JPH0160212B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention is characterized in that a planting device is connected to a traveling machine so that it can be driven up and down and can be driven and rolled, and a plurality of ground floats that can freely swing up and down are arranged side by side in the horizontal direction on the planting device. Regarding the rice transplanter that has been set up.

This type of conventional rice transplanter has a mechanism that separately detects the ground pressure acting on the group of parallel ground floats by the amount of vertical displacement of each vertical swing fulcrum, and a detection value by both of these detection mechanisms. and a second calculation mechanism that calculates a deviation value by subtracting the values detected by both the detection mechanisms. A mechanism for automatically controlling the elevation of the planting device so that the average ground pressure is maintained within a set range, and a deviation value of the ground pressure within the set range based on the calculation result of the second calculation mechanism. In order to ensure that the planting device is maintained, the planting device was configured with a mechanism that automatically controls the rolling. Although it is possible to simplify the sensor structure by reducing the number of parts by using the sensor as a grounding body for control, it is difficult to control the elevation using only the vertical displacement of the grounding float. In addition, in order to perform rolling control, two types of sophisticated calculation mechanisms as described above are required, which makes the entire control mechanism complicated and tends to be costly.

In view of the above-mentioned circumstances, a first object of the present invention is to make it possible to rationally capture the movement of the group of grounded floats, simplify the lifting and rolling control mechanism, and reduce the cost. There is a second
The purpose is to stabilize the planting depth by suppressing as much as possible unreasonable elevation control of the planting device due to local unevenness in the horizontal direction of the ground surface.

The attitude control device for a planting device in a rice transplanter according to the first aspect of the present invention, in the above-mentioned device, controls the ground pressure acting on at least one of the parallel ground floats to the upper and lower sides of its vertical swing fulcrum. a mechanism for detecting the amount of displacement; a mechanism for automatically controlling the elevation of the planting device based on the detection result of this mechanism so that the ground pressure of the ground float group is maintained within a set range; a mechanism for separately detecting the vertical swing angle of the ground float group on the left and right sides, and a mechanism for maintaining the vertical swing angle of the ground float group within a set range based on the detection results of both mechanisms; The present invention is characterized by being provided with a mechanism for automatically controlling rolling of the planting device.

In other words, as in the past, the ground float originally equipped in the planting device is used as a sensor ground body for elevation control and rolling control, simplifying the sensor structure. By capturing the amount of vertical displacement of the vertical swing fulcrum to control the vertical movement, and by capturing the vertical swing angle of the left and right ground floats separately for rolling control, it is possible to use a sophisticated calculation mechanism unlike conventional ones. This makes it possible to simplify the lifting and rolling control mechanism and reduce costs.

In the attitude control device for a planting device in a rice transplanter according to the second aspect of the present invention, in the above-mentioned device, the swinging fulcrums of the parallel ground floats are integrally displaced in the vertical direction as the ground pressure changes. a mechanism for detecting the amount of integral vertical displacement of the grounding float group; A mechanism that automatically controls the elevation of the planting device, a mechanism that separately detects the vertical swing angle of the ground float group on the left and right sides, and based on the detection results of these two mechanisms,
The plant is characterized by being provided with a mechanism that automatically controls rolling of the planting device so that the vertical swing angle of the grounding float group is maintained within a set range.

In other words, by rigidly connecting the parallel ground floats so that they can be integrally displaced in the vertical direction as the ground pressure changes, even in fields where there are many unevenness in the left and right direction, local unevenness can be avoided. Since the vertical displacement of one of the grounding floats caused by this can be suppressed by the ground thrusting action and pull-back action of the other grounding float, it is possible to prevent unreasonable elevation control of the planting device caused by local unevenness as described above. We have succeeded in suppressing this as much as possible and stabilizing the planting depth.

Hereinafter, a rear-mount type riding rice transplanter to which the present invention is applied will be explained. As shown in FIG. The planting transmission case 3 of the planting device B for four-row planting is connected to the rear of the planting device B so as to be able to roll freely around the front and rear axis _P1 , and the planting device B can be vertically oscillated with its front and rear intermediate portions as a fulcrum _P2 . Two freely movable grounding floats 4, 4 are arranged side by side in the left and right direction.

