JPH0614623A - Seedling planting system for transplanter - Google Patents

Abstract

PURPOSE:To provide the subject system enabling accurate transplanting work causing no miss-planting and excellent in operating efficiency. CONSTITUTION:A transplanter ensuring seedlings taken, with a relevant claw, from the seedling trays on a seedling-loaded platform to be planted, through a seedling planting claw, on a farm, is equipped with (A) a mechanism 83 to control the working speed of the transplanter and (B) sensors 60,61,86 to detect seedling planting work situation; and, based on the detections by these sensors, working speed control is made.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention takes out seedlings from a seedling tray of a seedling table which is reciprocally moved left and right, and inherits and supplies the seedlings to a hopper-shaped seedling-planting nail, and one seedling is produced by the seedling-planting nail. The present invention relates to a seedling planting device for a transplanter, which is capable of sequentially planting pot seedlings every minute in a field.

[0002]

2. Description of the Related Art During seedling planting work by means of this seed transplanter, work is carried out at a substantially constant working speed regardless of the seedlings, field conditions, or the state of supply of seedlings to the nails for planting seedlings. There is.

[0003]

Therefore, even if the shape of seedlings varies in size due to poor growth of seedlings, or when the field is hard or when the posture of supplying seedlings to the nails with seedlings is disturbed. As a result of the work being performed at a substantially constant work speed, many seedlings were left behind on the seedling mounting table, the seedlings were not properly supplied to the seedling-planting nails, or the seedlings were poorly planted in the field or the seedling-planting posture was disturbed. There was a defect such as occurrence.

[0004]

Therefore, according to the present invention, a seedling taken out from a seedling tray of a seedling placing table by a seedling picking nail is transferred to a seedling planting nail so as to be planted in a field. A speed control mechanism for controlling the working speed of the machine, and a work sensor for detecting the work status of planting seedlings, and by performing acceleration / deceleration control of the working speed based on the detection of the work sensor, seedling and field conditions Alternatively, it is possible to make the transplanting work stable and highly efficient by constantly performing the work at a working speed that appropriately corresponds to the working condition of the seedling planting such as the supply state of the seedling to the nail for planting the seedling. Is.

[0005]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described in detail below with reference to the drawings. 1 is a control circuit diagram, FIG. 2 is an overall side view of the transplanter, and FIG. 3 is an overall plan view of the same, in which (1) is a front frame on which an engine (2) is mounted, and (3) is the frame ( 1) a mission case connected to the rear end, and (4) rear wheels, which are left and right traveling drive wheels, supported on the mission case (3) via a left and right transmission case (5) so as to be vertically swingable,
(6) is a left and right front wheel supported on the front end side of the front frame (1) so as to be vertically swingable via an axle frame (7),
(8) is a seedling supply device installed behind the mission case (3) through a chassis frame (9), and (10) is a planting transmission to the mission case (3) between the left and right rear wheels (4). A seedling planting device installed through the case (11),
(12) is a compression roller for suppressing the upper surface (A) of the ridge, (1
3) is a gauge wheel that supports the seedling planting device (10) so that it can swing up and down, and from a seedling tray (15) on the seedling mounting table (14) that reciprocates left and right in the seedling feeding device (8). The pot seedlings for one strain are taken out by the seedling take-out nails (16), and the taken-out pot seedlings are put into the seedling planting device (1
0) is supplied to the hopper type planting claw (18) that moves up and down in conjunction with the multi-cutter (17), and the steering handle (1
9) It is configured such that pot seedlings are planted, that is, transplanted at regular intervals on the ridge surface (A) while the machine is traveling by operation.

(20) is a lifting lever, (21) is a planted clutch lever, (22) is a main speed change lever, and (2)
3) is a stock shift lever, (24) is a planting depth adjusting lever, and (25) is a left and right side clutch lever.

