JPH06169610A - Posture controller of transplanter - Google Patents

Abstract

PURPOSE:To provide a posture controller of a transplanter. CONSTITUTION:This posture controller constitutes a transplanting operation apparatus so as to enable control of its vertical movement by elevation driving cylinder 6 when field face detecting sensors arranged on both front and lateral sides in advancing direction of a transplanter detect at the same time or almost same time and simultaneously constitutes the transplanting operation apparatus so as to enable control of its lateral rolling around a shaft 20 extended in longitudinal direction of the machine body by a stretchable rolling cylinder 7 capable of laterally swinging when either one detection sensor detects.

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 transplanter that controls a working device such as a transplanter connected to a traveling machine body to a posture suitable for a field scene.

[0002]

2. Description of the Related Art For example, the applicant of the present invention, 1992 11
As of the application reference number MZN1071 dated March 4, we have already applied for a horizontal control device for a transplanter.

[0003]

By the way, in the horizontal control device for the transplantation machine as described above, the field scene height detection sensors are arranged on both sides of the front part of the machine body, and the detection sensor for either the left side or the right side is provided. According to the detection result, the transplanting work device is only configured to move up and down left and right via the drive device arranged on one side of the machine body. Then, the transplanting work device also moves up and down, and when the irregularities are extreme, the planting depth becomes extremely deep or shallow, and the planting depth of the seedlings cannot be kept constant, and in the case of shallow planting. There was a problem that the planted seedlings fell down.

[0004]

In order to achieve the above-mentioned object, a posture control device for a transplanter according to the present invention is provided with a machine frame supporting front and rear wheels, and a seedling supply section is provided above the machine frame and below. In the transplanting machine provided with a transplanting work device having a planting part for planting seedlings supplied from the seedling supply part, the transplanting work device is provided with a shaft extending in the machine longitudinal direction with respect to the machine frame. It is pivotally supported about the center of the body so that it can be swung to the left and right, and is supported so that it can move up and down. Between the body frame and the transplantation work device, a telescopic rolling drive device that tilts the transplantation work device to the left and right and a vertical movement are provided. A lifting drive cylinder is provided, and left and right detection sensors that detect the height of the work machine frame from the field scene are arranged on both sides of the work machine frame of the transplant work device, and the left and right detection sensors are in the same direction. Moved to Upon detection of actuation simultaneously or substantially simultaneously enables position change in the vertical direction by a porting device elevation driving cylinder on the basis of the detection signal,
Moreover, when the left and right detection sensors move in different directions and only one of the detection sensors performs detection operation, or when the movement in the different direction is comparatively detected, the rolling work device is set to the transplanting work device based on the detection signal. The posture can be changed in the left-right direction via the control device so that the left-right ground posture of the transplant work device is controlled in parallel with the field scene.

[0005]

When the posture control device of the transplanter of the present invention detects the left and right detection sensors of the left and right field scene detection sensors for detecting the height from the field scene, it detects the height based on the detection signal from the detection sensor. The entire transplant work device is moved up and down via the lifting drive cylinder to control the ground height of the transplant work device at a constant level, and when one of the left and right detection sensors detects the detection signal from the detection sensor. Based on the above, the transplanting work device is controlled to roll around the swing axis in conjunction with the expansion and contraction operation of the rolling drive device so that the left-right ground posture of the transplanting work device is controlled in parallel to the field scene, and the transplanting work device is planted. The lower end of the attachment part is always at the same height with respect to the field to improve the accuracy of planting by the transplantation work device.

[0006]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings. 1 and 2, reference numeral 1 denotes a machine frame of a traveling machine body 4 having left and right front wheels 2, 2 and rear wheels 3, 3 and 5 denotes an engine mounted on a rear portion of the machine body frame 1. The power from 5 is transmitted to the rear wheels 3, 3 via the transmission case 6. 7, 7 is the aircraft frame 1
The left and right seedling supply seats, which are disposed at the upper left and right upper ends of the seats and face the transplantation work device to be described later, are the steering handles for steering the front wheels 2, 2 provided between the seats 7, 7 facing the left and right. is there. A driving operation unit 9 is provided on the rear side of the seats 7 and 7, and a seedling supply unit 11 facing above the planting unit 10 is provided on the front side of the seats 7 and 7. The driving operation unit 9
Include a sensor 12b for detecting the clutch lever disengagement position of the transplantation work device, side clutch levers 12a, 12a,
A main clutch lever 12, a forward / backward movement switching lever 13, a transplant work device clutch lever 14, and a switching lever 15 for switching a transplant work speed and a traveling movement speed are arranged in parallel.

As shown in FIGS. 3 to 7, the seedling supplying section 11 is a rotary pot 1 in which a plurality of cylindrical seedling pots 16 for supplying seedlings P are attached to a disk-shaped rotating body 17 at equal intervals.
The rotary pot 18 is provided in parallel with the working machine frame 19 in four sets. An automatic switch S1 provided between the left and right seats 7 and 7 controls as shown in FIGS.
The working machine frame 19 sends a detection signal to a lifting motor 24, which will be described later, based on the detection results of detection sensors 58, 58 arranged on the left and right of the front part of the machine body traveling direction, which will be described later. An up-and-down lifting link 22 connected between left and right frames of a swing frame 21 and a vertical frame 19a of a working machine frame 19 supported on the machine body via a swing shaft 20 extending in the machine front-rear direction. , 23, the transplantation work device 62 is mounted so as to be adjustable up and down. Further, the lifting / lowering drive cylinder 24a connected between the lower center of the swing frame 21 and the central front end of the working machine frame 19 is configured to be lifted / lowered in parallel to the farm scene a by an expansion / contraction operation. Two
Reference numeral 4 is a lifting motor for driving the lifting drive cylinder 24a. In addition, a rolling cylinder 63 that tilts the transplantation work device 62 as a whole to the left and right around the swing shaft 20 based on the detection results from the left and right detection sensors 58, 58 is provided in front of the left and right seats 7, 7 and the swing frame. Two
1 is vertically arranged in the space behind 1 and between the body frame 1 on the right side of the body traveling direction and the member 21a extending rearward on the right side of the swing frame 21. Reference numerals 64a and 64b are springs for cushioning the tip of the rolling cylinder 63. The springs 64a and 64b are arranged vertically with the member 21a interposed therebetween, and are constituted by springs having a strong spring constant so as to prevent the swing frame 21 from swinging to the left and right accidentally. It should be noted that the transplanting work device 62 has been described as being attached to the machine body through the elevating links 22 and 23 and the swingable swing frame 21 so as to be vertically and horizontally rollable. The swing frame 21 is swingably attached to the lifting link 2
It may be attached to the machine body via 2, 23.
Reference numeral 25 denotes a bottom plate of the seedling pot 16, and the bottom plate 25 is such that the rotary pot 18 rotates and the seedling pot 16 is attached to the planting section 10.
When facing the upper part of the seedling, the seedling P is released from the guide 26 and opened downward to naturally drop the seedling P.

As shown in FIG. 5, the planting section 10 comprises a cylindrical main body 27 for receiving the seedlings P from the seedling supply section 11, and a beak-shaped hopper 28 for opening and closing the lower end side.
4 sets are installed side by side corresponding to
By 9, 29, the planting section 10 is rotated along two sets of left and right along a rotation locus A indicated by a chain double-dashed line, the seedlings P are received at the upper moving position, and then the hopper 28 is moved to the field scene a at the lower moving position. A hole is opened, and then the hopper 28 is opened as it rises from the lower position, and the seedling P is dropped and planted in the hole. That is, the planter drive shaft 32 is interlockingly connected to the transmission shaft 31 protruding from the transmission case 30 by the chain 31a, and the operating arm 34 is connected to the crank arm 33 provided on the planter drive shaft 32. The intermediate portion of the operating arm 34 is axially supported by the rotating arm 35, and the operating arm 34 is connected to the operating arm 34. At the tip of the operating arm 34, the upper link arm of the link portion 36 supporting the planting portion 10 is connected. It is pivotally supported by 37. Further, the upper link arm 37 and the lower link arm 38 of the link portion 36 are pivotally supported at their base end sides by a support plate 39, and the support plate 39 is swingably supported by an arm 40 constituting the link portion 36. Has been done.
Therefore, the link part 36 swings up and down and back and forth by the rotation of the planter drive shaft 32 without changing the posture of the link part 36. In addition, FIG. 4 shows two sets of left and right crank parts 29,
29 shows a state in which it is in an upper moving position and a lower moving position. Reference numeral 41 is an operating rod that opens and closes the hopper 28 of the planting section 10 at the lower position.

The rotary pot 18 intermittently rotates in conjunction with the upward movement of the planting section 10 and the planting section 10
The seedlings P are delivered from the seedling pots 16 located above. That is, the roller 4 is provided on the planting part 10.
2 is provided, and a rotating body 43 that is pushed up by contacting a roller 42 that moves upward with the upward movement of the planting portion 10 is provided above it. Reference numerals 55 and 55 are auxiliary seedling mounts provided on both sides of the machine body. The seedling mounts 55 and 55 are seated on the supply seats 7 and 7 through a swingable supporting device 56 as shown in FIG. The operator's lateral position (a) and the rear wheel 3
It is possible to switch to the upper position (b) of.