A hydraulic cylinder 5 is installed between the frame 1 and the link mechanism 2, and the planting device B is driven up and down by switching operation of an elevation control valve 6 for the hydraulic cylinder 5, and the link mechanism 2 and the planting transmission case 3 of the planting device B, a hydraulic cylinder 7 is installed between the planting device B and the planting transmission case 3,
By switching the electromagnetic rolling control valve 8 to the hydraulic cylinder 7, the planting device B is configured to be driven to roll around the longitudinal axis _P1 .

Therefore, the parallel grounding floats 4, 4 comrades,
a mechanism 9 that rigidly connects the rocking fulcrums P ₂ and P ₂ so that they are integrally displaced in the vertical direction as the ground pressure changes, and that detects the amount of integral vertical displacement of the ground floats 4, 4; Based on the detection result of this mechanism 9, the planting device B
a mechanism 10 for automatically controlling the elevation of the ground floats 4, 4, mechanisms 11, 11 for separately detecting the vertical swing angles of the ground floats 4, 4 on the left and right sides, and both mechanisms 11,
A mechanism 12 is provided which automatically controls rolling of the planting device B based on the detection results of the planting device B so that the vertical swing angles of both the grounding floats 4, 4 are maintained within a set range.

In order to configure the grounding floats 4, 4 to be able to move up and down integrally, a single common connecting shaft 13 is provided in the planting transmission case 3 so as to be rotatable around the horizontal axis _P3 , and this common connecting shaft 13 is , the brackets 14, 14 of the ground floats 4, 4 are connected to the fulcrum P ₂ ,
Members 15, 15 that are swingably supported around _P2 are fixed.

Also, the bracket 1 of the ground floats 4, 4
4, 14 are formed with long holes 16, 16 around the swinging fulcrums P ₂ , P ₂ , and in these long holes 16, 16,
Rod 1 pivotally connected to the planted transmission case 3 side
The rear end portions of 7 and 17 are connected to the swing fulcrum forming member 15,
15 in a parallel position to restrict vertical swinging of the grounding floats 4, 4 around the fulcrums _P2 , _P2 within the range of the elongated holes 16, 16.

The detection mechanism 9 for elevation control is composed of one sensing arm protruding upward from the common rotation shaft 13 in order to convert the integral vertical displacement of the ground floats 4, 4 into back and forth rocking motion. Furthermore, the elevation control mechanism 10 is constructed as follows.

That is, the horizontal cylindrical case portion 3A of the planted transmission case 3 located near the front of the common connection shaft 13
A second link 19, which is pivotally connected to the sensing arm 9 via the first link 18, is pivotally connected to the sensing arm 9 in a parallel position so as to be swingable back and forth. , an arm 20 that is swingable back and forth is pivotally mounted around the horizontal axis at the intermediate portion in the longitudinal direction. One end of a spring 21 that urges the floats 4 in the direction of grounding is held at the upper end of this arm 20, and this spring 2
1 and a lever 22 provided on the control section of the traveling aircraft A are linked via a release wire 23, so that the set sensing load by the spring 21 can be changed by swinging the lever 22. There is.

The valve 6 is attached to one end of a shaft 24 rotatably supported by the valve case of the lift control valve 6.
An arm 26 is fixed to the spool 6A that can be forcibly switched to three states: a raised state, a neutral state, and a lowered state, and an arm 27 is fixed to the other end of the shaft 24.
and the lower end of the swinging arm 20 via a release wire 28, and a spring 29 for moving and biasing the spool 6A to the raised state side via the shaft 24. The lifting control valve 6 is automatically switched and operated in conjunction with the integral vertical displacement of the floating floats 4 above a certain level, and the planting device B is controlled to rise and fall until the ground pressure of both of these ground floats 4, 4 returns to within the set range. It is configured as much as possible.

