincident with the centerline of the airframe by the sensors 30 provided on both left and right sides, the groove depths on the left and right sides of the centerline of the airframe can be determined. It is possible to control them to be the same.

1: Rice transplanter (paddy work machine), 4: Planting part (main working part), 5: Elevating part, 12: Planting claw, 14: Float, 14A: Center float, 15: Planting frame, 30: Sensor , 50: Seeding machine (paddy work machine), 51: Seeding device (main working unit), 52: Feeding device, 54: Float, 54A: Center float, 55: Groover

Claims (3)

It is equipped with a main working section that supplies odd-numbered seedlings or rice seeds to the field.
The main working unit, a center float that detects the field ground plane, and a center float that is provided separately from the center float, and a sensor that detects the field surface immediately before the seedling planting position or the seed paddy supply position, Prepare,
The center float has the shape of three central strips and has a shape in which the portions corresponding to the two strips on the left and right sides are open to the side, and the sensor is arranged at a position corresponding to the two strips on the left and right. Then
The main working unit includes a grooving device that forms a groove for supplying the seed paddy, and a feeding unit that feeds the seed paddy into the groove formed by the grooving device, for the number of threads.
A paddy field working machine , wherein the main working unit is moved up and down so that the grooving device forms a groove having a substantially constant depth in accordance with a field surface detected by the sensor . It is equipped with a main working section that supplies odd-numbered seedlings or rice seeds to the field.
The main working unit, a center float for detecting a field ground plane, and a center float provided separately from the center float, and a sensor for detecting the field surface immediately before the seedling planting position or the seed paddy supply position, Prepare,
The center float has the shape of three central strips and has a shape in which the portions corresponding to the two strips on the left and right sides are open to the side, and the sensor is arranged at a position corresponding to the two strips on the left and right. Then
The main working unit includes a grooving device that forms a groove for supplying the seed paddy, and a feeding unit that feeds the seed paddy into the groove formed by the grooving device, for the number of threads.
According to the field surface detected by the sensor, the main working unit is inclined in the rolling direction so that the groove groovers corresponding to each of the sensors form grooves of the same depth. Working machine. The sensors arranged at positions corresponding to the right and left two lines of the center float are arranged inside the outermost side of the center float, respectively.
The paddy work machine according to claim 1 or 2 .

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