JPH0340094Y2 - - Google Patents

Description

[Detailed description of the invention] "Industrial field of application" The invention includes, for example, installing a planting part on a traveling vehicle so that it can be raised and lowered through a link mechanism, and a float whose front part can swing vertically. The present invention relates to a rice transplanter attached to the lower side of the planting area.

"Prior art" Conventionally, for example, as shown in Utility Model Application No. 135553/1983,
A pitching correction member such as a motor that corrects pitching control based on the vertical movement of the front part of the float;
and a horizontal sensor that controls the operation of the pitching correction member based on pitching motion of the traveling vehicle,
We have developed a technology to correct the angle of the float relative to the ground in response to the pitching motion of a traveling vehicle that tilts the aircraft forward and backward.

``Problems to be solved by the invention'' In the above-mentioned conventional technology, for example, when a vehicle runs over a ridge or the like, or when its wheels fall into a groove, the vehicle suddenly goes from a front-up (front-down) position to a front-down (front-down) position. When the horizontal sensor detects the pitching movement of the traveling vehicle and the pitching correction member corrects the elevation control of the planting section based on the vertical movement of the front part of the float, it takes a certain period of time (the pitching correction member operation time and delay time to prevent hunting), due to the time delay until the correction is completed, the traveling vehicle shifts from the front up to the front down position, raising the planting part above the field surface and freeing the float. Even if it is supported in a suspended state, the planting lowering signal cannot be obtained immediately, but after the corrective action by the pitching correction member is completed, the planting lowering signal is obtained from the float, and while the planting part is lowered, Even if the vehicle shifts from forward down to forward up, the planting section is raised after the corrective action by the pitching correction member is completed, and the planting section is not properly aligned when the vehicle tilts forward or backward. There were problems such as floating seedlings or buried seedlings occurring until they were supported.

Further, in order to shorten the delay time for correction of the pitting correction member, the delay time for preventing hunting has been shortened, but there has been a problem that the correction operation becomes extremely unstable.

"Means for Solving the Problems" However, the present invention supports a float whose front part can swing up and down, which is installed on a traveling vehicle so that it can be raised and lowered, and whose front part can swing up and down. In a device including a pitching correction member that corrects pitching control based on vertical motion based on pitching motion of the traveling vehicle, the swinging neutral angle of the front portion of the float is adjusted to the maximum front uphill and front down pitching angles of the traveling vehicle. This is characterized in that the vertical swing angle range of the float is set to be larger than the added angle.

``Effect'' Therefore, even when the vehicle suddenly shifts from a front up (front down) to a front down (front up) position, the movement of the float from a swinging range that is sufficiently larger than the pitching correction range of the traveling vehicle. Planting lift signals can be quickly obtained, and even in the event of an abnormality in which the planting part rises above the field surface, a planting lowering signal can be quickly obtained from the float, and the planting part can be controlled to descend properly, and the vehicle can be moved close to the ridge. Even if the float runs on the ground, a raising signal can be immediately obtained from the float to properly raise and support the planting area, and compared to conventional methods, floating and buried seedlings can be prevented and rice planting operations can be carried out more stably and safely. .

"Embodiments" Examples of the present invention will be described below in detail based on the drawings. Fig. 1 is a side view of the main parts, Fig. 2 is a side view of the riding rice transplanter, and Fig. 3 is a plan view of the same. The rear end of the vehicle body frame 3 on which the vehicle is mounted is connected to a transmission case 4, and front wheels 6 for running in paddy fields are supported on both sides of the front part of the transmission case 4 via an axle case 5. Transmission cases 7 are connected to each other on both sides, and the transmission cases 7
A rear wheel 8 for running in paddy fields is supported at the rear end. A spare seedling stand 10 is attached to both sides of the bonnet 9 that covers the engine 2, etc., and the transmission case 7 is attached to the vehicle body cover 12 forming the step 11.
etc., and a driver's seat 13 is placed on the top of the vehicle body cover 12.
A steering handle 14 is provided at the rear of the bonnet 9 in front of the driver's seat 13.