Further, the swing arm 2 is attached to the second link 19.
Outer wire receiving fittings 31 and 32 for both the release wires 23 and 28 are attached to the front end of a member 30 pivotally connected to the sensor arm 9 and the first link 18, and the rear end of this member 30 is connected to the sensing arm 9 and the first link 18. The second link 19 is attached to the pivot connection shaft of the ground floats 4 through an elongated hole 33 that allows the switching operation of the elevation control valve 6 based on the integral vertical displacement of the ground floats 4, 4. An operation guide plate 35 is provided which can lock and hold the lever 34 attached to the second link 19 at a plurality of positions around the swinging fulcrum of the second link 19, so that the swinging of the lever 34 can control the swinging arm 20 and its elevation. While maintaining the state of linkage with the valve 6 and the state of the relationship between the swing arm 20 and the sensing load adjustment lever 22 constant, the swing fulcrums P ₂ and P ₂ of the ground floats 4 are positioned in the vertical direction. The planting depth can be adjusted by changing the planting depth.

The rolling detection mechanism 11 includes a pair of sensing members 37, 37 which are swingably connected to the brackets 14, 14 of the ground floats 4, 4 via release wires 36, 36, respectively. , 4, the sensing members 37, 37 move up and down around the fulcrums P ₂ and P ₂ of the sensors 37, 4.
The structure includes reed switches 38, 38 for separately detecting that the reeds have swung above a certain level.

The rolling control mechanism 12 energizes the descending solenoid 8a or the ascending solenoid 8b of the rolling control valve 8 based on the detection operation of the switch 38 or 38 to automatically switch and operate the valve 8. The hydraulic cylinder 7 is extended and retracted until the vertical swing angle of the grounding floats 4, 4 is maintained within the set range, that is, until the horizontal posture of the planting device B returns to a posture substantially parallel to the mud surface. It consists of a control circuit that controls the operation.

In addition, the input shaft 41 on the side of the planting device B, which is interlocked and connected to the drive shaft 40 on the side of the traveling body A, is arranged below the longitudinal axis _P1 for rolling. When configured in this way, the input shaft 41
It is easy to suppress horizontal tilting of the planting device B caused by the drive of the planting device B.

[Brief explanation of drawings]

The drawings illustrate an embodiment of the attitude control device of the planting device in the rice transplanter according to the present invention, FIG. 1 is an overall side view of the riding rice transplanter, FIG. 2 is a longitudinal sectional front view of the main parts, and FIG. It is a lifting and rolling control system diagram. A... Traveling body, B... Planting device, 4... Grounding float, 9, 11... Detection mechanism, 10... Lifting control mechanism, 12... Rolling control mechanism.

Claims (1)

[Scope of Claims] 1. A planting device B is connected to the traveling machine A so that it can be driven up and down and driven to roll freely, and the plurality of swingable ground floats 4, 4 are attached to the planting device B on the left and right sides. In a rice transplanter arranged side by side in a direction, ground pressure acting on at least one ground float 4 among the parallel ground floats 4 and 4 groups is detected based on the amount of vertical displacement of its vertical swing fulcrum. a mechanism 10 that automatically controls the elevation of the planting device B based on the detection results of the mechanism 9 so that the ground pressure of the ground floats 4 and 4 groups is maintained within a set range; , mechanisms 11, 11 for separately detecting the vertical swing angles of the grounding floats 4, 4 groups on the left and right; and based on the detection results of these two mechanisms 11, 11, the vertical swinging of the grounding floats 4, 4 groups 1. A posture control device for a planting device in a rice transplanter, comprising a mechanism 12 for automatically rolling controlling the planting device B so that the angle is maintained within a set range. 2. A planting device B is connected to the traveling body A so that it can be driven up and down and can be driven and rolled, and a plurality of ground floats 4, 4 that can freely swing up and down are arranged side by side in the left and right direction on the planting device B. In a rice transplanter, the parallel grounding floats 4, 4 are rigidly connected so that their rocking fulcrums are integrally displaced in the vertical direction as the ground pressure changes, and the grounding floats 4, 4 are A mechanism 9 detects the amount of integral vertical displacement of the group, and based on the detection result of this mechanism 9, the planting device B is automatically operated so that the ground pressure of the ground floats 4 and 4 groups is maintained within a set range. a mechanism 10 for vertically controlling the vertical movement of the ground floats 4, a mechanism 11, 11 for separately detecting the vertical swing angle of the ground floats 4 and 4 groups on the left and right sides, and based on the detection results of these two mechanisms 11, 11, the ground float 4 , a mechanism 12 for automatically rolling controlling the planting device B so that the vertical swing angles of the four groups are maintained within a set range. Device.