JPH0444012Y2 - - Google Patents

Description

[Detailed description of the invention] "Industrial application field" This invention connects a support frame to a traveling vehicle via a link mechanism, and provides a planting section on the support frame so as to be able to swing freely in the left and right directions. A rolling rice transplanter that is equipped with a sensor float that detects the horizontal inclination of the planting part and a rolling adjustment member that tilts the planting part left and right, and performs rice planting work by supporting the planting part approximately horizontally with respect to the planting field surface. Regarding a control device.

"Prior Art" Conventionally, as shown in Japanese Unexamined Patent Publication No. 134902/1984, there has been a technique in which the planting section is raised at a speed corresponding to the planting speed during planting work.

``Problems to be solved by the invention'' In the above-mentioned conventional technology, when the planting part is controlled to be supported horizontally with respect to the rice field, the planting part rises in an inclined state to the left and right, causing the planting part to rise. There were problems such as the lower part of the slope coming into contact with the machine or the ridge, making it impossible to safely turn around on the headland or move between fields.

``Means for Solving the Problems'' However, the present invention is designed to prevent the planting part from rising to the non-planting position in a device equipped with an actuator that supports the planting part substantially horizontally with respect to the planting field. The present invention is characterized in that a sensor is provided for detection, and as the non-planting position of the planting section rises, the actuator is operated at high speed and returned to the horizontal position relative to the main machine.

``Function'' Therefore, since the posture is quickly changed when the non-planting position is raised and the machine is supported horizontally, the balance of the machine can be more easily stabilized than before, and the downward slope of the planting part can be easily stabilized. This eliminates problems such as the sides interfering with the machine or the ridges, allows for safer turning on headlands and movement between fields, and is extremely functional and easy to handle.

"Embodiments" Examples of the present invention will be described below in detail based on the drawings. Fig. 1 is a hydraulic circuit diagram, Fig. 2 is a side view of the riding rice transplanter, and Fig. 3 is a plan view of the same. 3, the rear end of the transmission case 4 is connected to the transmission case 4, and a front wheel 6 for driving in paddy fields is supported on both sides of the front part of the transmission case 4 via an axle case 5, and a transmission case is installed on both sides of the rear part of the transmission case 4. 7 are arranged in series, and the rear end portion of the transmission case 7 supports a rear wheel 8 for running in paddy fields. A spare seedling stand 10 is attached to both sides of the bonnet 9 that covers the engine 2, etc., the transmission case 7, etc. is covered by the vehicle body cover 12 forming the 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 front of the driver's seat 13.

In addition, reference numeral 15 in the figure is a planting section that is equipped with a seedling stand 16 for multi-row planting, a plurality of planting claws 17, etc. The planting claws are supported by the planting case 20 via the rails 18 and guide rails 19 so as to be slidable back and forth in the left and right directions, and are attached to the planting case 20 via the planting arm 21 and the planting claw drive shaft 22 which are moved by a crank. Install 17. And said planting case 2
Leveling floats 23, 24, 24 for planting below 0
are supported via a planting depth adjustment link 25, each of the planting cases 20... is connected to the planting mission case 27, and a three-point link mechanism 30 including a top link 28 and a lower link 29 is connected. This planting mission case 27 is placed on the rear side of the traveling vehicle 1 using
A hydraulic cylinder 31 is interposed between the rear part of the transmission case 4 and the top link 28 to connect the planting part 15 and raise and lower the planting part 15,
While the planting section 15 is raised and lowered by the expansion and contraction motion of the hydraulic cylinder 31, the planting section 15 is lowered to land each of the floats 23 and 24, and one seedling is placed on the seedling platform 16 which is moved back and forth from side to side. It is configured such that the seeds are taken out and planted one by one using the planting claws 17.

Further, in the figure, 32 is a travel gear shift lever, 33 is a planting lift lever, 34 is a planting depth sensitivity adjustment lever, and 35 is a planting depth sensitivity adjustment lever.
is a travel clutch pedal, and 36, 36 are left and right brake pedals.

As shown in FIGS. 4 to 7, a seedling take-out plate 37 facing the inclined lower end of the seedling stand 16 is fixed on the top side of the planting case 20, and the seedling take-out opening 38 of the seedling take-out plate 37 is connected to the planting claw 17. At the same time, the planting depth adjustment shaft 39 connecting the planting depth adjustment link 25 is pivotally supported on the lower surface side of the planting case 20, and the planting depth adjustment shaft 39 is supported on the lower side of the planting case 20, and a lever guide 40 is installed on the left side of the planting mechanism case 27. A planting depth adjustment lever 41 provided at A seedling vertical harvesting adjustment lever 43 is attached to the right side of the transmission case 27 on the opposite side through a lever guide 42.