In addition, 15 in the figure is a planting section equipped with a seedling stand 16 for multi-row planting, a plurality of planting claws 17, etc.
8 and the planting case 20 via the guide rail 19
The planting claw 17 is attached to the planting case 20 via a planting arm 21 that is supported so as to be slidable in left and right reciprocating motion and is moved by a crank, and a planting claw drive shaft 22. And below the planting case 20,
A center float 23 for leveling planting, which is a traveling float, and left and right side floats 24 supported via a planting depth adjustment link 25 and a buffer link 26.
a, 24b, and a link hit 27 is provided on the front side of the planting case 20, and this link hit 27 is provided on the rear side of the traveling vehicle 1 via a three-point link mechanism 30 including a top link 28 and a lower link 29. A hydraulic cylinder 31 for raising and lowering the planting part 15 is interposed between the rear part of the transmission case 4 and the top link 28, and the expansion and contraction of the hydraulic cylinder 31 allows planting. While raising and lowering the planting part 15, the planting part 15 is lowered to land each float 23, 24a, 24b, and one seedling is placed by the planting claw 17 from the seedling platform 16 which is moved back and forth from side to side. The structure is such that they are taken out and planted in sequence.

In addition, in the figure, 32 is a traveling speed change lever, 33 is a planting lift lever, 34 is a sensitivity lever for controlling planting depth, 3
5 is a clutch pedal, and 36, 36 are left and right brake pedals.

Furthermore, as shown in FIG. 1, a pitching fulcrum shaft 37 that supports the front part of the center float 23 so as to be able to swing up and down is provided on a bracket 38 on the front and rear upper surfaces of the float 23, and the planting depth is adjusted in the planting case 20. A fulcrum shaft 39 is rotatably supported, the base end of a planting depth adjustment link 40 is fixed to the adjustment fulcrum shaft 39, and the tip of the adjustment link 40 is connected to the pitting fulcrum shaft 37, while the planting depth A planting depth adjustment lever 41 is connected to the depth adjustment fulcrum shaft 39,
Planting depth adjustment plate 4 provided in the planting case 20
2 to releasably lock the intermediate portion of the lever 41,
By operating the lever 41, each planting case 20...
The planting depth is set by changing the relative support interval between the floats 23, 24a, and 24b.

Further, an intermediate portion of an output link 44 is rotatably supported on a support shaft 43 of the planting case 20, and a detection arm 4 is connected to the rear end of the output link 44 via a coupling link 45.
6, and the base end of the detection arm 46 is fixed to the pitting fulcrum shaft 37, and a planting depth adjustment wire 47 is connected to the tip of the output link 44.
Concatenate. It is also provided with an outer receiving arm 48 that detects changes in the support angle of the float 23 caused by vertical swinging of the front end side of the center float 23 about the pitching fulcrum shaft 37, and is attached to the front upper surface of the float 23 via a bracket 49 and a pin 50. The outer receiving arm 48 is provided, and the outer receiving arm 48
The tip of the output link 44 is connected to the adjustment wire 47 through the elongated hole 51 and the pin 52.
One end of the outer wire 53 to be inserted is fixed to the outer receiving arm 48.

Further, a hydraulic pump 54 is connected to the hydraulic cylinder 31.
The planting depth adjusting wire 47 is provided at one end of a switching cam 58 whose intermediate part contacts the spool 56, and a lowering spring 57 is provided to project the spool 56 of the valve 55.
The other end of the cam 58 is pivotally supported on a fixed support shaft 59 on the body side, and a lowering operation spring 60 for separating the switching cam 58 from the spool 56 is connected to the other end of the cam 58. Switching valve 55
The base end of the sensitivity lever 34 is pivotally supported inside the vehicle body cover 12 in which the components such as the following are installed via a fixed support shaft 61 on the body side, and the lowering operation spring 60 is attached to the base end of the lever 34.
At the same time, the lever 34 is removably inserted into the sensitivity adjustment guide groove 62 of the cover 12.

Furthermore, it is provided with a pitching motor 63 which is a pitching correction member that corrects the pitching range of the float 23 by the pitching (tilting in the longitudinal direction of the body) of the traveling vehicle 1, and a control frame 65 that connects the motor and a screw shaft 64 for forward and reverse rotation. a pendulum plate 67 that is attached to the body cover 12 and supports the frame 65 via the body side fixed support shaft 66, and detects pitching motion of the traveling vehicle 1;
In addition, a horizontal sensor 70 having forward and backward tilt sensing elements 68 and 69 is provided, and an L-shaped horizontal frame 7 is installed inside the vehicle body cover 12 via a fixed support shaft 71 on the vehicle body side.
2. The horizontal frame 7
The horizontal sensor 70 is fixed to the horizontal surface of the second horizontal plane.

