JPH0591809A - Posture controller for planting working machine of rice transplanter - Google Patents

Abstract

PURPOSE:To suppress hunting behavior from occurring by reducing the head angle of a sensor float and regulating the sensitivity of a lifting and lowering controller to a dull state in frequently operating pitching control. CONSTITUTION:When pitching control of a planting working machine 4 is frequently operated, the head angle of a sensor float (21a) is reduced and interlocked so as to regulate the sensitivity of a lifting and lowering controller to a dull state. Thereby, lifting and lowering control is prevented from being hypersensitized by forward tilting of the planting working machine and forward tilting of the sensor float. Thereby, the planting working machine hardly flutters.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a posture control device for a rice transplanter provided with a lifting control and a pitching control for a work machine with a planting.

[0002]

2. Description of the Related Art A lifting control device for controlling the vertical height of a planting work machine mounted on a traveling vehicle body to a predetermined height by a sensor float, and a tilt of the planting work machine in the front-rear direction are horizontal. A rice transplanter equipped with a pitching control device for controlling the above is known. Also, the sensitivity adjusting means of the lifting control device
A rice transplanter configured to adjust the angle of the float is also known.

[0003]

When the pitching control device is provided in the rice transplanter configured to adjust the sensitivity adjusting means of the lifting control device by the angle of the sensor-float, if the pitching control frequently operates, Hunting behavior is likely to occur. That is, when the planting work machine is tilted forward by the control operation of the pitching control, the sensor-float of the lifting control is tilted forward and the sensitivity of the lifting control becomes sensitive, and the planting work machine is moved up and down. It becomes easier to flap.

[0004]

In order to solve the above problems, an elevation control device for controlling the vertical height of a planting work machine mounted on a traveling vehicle body to a predetermined height by a float, A pitching control device for horizontally controlling the inclination of the planting work machine in the front-rear direction is provided, and the sensitivity adjusting means of the lifting control device is a rice transplanter configured to be adjusted by a facing angle of the float. When the control operation of the control device is frequently performed, the sensitivity adjusting means of the elevating control device is interlocked so as to be insensitively adjusted.

[0005]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described in detail with reference to the drawings. Reference numeral 1 denotes a traveling vehicle body of a passenger type rice transplanter, which includes a pair of left and right steering front wheels 2 and 2 and a pair of left and right rear wheels 3 and 3. A planting work machine 4 is attached to the rear side of the traveling vehicle body 1 via an elevating link 5. Frame 7 of running car 1
The engine 6 is mounted on the upper side, and the upper side of the engine 6 is an engine cover 8a integrally formed with the step floor 8.
The seat 9 is provided on the cover 8a. A handle 10 is arranged in front of the seat 9, and a lower side thereof is covered with a hood 11. A support member 13 having a U-shape in a side view is fixed to the rear side of the transmission case 12 provided on the front side of the traveling vehicle body 1, and a front wheel differential case 14a in which a front wheel differential device 14 is housed is provided inside the support member 13. Is provided. In addition, the U-shaped support member 1
The front end of the frame 7 is fixed to the rear side of the frame 3, and the rear wheel transmission case 15 is fixed to the rear end of the frame 7.

By the way, the front wheels 2 and 2 have a front wheel differential case 14 in which a front wheel differential device 14 is housed inside a support member 13.
a is rotatably supported by a shaft 14a 'in the front-rear direction, and lateral transmission frames 14b, 14b, vertical transmission frames 14c, 1c are provided on the left and right sides of the front wheel differential case 14a.
4c is fixed and attached to the front-wheel axles 14d and 14d of the vertical transmission frames 14c and 14c, which rotate by transmission. In addition, a horizontal sensor 14S that detects a tilt in the left-right direction is attached to the support member 13 on the vehicle body side, and when the detection frequency of the sensor 14S is detected a predetermined number of times of a right tilt or a left tilt per predetermined time, Locking solenoids SOL and SOL fixed to the left and right of the support member 13 are operated so that the rolling around the shaft 14a 'of the front wheel differential case 14a is locked and horizontally fixed to the machine body.

Reference numerals 14P and 14P 'are front wheel diff lock pedals, and both pedals are connected by a rod 14z. The front wheel differential device 14 is interlocked so as to be differentially locked regardless of which pedal is depressed. Main differential lock pedal 14P
Is provided near the feet of the operator when seated. The auxiliary diff lock pedal 14P 'moves the center of gravity to the front side when the body rises forward and the front wheels are likely to float up when crossing ridges, etc. It is provided so that it is located near the feet when gripping, standing and maneuvering.

