JPH0520515U - Attitude control device for planting section of passenger rice transplanter - Google Patents

Abstract

(57) [Abstract] [Purpose] To provide a riding rice transplanter capable of reliably planting seedlings even in a field where the unevenness of the cultivator changes drastically. [Structure] The planting part 2 is connected to the rear of the traveling part 1 so as to be able to move up and down by an elevating link mechanism 3, and a sensor float 41 for detecting the unevenness of the cultivator is attached to the planting part 2. Lifting link mechanism 3 based on the detection result
In the riding rice transplanter in which the planting part 2 is moved up and down through the control part C to keep the planting depth of the planting part 2 constant, the planting part 2 is connected to the elevating link mechanism 3 so that it can be rolled in the left-right direction. Then, the rolling frequency detection sensor S8 for detecting the left-right rolling frequency is attached to the planting section 2, and the forward / backward inclination correcting means 60 for correcting the forward / backward inclination of the planting section 2 is provided in the lifting link mechanism 3 to detect the rolling frequency. Based on the detection result of the sensor S8, the front-back inclination posture of the planting section 2 can be corrected by the front-back inclination correction means 60 via the control section C.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to a posture control device for a planting part of a riding rice transplanter.

[0002]

[Prior Art]

 In the past, as a form of riding rice transplanter, the planting section was connected to the rear of the running section so that it could be raised and lowered by an elevating link mechanism, and a sensor float was installed on the planting section to detect changes in the unevenness of the tiller. There is a system in which the lifting link mechanism can be moved up and down via the control unit based on the detection result of the sensor float to maintain the planting depth of the planting unit constant.

[0003]

[Problems to be solved by the device]

 However, with the above-mentioned riding rice transplanters, when planting seedlings in a field where the unevenness of the cultivator is gentle, the planting performance is excellent, but the unevenness of the cultivator changes. When seedlings are planted in a field with severe vegetation, the sensor floats detect the unevenness of the tiller sensitively, and the planting section is frequently controlled to move up and down. There was a problem that floating seedlings occurred due to an error in the change and the planting depth of the planting part.

[0004]

[Means for Solving the Problems]

 Therefore, in the present invention, the planting part is connected to the rear part of the traveling part so as to be able to move up and down by the elevating link mechanism, and a sensor float for detecting the unevenness of the cultivator is attached to the planting part. Based on the elevator link mechanism, the elevator is moved up and down through the control unit to keep the planting depth of the planting section constant.In the elevator link mechanism, the planting section can be freely rolled horizontally. In addition to installing a rolling frequency detection sensor that detects the left and right rolling frequency at the planting part, the elevating link mechanism is equipped with a front-back inclination correction means that corrects the front-back inclination of the planting part. Based on the detection result, we proposed a planting part posture control device for riding rice transplanters, characterized in that the front and back inclination posture of the planting part can be corrected by the front and back inclination correcting means via the control part. One in which cents to.

[0005]

[Action]

 When planting seedlings, the planting section is pulled while the traveling section is running in the field, and the planting section is planted by the planting section.

[0006] At this time, when the cultivator has unevenness, the planting part along with the traveling part is tilted in the front-rear direction and the planting part is tilted in the left-right direction. The horizontal rolling frequency of the planting part is detected by the digit rolling frequency detection sensor, and if this frequency is larger than the preset value (the reference value for judging that the unevenness of the tiller is severe), The angle of the sensor float attached to the planting part is increased by controlling the posture of the planting part so that the front and back are tilted by the front and rear tilt correction means via the control part. By controlling the sensitivity of the sensor float to be insensitive, it is possible to prevent the planting part from being unnecessarily moved up and down, and prevent floating seedlings from occurring.

When the rolling frequency of the planting section is smaller than a preset value, the sensitivity of the sensor float is kept good without controlling the posture of the planting section, so that the unevenness of the cultivator is reduced. The planting part can be controlled to move up and down according to the change, and the planting depth of seedlings by the planting part can be kept constant.

[0008]

【Example】

 Hereinafter, embodiments of the present invention will be described with reference to the drawings.

A shown in FIG. 1 is a riding rice transplanter, and the riding rice transplanter A connects a planting portion 2 to the rear of a traveling portion 1 capable of self-propelling via an elevating link mechanism 3, The planting section 2 can be moved up and down by a lifting hydraulic cylinder 4.

