JP6757661B2 - Transplant machine - Google Patents

Description

The present invention relates to a transplanting machine that controls the amount of fertilizer applied by the fertilizer application device according to the depth of the tillage board.

A planting work machine that can be raised and lowered behind the traveling machine supported by the front and rear wheels, a planting part that scrapes seedlings placed on the planting work machine side to perform planting work, and fertilizer application A fertilizer application device whose amount can be adjusted, a tiller depth detecting means for detecting the tillage depth of the field, and a control unit are provided, and the control unit has a value detected by the tiller depth detecting means. Based on this, the transplanting machine described in Patent Document 1 that controls the amount of fertilizer applied by the fertilizer application device is conventionally known.

Japanese Patent No. 5704293

According to the transplanting machine of the above document, the control unit can satisfactorily control the amount of fertilizer applied by the fertilizer application device and the height position at which fertilizer is applied based on the tillage depth detected by the tillage depth detecting means. However, since it is necessary to separately provide a sensor for detecting the plow depth in order to control the fertilizer application device, the number of parts increases, and there are problems in terms of maintenance and cost.

According to the present invention, in a transplanting machine provided with a fertilizer application device capable of adjusting the amount of fertilizer application and a control unit for controlling the amount of fertilizer application by the fertilizer application device based on the depth of the tillage, fertilization is performed at low cost without providing a dedicated sensor. The challenge is to provide a transplanter that can control the amount of fertilizer applied by the device.

In order to solve the above problems, first, a planting work machine 6 provided so as to be able to move up and down behind the traveling machine body 3 supported by the front and rear wheels 1 and 2 and mounted on the planting work machine 6 side. The planting section 21 that scrapes off the seedlings to perform the planting work, the float 22 that is provided on the planting work machine 6 side and touches the field scene, and the height position of the float 22 with respect to the planting section 21. A planting depth adjusting lever 28 for adjusting the planting depth, a fertilizing device 8 for adjusting the amount of fertilizer applied, a plowing board depth detecting means 47 for detecting the plowing board depth in a field, and a control unit 50 are provided for controlling the planting depth. The unit 50 is planted by detecting the lift angle of the planting work machine 6 in the transplant machine that controls the amount of fertilizer applied by the fertilizer application device 8 based on the value detected by the tillage depth detecting means 47. The elevating position detecting means 35 for detecting the elevating position of the working machine 6 and the planting depth detecting means 30 for detecting the planting depth by the planting portion 21 are provided, and the plow depth detecting means 47 is provided. the vertical position of the planting working machine is detected by the vertical position detecting means 35, tilling Release depth reference indicating the height from the sole pan to the rear wheel 2 is grounded to the field plane lower surface side is grounded the float 22 The height h1 is detected, and the planting depth detecting means 30 detects the elevating height h2 of the float 22 with respect to the planting portion 21 operated by the planting depth adjusting lever 28, and the plowing board. It is characterized in that the plowing board depth is detected by adding or subtracting the elevating height h2 from the depth reference height h1 .

Secondly, the planting work machine 6 is provided with a fertility detection sensor 46 for detecting soil fertility.

The plowing board depth detecting means used for controlling the amount of fertilizer applied by the fertilizer application device is used for planting work by detecting the relative height between the float and the rear wheel of the planting work machine, which is usually used during the planting work. By configuring the elevating position detecting means for detecting the elevating position of the machine and the planting depth detecting means for detecting the planting depth by the planting portion, the plowing board does not use a separate dedicated sensor. Since the depth can be detected, the number of parts can be reduced, and the control unit that controls the amount of fertilizer applied by the fertilizer application device can be configured at a lower cost.

Further, according to the planting work machine provided with a fertility detection sensor for detecting the fertility of the soil, the sensors necessary for detecting the fertilizer application amount and the fertilizer application position by the fertilizer application device can be planted. Since it can be centrally arranged near the fertilizer application position on the machine side, the correlation between the tillage depth, the fertility, and the fertilizer application position can be obtained without considering the time lag due to running.

It is an overall side view of the passenger rice transplanter to which this invention is applied. It is a side view of the main part which showed the planting work machine. It is a conceptual diagram which showed the structure of the fertilizer application device. (A) and (B) are model diagrams which showed the detection mode of the tillage depth by the tillage depth detection means. It is a block diagram of a control part. It is a side view of the main part which showed the planting work machine in another Example. It is the rear view of the main part which showed the planting work machine in another Example.