Then, the slider 73 is screwed onto the screw shaft 64,
One end of the horizontal sensor 72 is connected to the slider 73, and limit switches 74 and 75 are limiters that restrict the movement range of the slider 73.
is attached to the control frame 65.

In addition, an L-shaped pitching adjustment arm 77, which is a pitching correction member, is swingably mounted in the middle of the sensitivity lever 34, which manually adjusts the sensitivity of pitching control based on the vertical movement of the front part of the float 23, via a support shaft 76. The horizontal arm 72 is connected to one end of the arm 77 via an engagement rod 78, and the outer wire 53 is connected to the other end of the pitching adjustment arm 77 via an outer receiver 79. Float 2 centered around
3. When the front part is raised, the planting depth adjusting wire 47 is pulled and the cam 58 is pressed against the spool 56, and the planting part 15 is raised by the hydraulic cylinder 31, while the pitching part 15 is floated around the pitching fulcrum shaft 37. When the front part of 23 is lowered, the planting depth adjusting wire 47 is extended to advance the spool 56 and lower the planting part 15, and by operating the sensitivity lever 34, each support shaft is lowered. 61, 76 and the connecting portions at both ends of the connecting rod 78 perform the same function as the four-point support of a parallel link, and the pitching adjustment arm 77 is displaced in conjunction with the lever 34 to move the outer receiver 79 toward and away from the switching cam 58. While changing the angle of the float 23 relative to the ground with respect to the neutral range of the hydraulic pressure switching valve 55, the pitching motor 63 is operated based on the horizontal sensor 70 output by the pitching operation of the traveling vehicle 1, and the horizontal sensor 70
The horizontal arm 72 is oscillated by rotating the screw shaft 67 in the forward and reverse directions so as to return it to the horizontal position, and in conjunction with this, the pitching adjustment arm 77 is oscillated to cause the outer receiver 79 to approach and separate from the switching cam 58. , running vehicle 1
The structure is such that the angle of the float 23 relative to the ground is kept substantially constant regardless of the pitching operation of the float 23.

Furthermore, as shown in FIGS. 1, 2, and 5,
By expressing the front upward angle of the traveling vehicle 1 and the float 23 as positive and the forward downward angle of the traveling vehicle 1 and the float 23 as negative, the maximum front upward pitching angle and front downward pitching angle of the traveling vehicle 1 (a°, −b The vertical swing angle of the float 23 (x°) is the angle (a° + α°, -b° - β°) which is the sum of the neutral swing angle (+α°, -β°) of the front part of the float 23 (a° + α°, -b° - β°) , -y°) range, and the front uphill and front downhill ranges (+a° to -b°) of the traveling vehicle 1 where pitching can be corrected, which are restricted by the interlocking structure of the pitching motor 63 and the characteristics of the horizontal sensor 70. ), the outer receiving arm 48
The front upward and downward ranges (+a°+α° to −b°−β°) of the float 23 are set by the amount of movement of the pin 52 inserted through the elongated hole 51. When the traveling vehicle 1 is approximately horizontal in the longitudinal direction, the float 23 is located in the front upward and downward neutral ranges (+α° to −β°), and the planting depth of the seedlings by the planting claws 17 is approximately While keeping it constant, the running vehicle 1
Due to the pitching (front up and front down) movement of
The pitching correction operation by the pitching motor 63 and the planting depth control operation by the float 23 are performed in parallel.

FIG. 4 is a pitching correction circuit diagram for controlling the pitching motor 63, in which the forward tilt and backward tilt sensing elements 68, 69 are replaced by light emitting diodes 80,
81 and phototransistors 82 and 83, respectively, and selectively blocks the light from the light emitting diodes 80 and 81 by a pendulum plate 67 that swings in conjunction with the forward and backward tilting of the vehicle 1. A forward and backward tilt correction relay 8 that obtains a backward tilt output and rotates the pitching motor 63 forward or reverse.
4, 85, a main switch 87 that applies a power source 86 to the pitching motor 63, the horizontal sensor 70, etc., an automatic manual changeover switch 88, and a pitching switch connected to the main switch 87 via a manual contact 88a of this changeover switch 88. A correction manual switch 89 is provided.

