JPH0670622A - Rice transplanter - Google Patents

Abstract

PURPOSE:To improve the accuracy and responsiveness, etc., of the rolling member control by operating the rolling member in a specific state corresponding to the ON time of pulse driving for operating the rolling member for correcting the right and left tilts of a planting part. CONSTITUTION:The right and left tilts of a planting part are sensed with a horizontal sensor 64 and automatically corrected with a rolling cylinder 41. When the ON time of the pulse driving for operating the rolling cylinder is a prescribed value or above, the rolling cylinder is continuously driven for a prescribed time to eliminate the delay in operation when the tilts are large.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a rice transplanter equipped with a seedling table and a planting claw for continuously performing seedling planting work.

[0002]

2. Description of the Related Art Conventionally, there has been a technique in which a sensor detects a lateral inclination angle of a planting portion and a rolling member corrects the planting portion to the left and right about a rolling fulcrum axis.

[0003]

In the prior art described above, when the inclination of the planting portion is largely and rapidly changed, the ON time of the pulse drive for operating the rolling member is lengthened, while the inclination of the planting portion is small and gentle. If the pulse drive driving the rolling member is turned on for a short time, the control speed of the rolling member adapted to the actual inclination change of the planting part can be obtained. At this time, the operating speed of the rolling member is likely to be slower than in the steady operation, and there is a problem that the accuracy and response of the rolling member cannot be easily improved.

[0004]

SUMMARY OF THE INVENTION Therefore, the present invention provides a rice transplanter provided with a sensor for detecting a lateral inclination of a planting part and a rolling member for automatically correcting the lateral inclination of the planting part. Is configured to continuously drive the rolling member for a certain period of time when the ON time of the pulse drive for activating the pulse driving is constant for a certain period of time when the rolling member operated by the pulse drive starts high-speed driving. Since it operates, the rolling member operation delay at the start of driving can be easily eliminated, and the accuracy and responsiveness of the rolling member control can be easily improved.

[0005]

Embodiments of the present invention will now be described in detail with reference to the drawings. FIG. 1 is a horizontal control circuit diagram of the planting section, FIG. 2 is a side view of the whole, and FIG. 3 is a plan view of the same. In the figure, (1) is a traveling vehicle on which an operator rides, and an engine (2) is installed. The rear end of the body frame (3) to be mounted is connected to the mission case (4) so that the front wheel (6) for traveling the paddy field is supported in front of the mission case (4) through the axle case (5). A transmission case (7) is continuously provided on both sides of a rear portion of the case (4), and a rear wheel (8) for traveling a paddy field is supported at a rear end portion of the transmission case (7). On both sides of the bonnet (9) covering the engine (2), etc., a spare seedling stand (1
0) is mounted and the mission case (4) is formed by a body cover (12) forming a step (11).
Etc., the driver's seat (1
3) is attached, and a steering handle (14) is provided at the rear of the hood (9) in front of the driver's seat (13).

Further, (15) in the figure is a planting section equipped with a seedling table (16) for planting 6 rows, a plurality of planting claws (17), etc. Forward tilting seedling stand (1
6) is supported on the planting case (20) through the lower rail (18) and the guide rail (19) so as to be slidable left and right, and at the same time, the rotary case (21) is rotated at a constant speed in one direction. The nail case (22) (22), which is a pair of planting arms, is disposed in a symmetrical position about the rotation axis of the case (21) and supported by the case (20). Attach the planting claws (17) (17) to the. A support frame (24) is provided on the front side of the planting case (20) via a rolling fulcrum shaft (23), and a three-point link mechanism (27) including a top link (25) and a lower link (26) is provided. The link mechanism (27) by connecting the support frame (24) to the rear side of the traveling vehicle (1).
Lifting cylinder (2) that lifts and lowers the planting part (15) via
8) is connected to the lower link (26), and the front and rear wheels (6) (8) are driven to move at a substantially constant speed, and at the same time, reciprocally slide left and right for one share from the seedling stand (16). The seedlings are picked up by the planting claws (17) and the seedling planting operation is continuously performed.

Further, reference numeral (29) in the drawing denotes a traveling speed change lever,
(30) is a planting lift lever, (31) is a planting sensitivity adjustment lever, (32) is a traveling clutch pedal, (33) (3
3) is a brake pedal, (34) is a center float for equalizing two sections, (35) is a side float for equalizing two sections,
(36) is a lateral strip fertilizer applicator, and (37) is a chemical sprayer.