Further, a board 44 is fixed to the front outer surface of the left and right outer planting cases 20, 20, and the base end of a support 45 supporting the seedling stand 16 is integrally connected to the board 44 via the guide rail 19. A pipe frame 46 integrally connected to the substrate 44 is provided to extend substantially horizontally toward the outside of the machine, and a streak marker 47 that forms a planting locus on the unplanted side rice field is supported by the pipe frame 46 in a freely undulating manner.

Also, a side bumper 48 surrounding the outside of the end of the seedling take-out plate 37 is bent into an L shape and integrally connected to the base plate 44, and the middle of the front and rear extending portion of the side bumper 48 is connected to the outside end of the pipe frame 46. At the same time, a fulcrum bracket 49 is fixed between the left and right extending portions of the side bumper 48, and left and right sensor floats 50, 50 are placed adjacent to the outer side of the flattened floats 24, 24 on the outermost side of the planting section 15. The sensor float 50 is supported by the bracket 49 via the fulcrum shaft 51, and the rear part of the float 50 moves up and down due to changes in ground pressure, and the amount of vertical displacement is adjusted in conjunction with the up and down movement of the float 50. Potentiometer-type float sensors 52a, 52b for detection are attached to the bracket 50, and configured to convert the amount of vertical displacement of the left and right sensor floats 50, 50 into linear outputs of the left and right float sensors 52a, 52b. are doing.

Further, the lower end of a regulating link 55, which is a regulating tool, is connected to the rear upper surface of the sensor float 50 via a bracket 53 and a pin 54, and a guide pin 56 fixed to the pipe frame 46 is connected to the elongated hole 57 of the link 55. through the elongated hole 57.
The vertical stroke of the sensor float 50 is set depending on the length of the planting part 15 in plan view.
A sensor float 50 is disposed inward from the outermost side bumper 48, and is configured to move up and down within a certain range under the guidance of the regulation link 55.

Next, as shown in FIGS. 8 to 10, a hit plate 60 is connected to the rear ends of the top link 28 and the lower link 29 via pins 58 and 59, and upper and lower hit pins 61 and 62 are connected to the hit plate 60. The rolling fulcrum plate 63, which is a support frame, is removably locked through the fulcrum plate 63, and the rolling fulcrum shaft 6 is attached to the fulcrum plate 63.
4, the planting part 15 is supported so as to be swingable left and right about the fulcrum shaft 64, and the left and right sensors are symmetrically arranged about the fulcrum shaft 64. Floats 50, 50 are arranged.

A portal frame 65 is integrally connected to the upper end of the fulcrum plate 63, and a rolling cylinder 68, which is an actuator, is supported at the upper end of the frame 65 via a bracket 66 and a support shaft 67, and the planting section 15 is tilted in the left-right direction. The cylinder 6
8 is connected to the vicinity of the upper end of the fulcrum plate 63, and a support 69 is provided on the planting mechanism case 27 to support the seedling stand 16 via the guide rail 19. A piston rod 72 of the cylinder 68 is connected to the fulcrum plate 63 via a ball joint 71. In addition, a planting input shaft 74 is provided on the right side of the front surface of the planting transmission case 27, and a horizontal sensor 76 is provided on the left side thereof via a bracket 75. The horizontal sensor 76 detects the left and right inclination.
It is configured to be detected by

Furthermore, as shown in FIG. 11, compared to the planting depth adjustment amount A of the leveling floats 23 and 24 by operating the planting depth adjustment lever 41, the vertical displacement amount B of the sensor float 50 guided by the regulation link 55 is The vertical movement range of each of the floats 23, 24, and 50 is set so as to be large, and the sensor float 50 is configured to be able to perform a detection operation at the minimum or maximum planting depth position.