Moreover, the riding rice transplanter A is provided with the planting part posture control device M according to the present invention, and the control device M includes the front and rear inclination correction means 60, the left and right rolling inclination correction means 120 and the rolling operation. It is composed of a frequency detection sensor S8 so that the planting depth of the seedlings by the planting section 2 can be kept constant. The correction means 60, 120 and the rolling frequency detection sensor S8 will be described later. To do.

First, the traveling unit 1 will be described with reference to FIGS. 1 and 2.

As shown in FIGS. 1 and 2, the traveling unit 1 is provided with an engine 11 on a front portion of a body frame 10 and an operating unit 12 on a rear portion thereof.

A mission case 13 is attached to the engine 11 at the lower rear side of the body frame 10 so as to be linked to the engine 11.

Further, right and left lateral axle cases 15 and 15 are provided on the lower front side of the machine body frame 10 toward the left and right sides, respectively, and front wheels 16 and 16 are attached to the tips of the case 15 and 15, respectively. Attached. Reference numeral 19 denotes a transmission shaft that links the front axle case 15 and the mission case 13 together.

A rear axle case 17 is attached to the rear portion of the body frame 10 in an interlocking manner with the mission case 13, and rear wheels 18 and 18 are attached to the left and right side surfaces of the case 17, respectively.

Reference numeral 20 denotes a floor that also serves as a floor surface, a speed change guide, a fender, a seat mounting plate 20a, etc., and is integrally molded with a synthetic resin having a high rigidity such as FRP and the like. It is stretched over.

Reference numeral 21 denotes a bonnet, which covers the engine 11 and a steering shaft 23 of the operation unit 2 which will be described later.

Further, in the above-mentioned driving unit 12, the steering shaft 23 is erected immediately after the engine 11 and the handle 24 is attached to the upper end of the shaft 23, while the seat mounting plate 20a located immediately behind the handle 24 is installed. Seat 25 is placed on the top.

Further, at the rear of the upper surface of the floor 20, a control section C which constitutes a part of the planting section posture control device M is attached.

Further, 30 is a shift lever arranged on the left side of the seat 25, 31 is an auxiliary shift lever projecting upward from the left side surface of the hood 21, and 32 is arranged on the right side of the seat 25. An elevating lever for the planting section, 33 is a clutch pedal arranged 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.

Further, as shown in FIGS. 3 and 4, the lifting link mechanism 3 pivots the front end of the top link 51 and the front ends of the left and right lower links 45, 45 on the upper and lower sides of the rear portion of the machine body frame 10, respectively. It is rotatably supported vertically by 51a and 45a, and a lift link mechanism side hitch portion 61 is provided between the rear end of the top link 51 and the rear ends of the left and right lower links 45 and 45. Is detachably connected to a planting side hitch portion 49 which is erected on the front side of the planting portion 2.

At the front ends of the left and right lower links 45, 45, left and right raising and lowering arms 46, 46 are erected in a standing manner, respectively, and the space between the upper ends of both arms 46, 46 and the midway portion of the body frame 10 is set. A lifting hydraulic cylinder 4 is provided therebetween, and connecting rods 48, 48 are provided between the upper ends of both arms 46, 46 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 and 51d that form a mounting base portion 51b for the traveling unit 1, front-rear inclination correction means 60, and a lifting link mechanism side. The link main body 52a, which is the attachment part to the hitch part 61, and the link main body 52a are arranged continuously from the front in the above order, and the substantially plate-shaped left and right link members 51C and 51d are held at a predetermined interval in the front-back direction. The front end of these is rotatably attached to a horizontal pivot 51a in the upper rear part of the traveling unit 1, and the rear end of the same extends over the left and right sides of the front-rear inclination correcting means 60. The link body 52a is pivotally attached to the front ends of the 60a and 60b, and the front end of the link body 52a is connected to the center of the rear surface of the front-rear inclination correcting means 60.

The forward / backward inclination correcting means 60 attaches the expansion / contraction driving motor 52c to the above-mentioned overhanging portions 60a, 60b, fixes the expansion / contraction screw 52b to the output shaft of the motor 52c, and attaches the expansion / contraction screw 52b to the front end of the link body 52a. The top link 51 is screwed, and the top link 51 is expanded and contracted by the forward and reverse rotations of the expansion and contraction screw 52b.