As shown in FIGS. 4 to 6, the output shaft (2a) of the engine (2) includes an input shaft (26a) of the hydraulic pump (26) and an input shaft (3a) of the mission case (3). Are linked through transmission belts (27) and (28) to drive the rear wheels (4).
9) Left and right side clutches (30) and transmission shafts (31)
While interlockingly connecting the input shaft (3a) via
Planting claw drive system (32) for driving the planting claw (18)
The planted output shaft (33) for output to the spline (34
a) The input shaft (3a) is interlockingly connected via the meshing one-rotation clutch (34) and the deceleration counter shafts (35) (36), and the output from the engine (2) is transmitted to the mission case (3). Is transmitted to the input shaft (3a) to drive the left and right rear wheels (4) and the planting claw (18), respectively.

[0008] Further, the seedling take-out pawl drive shaft (38) for driving the rotary case (37) of the seedling take-out pawl (16) and the lateral feed shaft (39) of the seedling placing table (14) are switched. Side feed switching gear case (40) and the seedling stand (1
4) Vertical feed clutch shaft (42) that drives the seedling tray vertical feed transport chain (41) vertically at the end of left and right horizontal feed
And, at the time of taking out the seedlings from the seedling taking-out nails (16), the seedling placing table (14)
Seedling extraction drive system (47) having a seedling pushing cam (44) of a seedling pushing pin (43) to act from below and a driving cam shaft (46) of a vertical feed cam (45) that intermittently rotates the clutch shaft (42). ), The seedling extraction drive system (47) is interlockingly connected to the planting clutch shaft (49) of the planting clutch case (48) disposed above the mission case (3), and the planting clutch case is also provided. The input shaft (48a) of (48) is transmitted by a transmission chain (50), a speed change pulley shaft (51), and a continuously variable transmission belt (5) which is continuously variable transmission means.
2) via the input shaft (3) of the mission case (3)
By interlocking with a), the seedling take-out drive system (47) such as the seedling take-out claw (16) and the seedling stand (14) is driven.

Then, the timing rod (5) with a plant is attached to the cam shaft (54) of the clutch operating cam (53) for operating the one-rotation clutch (34) in the mission case (3).
5) and the clutch shaft (49) of the planted clutch case (48) are interlockingly connected via the timing cam (56), and the timing rod (55) is used for each rotation of the seedling take-out pawl (16). A "planting-in" signal is input to the planting claw (18) side to perform the transplanting work in a state where the operation timings of the seedling extracting claw (16) and the planting claw (18) are always properly maintained. It is configured to close.

As shown in FIG. 6, the left and right clutch levers (57a) for operating the left and right side clutches (30).
The actuators (58a) of the side clutch operating solenoids (58) are linked to (57b),
A left and right side clutch (30) can be turned on and off by turning the solenoid (58) on and off, and a planting claw actuation sensor for detecting rotation of the planting output shaft (33). (59) is provided in the mission case (3) and the sensor (59) detects the start of descending, which is the start of the planting operation of the seedling planting claw (18).

Further, as shown in FIG. 7, the nails with seedlings (1
8) Inside the actuator (60)
When a seedling sensor (60) which is a work sensor used as a) is provided and the actuator (60a) is pressed by the seedling (N) supplied into the claw (18), the "presence of seedling (N)" A seedling posture sensor (61), which is a pressure-sensitive work sensor, is provided on the front side of the inner wall of the upper opening of the nail (18) so as to output a signal from the seedling take-out nail (16). When the supplied seedling (N) of (1) is detected by hitting the sensor (61), it is output as a "seedling posture defect" signal.

The seedling planting claw (18) is rotated along with the claw guide (63) by the rotation of the rotary case (62) supported by the output shaft (11a) of the planting transmission case (11). ) When the arm (64) rises to the seedling receiving position which is the uppermost moving position, the seedling (N) is received from the seedling picking nail (16) and the lowermost moving position of the nail (18) is reached. When descending to the seedling planting position, the tip of the claw (18) is projected into the ridge, and at this time, the rotary case (62) is connected through a crank arm (65), a seedling discharge cam (66) and the like. The tip of the nail (18) is opened by the advancing operation of (67), and the seedling (N) is planted in the soil.