Further, each sensing element 68, 6 of the horizontal sensor 70
9 and the automatic contact 88b of the changeover switch 88
an automatic check circuit 92 having Noah gates 90 and 91 respectively connected to the manual switch 89;
Output inversion NAND gates 93, 94 connected to
a manual check circuit 95 having a
NAND gates 96 and 9 connected to 2 and 95 respectively
7 and an automatic correction output circuit 100 having NAND gates 98 and 99 for output reversal, and is configured to obtain forward and backward tilt outputs from the horizontal sensor 70 when the manual switch 89 is off and the automatic contact 88b is on. are doing.

Further, a Noah gate 101 connected to the manual switch 89 and the automatic correction output circuit 100,
102 and output inversion NAND gates 103, 10
4, and a nut gate 106 connected to each of the limit switches 74, 75 and the output circuit 105, respectively.
107 and NAND gates 108 and 10 for output inversion
and a pitching correction range regulating circuit 110 having a pitching correction range regulating circuit 110 having a pitching correction range regulating circuit 110 having a pitch correction range regulating circuit 110 having a pitching correction range regulating circuit 110 having a pitching correction range regulating circuit 110 having a pitching correction range regulating circuit 110 having
2, and the pitching motor 63 is connected to the main switch 87 via forward and reverse relay switches 84b and 85b of each of the correction relays 84 and 85, and The pitching motor 63 is configured to be rotated in the forward and reverse directions by actuating the relays 84 and 85 through automatic control of the motor 70 and operation of a manual switch 89.

It also includes a planting switch 113 that is turned on in conjunction with the on operation of a planting clutch (not shown) that controls the operation of the planting section 15.
13 is connected in series to the automatic contact point 88b, and the pitching motor 63 is configured to be operable only when the planting section 15 is activated and rice planting work is being performed. In addition, even if the traveling vehicle 1 tilts back and forth during loading and unloading onto and from the truck platform using footboards, similar to the pitching operation during rice planting, the pitching motor 63 may be activated due to forgetting to turn off the main switch 87, etc. While preventing problems such as the planting part 15 rising and falling, damaging the planting part 15, or changing the front-to-back balance of the machine and causing it to fall, it is necessary to prevent the planting part 15 from moving up and down, or by changing the front-to-back balance of the machine and causing it to fall. When turning on a headland, etc., the traveling vehicle 1 tends to pitch, and by performing unnecessary pitching control, when restarting rice planting work after changing direction, the ground angle of the float 23 returns to the set range. The structure is designed to eliminate problems that require relatively long pitting correction time and cause poor planting before the pitching correction is completed.

The present invention is constructed as described above, and the angle of the float 23 relative to the ground in this neutral range is changed with respect to the neutral position of the hydraulic switching valve 55 by operating the sensitivity lever 34. While the front part of the float 23 is slightly raised, when the rice field surface for planting is soft, the front part of the float 23 is lowered slightly to keep the sinking depth of the rear part of the float 23 into the rice field approximately constant, and the hard and soft state of the rice field for planting is maintained. The planting depth of the seedlings by the planting claws 17 is kept approximately constant regardless of the situation.

Further, when the traveling vehicle 1 is tilted forward or backward due to unevenness of the tiller, etc., the pitching motion of the traveling vehicle 1 is detected by the horizontal sensor 70 and the pitching motor 63 is operated and controlled, and the pitching motion is set by the sensitivity lever 34. It maintains the ground angle of the float 23, and when the front part of the float 23 rises or falls above or below the initially set ground angle due to a change in the depth of the mud layer on the planted field surface, the outer receiving arm 48 that interlocks with this rises and falls. The planting depth adjustment wire 47 is moved forward and backward as the plant moves up and down, and the hydraulic cylinder 31 is actuated and controlled via the switching cam 58 and the hydraulic switching valve 55.
The planting depth of the seedlings is kept approximately constant by raising and lowering the planting section 15. For example, when the traveling vehicle 1 climbs over a ridge or the like, or when the front wheels 6 or rear wheels 8 fall into a groove, etc. When the vehicle 1 suddenly shifts from the front up (front down) attitude to the front down (front up) attitude, the horizontal sensor 70 detects the pitching motion of the traveling vehicle 1 and the pitching motor 63 moves the front part of the float 23 up and down. Although it takes a certain amount of time to correct the pitching control based on the movement, as shown in FIG. The planting section 15 is quickly lowered or raised to prevent floating or buried seedlings from occurring.

