JPH056727Y2 - - 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. The rolling rice transplanter is equipped with a sensor float that detects the left and right inclination of the planting part, and a rolling correction mechanism that tilts the planting part left and right, and performs rice transplanting work by supporting the planting part approximately horizontally with respect to the planting field surface. Regarding a control device.

"Prior Art" Conventionally, there has been a technique in which a rolling correction mechanism is always connected to the planting section in an interlocking state, and the planting section is supported substantially horizontally with respect to the planting field.

"Problems to be Solved by the Invention" In the prior art, the machine side and the planting section are connected in a fixed state with respect to left and right inclinations, so rolling of the planting section due to the left and right reciprocating movement of the seedling platform is avoided. However, when the machine side repeatedly rolls in a short period of time due to transient unevenness of the tiller, the rolling correction mechanism can be used to correct the rolling of the machine side. Due to the combination of the planting part and the rolling correction mechanism, the control operation of the rolling correction mechanism cannot follow the rolling speed of the machine, the planting part tends to roll in the same direction as the machine, and the leveling float on the side of the planting part is There were problems such as floating or buried seedlings occurring due to floating or sinking.

"Means for Solving the Problems" However, the present invention provides an apparatus that is equipped with a rolling correction mechanism that is always connected to the planting section in an interlocking manner to correct the left and right inclination. A rolling speed sensor for detecting the horizontal tilting speed of the machine body is installed on the machine side, and a connecting/disconnecting mechanism is provided to switch the connection between the planting section and the rolling control mechanism into an interlocking state or an idle state. The present invention is characterized in that the connecting/disconnecting mechanism is provided to support the planting part in a floating state based on the sensor output when the tilting speed is higher than a preset value.

``Function'' Therefore, in response to transient rolling motions on the machine side due to unevenness of the tiller, the machine and the planting section are allowed to roll freely together, so the planting section follows the field surface. This can prevent floating or buried seedlings from occurring even if continuous transient rolling operations are performed on the machine side, and the rolling operation of the planting section using a seedling stand etc. In response to the gentle rolling motion of the plant, the rolling control mechanism allows the plant to follow the rice field and correct the support posture of the planting section, thereby stabilizing the horizontal control motion of the planting section and easily improving the control function. It's something you get.

"Embodiments" Examples of the present invention will be described below in detail based on the drawings. Figure 1 is a rolling control circuit diagram, Figure 2 is a side view of the riding rice transplanter, and Figure 3 is a plan view of the same. The rear end of the vehicle body frame 3 on which the transmission case 4 is mounted is connected to the transmission case 4, and the front wheels 6 for running in paddy fields are supported on both sides of the front part of the transmission case 4 via the axle case 5. A transmission case 7 is connected to both sides of the rear part, and a rear wheel 8 for running in paddy fields is attached to the rear end of the transmission case 7.
to support. 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. , the 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 the 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 The planting section 15 is connected to the rear side of the traveling vehicle 1 via the planting mission case 27 using a
A hydraulic cylinder 31 for raising and lowering the planting part 1 is interposed between the rear part of the transmission case 4 and the top link 28.
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 so as to be freely raised.

In addition, a side bumper 48 surrounding the outer 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 outer 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 59 and a pin 54, and a guide pin 56, which is 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.

Furthermore, as shown in FIGS. 5 to 8, an auxiliary rear wheel 8a of a slightly smaller diameter is provided on the same axis outside the rear wheel 8, and in front of the leveling float 24 on the rear side of each of the rear wheels 8, 8a. The rear end of a support post 59 is connected and fixed to the side bumper 48, and a bracket 61 is rotatably provided at the front end of the support support 59 via a support shaft 60. The upper end side of the mark erasing plate 58 is connected and fixed to the surface through an elongated hole 62 and thumb screw 63 so that the height can be adjusted freely. Eraser board 58
A spring 64 is wound around the support shaft 60, and a stopper pin 65 is fixed to the bracket 61, and the stopper pin 65 is fixed to the bracket 61. The trace erasing plate 58 is always supported downwardly by the above pressure of the spring 64, and the trace erasing plate 58 is
It is configured to prevent mechanical vibrations and interference with the rear wheels 8, 8a, and to increase the pressing force of the mark erasing plate 58 by the spring 64 to easily expand the mark erasing range.