52d and 52e are detection switches for detecting the expansion and contraction limit of the expansion and contraction screw 52b to stop the drive of the expansion and contraction drive motor 52c, 52f is a detection rod for contacting the switches 52d and 52e, and 52g is A bellows-like cover, 52h is a potentiometer for detecting the expansion / contraction position of the front-back inclination correcting means 60, S3 is an elevation position switch, and S4 is a leaf spring.

Reference numeral p denotes a spring pin inserted into the rear end of the expansion screw 52b. If the detection switches 52d, 52e or the detection rod 52f should fail, the expansion drive motor 52c will rotate excessively in the extension direction. However, the pin p can prevent the expansion screw 52b from coming off from the front end portion of the link body 52a.

The lifting link mechanism side hitch portion 61 is provided with a U-shaped locking rod receiving portion 61b at the upper end of the hitch body 61a, and locking pieces 61c, 61c are attached to the lower left and right sides of the hitch body 61a. There is.

The planting side hitch part 49 has a locking rod 49b horizontally mounted on an upper part of a rear view portal type hitch body 49a, and locking pins 49c, 49c respectively on lower left and right sides of the hitch body 49a. The locking pins 49c, 49c can be locked to the locking pieces 61c, 61c by projecting laterally outward.

Further, the operation of the lifting hydraulic cylinder 4 is controlled by a hydraulic control valve 69 shown in FIG. 6, and the control valve 69 detects a variation in height difference between the planting part 2 and the float 41. It is controlled by sensor S.

That is, the same sensor S has a lower end of a sliding rod 71 in which a pivotal support portion 41b is projected on the front upper surface of the float 41 and an elongated hole 70 is formed in the pivotal support portion 41b. A guide pin 72 protruding from the front of the planted mission case 40 is movably inserted into the hole 70, and the outer end of the wire 74 connected to the spool 73 of the hydraulic control valve 69 is guided to the upper end of the sliding rod 71. The inner 75 of the wire 74 is connected to the pin 72, and the expansion and contraction of the wire 74 due to the vertical movement of the float 41 is transmitted to the spool 73 of the hydraulic control valve 69 to operate the lifting hydraulic cylinder 4. ing.

Further, the hydraulic control valve 69 is a five-position control valve, which blocks the ascending / descending hydraulic cylinder 4 side at the central neutral position 76 and blocks the hydraulic pump P and the ascending / descending hydraulic pressure at the left side position 77 with a choke 78 interposed. The cylinder 4 is connected, and the hydraulic pump P and the lifting hydraulic cylinder 4 are directly connected at the left position 79, and the lifting hydraulic cylinder 4 and the reservoir 82 are connected at the right position 80 of the neutral position 76 with a choke 81 interposed. Further, at the right outer position 83, the lifting hydraulic cylinder 4 and the reservoir 82 are directly connected.

Therefore, when the position of the planting portion 2 is low and the hydraulic control valve 69 side of the inner 75 of the wire 74 is pulled in, the spool 73 is moved to the left to retract the lifting hydraulic cylinder 4 and plant it. When the position of the planting part 2 is high and the hydraulic control valve 69 side of the inner 75 of the wire 74 is pulled out, the spool 73 is moved to the right and the lifting hydraulic cylinder 4 is extended. The planting section 2 is lowered so that the planting section 2 is supported at a constant height and the planting depth of the seedlings is kept constant.

Further, at the central neutral position 76, the lifting hydraulic cylinder 4 side is blocked, and at the left side position, the hydraulic pump P and the lifting hydraulic cylinder 4 are connected with the choke 78 interposed, and at the left side position 79, directly. The hydraulic pump P and the lifting hydraulic cylinder 4 are connected, the lifting hydraulic cylinder 4 and the reservoir 82 are connected via a choke 81 at the right side 80 of the neutral position 76, and the lifting hydraulic cylinder is directly connected at the right outer side thereof. If the absolute value of the deviation from the set value of the height difference between the planting part 2 and the float 41 adapted to the optimum planting depth is small due to the connection of the dam 4 and the reservoir 82, the planting part 2 is moved up and down at a low speed, and when the absolute value of the deviation is large, the planting part 2 is moved up and down at a high speed so that a stepwise proportional operation is performed.

As shown in FIG. 3, the tilt sensor S1 forming a part of the front-back tilt correction means 60 is provided with a census sensor on the left side of the lifting link mechanism side hitch part 61 that tilts integrally with the planting part 2. It is attached via the tee 61r to detect the angle of the front-back inclination of the planting part 2 (upward inclination or downward inclination). 61s is a connection wiring connecting the inclination sensor S1 and the control unit C.

