JPH0513131Y2 - - Google Patents

Description

[Detailed explanation of the invention] "Industrial application field" This invention supports the planting part in a movable manner up and down via a three-point link mechanism at the rear of the traveling machine, and supports the planting part from the seedling stand during planting work. The present invention relates to a rice transplanter that takes out seedlings using a planting claw and plants them one after another.

``Prior art'' There are methods for controlling the inclination of the planting section based on the inclination of the machine (for example, Japanese Patent Laid-Open No. 61-216606), and methods that control the inclination of the planting section based on the longitudinal inclination of the machine. Means for controlling the attitude and sensitivity of the planting section with reference to this machine are already known, such as means for controlling the planting sensitivity of the plant.

``Problem that the invention aims to solve'' However, during rice planting work, the relative positional relationship between the machine side and the planting section changes every moment due to changes in the depth of the tiller, etc. When controlling planting sensitivity based on the longitudinal inclination of the machine side, the sensitivity to the field surface, which is the original control standard, changes, and the sensitivity cannot be adjusted appropriately depending on the field surface. It was hot.

"Means for Solving Problems" Therefore, the present invention includes a planting attitude sensor that detects the relative position change state between the main unit side and the three-point linkage mechanism side, and also improves the planting sensitivity of the planting section. The posture sensor is interlocked and connected to a planting sensitivity adjustment element that adjusts the planting sensitivity, and the planting sensitivity is automatically adjusted to an appropriate planting sensitivity based on the detected value of the posture sensor.

"Function" According to the present invention, when the planting posture of the planting section changes due to the inclination of the machine side, and the planting sensitivity of the float sensor to the planting field surface also changes, the attitude sensor Based on the detection, the sensitivity adjustment element is adjusted so that the relative positional relationship of the float sensor to the planted field remains almost constant without changing, and the change in sensitivity is corrected. Work can always be done with stable planting accuracy, unaffected by side inclination.

"Embodiments" Examples of the present invention will be described below in detail based on the drawings. Figure 1 is a side view of the planting section, Figure 2 is a side view of a regular rice transplanter, and Figure 3 is a plan view of the machine. The rear end of the vehicle body frame 3 on which the engine 2 is mounted is connected to the transmission case 4, and the transmission case 4
A front wheel 6 for running 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 7 is connected to both sides of the rear part of the transmission case 4. Support the wheel 8. 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 is supported by the planting case 20 via the rails 18 and guide rails 19 so as to be slidable back and forth from side to side, and is moved to the planting case 20 via a planting arm 21 and a planting claw drive shaft 22 which are moved by a crank. Attach claw 17. And said planting case 2
Center and left and right floats 2 for leveling planting below 0
3, 24, 24 are supported by the planting case 20 via the planting depth adjustment link 25, and a link hitch 27 is provided on the front side of the planting case 20 via the rolling fulcrum shaft 26, and the top link 28 and the lower This planting section 15 is connected to the rear side of the traveling vehicle 1 via a three-point link mechanism 30 including a link 29 and a link hitch 27, and a hydraulic cylinder 31 for raising and lowering the planting section 15 is connected to the transmission case 4.
It is interposed between the rear part and the top link 28, and the planting part 15 is raised and lowered by the expansion and contraction operation of the hydraulic cylinder 31, while the planting part 15 is lowered to land each float 23, 24, and the planting part 15 is lowered to land on the floats 23 and 24, and the planting part 15 is lowered to the left and right. It is configured so that one seedling is taken out one by one by a planting claw 17 from a seedling table 16 that is moved back and forth and planted.

Further, in the figure, numeral 32 is a travel speed change lever, 33 is a planting lift lever, 34 is an interplant speed change lever, 35 is a travel clutch pedal, and 36, 36 are left and right brake pedals.