FIG. 1 is an overall side view of a passenger rice transplanter to which the present invention is applied, FIG. 2 is a side view of a main part showing a planting work machine, and FIG. 3 is a conceptual view showing a configuration of a fertilizer application device. is there. The passenger rice transplanter includes a traveling machine 3 provided with front wheels 1 and rear wheels 2, a planting work machine 6 movably connected to the rear portion of the traveling machine 3 via an elevating link 4, and the planting work. It is provided with a horizontal ground leveling work machine 7 arranged between the machine 6 and the rear wheel 2, and a fertilizer application device 8 for applying paste-like fertilizer (hereinafter referred to as paste fertilizer) to the field side.

The traveling machine body 3 includes a bonnet 9 arranged on the front side and a control unit 12 on which various operating tools are arranged behind the bonnet 9. The control unit 12 includes a seat 13 on which the operator sits, a floor step 14 that forms a floor surface, and a rear that is formed one step higher than the floor step 14 on both the rear left and right sides of the control unit 12 and is used when supplying seedlings. Step 16 is provided.

The planting work machine 6 has a horizontal frame 17 which is a square columnar member in the left-right direction and forms a main frame, and a seedling is formed so as to be inclined upward from the vicinity of the rear side of the horizontal frame 17 toward the front side. The seedling loading table 18 to be placed, the planting section 21 for scraping seedlings from the apron 19 extending in the left-right direction to support the mat seedlings on the lower end side of the seedling loading table 18 and planting the seedlings in the field, and the seedling loading It is provided with a float 22 in the front-rear direction, which is arranged below the table 18 and is grounded (sliding on the field surface) in the field scene X2.

The planting portion 21 is centered on a planter case 23 that extends in the front-rear direction and is supported and fixed on the side of the horizontal frame 17 and that can be rotationally driven around an axis in the left-right direction located at the rear end of the planter case 23. It has a rotary case 24 whose sides are supported, and planting claws 26 supported on both end sides of the rotary case 24. By arranging a plurality of the planting claws 26 in the left-right direction, a plurality of seedlings can be planted at one time.

A plurality of (three in the illustrated example) floats 22 are provided side by side on the lower side of the planter case 23. The front end side of each float 22 is supported so as to swing up and down, and the float support arm 27 is connected to the rear end side of each float 22 via a rotation shaft. A planting depth adjusting lever 28 is connected to the float support arm 27, and the float 22 is displaced in the vertical direction in conjunction with the forward / backward swinging operation of the planting depth adjusting lever 28 to plant the float. The attachment depth can be adjusted (see FIGS. 1 to 3).

Specifically, when the planting depth adjusting lever 28 is swung upward, the float 22 descends with respect to the planting portion 21, so that the planting portion 21 rises with respect to the field scene. Then, when the planting depth becomes shallow and the planting depth adjusting lever 28 is swung downward, the float 22 rises with respect to the planting portion 21, so that the planting portion 21 with respect to the field scene. It is configured to descend and deepen the planting depth. At this time, a planting depth sensor (planting depth detecting means) 30 including a potentiometer or the like for detecting the operating position of the planting depth adjusting lever 28 is provided, and the planting depth is provided by the planting work machine 6. Can be detected.

Of the plurality of floats 22 in the left-right direction, the center float 22A arranged at the center functions as a sensor for sensing earth pressure from the field scene. Therefore, the elevating position of the planting work machine 6 can be controlled to the height at which the center float 22A senses that it has touched the field scene X2 at a predetermined earth pressure, in other words, the planting position where the planting work is performed. it can.

The ground leveling work machine 7 is suspended by a stay 31 on the front side of the float 22, and extends in the left-right direction and is supported so as to be rotationally driveable. The ground leveling rotor 32 and the upper and rear sides of the ground leveling rotor 32. It has a cover body 33 for covering the above surface, and is rotationally driven by engine power transmitted from the traveling machine body 3 side to level the field scene (leveling work).

