JPH04158708A - Posture controller for planting part of riding type rice transplanter - Google Patents

Abstract

PURPOSE:To control a planting part to a correct posture in a short time after lowering of the planting part to the planting surface by changing posture control on the planting part to an automatic mode after delay of only a prescribed period from the time of turning ON a switch which is turned ON when a planting part lifting and lowering lever is on the lowering side of the planting part. CONSTITUTION:The posture of a planting part 2 is changed with a planting part posture changing means 60 provided in the top link 51. A guide groove of a planting part lifting and lowering lever is equipped with a switch which is turned ON when the aforementioned lever is on the lowering side of the planting part. The planting part posture control is changed into an automatic mode after delay of only a prescribed period from the time of turning ON the aforementioned switch. Thereby, the planting part posture changing means is not operated until the lifted planting is lowered to the planting surface.

Description

DETAILED DESCRIPTION OF THE INVENTION (a) Field of Industrial Application The present invention relates to a planting section attitude control device for a riding-type planting machine.

(b) Conventional technology In the past, the planting section was connected so as to be raised and lowered via a timing link mechanism provided at the rear of the traveling section, and the height of the planting section from the ground was maintained constant, and the height of the planting section was maintained at a constant level. An inclination sensor is provided to detect the longitudinal inclination posture, and the inclination sensor causes the planting section posture changing means provided on the top link of the elevating link mechanism to extend and contract, thereby maintaining the longitudinal inclination posture of the planting section relative to the ground at a constant level. Accordingly, there is a planting section attitude control device for a riding rice transplanter that aims to accurately plant seedlings.

(c) Problems to be Solved by the Invention However, since the inclination sensor is configured to detect the direction of acceleration and detect the inclination state of the planting area,
There is no problem while planting at a constant speed, but for example, if the planting part is raised to make a U-turn at the edge of a field, and then lowered before the turn is completed. During a turn, the running section and the planting section swing, and the running speed is not constant, so the detection results of the inclination sensor are distorted, and as a result, the planting section posture changing means malfunctions.
When the planting part descends to the planting surface, it takes time to control it to the correct posture, and problems such as mud pushing occur during this time.
There was a drawback that the planting during this period was inaccurate.

(d) Means for Solving the Problems In the present invention, a planting section is connected to the rear of the traveling section so as to be able to rise and fall freely by an elevating link mechanism, and the link is telescopically operated by the top link of the elevating link mechanism. In a riding rice transplanter configured to be able to change the attitude of the planting part with respect to the traveling part by providing a part attitude changing means, the lever is attached to a lever guide that guides a planting part lifting lever that operates the raising and lowering of the planting part. A rice transplanter for riding on a ride-on rice transplanter characterized by providing a planting section lift lever switch that is turned on when the rice transplanter is on the lowering side, and setting the planting section posture control to automatic mode after a predetermined time delay from the time when the switch is turned on. It is an object of the present invention to provide a attachment part attitude control device.

Another feature is that the predetermined time is set to be shorter than the time required for the planting section to descend to the seedling planting section.

(E) Functions and Effects According to the present invention, a switch is provided in the guide groove that guides the planting part lifting lever that operates the raising and lowering of the planting part to detect whether the lever is in the neutral position, and when the lever is in the neutral position. By setting the planting part posture control to automatic mode after a predetermined delay from the time when the planting part is operated in the direction of lowering the planting part from the position, the planting part posture is changed until the raised planting part descends to the planting surface. Since the lower stage does not operate and maintains a neutral position, it is possible to control the planting part to the correct posture in a short time after descending to the planting part or planting surface, preventing harmful effects such as mud pushing, Accurate planting can be done.

In addition, by setting the above-mentioned predetermined time shorter than the time required to descend to the planting area or the planting surface of the seedlings, there is a delay in switching such that the automatic mode is not activated even after descending to the planting area or the planting surface. By switching to the automatic mode just before the planting section descends to the planting surface, the planting section can be controlled to the correct posture in a short time.

(f) Examples Embodiments of the present invention will be described below with reference to the drawings.