Next, as shown in FIGS. 9 and 10, a hit plate 68 is connected to the rear ends of the top link 28 and the lower link 29 via pins 66, 67, and the upper and lower hit pins 69, 70 of the hit plate 68 are connected to the rear ends of the top link 28 and lower link 29. A rolling fulcrum plate 71 serving as a support frame is removably locked through the fulcrum plate 71, and a rolling fulcrum shaft 7 is attached to the fulcrum plate 71.
2, and supports the planting part 15 so as to be able to swing left and right around the fulcrum shaft 72, as shown in FIG. Left and right sensor floats 50, 50 are arranged symmetrically.

Furthermore, the rolling fulcrum shaft 7 is
The rolling motor 73 is a rolling correction mechanism that tilts the planting part 15 in the left-right direction around the center of the rolling plate 71. The motor 73 is attached to a gear case 76 that supports a worm 74 and a worm gear 75. The gear case 76 is fixed to a reduction case 77. The reduction case 77 is fixed to the upper surface side of the fulcrum plate 71 via a stay 78. The base end of a drive arm 80 is connected and fixed to the output shaft 79 of the reduction case 77. The drive arm 80 is fixed to the output shaft 79 of the reduction case 77.
A guide roll 81 is rotatably supported at the tip side, and the base end of a swing arm 82 is integrally connected to the planting mission case 27. The guide roll 81 is inserted into a long hole 83 at the tip side of the swing arm 82. The swing arm 82 is swung in conjunction with the drive arm 80, driving the planting section 15 to tilt left and right around the rolling fulcrum axis 72. A rolling motor 73 is always connected to the planting section 15 in an interlocking state, and the left and right tilt of the planting section 15 is corrected by controlling the motor 73.

Further, the planting section 15 is equipped with an electromagnetic clutch 84 which is a connecting/disconnecting mechanism for switching the connection with the rolling motor 73 into an interlocking state or an idle state.
4 is engaged and held by a clutch spring 85, and the electromagnetic solenoid 86 disengages and operates the clutch 84.
It is located in 7.

The input shaft 87 of the deceleration case 77 is connected to the rolling motor 73 via the worm gear 75 or the like.
A first sun gear 88 is connected to the input shaft 87 via the clutch 84, and a first sun gear 88 is connected to the input shaft 87 via the clutch 84, and the case 77 is connected to the input shaft 87 through the clutch 84. A fixed ring gear 89 formed on the inner peripheral surface, each of the gears 88,
Three first planet gears 90 meshing with 89
and a first carrier 91 that rotatably supports each of these planet gears 90 via a shaft 90a.
a second sun gear 92 that is integrally fixed to the carrier 91; three second planet gears 93 that mesh with the gear 92 and the fixed ring gear 89; The second carrier 94 is interlocked and connected to the output shaft 79 of the case 77, and the rotation of the motor 73 is decelerated by each gear 88, 89, 90, 92, 93, and the output shaft 79 is It is set up so that it can be communicated to.

Further, as shown in FIG. 9, a potentiometer-type relative position sensor 95 is provided at the upper end of the fulcrum plate 71 for detecting the left and right inclination of the planting section 15 with respect to the traveling vehicle 1, that is, the relative position change. As shown, a rolling speed sensor 96 is installed at the center of the upper surface of the rear side of the vehicle body cover 12 of the traveling vehicle 1, which is the main machine side on which the planting section 15 is installed.
6 detects the horizontal tilting speed (acceleration) of the machine body, and when the vehicle 1 rolls repeatedly in a short period of time due to transient unevenness of the tiller, the horizontal tilting speed (acceleration) of the machine side is higher than the setting. At this time, the solenoid 86 of the clutch 84 is actuated based on the output of the speed sensor 96, and the clutch 84 is disengaged to support the planting section 15 in a floating state, so that the planting section 15 is free to move relative to the traveling vehicle 1. It is configured to roll.