By the way, the planting work machine 6 is provided with a lift angle potentiometer (elevation position detecting means) 35 for detecting the lift angle of the elevating link 4, and the traveling machine body is based on the lift angle detected by the lift angle potentiometer 35. The elevating position of the planting work machine 6 with respect to 3 can be detected.

According to the configuration, in the main passenger rice transplanter, the traveling machine 3 is driven by the front and rear wheels 1 and 2 while driving the planting portion 21 in a state where the planting work machine 6 is lowered to the planting position. Therefore, the planting work can be performed in the field. At this time, the fertilizer application operation by the fertilizer application device 8 can be executed at the same time. The fertilizer application device 8 will be described in detail below.

The fertilizer application device 8 includes a fertilizer tank 41 arranged on the left and right sides of the bonnet 9 of the traveling machine body 3 to store paste fertilizer, a fertilizer application pump 42 for delivering paste fertilizer in the fertilizer tank 41, and the fertilizer application pump. A fertilizer application nozzle 43 that guides the paste fertilizer delivered by 42 to be discharged to the field, and a strip stop that is provided for each fertilizer application nozzle 43 arranged side by side to operate whether or not the paste fertilizer is discharged. A valve 44, a fertilizer concentration detection device (fertilizer detection sensor) 46 for detecting fertilizer in the soil, a plow depth detecting means 47 for detecting the plow depth, and a control unit 50 are provided for the control. When fertilizer is applied, the part 50 applies fertilizer by the fertilizer application device 8 based on the fertilizer concentration of the soil detected by the fertilizer concentration detection device 46 and the fertilizer depth detected by the tillage depth detecting means 47. It is configured to perform fertilizer control that automatically controls the amount. (See FIGS. 1 to 3). Details will be described later.

The fertilizer application nozzle 43 is a side side near the seedlings planted by the planting portion 21, and is provided so that the paste fertilizer is discharged at a position where the depth from the field scene X2 is relatively shallow. It is provided between the row nozzle 43A and the seedlings planted side by side by the planting portion 21 so that the paste fertilizer is discharged at a position deeper from the field scene X2 as compared with the side row nozzle. It has a deep nozzle 43B (see FIG. 3).

The fertilizer application pump 42 is provided between the front and rear wheels 1 and 2 on the lower side of the traveling machine body 3, and is used to deliver the paste fertilizer in the fertilizer tank 41 toward the side strip nozzle 43A. A pump unit 42A for deep layer and a pump unit 42B for deep layer for delivering the paste fertilizer in the fertilizer tank 41 toward the deep nozzle 43B are provided (see FIG. 3).

The side strip pump unit 42A is configured so that the amount of paste fertilizer delivered can be adjusted steplessly by controlling the driving force of the side strip drive motor 45A (motor), and the deep layer pump unit 42B is configured. By controlling the driving force of the deep drive motor 45B (motor), the amount of paste fertilizer delivered can be adjusted steplessly (see FIG. 3).

According to this configuration, the amount of fertilizer applied from the side strip nozzle 43A that applies fertilizer along the seedlings planted in the field and the amount of fertilizer applied from the deep nozzle 43B that applies fertilizer between the left and right seedlings can be separately controlled. Therefore, it is possible to apply an appropriate amount of paste fertilizer at the same time at the fertilizer application position near the seedling along the row of seedlings and the fertilizer application position between the rows of seedlings.

Further, the amount of fertilizer applied can be adjusted steplessly by each drive motor 45, and the paste fertilizer from the fertilizer application nozzle 43 is controlled by controlling the driving force of the drive motor 45 by using the paste fertilizer as the fertilizer. Since the responsiveness of the change in the discharge amount of the fertilizer is improved, the control of the fertilizer application amount by the control unit 50 can be easily set. Further, by using each drive motor 45 as the power of the fertilizer application device 8, the configuration is simplified and the installation space of the fertilizer pump 42 is small as compared with the one in which the drive force is taken out from the work PTO shaft (not shown). it can.

The bar stop valve 44 is arranged on the rear side of the seat 13 (see FIG. 1). The strip stop valve 44 is provided in the path between the side strip side valve 44A provided in the path between the side strip pump unit 42A and the side strip nozzle 43A, and between the deep layer pump unit and the deep layer nozzle 43B. It is provided with a deep-layer valve 44B, and the opening and closing of the valve can be operated separately for each fertilizer application nozzle 43.