(A) shown in Fig. 1 is a riding rice transplanter, and the riding rice transplanter (A) has a planting part (2
) are connected via the lifting link mechanism (3), and the planting part (
2) can be raised and lowered by a lifting hydraulic cylinder (4), and a planting part posture changing means (60) is provided so that the planting depth of seedlings can be kept constant. Part 8 will be explained.

As shown in FIGS. 1 and 2, the traveling section (1) is provided with an engine (11) at the front part on the fuselage frame (10),
A driving section (12) is provided at the rear.

A mission case (+3) is attached to the rear F side of the fuselage frame (lO) in conjunction with the engine (11).

In addition, on the lower front side of the fuselage frame (10), left and right front axle cases (15
> (15) is protruded, and the front wheel (16) (+6 > is attached to the tip of the same case (15) (15). (+9) is the front axle case (15) and transmission case (
13) is a transmission shaft that interlocks and connects.

In addition, a rear axle case (17) is attached to the rear of the aircraft frame (10) in conjunction with the transmission case (13), and rear wheels (+8) (1g) are attached to the left and right sides of the case (17), respectively. ing.

In addition, (20) is a floor that also serves as a floor surface, a gear shift guide, a fender 1 seat mounting plate (20a), etc.
It is integrally molded from a highly rigid synthetic resin such as P, and is stretched over the fuselage frame (10).

Also, (21) is the bonnet, and the engine (11)
and the steering shaft (
23) is covered.

In addition, the above-mentioned driving part (12) has a steering shaft (23) erected immediately after the engine (11), and a handle (24) is attached to the upper end of the shaft (23). The seat mounting plate located immediately after the force (
20a) A seat (25) is placed on top.

Moreover, a control device (C) constituting a part of the planting section attitude changing means (60) is attached to the rear part of the upper surface of the floor (20).

In addition, (30) is a gear shift lever located on the left side of the seat (25), (31) is an auxiliary gear lever that projects upward from the left side of the bonnet (21), and (32) is a gear lever located on the left side of the seat (25).
(33) is the clutch pedal located on the left side of the bonnet (21).
34) is a brake pedal arranged on the right side of the bonnet (21), and (35) is a spare seedling stand.

In addition, as shown in FIG.
A float (41) is attached below the case (40), a seedling stand (42) is attached above the case (40), and the rear end of the case (40) A planting claw (43) is attached to the part. (44) is the mission case (13) and the planting mission case (40)
This is the transmission shaft interposed between the

In addition, as shown in FIGS. 3 and 4, the elevating link mechanism (3) includes a front end of a top link (51) and left and right lower links (4
5) Connect the front ends of (45) to pivots (51a) and (45), respectively.
a) so that it can move up and down freely, and the top link (5
An elevating link mechanism side hit part (61) is interposed between the rear end of the left and right lower links (45) (45), and the hit part (61) is connected to the planting part (2). It is detachably connected to a planting side hitch part (49) erected on the front side.

And, at the front ends of the left and right lower links (45) (45),
Left and right lifting arms (4B>(46) are installed in an upright manner, respectively, and a lifting hydraulic cylinder (4) is installed between the upper ends of both arms (4B) and the midway part of the fuselage frame (10). and both arms (46) (4B)
A connecting rod (4g) (48) is interposed between the upper ends and the rear ends of the left and right lower links (45) (45).

As shown in FIGS. 3 and 4, the top link (51) includes left and right link members (51C>(51d) that form the attachment base (51b) to the running section (1), and means for changing the posture of the planting section. (60) and a link body (52a) forming an attachment part to the vertical link mechanism side pitch part (61) are connected from the front in the above order, and the left and right links are substantially plate-shaped. The members (51c) (51, d) are arranged side by side in the front and back direction with a predetermined interval maintained, and their front ends are connected to the running part (1).
An overhanging part (80a) (Bob) is rotatably pivoted on a horizontally suspended pivot (51a) at the rear upper part, and has its rear end projecting on the left and right sides of the planting part attitude changing means (60). The link main body (52a) is pivotally attached to the tip, and the front end of the link body (52a) is connected to the center of the rear surface of the planting section attitude changing means (60).

The planting portion attitude changing means (60)
) (60b), fix the telescopic screw (52b) to the output shaft of the motor (52c), and screw the telescopic screw (52b) into the front end of the link body (52a). The top link (51) is then telescopically operated by forward and reverse rotation of the telescopic screw (52b).