Further, as shown in FIG. 4 and FIG. 5, seedling stand struts (38) are erected on both front sides of the planting case (20),
The shoe (39) at the upper end of the column (38) is slidably fitted into the guide rail (19), and the cylinder bracket (40) is integrally fixed to the upper part of the support frame (24) to form a hydraulic rolling member as a rolling member. The cylinder (41) is attached to the bracket (40) via the support shaft (42), and both ends of the piston rod (43) of the cylinder (41) are linked to the left and right columns (38) and (38).
4) Connected via (44), the piston rod (43) of the cylinder (41) is reciprocated left and right, and the planting portion (15) is centered on the rolling fulcrum shaft (23).
Is configured to be tilted to the left and right.

Further, as shown in FIGS. 6 and 7, a planting depth adjusting shaft (46) which is a planting depth adjusting member for connecting a planting depth adjusting lever (45) is rotatably provided under the planting case (20). The center float (34) is supported below the planting case (20) via the planting depth adjustment link (47) of the shaft (46) and the front and rear links (48) (4).
Side float (35) is planted through case (2)
0) Supports the lower side, side float (35)
One end side of each link (48) (49) is connected to the bracket (50) on the upper surface via the pins (51) (52), and the pin of the column (38) is connected to the long hole (53) of the front link (48). (54) is slidably inserted, and the rear link (49) is connected to the bracket (55) of the planting case (20) via the pin (56) and the long hole (57). And each link (48) (4
The side float (35) is attached via 9).

Further, the link (47) of the planting depth adjusting shaft (46)
The side float (35) is linked to the middle of the rear link (49) via the support shaft (58), and is linked to the plant depth adjustment of the center float (34) by the lever (45).
The side float (35) is located on the rear side of the rear wheel (8), and the side float (59) of the V-shape in plan view for taking in the clod carried by the rear wheel (8) is adjusted while adjusting the planting depth. It is formed on the lower part of the front face of (35), and a side float (35) is attached between the rear wheel (8) and the seedling planting position (60) of the planting claw (17) to attach the side claw (17). The rear end of the float (35) is located in front of the seedling planting position (60) of (1), and the mud on the rear side of the rear wheel (8) is taken into the lower surface of the side float (35) to evenly spread the paddy field for two rows. After flattening, planted nails (1
The seedlings are planted by 7), the fertilizer chute (61) is fixed on the rear side of the side float (35), and the fertilizer from the fertilizer applicator (36) is embedded in the soil by the chute (61). ing.

Further, as shown in FIGS. 1, 2 and 4, an automatic switch (62) for automatically controlling the rolling cylinder (41) and an on / off operation of the lifting lever (30) are turned on in conjunction with the operation of engaging the planted clutch. With a planted lever switch (63)
A horizontal sensor (64) which is a tilt sensor provided in the planting case (20) to detect the lateral tilt angle of the planting part (15).
And an angular velocity sensor (65) provided on the body cover (12) of the main body for detecting left and right tilting velocity (velocity or acceleration of tilting motion), and a setting device (66) for initially setting reference values of the horizontal sensor (64). ) And the rolling cylinder (4
Left and right lowering solenoids (6)
7) (68) is connected to a controller (69) composed of a microcomputer, and each sensor (64) is connected.
Based on the detection result of (65), the solenoids (67) and (68) are operated by the left-down or right-down pulse output signal from the controller (69), and the rolling cylinder (41) is operated by pulse drive to plant Department (1
5) is to correct the left and right inclination, and when the inclination of the planting part (15) changes abruptly, the ON time of pulse drive for operating the rolling cylinder (41) is lengthened,
While increasing the operating speed of the rolling cylinder (41), when the inclination of the planting portion (15) is small and changes gradually, the ON time of the pulse drive for operating the rolling cylinder (41) is shortened to reduce the rolling cylinder (41). 41) is set to a low operating speed so that the inclination correction speed of the planting part (15) by the rolling cylinder (41) is the actual planting part (1
5) It is configured to be substantially equal to the tilt speed.

Further, the planting portion (1
5) A return switch (70) for automatically performing the operation of the rolling cylinder (41) that supports the rolling cylinder (41) horizontally, a manual switch (71) for operating the rolling cylinder (41) by a manual operation, and a rolling cylinder (41) A speed change switch (72) for switching the control speed of the planting section (15) is connected to the controller (69). By operating the return switch (70), the rolling cylinder (41) is returned to the center and planted. Attached part (15)
Is supported substantially horizontally with respect to the traveling vehicle (1), and the sensitivity of each of the sensors (64) and (65) and the solenoid (6
7) Response speed of (68), rolling cylinder (41)
The control speed of the planting part (15) of the rolling cylinder (41) is adjusted by the operation of the speed change switch (72) in response to the change of the hydraulic flow rate or the like over time, and the characteristic adjustment for each component becomes unnecessary. Is configured as follows. The speed change switch (72) has a switch structure that switches in multiple stages, but it can also be formed by a variable resistor (volume) that switches continuously.