As shown in FIG. 8, the compression roller (12).
The left and right ridge guide rollers (68) for rolling contact with the left and right side surfaces (B) of the ridge are provided on the left and right sides of the crusher holder (69) for supporting the crusher roller (12) on the front frame (1) side. The fixed plate (70) supports the roller shaft (73) of the guide roller (68) through the rotation fulcrum shaft (71) and the pressing torsion spring (72) so that the roller shaft (73) can swing up and down to control the machine body. When the left and right guide rollers (68) swing around the fulcrum shaft (71) as the direction changes, this is detected by a potentiometer type steering sensor (74) integrally connected to the fulcrum shaft (71). It is configured to do.

As shown in FIG. 9, a check lever (76) is provided on an accelerator lever (75) for controlling the engine speed by increasing / decreasing the fuel injection amount of the engine (2), and the accelerator is controlled by the lever (76). The lever (75) is regulated. The lever shaft (77) integrally supporting the accelerator lever (75) is attached to the boss portion (7) of the restraining lever (76).
6a) is rotatably fitted and supported, and a check plate (76b) on one end side of the lever (76) is provided so as to abut the middle of the accelerator lever (75), and an engine rotation control accelerator motor (78) The other end side of the lever (76) is connected to the moving body (80) coupled to the rotary screw shaft (79) of the above through the pivot shaft (81), and these levers (75)
A compression spring (82) is stretched between (76) and an accelerator lever (75) is provided so as to be constantly in pressure contact with the check plate (76b), and the engine (2) is driven by forward and reverse driving of the motor (78). It is configured to perform rotation speed control.

As shown in FIG. 1, a control circuit (83), which is a speed control mechanism for driving and controlling the accelerator motor (78) and the side clutch operating solenoid (58), is provided, and a work switch (84) and the gauge wheel are provided. A field hardness sensor (85) for detecting field hardness based on the ground contact pressure change of (13), and the presence or absence of seedlings (N) at the seedling extraction position of the seedling extraction claws (16) and the leftover seedlings (N) (N) seedling picking sensor (8) which is a work sensor for detecting the supply state
6), the seedling sensor (60), and the seedling posture sensor (6
1), a planting claw actuation sensor (59), and a steering sensor (7
4) is connected to the control circuit (83) for output connection, and the working speed in this transplanter is controlled based on the detection of each sensor (60) (61) (74) (85) (86). I am configuring.

The present embodiment is configured as described above, and the seedlings taken out from the seedling tray (15) of the seedling mounting table (14) by the seedling taking-out nails (16) are the seedlings with the nails (18). When moving to the upper seedling transfer position, take-out claw (16)
Are released from the claws (18) and are inherited in the planting claws (18). When the planting claws (18) descend to the seedling planting position in the lowermost movement position, the tips of the claws (18) that project into the ridges are This is opened and the seedling (N) is released into the soil to perform this planting. After planting, the planting claw (18) is raised to the uppermost movement position, and the seedling is supplied from the next seedling take-out claw (16). The planting work is carried out by repeating such a planting cycle in sequence.

As shown in FIG. 10, when the work switch (84) is turned on to start this work automatically, the engine speed is reduced to a predetermined low speed by the accelerator motor (78). The work is started in a low speed starting state, the hardness sensor (85) detects the appropriateness of the working conditions such as the field hardness standard, and the seedling picking sensor (86) picks up the seedling (N) by the seedling picking nail (16). When it is detected that the seedling is taken out normally without any trouble such as leaving it, the speed is increased to the set speed. When the field hardness is harder than the standard, or when the normal seedling (N) is not picked up by the seedling picking nail (16), the low speed is maintained.

Under a high-speed working condition at a set number of rotations, the seedling succession of the seedling supply locus is disturbed in the seedling posture such that the seedling posture sensor (61) detects the seedling. ), The engine speed is decelerated to a predetermined speed, and the seedling is started at the start of the planting cycle of the planting claws (18) detected by the operation sensor (59) during the acceleration / deceleration work. When detecting a stock stall condition in which the seedling (N) is not supplied to the claw (18) whose sensor (60) is turned off, the solenoid (58) is excited to operate the left and right side clutches (30). When the seedlings (N) are supplied into the claws (18) at the start of the next planting cycle of the claws (18) with seedlings, the traveling is restarted. . That is, when the seedlings are not supplied to the seedling-planting nails (18) due to lack of stock in the seedling tray or poor seedling removal by the seedling pickup nails (16), the nails (1
8) Stop the aircraft on the spot until the seedlings are supplied, and when the seedlings are supplied into the claws (18), run the aircraft again to reliably prevent the occurrence of stock stalls. It eliminates the hassle of replanting with.