(52d) and (52e) are detection switches that detect the expansion/contraction limit of the telescoping screw (52b) and stop the driving of the telescoping drive motor (52c); (52f) is the switch (52d);
(52e) for contacting the detection rod, (52g
) is a bellows-shaped cover, and <52h) is a means for changing the posture of the planting part (
60) is a potentiometer that detects the expansion/contraction position.

(p) is a spring pin inserted into the rear end of the telescopic screw (52b), and in case of a detection switch (52d) (52e)
) or the detection rod (52r) breaks down and the telescopic drive motor (52c) rotates excessively in the extension direction, the same bin (
p) +:, J-li, Telescopic screw (52b) (I1) It is possible to prevent the link body (52a) from being pulled out from the front end.

The lift link mechanism side hitch part (61) is attached to the hitch main body (8
1a) A locking rod receiving part (Blb
), and locking pieces (ale) (61c) are attached to the left and right sides of the lower part of the hitch body (61a).

The planting side hitch part (49) is a hitch body (
A locking rod (49b) is horizontally suspended on the upper part of the hitch body (495k), while locking pins (49c) (49c) are provided on the left and right sides of the lower part of the hitch body (49a), respectively, protruding laterally outwardly.
Each locking bottle (49c) is attached to the locking piece (61).
c) It can be locked to (61c,).

Further, the operation of the lifting hydraulic cylinder (4) is controlled by a hydraulic control valve (69) shown in FIG.
) is controlled by a sensor (S) that detects fluctuations in height difference between the planting part (2) and the float (41).

That is, the sensor (S) has a pivot part (41b) protruding from the front upper surface of the float (41).
), the lower end of the sliding rod (71) with a long hole (70) bored therein is pivoted, and the mission case (40) is planted in the same long hole (70).
A guide bin (72) protruding from the front part is movably inserted, and an outer wire (74) connected to the spool (73) of the hydraulic control valve (69) is connected to the upper end of the sliding rod (71). The inner (75) of the wire (74) is connected to the guide bin (72), and the expansion and contraction of the wire (74) due to the vertical movement of the flow (41) is controlled by the hydraulic control valve (69).
The transmission is transmitted to the spool (73) of the lifting hydraulic cylinder (4
) is activated.

The hydraulic control valve (69) is a directional position control valve, and at the central neutral position IF (76), it blocks the lifting hydraulic cylinder (4) side, and at its left position W (77), a choke (78) is interposed. Connect the hydraulic pump (P) and the lifting hydraulic cylinder (4), and then move it to its left position (79).
), the direct hydraulic pump (P) and lifting hydraulic cylinder (4)
to the right position (8) of the neutral position (76).
0), the lifting hydraulic cylinder (4) and the reservoir (82) are connected via a choke 81), and furthermore, at the right outer position (83), the lifting hydraulic cylinder (4) and the reservoir (82) are connected directly. are connected.

Therefore, the position of the planting part (2) is low and the wire (74
) When the hydraulic control valve (69) side of the inner (75) is pulled in, move the spool (73) to the left to contract the lifting hydraulic cylinder (4) and raise the planting part (2). , conversely, the position of the planting part (2) is high and the wire (74)
When the hydraulic control valve (69) side of the inner (75) is pulled out, move the spool (73) to the right to extend the lifting hydraulic cylinder (4) and lower the planting part (2). , the planting part (2) is supported at a constant height to keep the planting depth of the seedlings constant.

In addition, at the central neutral position (76), the lifting hydraulic cylinder (4) side is blocked, and at the left position, the hydraulic pump (P) and the lifting hydraulic cylinder (4) are connected via a choke (78), and further At the left position (79), the hydraulic pump (P) is directly connected to the lifting hydraulic cylinder (4), and the neutral position is reached! Right position of (76) [(80)
Now, with the choke (81) interposed, the lifting hydraulic cylinder (
4) Connect the reservoir (82), and at the right outer position directly connect the lifting hydraulic cylinder (4) to the reservoir (82).
2), if the absolute value of the deviation from the set value of the height difference between the planting part (2) that matches the optimum planting depth and the flow (41) is small, the planting The part (2) is raised and lowered at a low speed, and when the absolute value of the deviation is large, the planting part (2) is raised and lowered at a high speed, so that a stepwise proportional operation is performed.