Furthermore, as shown in FIG.
Input connection is made to the forward rotation and reverse rotation circuit 9.
The rolling motor 73 is connected as an output to the circuit 97 through the electromagnetic clutch 8 and 99.
The solenoid 86 of No. 4 is output connected to the circuit 97, and when the traveling vehicle 1 rapidly rolls, the planting section 15 is freely rolled relative to the traveling vehicle 1 based on the output of the speed sensor 96, and the planting section 1
5 to follow the field surface, as well as the rolling motion of the planting section 15 due to the left and right reciprocating movement of the seedling platform 16, and the gentle rolling motion of the traveling vehicle 1.
The rolling motor 73 is controlled in forward and reverse directions based on the outputs of the float sensors 52a and 52b, and the planting section 15
It is configured to correct the left and right inclination of.

This embodiment is configured as described above, and as shown in the flowchart of FIG. 11, when horizontal control of the planting section 15 is automatically performed, the rolling speed sensor 9
The rolling speed of the traveling vehicle 1 is determined by 6 inputs, and when the rolling speed is above the setting, the solenoid 86 is energized to control the electromagnetic clutch 84 to be disengaged, and when the rolling speed of the traveling vehicle 1 is below the setting, Planting section 1 based on inputs from float sensors 52a, 52b and relative position sensor 95
5, automatic horizontal control is performed, and when the float sensors 52a and 52b detect a leftward tilt (downward left) or a rightward tilt (downward right) of the planting section 15 due to the leftward and rightward tilt of the machine, the leftward upward Alternatively, the planting portion 15 is kept substantially horizontal with respect to the planting field by performing right-up control.

"Effects of the Invention" As is clear from the above embodiments, the present invention provides an apparatus equipped with a rolling correction mechanism 73 that is always connected to the planting part 15 in an interlocking state to correct the horizontal inclination. A rolling speed sensor 96 for detecting the horizontal tilting speed of the machine body is provided on the side of the machine to which the machine 15 is installed, and a connecting/disconnecting mechanism 84 for switching the connection between the planting section 15 and the rolling control mechanism 73 into an interlocking state or an idle state. The sensor 9 is equipped with a
The connecting/cutting mechanism 84 is provided to support the planting part 15 in a floating state based on the six outputs. Since the planting parts 15 are allowed to freely roll each other, the planting parts 1 can be moved so as to follow the rice field.
5, it is possible to prevent floating or buried seedlings from occurring even if transient rolling operations are performed continuously on the machine side, and the planting section 1 can be supported by the seedling platform 16 or the like.
The rolling control mechanism 73 is used for the rolling motion of No. 5 and the gentle rolling motion of the machine side.
The support posture of the planting section 15 can be corrected by following the rice field, and the horizontal control operation of the planting section 15 can be stabilized to easily improve the control function. It is.

[Brief explanation of the drawing]

Fig. 1 is a rolling control circuit diagram showing one embodiment of the present invention, Fig. 2 is an overall side view, Fig. 3 is a plan view of the same, Fig. 4 is a side view of the planting part, and Fig. 5 is the same. A plan view, FIG. 6 is a side view of the sensor float section, FIG. 7 is a plan view of the same, FIG. 8 is a partial rear view, FIG. 9 is a partial side view of the planting section, and FIG. 10 is a side view of the rolling motor section. The drive system diagram and FIG. 11 are flowcharts. 1... Traveling vehicle (this machine), 15... Planting section, 73
...Rolling motor (rolling correction mechanism),
84... Electromagnetic clutch (connection/disconnection mechanism), 96... Rolling speed sensor.

Claims (1)

[Scope of utility model registration request] In a device equipped with a rolling correction mechanism that is always connected to the planting section in an interlocked state to correct the horizontal inclination, a rolling speed sensor that detects the horizontal inclination speed of the machine body is provided on the side of the machine to which the planting section is installed. and a connecting/disconnecting mechanism that switches the connection between the planting section and the rolling control mechanism between an interlocking state or an idle state, and planting is performed based on the sensor output when the horizontal tilting speed of the machine is higher than the setting. A rolling control device for a rice transplanter, characterized in that the connecting/disconnecting mechanism is provided to support the rice transplanter in a floating state.