As a result, the operator can arbitrarily select the fertilizer application nozzle 43 to which fertilizer is applied from the control unit 12 side by operating the streak valve 44. Incidentally, the strip stop valve 44 is provided with a connecting portion to which a plurality of hose members (not shown) for guiding the paste fertilizer from the strip stop valve 44 toward each fertilizer application nozzle can be attached and detached.

Further, behind the seat where the streak valve 44 is arranged, a clogging sensor unit 48 that detects and notifies whether or not each fertilizer application nozzle 43 is clogged is provided. When the side strip nozzle 43A and the deep nozzle 43B are clogged with paste fertilizer or foreign matter, the clogging sensor unit 48 can detect an abnormality and notify the operator.

The fertilizer concentration detecting device 46 has a pair of left and right electrode portions 49, 49 and a measuring device (not shown) for measuring the current value and voltage flowing between the pair of electrode portions 49, 49, and has a field (soil). ), The fertility of the soil can be detected from the electric conductivity calculated from the current value flowing between the pair of electrode portions 49, 49 and the voltage, and the electrode portion 49 is configured. , Is provided on the ground leveling work machine 7 side (see FIGS. 1 and 2).

Specifically, the pair of electrode portions 49, 49 are attached to the left and right end sides of the cover body 33 of the ground leveling work machine 7, so that the planting operations can be performed by the planting portions 21 arranged side by side. It is configured so that the fertility of the soil can be detected in the range. Further, the electrode portions 49, 49 are attached so as to project downward from the back surface side of the cover body 33, so that the electrode portions 49 are inserted into the field (mud) on the rear side of the ground leveling rotor 32. It is configured to be.

According to the configuration, the fertilizer application device 8 uses paste fertilizer, and the fertilizer held by the pipe line resistance is pumped by the fertilizer application pump 42 to discharge the fertilizer. Therefore, the fertilizer was delivered from the hopper. Compared to the granular fertilizer application device that drops fertilizer into the field by the wind pressure of the blower and fertilizer application, and the liquid fertilizer application device that has low pipeline resistance and easily flows out from the nozzle, the amount of fertilizer applied does not need to be taken into consideration. You can control it well. Further, since the fertilizer concentration detection device 46 (electrode portion 49) is arranged near the front side of the fertilizer application nozzle 43 from which the paste fertilizer is discharged by the fertilizer application device 8, the fertilizer level of the soil detected by the fertilizer concentration detection device 46 Based on the above, the control unit 50 can be easily set when the fertilizer is discharged to the target fertilizer application position with the controlled fertilizer application amount.

Further, the ground leveling work machine 7 (cover body 33) whose elevating position is controlled at the same time as the planting work machine 6 whose elevating position is controlled based on the detection by the center float 22A. Since the electrode portion 49 can always be held in a state of being inserted at a predetermined depth from the field scene during the planting work, the fertility of the soil can be stably detected.

Since the electrode portions 49 are attached to the rear side of the cover body 33 of the ground leveling work machine 7, the pair of electrode portions 49, 49 are inserted into the field scene immediately after the ground leveling rotor 32, so that the left and right electrodes are left and right. The insertion depth of the electrode portion 49 into the field is stable. As a result, the accuracy of soil fertility detected by the fertilizer concentration detecting device 46 is also improved.

Next, a specific configuration of the plow depth detecting means 47 will be described with reference to FIGS. 4 and 5. 4A and 4B are model diagrams showing a mode of detecting the tillage depth by the tillage depth detecting means. The plowing board depth detecting means 47 detects the elevating position of the planting work machine 6 by detecting the lift angle of the elevating link 4, the lift angle potentiometer 35, and the planting depth of the planting portion 21. It is composed of the planting depth sensor 30 for detecting the above, and the plow depth is detected from the detection values obtained from both sensors.

More specifically, as shown in FIG. 4A, the planting work machine 6 senses a predetermined earth pressure from the field scene X2 by the center float 22A which is a sensor (grounded on the field scene X2). By moving up and down to the planting position, which is the elevating position, the lift angle detected by the lift angle potentiometer 35 causes the rear wheel 2 to touch the ground to the lower surface side of the float 22. The height (h1) up to X2 can be detected.