Figure 6 shows the planting section lift lever (32), the lever guide (32a), and the planting section lift lever switch (32b). When operated on the lowering side, the planting section lift lever switch (32b) is turned on via a suppressing piece (32c) arranged from the neutral position to the end on the lowering side.

The planting section lift lever switch (32b) is connected to a control device (C) described below.

As shown in FIG. 7, the control device (C) includes an automatic switch (C2), a planting section lift lever switch (32b), a planting switch (C3), and a planting section lift lever switch (32b) at the input end of the controller (C1).
Connect the gear shift switch (C4), engine tachometer (C5), sensitivity setting device (C6), tilt sensor (St), center return switch (C7), hardness sensor (C8), and feed bank sensor (C9), and output There is a means for changing the posture of the planting part on the side (6
0) is connected to the telescopic drive motor (52C), and the value of the longitudinal inclination of the planting part (2) detected by the inclination sensor (Sl) is
A control device a that is input to the control device (C) and based on the detected value
t (C), the telescopic drive motor (5
2c) to extend and retract the top link (51), thereby maintaining a constant posture of the planting section (2) with respect to the planting surface.

(D) is a power supply, and (E) is a relay.

In particular, a timer function is set in the controller (C1), and as shown in Fig. 8, the output of the planting section lift lever switch (32b) is monitored (100), and the ON input from the switch (32b) is Set a timer when it is detected 101. ), and when the predetermined time has passed (1,0
2Y), automatic switch that was previously disabled (C2)
Enable input from and switch to automatic mode (103
).

Therefore, even if the automatic switch (C2) is operated to the automatic side, the planting section lift lever switch (32b) is ON.
If a predetermined period of time has not elapsed since then, the controller (C
1) does not go into automatic mode, and the planting part posture changing means (60
) will maintain a neutral position.

On the other hand, since the planting section lift lever (32) is operated to the lower side, the planting section lift lever switch (32b) is turned ON.
From that point on, the planting section (2) continues to descend.
The above predetermined time is set slightly shorter than the time required for the raised planting section (2) to descend to the planting surface of the seedlings, so it reaches the planting surface immediately after switching to automatic mode. Therefore, the planting part (2) can be controlled to the correct posture in a short time.

[Brief explanation of drawings]

FIG. 1 is a side view of a riding rice transplanter equipped with a planting section attitude control device according to the present invention, FIG. 2 is a plan view of the same rice transplanter, and FIG. 3 is an elevation link mechanism and a planting section attitude changing means. A side view, FIG. 4 is a plan view of the elevating link mechanism and the planting part posture changing means, FIG. 5 is a hydraulic circuit diagram for controlling the elevating link mechanism, and FIG. 6 is the planting part elevating lever and the planting part. A plan view of the lift lever switch, FIG. 7 is a circuit diagram showing the configuration of the control device,
FIG. 8 is a flowchart of automatic mode switching. (A) Square rice transplanter (C): Control device (1), traveling section (2): Planting section (3): Elevating link mechanism (32): Planting section elevating lever (32a) Nilever guide (32b) ): Planting section lowering lever switch (60)
: Patent applicant for the means for changing the posture of the planting section: Yanmar Agricultural Machinery Co., Ltd. Agent: Ken Matsuo Figures 6, 7, and 8

Claims (1)

[Scope of Claims] 1) A planting section (2) is connected to the rear of the running section (1) so as to be able to rise and fall freely by an elevating link mechanism (3), and a top link (51) of the elevating link mechanism (3) Same link (5
In the riding rice transplanter (A) configured to be able to change the attitude of the planting part (2) with respect to the traveling part (1) by providing a planting part attitude changing means (60) that expands and contracts the planting part (1), the planting part ( 2) Planting section lift lever (32)
) to the lever guide (32a) that guides the same lever (32
) is on the lowering side of the planting section, and a planting section lift lever switch (32b) is provided, which is turned on when the planting section lift lever switch (32b) is turned on, and the planting section posture control is set to automatic mode after a predetermined time delay from the time when the switch (32b) is turned on. A planting section attitude control device for a riding rice transplanter, characterized in that: