JPH037Y2 - - 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 shown in FIG. 5, an actuator A corrects pitching control based on the vertical movement of the front portion 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, since the response speed of the actuator A to the output of the horizontal sensor B was constant, the pitching motion of the traveling vehicle (tilting of the machine body in the longitudinal direction) due to continuous unevenness of the tiller. ), when the control speed of the actuator A is slow, it cannot be followed, resulting in problems such as subsidence of the planting area and the generation of floating seedlings.On the other hand, when the control speed of the actuator A is faster than necessary, Over-correction is caused by the overrun output of horizontal sensor B, which causes the planting area to sink or floating seedlings to occur as described above. Actuator A is activated when detected by B, and it is difficult to properly perform a pitching correction operation of actuator A that corresponds to the gradual change in inclination, and actuator A malfunctions due to the small irregularities, making it impossible to obtain accurate control operation. There were other problems.

"Means for Solving the Problem" However, the present invention provides an actuator that corrects planting depth control based on the vertical movement of the front part of the float, and a horizontal actuator that controls the actuator based on the pitching motion of the traveling vehicle. Equipped with a sensor,
The actuator's response speed to the horizontal sensor output can be changed.

``Function'' Therefore, since the response speed of the actuator can be selected according to the unevenness of the tiller and its gradual change in slope, it is possible to select the response speed of the actuator according to the unevenness of the tiller and its gradual change in slope. In addition to easily preventing the occurrence of seedlings or floating seedlings, seedlings can be planted successfully with simpler handling operations than conventional methods.
Compared to the prior art, pitching control can be stabilized and control structures such as horizontal sensors can be simplified easily.

"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, and the transmission is transmitted to both sides of the rear part of the transmission case 4. A 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 the planting to be performed. While the attaching part 15 is raised and lowered, the planting part 15 is lowered to land each float 23, 24a, 24b, and one seedling is placed on 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 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.
A descending bus 57 is provided to project the spool 56 of the valve 55, and the planting depth adjustment wire 47 is attached to one end of the switching cam 58 whose intermediate portion contacts the spool 56.
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, thereby forming a pitching fulcrum. When the front part of the float 23 rises around the shaft 37, the planting depth adjustment wire 47 is pulled to press the cam 58 against the spool 56, and while the planting part 15 is raised by the hydraulic cylinder 31, the pitching fulcrum is When the front part of the float 23 descends around the shaft 37, the planting depth adjustment wire 47 extends, advancing the spool 56 and lowering the planting part 15, and the sensitivity lever 34 By operation, each support shaft 61, 76
In addition, the connecting portions at both ends of the connecting rod 78 perform the same function as the four-point support of parallel links, and the lever 34
The pitching adjustment arm 77 is displaced in conjunction with the
The outer receiver 79 is moved toward and away from the switching cam 58 to change the angle of the float 23 relative to the ground with respect to the neutral range of the hydraulic switching valve 55. The pitching motor 63 is activated, and the horizontal sensor 7
0 to the horizontal position, the screw shaft 67 is rotated in the forward and reverse directions to swing the horizontal arm 72, and in conjunction with this, the pitching adjustment arm 77 is swung.
An outer receiver 79 is moved toward and away from the switching cam 58, so 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.
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.

Furthermore, a pulse oscillator 115 having a control speed setter 114 for adjusting the control operation speed of the pitching motor 63 is provided, and the pulse oscillator 115 is connected as an input to the NAND gates 106 and 107 of the pitching correction range regulating circuit 110. The period of the clock pulse output from the oscillator 115 is manually adjusted by the setting device 114, and the regulation circuit 110 is controlled by the pulse output from the oscillator 115.
The pitching motor 63 controls intermittently the horizontal sensor 70 output from the horizontal sensor 70.
is configured to change the response speed.

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.

Furthermore, when the plowing surface of the planting field has continuous narrow unevenness, the control speed setting device 114 is operated to shorten the period of the clock pulse output from the pulse oscillator 115, and the response speed of the pitching motor 63 to the output of the horizontal sensor 70 is adjusted. The pitching is corrected quickly and sensitively to the pitching action of the traveling vehicle 1, thereby preventing the planting part 15 from sinking and floating seedlings from occurring.

On the other hand, when the control speed by the pitching motor 63 is fast and the horizontal sensor 70 overruns, causing over-correction, the control speed by the motor 63 is slowed down by operating the setting device 114 to prevent the generation of floating seedlings and the planting section 15. prevent subsidence.

Further, when the slope of the plowing plate on the planting field surface is gradually changing, the control speed by the motor 63 is slowed down by operating the setting device 114, and the horizontal sensor 70 detects small irregularities on the plowing plate in the middle of the gradual change in slope. Even when the pitching motor 63 is stopped, the pitching motor 63 is kept stopped in response to the output of the horizontal sensor 70, and the control operation of the motor 63 is performed correctly in response to gradual changes in the plowing surface.

"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 the traveling vehicle 1 are provided. a horizontal sensor 70 that controls the operation of the actuator 63 based on the pitching operation of the horizontal sensor 70;
The response speed of the actuator 63 to the output of the horizontal sensor 70 is configured to be changeable, and the response speed of the actuator 63 can be selected depending on the unevenness of the tiller and its gradual change in inclination. Even if the field conditions are different, it is possible to easily prevent the occurrence of buried seedlings or floating seedlings due to the settling of the planting part 15, and the seedlings can be planted successfully with a simpler handling operation than before. Compared to the conventional method, it is possible to easily stabilize pitching control and simplify the control structure of the horizontal sensor 70, etc., and it has practical effects such as being able to stably perform rice transplanting work with simple handling operations. It is something.

[Brief explanation of drawings]

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), 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 part, there is provided an actuator that corrects planting depth control based on the vertical movement of the front part of the float, and pitching of the traveling vehicle. 1. A planting section elevation control device for a rice transplanter, comprising: a horizontal sensor that controls the operation of an actuator based on the operation, and is configured to be able to change the response speed of the actuator to the output of the horizontal sensor.