A pitching fulcrum shaft 37 that supports the front part of the central float 23 in a vertically swingable manner is provided on a bracket 38 on the rear upper surface of the float 23, and a planting depth adjustment fulcrum shaft 39 is rotatably supported in the planting case 20. Then, the base end of the 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 pitching fulcrum shaft 37.

Further, the middle of the output link 42 is rotatably supported on the support shaft 41 of the planting case 20, and the detection arm 4 is connected to the rear end of the output link 42 via a coupling link 43.
The four tips of the detection arm 44 are connected, and the base end of the detection arm 44 is fixed to the fulcrum shaft 39, and the planting depth adjustment wire 45 is connected to the tip of the output link 42. Further, an outer receiving arm 4 detects a change in the support angle of the float 23 due to vertical swinging of the front end side of the central float 23 about the pitching fulcrum shaft 37.
6, the outer receiving arm 46 is provided on the front upper surface of the float 23 via a bracket 47 and a pin 48, and the outer receiving arm 46 is provided with a long hole 4.
9 and a pin 50, and one end of an outer wire 51 into which the adjustment wire 45 is inserted is fixed to the outer receiving arm 46.

Furthermore, a hydraulic switching valve 52 for supplying hydraulic pressure to the hydraulic cylinder 31 as appropriate is provided, and a lowering spring 54 is provided for protruding a spool 53 of the valve 52, and at one end of a switching cam 55 whose intermediate portion contacts the spool 53. The planting depth adjustment wire 45 is connected, the other end of the cam 55 is pivotally supported on a fixed support shaft 55a on the body side, and a lowering operation spring 56 for separating the switching cam 55 from the spool 53 is attached to the cam 55. While connected to the other end, a base end of a sensitivity adjustment lever 58 is pivotally supported inside the vehicle body cover 12 in which the switching valve 52 and the like are installed via a support shaft 57, and a connector 59 and a rotating screw are connected to the tip of the lever 58. axis 60
An adjustment motor 62, which is a sensitivity adjustment element, is attached to the fixed mounting plate 61 via the mount plate 61. The front part of the float 23 is raised and lowered to adjust the sensitivity to the planting field surface, and when the float 23 moves up and down due to changes in ground pressure for the float 23, the hydraulic switching valve 52 is switched via the wire 45 and the switching cam 55. The planting section 15 is raised and lowered to keep the seedling planting depth by the planting claws 17 substantially constant.

By the way, the support shaft 57 is equipped with a potentiometer-type sensitive position sensor 63, and the adjustment motor 6
The sensor 63 is provided to detect the sensitivity adjustment position according to No. 2.

In addition, the machine frame 6 constituting the traveling vehicle 1
4 and the top link 28 are equipped with a main machine tilt sensor 65 and a planting tilt sensor 66, which are planting attitude sensors that detect the respective longitudinal inclinations. It is configured to detect the relative angle with the link 28, that is, with the planting part 15, and to sense the state of change in the relative positional relationship.

FIG. 4 shows a control circuit for the adjustment motor 62, and the sensors 63, 65, 66, a reference sensitivity setter 67 for setting the reference sensitivity, and a reference sensitivity setter 67 that is turned on in conjunction with the travel clutch pedal 35 when it is in the on state. A sensitivity control circuit 69 including a travel switch 68 is provided, and the circuit 69 is connected to the adjustment motor 62 via a drive circuit 70, and the circuit 69 is connected to an alarm buzzer 71 which is an alarm device.

The present embodiment is constructed as described above, and its operation will be explained below with reference to the flowchart of FIG.

Now, when the travel clutch pedal 35 is operated and the travel switch 68 is turned on, the reference sensitivity setting value, the sensor values of this machine and the planting slope sensors 65 and 66, and the sensor value of the sensitivity position sensor 63 are transmitted to the control circuit 68. When the inclination sensor 65 detects that the longitudinal inclination of the traveling vehicle 1 is within a certain inclination, the alarm buzzer 70 is activated to notify that the float 23 is unable to travel due to sinking in the field or that the planting accuracy cannot be controlled. .