Furthermore, as shown in FIG.
The detection range D of the float sensors 52a and 52b is set smaller than the operating range C of the float sensors 2a and 52b,
Abnormal value detection and float sensors 52a, 52
In addition, as shown in FIG. 12, a work switch 77 that detects the lowering of the planting lift lever 33 and a planting operation, and a non-work switch 78 that detects the raising operation of the lever 33 are installed. In addition, the switches 77 and 78 are configured to detect the vertical movement of the planting section 15. As is clear from the above, in the device including the rolling cylinder 68 which is an actuator that supports the planting part 15 substantially horizontally with respect to the planting field surface, the planting part 15
A non-working switch 78 is provided, which is a sensor that detects when the planting part 15 rises to the non-planting position, and when the planting part 15 rises to the non-planting position, the cylinder 68 is operated at high speed to return it to the horizontal position relative to the plant. It consists of

Next, as shown in FIG.
A hydraulic pump 84 is connected to the cylinder 81 via a power steering valve 83 that is switched by a Pittman arm 82 that is linked to the cylinder 81, and
A lifting valve 85 and the power steering valve 8 are installed in the hydraulic cylinder 31 that lifts and lowers the planting section 15.
3, and the valves 83 and 85 are connected in series to the hydraulic pump 84 via a throttle valve 87 of a branch valve 86.

It also includes a rolling valve 90 having left and right tilting solenoids 88 and 89.
The double-acting rolling cylinder 68 is operated and controlled, and the rolling valve 90 is connected to the hydraulic pump 84 via the throttle valve 91 of the diverter valve 86, and a slow-acting circuit 93 and a short-circuit circuit 94 having a variable throttle valve 92 are connected. A speed change valve 95 is provided which connects the rolling valve 90 and the throttle valve 91 via one of the valves, and the operating speed of the rolling cylinder 68 is changed by switching the valve 95 having a speed change solenoid 96. Due to the pressure reducing action of the valve 91, high pressure oil from the hydraulic pump 84 is always applied to the variable speed valve 95 at a substantially constant pressure regardless of changes in the rotational speed of the engine 2, and the amount of horizontal tilt correction of the planting section 15 per unit time is adjusted. is kept substantially constant regardless of the engine 2 rotation speed, and the rolling cylinder 68 is always operable at the set speed even if the engine 2 rotation speed changes.

Furthermore, as shown in FIG. 13, a horizontal control circuit 97 configured with a microcomputer is provided, and the sensors 52a, 52b, 73, 76 and the solenoids 88, 89, 96 are controlled by the control circuit 97.
and an automatic lamp 98 that indicates the automatic control state by lighting, an abnormality alarm lamp 99 that warns of an abnormality detection state by lighting based on the output outside the detection range D of the float sensors 52a and 52b, and a fixed and Automatic and ridge mode terminal 10
0a, 100b, 100c, an automatic changeover switch 100 with upper left and upper right terminals 101a,
A manual switch 101 with 101b and low speed, medium speed and high speed terminals 102a, 102b, 102
a control speed changeover switch 102 that changes the duty ratio of the pulse that drives each solenoid 88, 89, and 96, and a slope that sets the reference slope of the planting section 15 with respect to the traveling vehicle 1 by operating the setting dial 103. Setting device 104 and float sensor 5
2a, 52b output and the output of the horizontal sensor 76, and a main clutch switch 106 that detects the "off" operation of the main clutch (not shown) in conjunction with the operation of the travel shift lever 32 or the travel clutch pedal 35. , each of the switches 77, 78, 100, 101, 102, 10
5, 106, the respective lamps 98, 99, and the setting device 104 are connected to the control circuit 97.

As shown in FIGS. 14 and 15, a float sensor 52 detects the inclination angle of the planting section 15 with respect to the operating range C of the float sensors 52a and 52b, which is equal to the vertical displacement amount B of the sensor float 50.
The detection range D of the float sensors 52a, 52b is set small, and the ridge mode adjustment range, which is the rotation angle E of the setting dial 103, is made to correspond to the rolling controllable range, which is the detection range.
52b output voltage range FG and slope setting device 104
In order to match the reference slope value output range H, the sensor 52a, 52b output and the setting device 104 output are configured to be obtained.

This embodiment is constructed as described above, and by performing the switching operation of the manual switch 101 as shown in the flowcharts of FIGS. 16 to 20, the switch 101 is raised to the left as shown in FIG. Or perform left-up or right-up control based on the right-up input, energize the left and right tilt solenoids 88 and 89 to switch the rolling valve 90, operate the rolling cylinder 68, and move the planting section around the rolling fulcrum shaft 64. 15 in the left and right direction,
After this state is maintained for a certain period of time, the manual control is released.

Further, when the manual switch 101 is not input, the automatic changeover switch 100 is located at the fixed mode terminal 100a, and the fixed mode is input, the reference slope value of the slope setting device 104 is set by operating the setting dial 103 as shown in FIG. At the same time, input the sensor 73 value for this machine, perform left-up or right-up control so that the sensor 73 value matches the reference inclination value, and move the planting section 1 at an inclination angle corresponding to the reference inclination value.
5 is fixedly supported.