The rear wheels 3 and 3 are composed of rims 3a and 3a whose outer periphery is molded with rubber, bosses 3b and 3b which are assembled to the rear wheel axles 15a and 15a, and spokes 3c which connect the rims and the bosses. The rear wheels 3, 3 are rear wheel axles 15a, 1a formed on the hexagonal shafts of the rear wheel transmission cases 15, 15.
The hexagonal holes of the bosses 3b and 3b are fitted to the pin 5a, and the pin 3
It is attached so as not to come off with d and 3d. Boss 3
b and 3b are provided with a grease inlet 3b 'and a collar portion 3b "for hooking when the wheels 3 and 3 are pulled out by a pulley remover or the like. Since the rear wheel axles 15a and 15a are square axes, they are bosses. Since the wheels 3b and 3b cannot be slid in the rotational direction with respect to the axle, the rear wheels 3 and 3 are moved to the axle 15a,
If the axles 15a, 15a are rusted when removed from 15a, it is very difficult to pull them out. In this case, boss 3
b, grease is pre-injected into the grease inlet 3b 'provided in 3b to prevent rusting, and when pulling out the wheels 3 and 3, hook the pulley remover on the collar portions 3b "and 3b". It can be easily done by pulling out.

The elevating link 5 can be moved up and down by the operation of the hydraulic cylinder 16. In the link structure of the lifting link 5, a link support frame 5a is fixedly provided on the upper side of the rear wheel transmission case 15, and the support frame 5 is provided.
The upper links 5b, 5b and the lower links 5c, 5c are vertically rotatably connected to a, and the upper and lower links 5b, 5
The rear ends of b, 5c and 5c are vertical links 5d and connecting shafts 5e and 5c.
It is rotatably connected at f to form a parallel link. Further, in the hydraulic cylinder 16, the base portion of the cylinder portion is pivotally supported on the rear side portion of the rear wheel transmission case 15, and the tip end portion of the piston portion is pivotally attached to the upper links 5b, 5b via the buffering means of the spring. And is connected to the link member.

In the planting work machine 4, a planting transmission case 17 to which power is input from the mission case 12 of the traveling vehicle body 1 via a transmission shaft also serves as a machine frame. The planted transmission case
A seedling mounting table 18 is slidably provided on the upper side of the seat 17 in a state where the front side is inclined so that the front side is in a higher position, and a left and right reciprocating movement rod 18b protruding from both side surfaces of the planted transmission case 17 is provided. It is designed to connect and reciprocate left and right. Furthermore,
In the planted transmission case 11, three transplanted transmission frames 19 are extended rearward, and drive shafts 19a project from the left and right sides of the rear ends of the transmission frames 19. The drive shaft is equipped with a transplanting device 20 for splitting and transplanting the seedlings from the seedling mounting table 18 into a 6-row planting configuration.

The implanting device 20 has a rotating case 20a attached to a drive shaft 19a and rotating, and the rotating case 2 thereof.
Implanter shafts 20b ', 2 which rotate in the opposite direction to the rotation of 0a
This is a rotary type transplantation device 20 in which two transplanters 20b, 20b are respectively attached to 0b '. Transplant tool 2
0b is a pushing fork 20e that pushes out the separated and held seedlings when the pushing arm 20c 'swings by the cam 20c that rotates integrally with the rotating case 20a and the spring 20d and the transplanting tool 20a reaches the field, and the transplanting fork 20e. It consists of a seedling separating needle 20g fixed to the case 20f. Seedling separation needle 2
The plate 20h for fixing 0 g has a piece 20 for preventing seedling clogging.
i ′ is fixed and provided so as to enter the concave portion of the U-shaped pushing member 20e ′ of the seedling pushing fork 20e. The seedlings and soil clogged in the U-shaped recess of the seedling pushing member 20e 'are discharged by the seedling clogging prevention piece 20i' when the seedling pushing fork 20e is retracted from the protruding position. Further, since the gap between the fork 20e and the separating needle 20g is filled with the seedling clogging prevention piece 20i ', seedlings and soil do not enter here and are clogged.

At the lower part of each transplantation transmission frame 19 ..., A central grounding float 21a and left and right grounding floats 21 are provided.
b and 21b are mounted so that the front end swings up and down. Since the swingable front end of the central grounding float 21a is interlocked with the hydraulic valve 22 that operates the hydraulic cylinder 16, the planting work implement 4 is vertically moved with respect to the surface soil surface. It functions as a float sensor in the automatic lifting control that maintains the height of.

