JPH036Y2 - - 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, as shown in the pitching correction circuit of FIG. 5, an actuator A corrects pitching control based on the vertical movement of the front part of a float, and the actuator A is operated and controlled based on the pitching motion of a traveling vehicle. We have developed a technology that corrects the angle of the float relative to the ground in response to the pitching motion of a traveling vehicle tilting in the longitudinal direction of the aircraft.

"Problems to be Solved by the Invention" In the prior art, the horizontal sensor B, which detects the tilting of the vehicle in the longitudinal direction, operates even when the vehicle starts and accelerates when stopped. When running and stopping operations such as changing direction, the change in acceleration causes actuator A to malfunction via horizontal sensor B, and when resuming rice planting work after changing direction, correction is made until normal pitching control of the float is restored. This took a long time and caused problems such as poor planting when the pitching was corrected.

"Means for Solving the Problem" However, the present invention includes an actuator that corrects pitching control based on the vertical movement of the front portion of the float, and a horizontal sensor that controls the actuator based on the pitching motion of the traveling vehicle. On the other hand, the actuator control operation is configured to start later than this when the travel clutch pedal of the aircraft is turned on from the OFF position.

``Operation'' Therefore, even if the horizontal sensor malfunctions when the aircraft is stopped and started, such as when a vehicle changes direction at the edge of a ridge, the actuator is activated in a delayed manner in conjunction with the engagement operation of the travel clutch pedal. By doing so, it is possible to prevent the actuator from malfunctioning due to changes in the acceleration of the machine body due to stopping and starting, and it is possible to quickly resume normal pitching control when restarting rice transplanter work after changing direction. Compared to the above, it is possible to easily stabilize pitching control and simplify the horizontal sensor structure.

"Embodiments" Examples of the present invention will be described below in detail based on the drawings. Fig. 1 shows a pitching correction circuit diagram, Fig. 2 shows a side view of the riding rice transplanter, and Fig. 3 shows a plan view of the same. The rear end of the frame 3 is connected to the transmission case 4, and the front wheels 6 for running in paddy fields are supported on both sides of the front part of the transmission case 4 via the axle case 5. A transmission case 7 is arranged in series, and a rear wheel 8 for running in paddy fields is supported at the rear end of the transmission case 7. and a bonnet 9 that covers the engine 2, etc.
In addition to attaching spare seedling stands 10 to both sides, the transmission case 7 and the like are covered by a vehicle body cover 12 forming a step 11, and a driver's seat 13 is attached to the upper part of the vehicle body cover 12. A steering handle 14 is provided at the rear of the bonnet 9.

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 running clutch pedal, and 36, 36 are left and right brake pedals.

Furthermore, as shown in FIG. 4, 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 upper surface of the rear part of the float 23, and the planting depth can be 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 output link 4 is connected to the outer receiving arm 48 through a long hole 51 and a pin 52.
At the same time, one end of the outer wire 53 into which the adjustment wire 47 is 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 an actuator 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 the motor 63 and a screw shaft 64 for forward and reverse rotation are attached to the control frame 65. A pendulum plate 67 is installed inside the vehicle body cover 12 to support the frame 65 via a fixed support shaft 66 on the vehicle body side, and to detect 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 67,
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 adjustment wire 47 is extended to advance the spool 56 and the planting part 15 is lowered, and by operating the sensitivity lever 34, each support shaft is 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 37 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 to the horizontal position, the horizontal arm 72 is swung by rotating the screw shaft 67 in the forward and reverse directions, and in conjunction with this, the pitching adjustment arm 77 is swung to move the outer receiver 79 toward and away from the switching cam 58. The structure is such that the angle of the float 23 with respect to the ground is kept substantially constant regardless of the pitching operation of the traveling vehicle 1.

FIG. 1 is a pitching correction circuit diagram controlled by the pitching motor 63, in which the forward tilt and backward tilt sensing elements 68, 69 are 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 NAND 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 over. 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.