Then, on the front surface of the lower surface of the working machine frame 19, it is located between the left and right front wheels 2, 2 and pivots up and down in contact with the field scene a from a bumper-shaped frame 66 through brackets 65, 65. The detection levers 57, 57 are provided on both left and right sides. As shown in FIGS. 3 and 4, the detection levers 57, 57 project backward in a curved shape, and support shafts 57a, 57a rotatably supporting the base end portions thereof are provided with detection sensors 58, 58, respectively. The detection sensors 58, 58 are detection levers 57,
By detecting the turning angle of 57, the height of the ground up to the field scene a where the seedling P is planted can be detected. The detection levers 57, 57 are arranged so as to be located substantially in the center between the planted seedlings P. Reference numerals 59 and 59 are first scrapers provided in front of the seedling planting position for leveling the field scene a, 60 and 60 are second scrapers provided for rearing the seedling planting position, and 61, Reference numeral 61 is a compression roller.

8 to 11 are flowcharts showing the relationship between the vertical control (planting depth control) and the inclination control (rolling control) according to the present invention. In this flowchart, the tilt control is performed by the movement of one of the detection sensors 58, but the tilt control may be performed by comparatively detecting the movement of both the detection sensors 58, 58.

In transplanting the tree seedlings P of Satsuki seedlings with the above-mentioned configuration, the transplanting work device clutch lever 14 is set with the front wheels 2 and the rear wheels 3 of the traveling machine body 4 positioned in the groove b of the field scene a. When the automatic switch S1 is set to the ON position in the entry position, the transplant work device 62 for the field scene a receives the ground height by the left and right detection levers 57, 57 through the elevating drive cylinder 24a and the rolling cylinder 63 to set the transplant work device 62 in a predetermined plant position. Set it to the depth of attachment.
Then, while the traveling machine body 4 is traveling along the groove portion b of the farm scene a, if each operator sitting on the left and right seats 7, 7 takes the seedlings P from the seedling mounting table 55 and supplies them to the seedling pots 16. As described above, the rotary pot 18 intermittently rotates in conjunction with the vertical movement of the planting unit 10 to rotate vertically, thus the planting unit 1
0 can sequentially receive the seedlings P from the seedling pots 16 and plant them in the field scene a. During the transplantation work described above, the detection levers 57, 5 arranged on the left and right sides of the front part of the transplantation work device 62.
When any one of 7 rotates around the support shafts 57a, 57a,
The detection sensors 58, 58 detect the rotation angle, and send the detection signal to the rolling cylinder 63,
3 is extended or contracted, the entire transplantation work device 62 is tilted rightward or leftward with respect to the machine body traveling direction around the swing shaft 20 to perform rolling control, and the planting height from the field scene a is always constant. It is supposed to be. Also, when the left and right detection sensors 58, 58 detect the vertical movements of the left and right detection levers 57, 57 at the same time or substantially at the same time, the detection signals are sent to the lifting drive cylinder 24a and the center lower end of the swing frame 21 and the working machine frame. 19 is configured to be moved up and down in parallel with the field scene a via the elevating links 22 and 23 by the expansion and contraction operation of the elevating and lowering drive cylinder 24a which is connected to the field 19. Then, the first scrapers 59, 59 and the second scrapers 60, 60 arranged behind the detection levers 57, 57 level the field scene a before and after planting the seedlings. In addition, the first scraper 5
As shown in FIG. 4, due to the soil pushing action of 9, 59, even if a raised portion C of soil is formed on the upper surface of the field scene a in front of the planting position, the detection levers 57, 57 of the detection sensors 58, 58.
However, since it is located approximately in the center between the P seedlings of the planting seedling, it is not affected by the earth pushing action, and the shoulder collapse and unevenness in the vicinity of the groove b of the field scene a do not cause any trouble. Therefore, the height of the field scene a where the seedlings are planted can be accurately detected by the detection result of turning up and down from the bumper-shaped frame 66, and based on this detection result, the height of the work machine frame 19 is appropriate. It is possible to carry out the transplanting work by adjusting the posture so that the seedlings are properly planted. Also, seat 7,
The operator for seedling replenishment seated at 7 is supported in a state where the seats 7, 7 are fixed to the machine frame 1 side of the traveling machine body 4, so that even if the transplant work device 62 is vertically moved and rolling-controlled. Work can be carried out stably with little fatigue. When turning, the transplant work device 62 is raised to a predetermined position by setting the transplant work device clutch lever 14 to the disengaged position. Then, when the transplanting work is restarted after turning, the transplanting work can be performed by setting the transplanting work device clutch lever 14 to the on position.