Note that when the pitching angle (+5° to -5°) of the float 23 with respect to the vehicle 1 is small as shown in FIG. 5, the pitching motor 63 is After the pitching is corrected, the planting section 15 is raised and lowered by the raising and lowering signals of the float 23 to generate floating or buried seedlings.

On the other hand, when the horizontal sensor 70 or the like malfunctions and produces an abnormal output, or when the planting field is extremely soft or hard to the extent that pitching control cannot be performed by raising and lowering the front part of the float 23,
The automatic contact 88b is turned off and the manual contact 88a is turned on, and the operator operates the manual switch 89 to intentionally manually control the pitching motor 63 and operate the hydraulic cylinder 31 regardless of the output of the horizontal sensor 70. The planting section 15 is supported at an arbitrary height under control, and seedling planting work is performed.

Further, while the pitching motor 63 is being operated and controlled by the output of the horizontal sensor 70 and the operation of the manual switch 89, the slider 73 comes into contact with either the limit switch 74 or 75. By turning on, the relay 84 corresponding to the limit switch 74 or 75 is turned on via the pitching correction range regulating circuit 110.
Or hold 85 off and limit switch 7
4, 75 within the range regulated by the motor 6.
3 is manually or automatically controlled, and the planting section 15 is adjusted up and down within the regulated range.

"Effects of the Invention" As is clear from the above embodiments, the present invention supports a float 23 whose front part can swing up and down on the lower side of the planting part 15 which is installed on the traveling vehicle 1 so as to be able to move up and down. In a device equipped with a pitching correction member such as a pitching motor 63 that corrects the planting part elevation control based on the vertical movement of the front part of the float 23 based on the pitching operation of the traveling vehicle 1, the maximum The front up and down pitching angles a and b are the swinging neutral angles α and β of the front part of the float 23.
The vertical swing angle x, y range of the float 23 is set to be larger than the angle in which In this case, the planting lift signal can be quickly obtained from the float 23 whose swing range is sufficiently larger than the pitching correction range of the traveling vehicle 1, and even in the event of an abnormality in which the planting section 15 rises from the rice field, the signal can be quickly received from the float 23. The planting unit 15 can be properly lowered by receiving a planting lowering signal, and even if the traveling vehicle 1 runs onto the edge of a ridge, the float 23
It has practical advantages such as being able to quickly obtain a raising signal from the ground, properly raising and supporting the planting part 15, preventing floating seedlings and buried seedlings, and performing rice planting work more stably and safely than before. It is effective.

[Brief explanation of drawings]

Fig. 1 is a side view of the main parts showing an embodiment of the present invention, Fig. 2 is a side view of a riding rice transplanter, Fig. 3 is a plan view of the same, Fig. 4 is a pitting correction circuit diagram, and Fig. 5 is a side view of a riding rice transplanter. It is a pitching correction explanatory diagram. DESCRIPTION OF SYMBOLS 1... Traveling vehicle, 15... Planting part, 23... Center float (float), 63... Pitting motor (pitching correction member), a, b... Traveling vehicle pitching angle, x, y... Float Swing angle, α, β...Float swing neutral angle.

Claims (1)

[Scope of utility model registration request] A float whose front part can swing up and down is supported on the lower side of the planting plant, which is installed on the traveling vehicle so as to be able to move up and down, and the pitching of the traveling vehicle controls the raising and lowering of the planting part based on the vertical movement of the front part of the float. In a device equipped with a pitching correction member that corrects pitching based on motion, the vertical swing angle range of the float is smaller than the angle obtained by adding the swinging neutral angle of the front portion of the float to the maximum front uphill pitching and front downhill pitching angles of the traveling vehicle. A planting control device for a rice transplanter characterized by setting a large value.