JPH0522023Y2 - - 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. Equipped with a sensor that detects the left and right inclination of the planting part and a rolling control actuator that tilts the planting part left and right,
The present invention relates to a rolling control device for a rice transplanter that performs rice transplanting work by supporting a planting part substantially horizontally with respect to a planted rice field.

"Prior Art" Conventionally, as shown in Japanese Utility Model Application Publication No. 58-121512, there has been a technology that detects the horizontal inclination of the planting section with respect to the planted field surface and automatically supports the planting section substantially horizontally.

``Problems to be solved by the invention'' In the conventional technology, when rolling control is performed by detecting the left and right inclination of the planting section using a horizontal sensor, the planting section that has been lifted above the ground is not able to move until it descends to the planted field surface. When automatic control is started, it is easy to malfunction at the beginning of the control operation when the support posture of the planting section is unstable, and there are problems such as it is not easy to improve the function of planting section rolling control or to set the automatic control start time. It was hot.

"Means for Solving the Problems" However, the present invention provides an apparatus that is provided with a horizontal sensor and a rolling control actuator that detects the left-right inclination of the planting section and keeps the planting section substantially horizontal with respect to the planted field surface. The present invention is characterized in that an on-delay means is provided for starting automatic control of horizontal tilt control of the planting section by the actuator after a predetermined period of time has elapsed after the planting section is lowered.

"Function" Therefore, in order to prevent rolling control from being performed automatically when the planting section is lifted above the ground, the start of automatic rolling control is delayed when the planting section is lowered. It is possible to reliably prevent malfunctions at the initial stage of control operation when the support posture of It is possible to easily set the start time, improve the planting part inclination control function, and simplify the handling operation, etc., more easily than in the past.

"Embodiments" Examples of the present invention will be described below in detail based on the drawings. Fig. 1 is a rolling cylinder control circuit diagram, Fig. 2 is a side view of the riding rice transplanter, and Fig. 3 is a plan view thereof. In the figure, 1 is a traveling vehicle on which a worker rides.
The rear end of the vehicle body frame 3 on which the engine 2 is mounted is connected to a transmission case 4, and front wheels 6 for driving in rice fields are supported on both sides of the front part of the transmission case 4 via an axle case 5. A transmission case 7 is connected to both rear sides of 4,
A rear wheel 8 for running in paddy fields is supported at the rear end of the transmission case 7. 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. , its driver's seat 13
A steering handle 1 is installed at the rear of the bonnet 9 in front of the bonnet 9.
4 will be provided.

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
is 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 This planting mission case 2 is placed on the rear side of the traveling vehicle 1 using
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. Attached part 1
5, the planting section 15 is lowered to land each float 23, 24, and one seedling is placed on the planting claw 1 from the seedling platform 16, which is moved back and forth from side to side.
7, so that they can be taken out and planted in sequence.

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. 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 the sensor float 50 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.

Next, as shown in FIG. 13, a power steering cylinder 81 is connected to tie rods 79, 80 for steering the front wheels 6, 6, and the steering handle 1 is connected to the tie rods 79, 80.
A hydraulic pump 84 is connected to the cylinder 81 through a power steering valve 83 that is switched by a Pitman arm 82 that is linked to the hydraulic cylinder 31 that raises and lowers the planting section 15 through a lifting valve 85 and the power steering valve 83. A hydraulic pump 84 is connected, and each of the valves 83 and 85 is provided in series with 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 maintained substantially constant regardless of the rotational speed of the engine 2, and the rolling cylinder 68 is configured to be able to always operate at the set speed even if the rotational speed of the engine 2 changes.

Furthermore, as shown in FIG.
7, each of the sensors 52a, 52b, 73,
76 and each of the solenoids 88, 89, and 96 are connected to the control circuit 97, and an automatic lamp 98 is turned on to indicate the automatic control state, and an automatic lamp 98 is turned on based on the output outside the detection range D of the float sensors 52a and 52b. an abnormality alarm lamp 99 that warns of an abnormality detection state, an automatic changeover switch 100 having fixed, automatic and ridge mode terminals 100a, 100b, 100c, and a manual switch 101 having left-up and right-up terminals 101a, 101b; low speed, medium speed and high speed terminals 102a,
102b, 102c, each solenoid 88,
A control speed changeover switch 102 that changes the duty ratio of pulses that drive the pulses 89 and 96, and a setting dial 103 are operated to control the planting part 1 for the traveling vehicle 1.
a slope setting device 104 for setting a reference slope value of 5;
Detection changeover switch 105 that selects float sensor 52a, 52b output and horizontal sensor 76 output
, the main clutch (not shown) is turned off in conjunction with operation of the travel gear shift lever 32 or travel clutch pedal 35.
A main clutch switch 106 for detecting the operation, each of the switches 77, 78, 100, 10
1, 102, 105, 106, each of the lamps 98, 99, and the setting device 104 are connected to the control circuit 9.
7 is connected.

