JPH0159849B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a rolling control device for a planting device in a rice transplanter, in which the planting device is connected to a traveling machine body in a rolling controllable manner.

In the rolling control device of conventional planting equipment,
Either one of a sensor for detecting the horizontal inclination of the planting device with respect to the ground or a sensor for detecting the horizontal inclination of the planting device with respect to the horizontal plane is provided, and rolling control of the planting device is performed based on the detection result of the one sensor. However, the former type, which uses a ground-based sensor, also detects debris such as straw and weeds on the mud surface, so However, unnecessary rolling control of the planting device can lead to variations in planting depth and the generation of floating seedlings, so the drawback of effective rolling control is that the range of its use is limited. be. In particular, in the case of the ground-contact type, unnecessary control as described above is performed due to differences in hardness and softness in the left and right directions of the mud surface, so it cannot be used as a practical problem near ridges. Furthermore, in the latter type that uses a horizontal sensor, since the horizontal plane is used as the reference for rolling control, there is a drawback that effective control cannot be performed on uneven ground or sloped ground.

The present invention has an object to improve the conventional drawbacks as described above.

A characteristic configuration of the rolling control device of the present invention, which has been made to achieve such an object, selectively uses a sensor that detects the horizontal inclination of the planting device with respect to the ground, and a sensor that detects the horizontal inclination of the planting device with respect to the horizontal plane. The point is that it is provided in a switchable state.

In other words, in areas where there is a lot of foreign matter such as straw waste and weeds on the mud surface, rolling control is performed based on the detection results of the horizontal sensor, thereby avoiding unnecessary rolling control of the planting device based on foreign matter detection. In addition, on uneven or sloping ground, rolling control can be performed based on the detection results of the ground sensor, allowing the planting device to be controlled accurately according to the unevenness or slope of the mud surface. As a result, it has become possible to expand the range of applications in which effective rolling control can be performed as a whole.

Embodiments of the present invention will be described below based on the drawings.

To configure a riding rice transplanter, which is an example of a rice transplanter,
Traveling aircraft A equipped with front and rear wheels 1, 2 and a control unit 3
A top link 4 and a pair of left and right lower links 5, 5 are provided at the rear of the machine, and a hydraulic pressure for raising and lowering is provided between the top link 4 and the traveling body A. A cylinder 6 is constructed, and a connecting frame 7 constructed between the rear portions of both the links 4 and 5, 5 is equipped with three ground floats 8 and a seedling stand 9 arranged in parallel in the left and right direction. Planting transmission case 1 of planting device B
0, and a pair of left and right suspension links 11, 11 arranged in a posture along both left and right hypotenuses of an inverted trapezoid when viewed from the front so that their extension lines intersect at a position near the grounding surface of the grounding float 8. The planting device B is configured so that it can be driven up and down with respect to the traveling body A by the expansion and contraction operation of the hydraulic cylinder 6, and the intersection of the extension lines of the hanging links 11, 11 is used as a fulcrum. It is configured to roll freely.

Therefore, the planting device B is attached to the traveling machine body A.
A reed switch is used to detect the horizontal inclination of the planting device B with respect to the ground based on the vertical swing displacement exceeding a set value due to the change in ground pressure of the ground floats 8, 8 on both the left and right sides. sensors 13, 13, and a float type (or a heavy tread type may be used) sensor 14 that detects the left and right inclination of the planting device B with respect to the horizontal plane.
and a switch 15 that can selectively manually switch the horizontal sensor 14 into a use state, and a mechanism that automatically controls the operation of the motor 16 of the drive mechanism 12 based on the detection result of the ground sensors 13, 13 or the horizontal sensor 14. 17 are provided.

The control mechanism 17 includes the ground sensor 13,
When based on the detection result of 13, the operation of the motor 16 is controlled so that the horizontal posture of the planting device B is maintained within a set range, and when it is based on the detection result of the horizontal sensor 14, , is configured to operate and control the motor 1 so that the planting device B is in a substantially horizontal position.

In areas where there are a lot of debris such as straw and weeds on the mud surface, the switch 15 is operated to switch to the rolling control mode based on the detection results of the horizontal sensor 14, so that the control mode is controlled based on the detection of debris. Unreasonable rolling control of the planting device B can be avoided, and on uneven or sloped land, the ground sensors 13 and 1 can be controlled by operating the switch 15.
By switching to the rolling control mode based on the detection result in step 3, the planting device B can accurately follow the unevenness and slope of the mud surface.

The rolling drive mechanism 12 is constructed as follows.

A motor 16 capable of forward and reverse rotation is attached to the connecting frame 7 so as to be swingable around the front and rear axis.
6 is connected to an inner screw shaft 18 of screw shafts 18 and 19 that are screwed together so as to be expandable and contractible with relative rotation. On the other hand, of the pair of left and right columns 20, 20 that support the inclined upper side portion of the seedling stand 9 so as to be able to reciprocate in the left and right direction, a bracket 21 fixed to the column 20 on the side where the motor 16 is located has the The outer threaded shaft 19 is slidably inserted and supported, and a pair of left and right buffer springs 23, 23 are interposed between the bracket 21 and receiving members 22, 22 provided on the outer threaded shaft 19.

When one of the left and right sides of the planting device B collides with an obstacle such as a clod of soil or a stone, the pair of buffer springs 23, 23 cause the planting device B to swing away from the obstacle against the elastic biasing force. By doing so, the impact force at the time of the collision is absorbed and alleviated.

In addition, as another example, the cutting operation of the planting clutch, the raising operation of the planting device B, or the
The rolling control mode based on the ground sensors 13, 13 is automatically switched to the rolling control mode based on the horizontal sensor 14 in conjunction with the upward movement of the aircraft, the operation for turning the aircraft, and the accompanying movement of the component parts. You may configure it as much as possible.

Furthermore, the ground sensor 14 may be a non-ground sensor that uses ultrasonic waves or the like.

[Brief explanation of drawings]

FIG. 1 is an overall side view of the riding rice transplanter, and FIG. 2 is a front view of the main parts. A... Traveling aircraft, B... Planting device, 8... Ground float, 13... Ground sensor, 14... Horizontal sensor.

Claims (1)

[Scope of Claims] 1. In a rolling control device for a planting device in a rice transplanter in which a planting device B is connected to a traveling machine A in a state where rolling control is possible, detecting the horizontal inclination of the planting device B with respect to the ground. A rolling control device for a planting device in a rice transplanter, characterized in that a sensor 13 for detecting horizontal inclination of the planting device B and a sensor 14 for detecting left and right inclination of the planting device B with respect to a horizontal plane are provided in a state where the use can be selectively switched. 2. The rolling control device for a planting device in a rice transplanter according to claim 1, wherein the ground sensor 13 is of a ground type. 3. The rolling control device for a planting device in a rice transplanter according to claim 1, wherein the ground sensor 13 is of a non-ground type. 4. The rolling control device for a planting device in a rice transplanter according to claim 2, wherein the ground sensor 13 is configured using the grounding float 8 of the planting device B.