More specifically, in the hydraulic valve 22, the hydraulic valve main body 22a side is pivotally attached to the support frame 17a extending forward from the planted transmission case 17, and the spool 22b side is one end of the sensing link 23. Is pivotally attached to. Sensing link 23
The other end of is pivotally attached to a pivot bracket bracket 24 fixed to the central leveling float 21a. A torque spring 24b is provided around the pivot pin 24a, and the spring end is locked between the sensing link 23 and the bracket 24. An outer 25a of the wire 25 for adjusting the angle of inclination is attached to the tip of the sensing link 23, and an inner 25b
Is attached to the front of the bracket 24. Also,
Between the support frame 17a and the float 21a, upper and lower support links 26a and 26b forming a doglegged link mechanism are provided. The support frame 17a and the upper support link 26a are pins 27a, and the upper support link is a pin 27a. 26a and 26b are pins 27
b, the lower support link 26b and the bracket 24 are pin 2
It is pivoted at 7c. One end of a spring 28 is attached to the pin 27b, and the other end is a sensing link 23.
The pulling force of the spring 28 can be adjusted by engaging with any of the engaging grooves 23a, 23b, 23c provided on the upper side. Reference numeral 29 denotes a sensitivity adjusting lever, which is connected to the inner 25b of the facing angle adjusting wire 25.

By configuring the central ground leveling float 21a as described above, it functions as a sensor float. That is, the central leveling float 21a slides according to the unevenness of the topsoil surface, but when the topsoil is higher than the planting part 4,
The front side of the float 21a swings upward around the rear pivot axis, and the flow of the pressure oil is switched so that the spool 22b of the valve 22 is pushed up and the cylinder 16 extends. As a result, when the planting section 4 rises, the float 22
The spool 22b is pulled out by its own weight, and when the relative distance between the planting portion 4 and the front end of the float 21a reaches a predetermined distance, the flow of pressure oil that operates the cylinder 16 is blocked, and The movement of part 4 stops. On the contrary, if the topsoil becomes lower than the planting part 4, the float 2
The front side of 1a swings downward around the rear pivot axis,
The second spool 22b is pulled out downward so that the cylinder 16
The flow of pressure oil is switched so that As a result, when the planting section 4 descends, the float 22a is pushed up by the topsoil and the spool 22b is pushed upward together therewith, and when the relative distance between the planting section 4 and the front end of the float 21a becomes a predetermined distance, The flow of pressure oil that operates the cylinder 16 is blocked, and the downward movement of the planting part 4 is stopped. As described above, the planting part 4 is controlled so as to be maintained at a predetermined height with respect to the surface soil surface.

The sensitivity of the sensor float 21a can be adjusted by adjusting the angle of inclination of the float 21a with respect to the surface soil surface. When the topsoil is soft, the sensitivity adjusting lever 29 is operated so as to pull the inner 25b of the angle-adjusting wire 25 so that the float angle becomes large. Then, the reaction force from the surface soil surface at the front ground contact portion of the float 21a has a large component force in the lifting direction of the front end portion of the float 21a, so that the float 21a does not sink too much and is sensitive to the surface soil surface even though the surface soil is soft. Follow high and low. On the contrary, when the top soil is hard, the sensitivity adjusting lever 29 is operated so as to return the inner 25b of the facing angle adjusting wire 25 so that the facing angle of the float becomes smaller. Then, the reaction force from the topsoil surface at the front ground contact portion of the float 21a is small in the component force in the direction of pushing up the front end of the float 21a, and although the topsoil is hard, the float 21a is not lifted too much and is sensitive to the topsoil surface. Follow high and low.

The planting work machine 4 has a planting transmission cable.
The connecting shaft 17b in the front-rear direction, which is fixed to the space 17, is connected to the lifting link 5
Bearing 5h provided at the lower end of a swinging link 5g rotatably attached to a lower pivot 5f of the vertical link 5d.
Is rotatably fitted and mounted so as to be capable of rolling. Then, even if the traveling vehicle body 1 leans to the left and right, the planting work machine 4 is controlled so as to maintain the horizontal level.
Is provided.