As shown in FIG. 6, the front-back inclination correction means 60 is composed of the extension / contraction drive motor 52c, the inclination sensor S1, and the control section C, and the traveling section 1 detected by the inclination sensor S1. The value of the front-back inclination of the planting section 2 is input to the control section C, and the output from the control section C based on the detected value activates the extension / contraction drive motor 52c to extend / contract the top link 51. The posture of the plant with respect to the planting surface is kept constant.

With the above configuration, the tilt sensor S1 detects the tilt of the planting part 2 in the front-rear direction, and the control unit C causes the top link 51 to expand and contract based on the detection result. The slope is properly corrected and accurate seedling planting work is performed.

As shown in FIGS. 1 and 7, the left and right rolling inclining means 120 is connected to the hitch main body 49a of the planting side hitch part 49 via the pivot shaft 65 so as to be able to roll in the left and right directions, and the hitch main body 49a. The left and right rolling restriction springs 92, 92 are provided between the central vertical frame 90 integrally connected to the upper end of the 49a and the seedling mounting columns 91, 91 that support the left and right sides of the seedling mounting table 42, and the hitch body is provided. A horizontal feed screw shaft 94 is installed inside the upper fixed box 93 of 49a, and a rolling motor 95, which is a horizontal level adjusting member, is interlockingly connected to the screw shaft 94, and a fixed plate is attached to a moving body 96 that is coupled to the screw shaft 94. A spring pressure adjusting plate 98 is attached via 97, and a regulating spring 92 is tensioned between the adjusting plate 98 and the upper mounting bracket 99 of the seedling mounting post 91 so that the spring pressure can be adjusted. While controlling the rolling that occurs due to left and right lateral feed, when tilting the planting part 2 left and right Serial are by Uni configured achieve horizontal maintenance planting unit 2 by controlling a rolling motor 95 to imbalance the spring force of the regulating spring 92, 92 of the forward and reverse drive and the right and left.

In addition, 100 is an auxiliary spring for rolling control that is stretched between the left and right sides of the box 93 and the seedling table 42, and S5 is a horizontal spring for detecting rolling provided in the central upper position of the planted mission case 40. Sensors, 101 and 102 are left and right prohibition switches for stopping horizontal control which are fixedly supported in the box 93 so that their positions can be adjusted, and 103 is a left and right prohibition operation piece that is fixedly mounted on the rear surface of the seedling placing table 42. The rolling motor 95 is operated to horizontally control the planting section 2, and at the left and right moving ends of the seedling placing table 42, either one of the switches 101 and 102 is alternately operated by the operation piece 103 so that any one of the switches 101 and 102 is operated. The horizontal control operation of the rolling motor 95 is prohibited for a certain period of time by the operation of, and the planting part 2 temporarily tilts in the direction opposite to the folding back direction due to the inertial force when the seedling placing table 42 is folded back and forth. Be output by detecting the horizontal sensor S5, it is configured to prevent erroneous control by preventing operation of the rolling motor 95.

Further, the rotation support shaft 23 is arranged so that the center of gravity 106 of the horizontal control drive unit 105 including the box 93 and the motor 95 is balanced with the drive reaction force of the planting input shaft 107 of the planting mission case 40. It is configured to offset a fixed distance 108 from the planting part 2 so as to maintain a good left-right balance of the planting part 2.

Further, as shown in FIG. 1, a stroke sensor S6 for detecting the lateral movement amount of the seedling placing table 42, and a planting sensor S7 for detecting the engagement of the planting clutch for driving and controlling the planting section 2. The horizontal sensor S5, the dead zone setting device 111 for initially setting the dead zone of the horizontal sensor S5, and the left and right prohibition switches 101 and 102 are connected to the control unit C, respectively.

The rolling motor 95 is connected to the control unit C via the left and right tilting circuits 112 and 113.

Then, the horizontal sensor S5 detects the lateral inclination of the planting section 2, the left and right prohibition switches 101 and 102 detect the lateral movement and return movement of the seedling placing table 42, and the stroke sensor S6 detects the lateral movement of the seedling placing table 42. The planting sensor S7 detects the engagement of the planting clutch, and the rolling motor 95 is operated normally or reversely based on each detected value, and the horizontal control of the planting section 2 is automatically performed. ing.