Also, during normal planting work, the hydraulic cylinder 31 is expanded and contracted via the switching valve 52 based on changes in the ground pressure of the float 23 to raise and lower the planting section 15, thereby constantly maintaining the planting depth at a constant level. Under depth control,
The traveling vehicle 1 heads up in the forward direction, and the traveling vehicle 1
When the relative angle between the planting part 15 and the planting part 15 decreases in proportion to the amount of head increase, the motor 62 is driven forward or backward depending on the amount of decrease, and the lever 58 is
Adjust the sensitivity to the sensitive side. In other words, running car 1
When the relative angle between the plant and the planting part 15 decreases, the reference sensitivity setting value is corrected to the sensitive side according to the amount of reduction (for example, if the traveling vehicle 1 increases the head by 2 degrees, the reference sensitivity is made to be more sensitive by that amount). At the same time, the motor 62 is driven forward or backward by this correction amount to adjust the sensitivity of the float 23 to the planting field surface in a direction that makes it more sensitive, thereby maintaining the float 23 at an appropriate sensitivity. As a result, as the traveling vehicle 1 increases its head, the planting section 15 also assumes a head-up posture, and the sensitivity of the float 23 becomes insensitive, and the mud pushing by the floats 23 and 24 is large, making it difficult to control the planting depth. When the depth tends to increase,
By correcting the sensitivity to the more sensitive side, only the front end of the float 23 is adjusted downward to the forward downward position and held approximately horizontally, thereby eliminating the various inconveniences caused by the head drop as described above. be.

On the other hand, under normal planting depth control, the traveling vehicle 1 descends forward, and the relative angle between the traveling vehicle 1 and the planting section 15 increases in approximately proportion to the amount of forward descent. According to the amount of expansion, the motor 62
is driven in reverse or forward direction to adjust the sensitivity of the lever 58 to the insensitive side, thereby correcting the sensitivity tendency of the float 23 due to the forward downward posture of the planting section 15 to an appropriate sensitivity.

In addition, in the above-mentioned embodiment, a configuration was shown in which the relative angles are detected by two main units and planting inclination sensors 65 and 66, but a configuration in which these relative angles are detected by a single angle sensor etc. is also possible. .

"Effects of the Invention" As is clear from the above embodiments, the present invention provides a structure in which the planting section 15 is supported in a movable manner up and down via the three-point link mechanism 30 at the rear of the traveling main machine 1. and the three-point link mechanism 30 side, and the planting sensitivity adjustment element 62 that adjusts the planting sensitivity of the planting section 15 is equipped with the planting attitude sensors 65, 66. The method automatically adjusts the corrected planting sensitivity based on the detected value of the attitude sensor.
It is possible to obtain accurate planting sensitivity based on the planting field surface without being affected by the longitudinal inclination of the machine 1 side, and it is possible to always maintain stable control of the planting depth, improving planting performance. It has remarkable effects such as improving driving performance.

[Brief explanation of drawings]

Figure 1 is an explanatory side view of the planting section, Figure 2 is an overall side view, Figure 3 is a plan view of the same, Figure 4 is a control circuit diagram,
FIG. 5 is the same flowchart. 1... This machine, 15... Planting section, 30... Three-point link mechanism, 62... Planting sensitivity adjustment element, 65, 6
6...Attitude sensor.

Claims (1)

[Scope of utility model registration request] A structure in which a planting part is supported in a vertically movable manner via a three-point link mechanism at the rear of the traveling main unit, and a planting position sensor is provided to detect a relative position change state between the main unit side and the three-point link mechanism side, and The posture sensor is interlocked and connected to a planting sensitivity adjustment element that adjusts the planting sensitivity of the planting section, and the planting sensitivity is automatically adjusted to an appropriate planting sensitivity based on the detected value of the posture sensor. Planting control device for rice transplanter.