However, as shown in FIG. 4B, the height position of the float 22 with respect to the planting work machine 6 (horizontal frame 17) is the planting depth due to the vertical swing operation of the planting depth adjusting lever 28. It fluctuates depending on the adjustment of the lever. The lifting amount (h2) of the planting work machine 6 that fluctuates based on the operation of the planting depth adjusting lever 28 can be detected by the planting depth sensor 30.

As a result, the plowing board depth detecting means 47 has an elevating height (h2) detected by the planting depth sensor 30 from the plowing board depth reference height (h1) detected by the lift angle potentiometer 35. ) Can be added or subtracted to detect the tillage depth (H) used for controlling the amount of fertilizer applied.

According to the configuration, the plowing board depth detecting means for detecting the plowing board depth which is the height from the plowing board X1 in which the front and rear wheels 1 and 2 run in contact with the ground to the field scene X2 in which the float 22 slides. By configuring 47 with a lift angle potentiometer 35 attached to a normal planting work machine 6 and a planting depth sensor 30, it is necessary to separately provide a dedicated sensor for detecting the plow depth. Since it is eliminated, the number of parts can be reduced and the cost can be kept low.

Next, the control unit will be described with reference to FIG. FIG. 5 is a block diagram of the control unit. On the output side of the control unit 50, a work machine operation cam motor 51 for driving a work machine operation cam (not shown) for operating the raising and lowering of the planting work machine 6, a side strip fertilization drive motor 45A, and the deep fertilizer application. The drive motor 45B is connected.

On the other hand, on the input side of the control unit 50, a work machine preparation switch 52, an automatic planting switch 53, and a work machine operation switch (upper side) 54 for detecting an ascending operation of the planting work machine 6 are planted. The work machine operation switch (lower side) 56 that detects the lowering operation of the work machine 6, the work machine operation cam potentiometer 57 that detects the operation position of the work machine operation cam, the lift angle potentiometer 35, and the planting depth. The sensor 30, the GPS antenna 58, the communication device 59, the rotation sensor 61 that detects the traveling speed of the traveling machine, and the fertilizer concentration detecting device 46 are connected.

When the work machine preparation switch 52 is turned on (ON operation), the control unit 50 puts the planting work machine 6 and the fertilizer application device 8 in a driveable state, while the work preparation switch 52 is turned off (ON operation). When the OFF operation is performed, the driving of the planting work machine 6 and the fertilizer application device 8 is restricted. In addition to this, when the planting automatic switch 53 is turned on (ON operation), the planting work machine 6 is moved down to the planting position and travels straight to the seedlings by the planting unit 21. While the automatic planting control in which the planting work and the fertilizer application work are performed by the fertilizer application device 8 is enabled, when the automatic planting switch is turned off (OFF operation), the execution of the automatic planting control is restricted. It is in a state of being.

Further, the control unit is configured to simultaneously execute fertilization control for driving the fertilizer application device to apply fertilizer to the field when the planting operation is performed by automatic planting control or the like. The fertilizer application control may be configured to be feasible even when the planting operation is not executed.

In the fertilizer application control, the fertilizer concentration detecting device 46 detects soil characteristics from the fertility of the soil and controls the amount of paste fertilizer to be applied to the detected portion. Specifically, when it is detected that the fertility of the soil detected by the fertilizer concentration detection device 46 is not sufficient as compared with the reference value, the amount of paste fertilizer delivered to the detection location is increased. If it is detected that the fertility of the soil is sufficient compared to the reference value, the amount of paste fertilizer delivered can be reduced. As a result, the amount of paste fertilizer applied can be controlled without excess or deficiency so that the fertility in the soil is less uneven during the fertilizer application operation by the fertilizer application device.

Similarly, in the fertilizer application control, when the plowing board depth (paddy field depth) detected by the plowing board depth detecting means 47 is deep, the slip amount of the traveling machine body increases, so that the paste fertilizer is delivered. If it is detected that the plowing depth is shallower than the standard by reducing the amount of plow, the slip amount of the traveling machine will be reduced, so by increasing the amount of paste fertilizer delivered, the difference in plowing depth will be obtained. Regardless, the amount of fertilizer applied can be controlled to be uniform.