As is clear from the above, in the device provided with the horizontal sensor 76 that detects the left-right inclination of the planting section 15 and keeps the planting section 15 substantially horizontal with respect to the planting field surface, and the rolling cylinder 68 that is the actuator for rolling control, A horizontal control circuit 97 is provided as an on-delay means for starting automatic control of the horizontal tilt control of the planting section 15 by the rolling cylinder 68 after a certain period of time has passed after the planting section 15 is lowered, and the planting section 15 is lowered. The automatic rolling control is sometimes delayed to prevent rolling control from being performed automatically in a state where the planting section 15 is lifted above the ground.

In addition, 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, the rolling valve 90 is connected to the hydraulic pump 84 via the short circuit 94, and the planting part 15 is made 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 lowering the planting section 15 by operating the lift lever 33, the work switch 77 is activated.
is turned on, the control is suspended until a certain period of time has elapsed, and the control is made to wait until the time required to switch the lever 33 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.

And this sensor 73 input or this sensor 7
3 Based on the input correction value, the left and right float sensors 52
It is determined whether the inputs a and 52b are large, and when the planting section 15 is tilted significantly with respect to the planting field,
The speed change solenoid 96 is excited by high-speed control speed switching, and the speed change valve 95 is switched to short circuit 94.
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 the above-mentioned rolling control, the control can be interrupted by operating the manual switch 101, and the rolling control can be stopped at the same time by operating the lifting lever 33 to raise the planting section 15. Furthermore, the rolling control in the ridge-edge mode is performed regardless of the clutch operation of the speed change lever 32 and the clutch pedal 35. For example, rice planting work can be temporarily interrupted at the ridge to operate the inclination setter 104 required for the ridge-edge mode.

Furthermore, FIGS. 21 to 23 show another embodiment, in which a rolling motor 107 is provided in place of the rolling cylinder 68, and a worm 108 is provided.
The motor 107 is attached to a gear case 110 that pivotally supports the worm gear 109, and the gear case 110 is fixed via a stay 112 to a planting pipe 111 that integrally connects the planting case 20 and the planting mission case 27. At the same time, one end of a drive arm 114 is connected and fixed to the shaft 113 of the worm gear 109, and the motor 107 is rotated in forward and reverse directions to swing the drive arm 114 through the gears 108 and 109.

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 long hole 117 of the doyle 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 includes a horizontal sensor 76 and a rolling control actuator that detect the left-right inclination of the planting section 15 and keep the planting section 15 substantially horizontal with respect to the planted field surface. 68, 107 is provided with an on-delay means 97 that starts automatic control of the horizontal tilt control of the planting section 15 by the actuator 68, 107 after a certain period of time has elapsed after the planting section 15 is lowered, In order to prevent rolling control from being performed automatically when the planting section 15 is lifted above the ground, the start of automatic rolling control is delayed when the planting section 15 is lowered, so the supporting posture of the planting section 15 is changed. It is possible to reliably prevent malfunctions at the initial stage of unstable control operation, prevent the occurrence of floating seedlings or buried seedlings, and safely start the planting section 15 inclination control. Settings etc. can be easily performed, and planting section 15
It is possible to improve the tilt control function and simplify handling operations more easily than before.

[Brief explanation of the drawing]

Fig. 1 is a rolling cylinder control circuit diagram showing one embodiment of the present invention, Fig. 2 is an overall side view, and Fig. 3 is a rolling cylinder control circuit diagram showing an embodiment of the present invention.
The figures are the same plan view, Fig. 4 is a side view of the planting section, Fig. 5 is the same plan view, Fig. 6 is the side view of the sensor float section, Fig. 7 is the same plan view, and Fig. 8 is the rolling cylinder. 9 is a front view of the same, FIG. 10 is a partial view of the same, FIG. 11 is an explanatory diagram of the operation of the sensor float, FIG. 12 is an explanatory diagram of the planting lift lever, and FIG.
The figure is a hydraulic circuit diagram, Figures 14 and 15 are output diagrams, Figures 16 to 20 are flowcharts, Figure 21 is a front view of the rolling motor section showing another embodiment, and Figure 22 is a The same plan view and FIG. 23 are rolling motor control circuit diagrams. 15... Planting part, 68... Rolling cylinder (actuator), 76... Horizontal sensor, 97...
... Horizontal control circuit (ON delay means), 107 ... Rolling motor (actuator).

Claims (1)

[Scope of utility model registration request] In a device that is provided with a horizontal sensor 76 and rolling control actuators 68, 107 that detect the left and right inclination of the planting section 15 and keep the planting section 15 substantially horizontal with respect to the planting field surface, a constant level is maintained after the planting section 15 is lowered. After the elapse of time, the actuator 68, 107
A rolling control device for a rice transplanter, characterized in that an on-delay means 97 is provided for starting automatic control of left and right tilting of the planting section 15.