In the above-mentioned configuration, the gist of the present invention is to install the rolling frequency detection sensor S8 for detecting the left and right rolling frequency in the planting section 2, and to detect the planting section 2 based on the detection result of the sensor S8. This is because the front-back inclination posture can be corrected by the front-back inclination correction means 60 via the control unit C, which will be described below.

That is, the rolling frequency detection sensor S8 is attached to the front upper wall of the planted mission case 40 to count the number of rolling of the planting unit 2 in the left-right direction. The sensor S8 controls the control unit. The detection result is input to the control unit C by connecting to the input side of C.

Then, in the control section C, a reference value for judging that the unevenness of the cultivator is largely changed is set and programmed in advance, and the set value and the rolling frequency detection sensor S8 detect the set value. If the detected value is larger than the set value, the posture of the planting unit 2 is controlled by the front-back inclination correction means 60 via the control unit C so that the front-high front-low rear inclination posture is achieved. I am trying.

In this way, by increasing the angle of inclination of the sensor float 41 attached to the planting part 2 and controlling the sensitivity of the sensor float 41 to be insensitive, the planting part 2 becomes unnecessary. It is possible to prevent floating seedlings from occurring by preventing the vertical movement of the seedlings.

When the value detected by the rolling frequency detection sensor S8 is smaller than the set value, the sensitivity of the sensor float 41 is kept good without performing the posture control of the planting section 2 as described above. Thus, the planting section 2 is controlled to move up and down according to the unevenness of the cultivator so that the planting depth of the seedlings by the planting section 2 can be kept constant.

In the posture control of the planting section 2 described above, when the value detected by the rolling frequency detection sensor S8 is smaller than the set value, the elevation angle from the water surface of the field of the seedling mounting table 42 is, for example, The posture of the planting section 2 is controlled to be 55 degrees, and when the detected value is larger than the set value, the elevation angle of the seedling mounting table 42 from the water surface of the field is, for example, 55 degrees + 5 degrees, That is, by controlling the posture of the planting section 2 so as to be at 60 degrees, the seedling mat placed on the seedling placing table 42 is placed normally without causing any bending and the like. The planting work can be done well.

[0049]

【effect】

 According to the present invention, the following effects can be obtained.

That is, in the present invention, the severity of the unevenness of the cultivator is judged on the basis of the rolling frequency of the left and right of the planting part, and the sensitivity of the sensor float attached to the planting part is adjusted to adjust the planting. It is possible to prevent unnecessary raising and lowering control of the attached part, prevent the occurrence of floating seedlings, and improve the planting accuracy.

[Brief description of drawings]

FIG. 1 is a side view of a riding rice transplanter equipped with a planting part posture control device according to the present invention.

[FIG. 2] A plan view of the same planter.

FIG. 3 is a side view of a lifting link mechanism and a front-back inclination correcting means.

FIG. 4 is a plan view of a lifting link mechanism and a front-back inclination correcting means.

FIG. 5 is a hydraulic circuit diagram for controlling a lifting link mechanism.

FIG. 6 is a block diagram of a planting part posture control device.

FIG. 7 is a front explanatory view of the left and right rolling inclination correcting means.

FIG. 8 is a side view for explaining the left and right rolling inclination correcting means.

[Explanation of symbols]

 A Passenger rice transplanter C Control unit M Planting unit Attitude control device 1 Running unit 2 Planting unit 3 Lifting link mechanism 51 Top link

Claims (1)

[Scope of utility model registration request] 1. A plant float 2 is connected to a rear part of a traveling unit 1 by a lifting link mechanism 3 so as to be able to move up and down, and a sensor float 41 for detecting a change in the unevenness of a cultivator is attached to the plant float 2. Based on the detection result of 41, the elevating link mechanism 3 is moved up and down through the control section C, and in the riding rice transplanter in which the planting depth of the planting section 2 can be kept constant, the elevating link mechanism 3 is planted. Before and after connecting the attachment part 2 to the left-right direction so that it can be rolled freely, and mounting the rolling frequency detection sensor S8 on the same attachment part 2 to detect the left-right rolling frequency, and adjusting the front-back inclination of the attachment part 2 to the lifting link mechanism 3. The inclination correcting means 60 is provided to control the front-back inclination posture of the planting section 2 based on the detection result of the rolling frequency detection sensor S8.
A planting part posture control device for a riding rice transplanter, characterized in that it can be corrected by a front and rear inclination correcting means 60 via the.