The horizontal control device 30 includes a horizontal sensor 31 for detecting a horizontal inclination angle with respect to the horizontal plane, and a rolling operation device 32 for forcibly rolling the work implement 4 with a plant around the connecting shaft 17b. , A horizontal control controller for controlling the operation of the rolling actuator 32 by the input of the horizontal sensor 31.
La (not shown). Specifically, it is configured as follows. That is, the rolling operation member 33 is rotatably attached to the support shaft 5i fixed to the rear side of the swing link 5g, and the partial gear portion 33a is formed at the lower end portion of the operation member 33. In addition, the electric rolling operation motor 3
4 is fixed to the swinging link 5g and is attached to the rotary shaft of the motor 34 so as to rotate integrally with the drive gear 34a.
Engages with the partial gear portion 33a of the rolling operation member 33. Further, the rolling operation member 3
On the upper side of 3, the left and right seedling table support frames of the planting work machine 4 are attached.
Connecting springs 35, 35 for connecting to the holes 18a, 18a
Are connected. Here, when the rolling operation member 33 is in the left-right neutral posture, the work implement 4 with plants is adjusted so as to take a horizontal posture with respect to the traveling vehicle body 1.

Therefore, when the traveling vehicle body 1 leans to the right or left,
When the planting work machine 4 tilts accordingly, the horizontal sensor 31 detects the tilt with respect to the horizontal plane, and the detected value is input to the horizontal control controller. Then, the rolling operation motor 34 operates in response to a command from the horizontal control controller. Then, the rolling operation member 33 rotates to the right or left around the support shaft 5i and operates until the inclination angle detected by the horizontal sensor 31 becomes 0 degree (horizontal). as a result,
The planting work machine 4 connected to the rolling operation member 33 rolls around the connection shaft 17b rightward or leftward and returns to a horizontal state. As described above, by the horizontal control device 22,
Even when the traveling vehicle body 1 is tilted to the left or right, the planting work machine 4 is corrected so as to be parallel (that is, horizontal) to the horizontal plane.

The rolling operation member 33 is rotated to the left and right by the rolling operation motor 34, and the allowable rotation range is defined by the switches 36 and 36. That is, an operating rod 33b located at the center of the left and right and projecting forward is fixed to the front side surface of the rolling operating member 33, and the operating rod 33b is rotated when the rolling operating member 33 is rotated by a predetermined angle. Contacts one of the switches 36, 36 fixed to the upper part of the swing link 5g. At this time, the rolling operation motor 34 is stopped even if the rolling work machine 4 has to be further rolled until it becomes horizontal. Therefore, the rolling operation member 33
Does not rotate much further. Further, in the state of maximum left and right rolling, the driving gear 34a falls off from the partial gear portion 33a of the rolling operation member 33 when the external force acts to further force the rolling movement or when the operation abnormally causes an overrun. There is a risk that In this case, it can be received by the gear receiving portions 34c formed at both left and right ends of the gear portion 33a.

The above rolling control is performed by the horizontal sensor 31.
When the detected value of the left-right inclination due to is greater than or equal to the predetermined angle θr, a control signal is transmitted to the rolling actuator 32. By adjusting the set value of the predetermined angle θr,
The sensitivity of rolling control can be adjusted. When the angle θr is set large, the rolling control becomes insensitive, and when the angle θr is set small, the rolling control becomes sensitive.

Further, the planting work machine 4 is provided with a pitching control device 37 so that it can be forcibly moved in accordance with the inclination in the front-rear direction.
More specifically, the electric pitching actuation cylinder 38 is provided between the swing link 5g rotatably attached around the pivot 5f of the link 5 and the vertical link 5d.
8a is pivotally supported on the vertical link 5d side, and the piston portion 38b is provided on the swing link 5g side via a spring case 39 (a spring 39a, 39b acts forward and backward with respect to the tip end portion of the piston 38b) as a shock absorber. It is installed pivotally. Further, a horizontal sensor 40 for detecting the inclination in the front-rear direction is attached to the planted transmission case 17, and the detected value is input to a pitching control controller (not shown), from which the pitching operation cylinder 37 is provided.
A signal for controlling the operation is output. The pitching control device 37 operates as follows. When the front wheels 2 and 2 fall into the concave portion of the cultivator (or the rear wheels 3 and 3 ride on the convex portions) and the front portion of the traveling vehicle body 1 is lowered and the planting work implement 4 is in the forward tilted posture, the horizontal sensor 40 Detects the inclination, and based on the detected value, the pitching actuating cylinder 38 extends so that the planting work machine 4 is in a horizontal state (or a predetermined angle), and the planting work machine 4 moves in the front-back direction. Return to horizontal (Fig. 2). On the contrary, when the front wheels 2 and 2 ride on the convex part of the cultivator (or the rear wheels 3 and 3 fall into the concave part) and the front part of the traveling vehicle body 1 rises and the planting work machine 4 is in the backward tilted posture, The horizontal sensor 40 detects the inclination, and based on the detected value, the pitching actuating cylinder 38 is shortened so that the planting work machine 4 becomes horizontal, and the planting work machine 4 returns to the horizontal direction in the front-rear direction. Further, as the tilt angle before and after detected by the horizontal sensor 40 increases, the control operation speed of the pitching operation cylinder 38 also increases in proportion thereto.