[0013]

In summary, according to the present invention, a plant frame for supporting the front and rear wheels is provided, a seedling supply section is provided above the machine frame, and a seedling supplied from the seedling supply section is planted below the plant frame. In a transplanter in which a transplantation work device having an attached portion is disposed, the transplantation work device is pivotally supported about a shaft extending in the machine longitudinal direction with respect to a machine frame so as to be swingable left and right and vertically moved. It is configured so that it can be supported, and an expandable and contractible rolling drive device for tilting the transplanting work device to the left and right and a lift drive cylinder for vertically moving the transplanting work device are provided between the machine body frame and the transplanting work device, and the work of the transplant work device is performed. Left and right detection sensors for detecting the height of the working machine frame from the field scene are arranged on both sides of the machine frame, and when the left and right detection sensors are moved in the same direction and are simultaneously or substantially simultaneously detected, Based on the detection signal, the posture of the transplantation work device can be changed in the vertical direction by the lifting drive cylinder, and when the left and right detection sensors move in different directions and only one of the detection sensors operates, or the different direction. When the movement of the transplantation work is detected comparatively, the posture of the transplantation work device can be changed in the left-right direction via the rolling drive device based on the detection signal, and the left-right ground posture of the transplantation work device is controlled parallel to the field scene. Therefore, when performing transplanting work with a transplanting device for multi-row planting, even if the field scene where the transplanted seedlings are planted is inclined in the left-right direction, the entire transplanting operation device is inclined according to the inclination of this field scene, The position of the lower end of the planting part of the transplanting work device arranged in a plurality of directions can be controlled so that each position is at a substantially constant height from the field scene. Even if it moves downwards and the transplanting work device becomes shallower or deeper than when the planting was started, the entire transplanting work device moves up and down in parallel by the lifting drive cylinder, so that the height of the plant is almost constant. The attitude can be controlled so that As a result, the posture of the transplanting work device can be optimally controlled regardless of the condition of the traveling surface on which the traveling aircraft travels and the condition of the field where seedlings are planted, eliminating planting mistakes during planting and tipping of seedlings Can be prevented and planting work can be performed efficiently.

[Brief description of drawings]

FIG. 1 is an overall plan view.

FIG. 2 is a front view of a main part showing a working state.

FIG. 3 is a side view of a main part.

FIG. 4 is a side view of a crank portion.

FIG. 5 is a side view of a main portion of a crank portion.

FIG. 6 is a plan view of a crank portion.

FIG. 7 is a front view showing a mounting state of a height detection sensor and a rolling cylinder.

FIG. 8 is a control block diagram of the present invention.

FIG. 9 is a main flowchart of the present invention.

FIG. 10 is a flowchart of height control.

FIG. 11 is a flowchart of rolling control.

[Explanation of symbols]

 1 Airframe Frame 2 Front Wheel 3 Rear Wheel 4 Planting Section 11 Seedling Supply Section 14 Transplanting Work Device Clutch Lever 19 Working Machine Frame 20 Swing Shaft 22 Elevating Link 23 Elevating Link 24a Elevating Drive Cylinder 58 Detection Sensor 58 Detection Sensor 62 Transplantation Work Device 63 Rolling cylinder S1 Automatic switch a Field scene P Seedling

Claims (1)

[Claims] 1. A body frame for supporting front and rear wheels is provided,
In a transplanter in which a seedling supply unit is provided above the machine body frame and a transplantation work device having a planting unit for planting seedlings supplied from the seedling supply unit is provided below the machine body frame, the transplantation work apparatus is a machine body. The frame is pivotally supported about the axis extending in the machine front-rear direction so as to be swingable left and right, and is configured to be movable up and down, and between the machine frame and the transplant work device,
An expandable rolling drive device that tilts and rocks the transplanting work device horizontally and an elevating drive cylinder that moves up and down are provided, and the height of the work machine frame from the field scene is set on both sides of the work machine frame of the transplant work device. When the left and right detection sensors move in the same direction and detect them at the same time or almost at the same time, the transplant work device is vertically moved by the lifting drive cylinder based on the detection signal. When the left and right detection sensors move in different directions and only one of the detection sensors is activated, or when the movement in the different direction is comparatively detected, the transplant work device is changed based on the detection signal. It is characterized in that the left and right postures of the transplanting work device are controlled to be parallel to the field scene by making the posture changeable in the left and right directions via a rolling drive device. Attitude control system of the planting machine.