During the traveling work, when the steering sensor (74) detects that the steering direction is shifted to the left or right, the left and right solenoids (58) are excited so as to correct the course. It is operated so that the aircraft automatically follows the ridges accurately.

In the above embodiment, the seedling picking sensor (8
When 6) detects the occurrence of trouble such as leaving the seedling (N), the running may be stopped, and the fact that the seedling is not supplied to the planting claw (18) continues for a predetermined number of planting cycles or more. At this time, the engine may be stopped and the alarm may be activated.

Further, in the above-mentioned embodiment, the structure in which the accelerator lever (75) is restrained is shown, but a structure in which an auxiliary transmission mechanism is provided and the auxiliary transmission lever is restrained by the restraining lever (76) may be adopted.

[0022]

As is apparent from the above examples, according to the present invention, the seedlings (N) taken out from the seedling tray (15) of the seedling mounting table (14) by the seedling taking nails (16) are used as seedling-planting nails. (1
8) In the transplanter succeeding to 8) and planted in the field, a speed control mechanism (83) for controlling the working speed of the transplanter
And a work sensor (6) that detects the work status of planting the seedling (N).
0) (61) (86), and the work sensor (6
0) (61) (86) is used to control the speed increase / decrease of the work speed. Therefore, for example, seedling conditions such as the growth state of seedlings, field conditions such as the hardness of the field, or nails with seedlings ( 18) The transplanting work is always carried out at a work speed suitable for the planting work condition of the seedlings such as supplying seedlings, and this work has a remarkable effect such that the work can be made stable and highly efficient. It is a thing.

[Brief description of drawings]

FIG. 1 is a control circuit diagram.

FIG. 2 is an overall side view of a transplanter.

FIG. 3 is an overall plan view of the transplanter.

FIG. 4 is an overall plan view of the transplanter.

FIG. 5 is an explanatory diagram showing a drive system of the transplanter.

FIG. 6 is an explanatory cross-sectional view of a mission case.

FIG. 7 is an explanatory view of a nail portion with a seedling plant.

FIG. 8 is an explanatory diagram of a steering sensor unit.

FIG. 9 is an explanatory diagram of an accelerator lever portion.

FIG. 10 is a flowchart.

[Explanation of symbols]

 (14) Seedling platform (15) Seedling tray (16) Seedling removal claw (18) Seedling attachment claw (60) Seedling sensor (work sensor) (61) Seedling posture sensor (work sensor) (83) Control circuit (speed) Control mechanism) (86) Seedling picking sensor (working sensor) (N) Seedling

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Shunro Wada 1-32, Chayamachi, Kita-ku, Osaka City Yanmar Agricultural Machinery Co., Ltd. (72) Hideo Nakajima 1-32, Chayamachi, Kita-ku, Osaka Yanmar Agricultural Machinery Co., Ltd. (72) Inventor Masatoshi Nissa 1-32, Chayamachi, Kita-ku, Osaka City Yanmar Agricultural Machinery Co., Ltd. (72) Inventor, Masahiro Saki 1-32, Chaya-machi, Kita-ku, Osaka Yanmar Agricultural Machinery Co., Ltd. (72) Inventor Yoshiaki Kuraya 1-32 Chayamachi, Kita-ku, Osaka Yanmar Agricultural Machinery Co., Ltd.

Claims (1)

[Claims] 1. A speed control for controlling a working speed of a transplanting machine in a transplanting machine in which a seedling taken out from a seedling tray of a seedling placing table is transferred to a nail for transplanting seedlings and then planted in a field. A seedling planting device for a transplanter, comprising a mechanism and a work sensor for detecting a work state of planting seedlings, and configured to perform acceleration / deceleration control of a work speed based on the detection of the work sensor. .