On the other hand, when the automatic changeover switch 100 is switched to a position other than the fixed mode, the planting lift lever 3
19, the planting part 15 is raised and the non-working switch 78 is turned on, and the control speed is switched to high speed as shown in FIG.
6 is energized, the speed change valve 95 is switched, and the rolling valve 90 is connected to the hydraulic pump 84 via the short circuit 94, so that the planting part 15 becomes approximately horizontal with respect to the traveling vehicle 1 by the input of the machine sensor 73. The rolling cylinder 68 is activated to support the planting part 15 horizontally with respect to the machine before the planting part 15 completes its rise, and to prevent the planting part 15 from coming into contact with the rear fender part on the rear side of the vehicle body cover 12. is prevented.

Furthermore, by operating the lift lever 33, the planting section 1
By lowering the lever 33, the work switch 77 is turned on, and the control is suspended until a certain period of time has elapsed, and the lever 33 is kept on standby until the time required to switch from the lowered position to the planting position has elapsed. Prevents malfunctions at the beginning of control operations and prevents floating seedlings from occurring.

Then, when a certain period of time has elapsed since the planting part 15 has descended, the detection changeover switch 105 is operated to input an input from the horizontal sensor 76 to determine whether the horizontal inclination of the planting part 15 is within the control range based on the input from the machine sensor 73. If the planting part 15 is tilted more than the control range with respect to the machine, the abnormality warning lamp 99 is lit to notify the operator, while the inclination of the planting part 15 is within the control range. At this time, the operation of the rolling cylinder 68 is controlled based on the input from the horizontal sensor 76, and the planting part 15 is supported substantially horizontally with respect to the planting field surface by left-up control and right-up control, and this state is maintained until a certain period of time has elapsed. The rolling control based on the horizontal sensor 76 is repeatedly performed while maintaining the horizontal position.

Further, when the detection changeover switch 105 is operated to input from the float sensors 52a, 52b, it is checked whether the inputs of the left and right float sensors 52a, 52b are within the detection range D shown in FIGS. 10 and 14, and the detection is detected. When it is outside the range D, the abnormality alarm lamp 99 is lit and the sensor float 50, 50
Notify the operator of abnormal vertical movements. On the other hand, when the inputs of the sensors 52a and 52b are in the detection range D, it is checked whether the automatic changeover switch 100 is in the ridge mode. The main clutch switch 106 is turned on by the off operation and the horizontal control is stopped, and when the switch 106 is off and the main clutch is on, an input is received from the machine sensor 73. In addition, when in the ridge mode, the reference slope value by operating the setting dial 103 is input from the slope setting device 104, and the sensor 73 for this machine
The input horizontal point relative to the machine is corrected using the reference inclination value, and the machine sensor 7 determines the position where the planting section 15 is horizontal to the planting field surface regardless of the horizontal inclination of the traveling vehicle 1.
In addition to setting the position at the neutral position of the three inputs, the difference in the outputs of the left and right float sensors 52a and 52b is corrected using the reference slope value of the setting device 104, and the actual slope of the planting section 15 with respect to the planted field surface is calculated.

Then, based on the sensor 73 input for this machine or the sensor 73 input correction value, the left and right float sensors 52a,
52b determines whether the input is large or not, and when the planting part 15 is tilted significantly with respect to the planted field surface, the speed change solenoid 96 is excited by high-speed control speed switching, the speed change valve 95 is switched, and the short circuit 94 is activated. The hydraulic oil of the hydraulic pump 84 is applied to the rolling valve 90 via the hydraulic pump 84 to operate the rolling cylinder 68 at high speed.When the inclination of the planting section 15 with respect to the planted field surface is small, the rolling valve is activated by switching the control speed to a low speed. A variable speed valve 95 is connected to 90 via a slow-acting circuit 93, and the rolling cylinder 68 is operated at a low speed.

Also, based on the output difference between the left and right float sensors 52a and 52b, the horizontal inclination angle of the planting section 15 with respect to the planted field surface is calculated, and after determining whether the planting section 15 is tilted to the left or right, the rolling cylinder 68 is operated at the set speed. It performs left-up and right-up control to eliminate the output difference between the sensors 52a and 52b, and supports the planting section 15 approximately horizontally with respect to the planted field surface, and in the ridge mode, the reference of the slope setting device 104 The inclination angle of the planting section 15 is calculated based on the difference in output between the left and right float sensors 52a and 52b, centering on the inclination value, and the difference in output between the sensors 52a and 52b is made to match the reference inclination value of the setter 104. Said cylinder 6
8 performs rolling control.