Further, as shown in FIG. 8, the engine (2)
A hydraulic pump (73) directly attached to the engine and driven by the engine (2), the mission case (4) is used as a hydraulic oil tank, and the hydraulic oil discharge side of the hydraulic pump (73) is connected to a high-pressure oil passage. Flow control valve (76) branching to (74) and low pressure oil passage (75)
And a steering valve unit (78) having a steering valve (77) switched by a steering handle (14), and a lifting valve (7) switched by a planting lifting lever (30).
The lifting valve unit (80) including the valve 9) and the rolling valve unit (82) including the rolling valve (81) are provided.

The steering and lifting valves (77) and (79) are connected in series to the hydraulic pump (73) through the high pressure oil passage (74) of the flow control valve (76), and the steering valve (77) is connected. ) Is provided on the upper side of the lifting valve (79), and the rolling valve (81) is connected to the hydraulic pump (73) via the low pressure oil passage (75) of the flow control valve (76) to control the steering and A steering cylinder (83) and a lifting cylinder (28), which are hydraulic equipment for planting operation for raising and lowering planting, and a planting section (1
5) A rolling cylinder (4
1) is driven by the hydraulic pump (73), and the rolling valves (81) are switched by the solenoids (67) (68) to operate the rolling cylinder (41).

This embodiment is constructed as described above, and is shown in FIG.
As shown in the horizontal control output diagram of FIG. 10 and the flowchart of FIG. 10, the automatic switch (62) and the lever switch (6)
When 3) is on and the return switch (70) is off, the inclination angle detection value of the horizontal sensor (64) and the angular velocity detection value of the angular velocity sensor (65) are input, and each sensor (64) is input.
Based on the output of (65), the control on-time (ta, tb, tc) of the pulse drive of the horizontal control is determined by fuzzy inference, and the initial control on-time (ta) is shorter than the preset predetermined time (T1). When it is not large, the control on time (t
The left-down signal (or right-down signal) having a pulse width of (a, tb, tc) causes the solenoid (67) or (6
8) is operated, and the rolling cylinder (41) is pulse-driven to perform the horizontal control for correcting the lateral inclination of the planting part (15), and the initial control ON time (ta) is shorter than the predetermined time (T1). When it is also large, the solenoid (67) or (68) is continuously driven for a predetermined time (T2) set in advance, and the rolling cylinder (41) is continuously driven to perform horizontal control at a high speed. After the elapse of T2), the control ON time (t
The rolling cylinder (41) is pulse-driven by a left-lowering signal (or right-lowering signal) having a pulse width of (a, tb, tc) to perform horizontal control at a steady operation speed. When the direction is reversed, the horizontal control operation delay due to insufficient speed of the rolling cylinder (41) is prevented.

[0016]

As is apparent from the above embodiments, the present invention provides a sensor (6) for detecting the lateral inclination of the planting part (15).
4) (65) and a rice transplanter provided with a rolling member (41) that automatically corrects the lateral inclination of the planting part (15), a pulse drive ON time for operating the rolling member (41) is more than a predetermined time. At this time, the rolling member (41) is continuously driven for a certain period of time, and the rolling member (41) operated by pulse driving continuously operates for a certain period of time when high speed driving is started. The rolling member (41) operation delay at the start can be easily eliminated, and the rolling member (41)
1) It is possible to easily improve control accuracy and responsiveness.

[Brief description of drawings]

FIG. 1 is a horizontal control circuit diagram of a planting section.

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.

FIG. 5 is a front view of the same.

FIG. 6 is a side view of the float portion.

FIG. 7 is a plan view of the same.

FIG. 8 is a hydraulic circuit diagram.

FIG. 9 is a horizontal control output diagram.

10 is a flowchart of FIG.

[Explanation of symbols]

 (15) Planting part (41) Rolling cylinder (rolling member) (64) Horizontal sensor (65) Angular velocity sensor

Claims (1)

[Claims] 1. A sensor for detecting a lateral inclination of a planting part,
In a rice transplanter provided with a rolling member that automatically corrects the left and right inclination of the planting part, the rolling member is configured to be continuously driven for a certain period of time when the ON time of pulse driving for operating the rolling member is equal to or longer than a predetermined time. Rice transplanter characterized by that.