The above pitching control is performed by the horizontal sensor 40.
When the detected value of the front-back inclination due to is equal to or more than the predetermined angle θp, a control signal is transmitted to the pitching operation cylinder 38, and the sensitivity of the pitching control is adjusted by adjusting the set value of the predetermined angle θp. be able to. If the angle θp is set large, the pitching control becomes insensitive, and if the angle θp is set small, the pitching control becomes sensitive.

The above pitching control is turned off in the following cases. When a non-working state is detected ・ When the main clutch is disengaged (when the clutch pedal 50 is stepped on) ・ When the planted work machine 4 is not in contact with the ground or when the planted clutch is disengaged When traveling is stopped or when turning is planted Lifting control and rolling control of the working machine 4 are control OF
When it becomes F When the pitching control frequently operates (when the number of times the planting work machine 4 takes the forward tilted state and the backward tilted state per unit time is a predetermined number of times or more) The control sensitivity adjustment is adjusted in conjunction.

When the sensitivity adjustment of the raising / lowering control or the rolling control of the planting work machine 4 is adjusted ... When the sensitivity is adjusted to "sensitive / insensitive", the pitching control is also separately set to "sensitive / insensitive". The sensitivity can be adjusted by a hard / soft sensor. By the way, when the pitching control frequently operates, the hunting behavior is likely to occur (when the planting work machine 4 is in the forward tilted posture by the control operation of the pitching control, the lift-control sensor-float 21a is in the forward tilted posture. Therefore, the sensitivity of the elevation control becomes sensitive, and the planting work machine 4 is likely to flutter up and down). However, in order to prevent this, the following operation operations are linked.

The sensitivity of the pitching control is made insensitive, and the sensitivity of the raising / lowering control and the rolling control of the planting work machine 4 is made insensitive. Alternatively, the control operation speed of the pitching control is slowed, and the control operation speed of the up-and-down control and rolling control of the planting work machine 4 is slowed down. Further, the traveling speed is reduced. If the above operation still works frequently, the following operations should be interlocked.

In addition to turning off the pitching control, the raising / lowering control and rolling control of the planting work machine 4 are also turned off. Stop running. In addition, even when the rolling control frequently operates, the above-described operation operation is interlocked with in order to suppress the hunting behavior.

[0027]

When the pitching control is frequently operated, the sensitivity of the ascending / descending control is interlocked with the insensitive side, so that the occurrence of hunting behavior is suppressed.

[Brief description of drawings]

[Figure 1] Side view of a passenger rice transplanter

FIG. 2 is a side view showing a control state of pitching control.

FIG. 3 is a side view showing a configuration of a main part of pitching control and rolling control.

FIG. 4 is a rear view showing the configuration of the main part of rolling control.

FIG. 5 is a side view showing a configuration of a main part of lifting control.

FIG. 6 is a partially sectional front view showing a front wheel rolling configuration.

FIG. 7 is a partial cross-sectional rear view showing the rear wheel mounting configuration.

FIG. 8 is a side view showing the transplantation device.

FIG. 9 is a perspective view showing a part of the implanting device.

[Explanation of symbols]

 1: Traveling vehicle 4: Planting work machine 21a: Float (sensor-float) 37: Pitching control device

Claims (1)

[Claims] 1. An elevating control device for controlling a vertical height of a planting work machine mounted on a traveling vehicle body to a predetermined height by a float, and horizontally controlling a tilt of the planting work machine in the front-rear direction. In the rice transplanter configured to provide a pitching control device, and the sensitivity adjusting means of the lifting control device is adjusted by the angle of inclination of the float, when the control operation of the pitching control device frequently operates, A posture control device for a planting work machine of a rice transplanter, characterized in that the sensitivity control means of the elevation control device is interlocked so as to be insensitively adjusted.