In addition, in the above rolling control, the control is interrupted by operating the manual switch 101, and at the same time, rolling control is stopped by operating the raising/lowering lever 33 to raise the planting part 15, and the rolling control in the ridge mode is This is done regardless of the clutch release operation of the lever 32 and clutch pedal 35, and for example, it is possible to temporarily interrupt rice planting work at the edge of a ridge and operate the slope setting device 104 necessary for the ridge edge mode.

Furthermore, FIGS. 21 to 23 show another embodiment, in which a rolling motor 107 as an actuator is provided in place of the rolling cylinder 68, and the motor 107 is mounted in a gear case 110 in which a worm 108 and a worm gear 109 are pivotally supported.
The gear case 110 is fixed via a stay 112 to the planting pipe 111 that integrally connects the planting case 20 and the planting transmission case 27, and one end of the drive arm 114 is attached to the shaft 113 of the worm gear 109. are connected and fixed, and the motor 107 is rotated forward and reverse to connect each gear 108, 10.
The drive arm 114 is configured to swing through the drive arm 9.

Also, the connecting plate 11 is connected to the rolling fulcrum plate 63.
5, one end of the swing arm 116 is integrally connected to the elongated hole 117 of the drive arm 114.
A guide roll 118 that is slidably fitted into the swing arm 117 is provided at the other end of the swing arm 117, and works in conjunction with the drive arm 114 to move the swing arm 116.
The planting section 15 is configured to be tilted and driven in the left-right direction about the rolling fulcrum shaft 64.

Then, as shown in Fig. 23, the forward rotation and reverse rotation circuit 11
The output of the rolling motor 107 is connected to the horizontal control circuit 97 through the terminals 9 and 120, and instead of the speed change solenoid 96 in the above embodiment,
A variable speed relay 121 for switching the power supply voltage of the motor 107 is connected to the control circuit 97, and the rolling motor 107 is rotated at high or low speed under the control of the relay 121 to switch the rolling control speed of the planting section 15. Similar to the rolling cylinder 68 and the speed change solenoid 96 of the above embodiment, the rolling motor 1
07 and the speed change relay 121 to perform rolling control to keep the planting section 15 horizontal with respect to the traveling vehicle 1 or the planting field.

"Effects of the Invention" As is clear from the above embodiments, the present invention provides an apparatus equipped with actuators 68, 107 that support the planting part 15 substantially horizontally with respect to the planted field surface. A sensor 78 is provided to detect when the planting part 15 rises to the non-planting position, and the actuators 68, 107 are operated at high speed when the planting part 15 rises to the non-planting position to return the plant to the horizontal position. Since the part 15 quickly changes its attitude when ascending to the non-planting position and supports the machine horizontally, the balance of the machine can be more easily stabilized than before, and the inclination of the planting part 15 can be easily stabilized. It also eliminates problems such as the lower side interfering with the machine or the ridges, making it safer to turn on the headland and move between fields than before, making it extremely functional and easy to handle. This has practical effects such as the ability to

[Brief explanation of drawings]

FIG. 1 is a hydraulic circuit diagram showing an embodiment of the present invention;
Figure 2 is a side view of the whole, Figure 3 is a plan view of the same, Figure 4
The figure is a side view of the planting section, Figure 5 is a plan view of the planting section,
Fig. 6 is a side view of the sensor float section, Fig. 7 is a plan view thereof, Fig. 8 is a side view of the rolling cylinder section, Fig. 9 is a front view thereof, Fig. 10 is a partial view thereof, and Fig. 11 is a side view of the sensor float section. An explanatory diagram of the operation of the sensor float, Fig. 12 is an explanatory diagram of the planting lift lever, Fig. 13 is a rolling cylinder control circuit diagram, Figs. 14 and 15 are output diagrams, and Figs. 16 to 20 are flow charts. 21 is a front view of a rolling motor section showing another embodiment, FIG. 22 is a plan view thereof, and FIG. 23 is a rolling motor control circuit diagram. 15... Planting part, 68... Rolling cylinder (actuator), 107... Rolling motor (actuator).

Claims (1)

[Scope of utility model registration request] In a device equipped with actuators 68 and 107 that support the planting section 15 substantially horizontally with respect to the planted field surface, a sensor 78 is provided to detect when the planting section 15 rises to a non-planting position. A rolling control device for a rice transplanter, characterized in that the actuators 68, 107 are operated at high speed when the non-planting position of the rice transplanter is raised to return them to a horizontal position relative to the rice transplanter.