Further, the control unit 50 uses, for example, the GPS antenna 58 and a communication device 59 such as a tablet PC or a smartphone to perform planting work, field data, field conditions, types of paste fertilizer to be fertilized, and soil. It is possible to acquire various information such as the amount of fertilizer required for the tablet and reflect it in the control of the amount of fertilizer applied by the fertilizer application device.

Next, based on FIGS. 6 and 7, another embodiment of the arrangement of the fertilizer concentration detecting device provided in the fertilizer application device will be described different from the above-mentioned example. 6 and 7 are a side view of the main part and a rear view of the main part showing the planting work machine in another embodiment. The fertilizer concentration detecting device 47 is attached to an apron guard mechanism 66 provided so as to be vertically rotatable on both left and right ends of the apron 19 on the lower end side of the seedling stand 18.

The apron guard mechanism 66 is attached to a support bracket 67 composed of two plate-shaped members 67a and 67b extending downward from the front surface and the rear surface on both left and right ends of the horizontal frame 17, and the support bracket 67. It includes a rotating member 68 which is a rod-shaped member whose tip is curved in a U shape and is supported so as to be vertically rotatable via a plate-shaped mounting member 69.

The rotating members 68 are provided on both the left and right ends of the horizontal frame 17, and each rotating member is rotated upward to a position where the tip side of the rotating member 68 covers the outside of the left and right ends of the apron 19 and guards the apron 19. The posture can be switched between the guard posture and the stand posture in which the tip side of the rotating member 68 is directed downward and the rotating member 68 is rotated downward to a position where the rotating member 68 functions as a stand (see FIG. 7). ..

On the other hand, the pair of left and right electrode portions 49, 49 constituting the fertilizer concentration detecting device 47 are provided on the left and right end sides of the horizontal frame 17, respectively, via mounting members 69 on the support brackets 67, 67 side. Each is mounted and fixed. As a result, the electrode portion 49 can be arranged in the empty spaces formed on the left and right ends of the planting work machine 6 (apron 19), so that the fertilizer concentration detecting device 47 can be installed in a space-efficient manner.

Further, since the electrode portion 49 is mounted and fixed between the support brackets 67 composed of the front and rear plate-shaped members (the front side of the plate-shaped member on the rear side), the electrode portion 49 is protected by the support bracket 67. Durability is improved.

1 Front wheel 2 Rear wheel 3 Traveling machine 6 Planting work machine 8 Fertilizer application device 21 Planting part 30 Planting depth sensor (planting depth detecting means)
35 Lift angle potentiometer (elevation position detection means)
46 Fertilizer concentration detector (fertility detection sensor)
47 Plow depth detecting means 50 Control unit

Claims (2)

A planting work machine (6) provided so as to be able to move up and down behind the traveling machine body (3) supported by the front and rear wheels (1, 2).
The planting section (21), which scrapes the seedlings placed on the planting work machine (6) side and performs the planting work,
A float (22) provided on the planting work machine (6) side and grounded to the field scene, and
A planting depth adjusting lever (28) for adjusting the height position of the float (22) with respect to the planting portion (21), and
A fertilizer application device (8) with an adjustable amount of fertilizer and
Plow depth detecting means (47) for detecting the plow depth of the field, and
Equipped with a control unit (50)
The control unit (50) is a transplanting machine that controls the amount of fertilizer applied by the fertilizer application device (8) based on the value detected by the tillage depth detecting means (47).
The elevating position detecting means (35) that detects the elevating position of the planting work machine (6) by detecting the lift angle of the planting work machine (6), and
A planting depth detecting means (30) for detecting the planting depth by the planting portion (21) is provided.
The plowing plate depth detecting means (47), the vertical position of the planting working machine is detected by the vertical position detecting means (35), the rear wheel (2) is the float from plowing machine to ground (22) The cultivated board depth reference height (h1) indicating the height to the field where the lower surface side of the plant touches the ground is detected, and the planting depth detecting means (30) is used by the planting depth adjusting lever (28). The elevating height (h2) of the float (22) with respect to the operated planting portion (21) is detected, and the elevating height (h2) is added or subtracted from the plow depth reference height (h1). it allows configured transplanter to detect the Koban depth. The transplanting machine according to claim 1, wherein the planting work machine (6) is provided with a fertility detection sensor (46) for detecting soil fertility.

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