Further, a travel switch 1 is connected to a travel clutch pedal 35 for starting and stopping the vehicle 1.
14, and the pitching correction range regulation circuit 110.
When the travel clutch pedal 35 is operated from off to on, the travel switch 114 is switched from off to on, and the on delay timer 115 connects the travel switch 114 from off to on. The high level) output is delayed and inputted to the NAND gates 106 and 107, so that when the travel clutch pedal 35 is turned on and off, the pitching motor 63 control operation is started later than this.

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.

Further, when the horizontal sensor 70 or the like malfunctions and produces an abnormal output, or when the planting field surface 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 or 85 corresponding to the limit switch 74 or 75 that is turned on is held off via the pitching correction range regulation circuit 110, and the limit switch 74,
The motor 63 is controlled manually or automatically within the range regulated by 75, and the planting section 15 is adjusted to move up and down within the regulated range.

On the other hand, when the traveling vehicle 1 changes direction at the edge of a ridge, etc., when the traveling clutch pedal 35 is turned on and off to stop and start the aircraft, the traveling switch 114 is switched off and on, and the on-delay timer 115 is activated. When the reset/set is activated, the timer 115 delays the output of the horizontal sensor 70 when the pedal 35 is turned on and off, and the pitching motor 63 is activated when the horizontal sensor 70 malfunctions due to changes in acceleration caused by stopping or starting the aircraft. While maintaining the stop and interrupting the pitching correction control, the pedal 35
The pitching motor 63 control is restarted with a delay from the time of the turning operation, and the pitching motor 63 is prevented from malfunctioning based on the malfunction output of the horizontal sensor 70 due to changes in the acceleration of the aircraft due to stopping and starting. It is.

"Effect of the invention" As is clear from the above embodiments, the present invention has the planting part 15 mounted on the traveling vehicle 1 so as to be movable up and down, and
Center float 2 whose front part can swing vertically
In a rice transplanter in which a float such as No. 3 is attached to the lower side of the planting section 15, an actuator such as a pitching motor 63 that corrects pitching control based on the vertical movement of the front portion of the float 23, and a pitching control of the traveling vehicle 1 are provided. The horizontal sensor 70 controls the operation of the actuator 63 based on the operation, and the control operation of the actuator 63 is started later than this when the traveling clutch pedal 35 of the aircraft is turned on and off. Even if the horizontal sensor 70 malfunctions when the vehicle 1 stops and starts, such as when changing direction at the edge of a ridge, the actuator 63 is operated in a delayed manner in conjunction with the engagement operation of the travel clutch pedal 35. As a result, it is possible to prevent the actuator 63 from malfunctioning due to changes in the acceleration of the aircraft during stopping and starting, and it is possible to quickly resume normal pitching control when starting rice planting work after changing direction. Compared to the previous model, it is possible to stabilize pitching control and simplify the structure of the horizontal sensor 70, and it has practical effects such as being able to change directions more efficiently and safely than before, and being easier to handle. It is something to play.

[Brief explanation of the drawing]

Fig. 1 is a pitting correction circuit diagram 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 side view of the main parts, and Fig. 5 is a side view of the riding rice transplanter. FIG. 2 is a pitching correction circuit diagram showing a conventional technique. DESCRIPTION OF SYMBOLS 1... Traveling vehicle, 15... Planting part, 23... Center float (float), 35... Traveling clutch pedal, 63... Pitting motor (actuator), 70... Horizontal sensor.

Claims (1)

[Scope of utility model registration request] In addition to installing the planting part on a traveling vehicle so that it can be raised and lowered,
In a rice transplanter in which a float whose front part can swing in the vertical direction is attached to the lower side of the planting plant, an actuator that corrects pitching control based on the vertical movement of the front part of the float, and a pitching control based on the pitching operation of the traveling vehicle. and a horizontal sensor for controlling the operation of the actuator, and the rice transplanter is configured to start the actuator control operation later than when the traveling clutch pedal of the machine body is turned on and off. Lift control device.