JPH0761214B2 - Rice transplanter planting device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION "Industrial field of application" The present invention rotatably supports a rotary case on a planting case, and a plurality of planting claws are connected to and supported on the rotary case so as to rotate the rotary case. The present invention relates to a planting device for a rice transplanter that performs seedling planting work.

“Conventional technology” Even if the planting part was tilted back and forth, the planting claws were planted along the same planting locus.

"Problems to be solved by the invention" However, in the case of the conventional structure, when the planting part is tilted back and forth during planting work, the ground angle of the planting claw also changes and when planting seedlings in the field. There was a defect that the posture of planting nails was varied and the posture of planting seedlings was disturbed.

"Means for Solving Problems" However, according to the present invention, the rotary case is rotatably attached to the planting case, the pawl case is rotatably attached to the rotary case, and the pawl case is provided with the planting pawls. Attach the sun gear to be placed at the center of rotation of the case to the planting case, connect the sun gear to the claw case via the idle gear and planetary gear, and rotate the claw case by rotating the rotary case to place the planting claw on the planting track. In the planting device of the rice transplanter to be moved, the planting case is provided with a planting locus control element for rotating the sun gear to change the mounting angle of the claw case to the rotary case,
A planting pitching sensor for detecting a change in inclination of the planting part with respect to the ground is provided, and based on the detection result of the planting pitching sensor, the planting locus control element is actuated to control the seedling planting ground angle of the planting nail substantially constant. It is characterized by the provision of a controller that keeps

[Operation] Therefore, according to the present invention, even when the planting portion is tilted back and forth and changes, the planting claw keeps the ground angle always constant and the seedling planting posture is stabilized. It can be attached.

[Examples] Examples of the present invention will be described in detail below with reference to the drawings. FIG. 1 is a cross-sectional explanatory view of a rotary case part, FIG. 2 is a side view of a rice transplanter for riding, and FIG. 3 is a plan view of the same, in which (1) is a traveling vehicle on which an operator rides, and an engine. The rear end of the vehicle body frame (3) carrying (2) is connected to the mission case (4), and the front wheels (6) for traveling the paddy field are provided on both sides of the front part of the mission case (4) via the front axle case (5). ), And transmission cases (7) that are axle cases on both sides of the rear of the mission case (4).
And the rear wheels (8) for traveling paddy fields are supported at the rear end of the transmission case (7). Then, a spare seedling mount (10) is attached to the outside of both sides of the hood (9) covering the engine (2), and a vehicle body cover (1) forming a step (11) is formed.
2) covers the transmission case (7) and the like, a driver's seat (13) is attached to the upper part of the vehicle body cover (12), and a steering wheel (9) is provided in front of the driver's seat (13) at the rear of the hood (9). 14) is provided.

Further, in the figure, (15) is a planting part having a multiple row planting table (16) and a plurality of planting claws (17) ... The (16) is supported by the planting case (20) via the guide rail (18) and the guide rail (19) so as to be slidable left and right, and rotates in one direction at a constant speed as shown in FIG. The rotary case (21) to be supported is supported by the planting case (20), and the claw cases (22a) and (22b) are arranged at target positions around the rotation axis of the case (21). 22) Attach the planting claw (17) to the tip. Further, a support frame (24) is provided on the front side of the planting case (20) through a pivot shaft (23), and a three-point link mechanism (27) including a top ring (25) and a lower link (26) is provided. The support frame (24) is connected to the rear side of the traveling vehicle (1) via
The front and rear wheels (6) and (8) are provided with an elevating cylinder (28) for elevating and lowering the planting part (15) through the link mechanism (27).
Claws (17) for planting one seedling from the seedling stand (16) that drives the car to move at approximately constant speed and simultaneously slides back and forth.
It is constructed so that rice can be planted continuously and planted continuously.

Further, in the figure, (29) is a traveling speed change lever, (30) is a planting lifting lever, (31) is a planting sensitivity adjusting lever, (32) is a traveling clutch pedal, (33) and (33) are left and right brake pedals,
Denoted at (34) are equalizing floats for flattening the surface, which support the floats (34) below the planting case (20) via a planting depth adjusting link (35) and the like.

Further, as shown in FIG. 5 to FIG. 6, the nail case (22a) (for the seedling taking-out port (37) of the seedling taking-out plate (36) in the guide rail (18) provided at the lower end of the seedling placing table (16). The two planting claws (17) (17) provided on the rotary case (21) are alternately moved via the 22b) so that one rotation of the rotary case (21) causes two planting claws (17) ( According to 17), two seedlings are planted.

As shown in FIG. 1, a planted pawl drive shaft (38), which is an output shaft, is rotatably supported at the rear end of the planted case (20), and a rotary case (21) is provided at both ends of the drive shaft (38). ) (21) is fixed and supported symmetrically. In addition, the rotary case (21)
Each pair of positive sun gears (39a) (39b) with the same number of teeth, positive idle gears (40a) (40b) and positive planetary gears (41
a) (41b), the sun gears (39a) (39b) are doubly fitted onto the planting pawl drive shaft (38), and the idle gear (40a) is provided via the intermediate shafts (42a) (42b). ) (40b)
And the planetary gears (41a) (41b) are pivotally supported by the claw case shafts (44a) (44b) fixed to the claw cases (22a) (22b) with bolts (43), and the two central sun gears (39a) are supported. ) (39a) symmetrical idle gear (40a)
The two planetary gears (41a) and (41b) are constantly engaged in a row via the (40b).

Furthermore, the first and second motors (45a) (45), which are planted locus control elements that rotate the sun gears (39a) (39b) forward and backward.
b) is fixed to the planting case (20), and the input gears (46a) (46b) integrally fixed to the planting case (20) side of the sun gears (39a) (39b) are connected to the motor (45a). The claw case shaft (44a) is connected to the output gears (47a) and (47b) of the (45b) via transmission gears (48a) and (48b), respectively, and the motors (45a) and (45b) are appropriately driven in forward and reverse directions. (Four
The claw cases (22a) and (22b) are provided so as to rotate around 4b).

The claw case shafts (44a) (44b) are rotatably inserted into the cam shaft (49), and one end of the cam shaft (49) is inserted through a position adjusting plate (50) and a bolt (51). And a rotary rod (21) rotatably and fixedly supported by the rotary case (21), and the other end of the cam shaft (49) is connected to the push-out claw (17a) for forced planting in the claw cases (22a) and (22b). 52),
It is connected via the push arm (53) and the push-out cam (54), and when the planting claw (17) plunges into the rice field, the push rod (52) is advanced to push out the seedlings sandwiched by the planting claw (17). It is configured to be extruded into the soil by the claw (17a).

By the way, a rotary case rotation angle sensor (55) for detecting each rotation angle of the rotary case (21) for each rotation.
And a rotary case rotation zero degree sensor (56) for detecting a reference zero degree for detecting one rotation of the rotary case (21) in the planting case (20). 38) The angle sensor (55) is installed in the vicinity of the peripheral surface of the input sprocket (57) for transmitting the driving force to the rotary sprocket (21), and the rotation angle changes during one rotation of the rotary case (21). While detecting the state,
Rotation transmission member (58) for fixing the input sprocket (57)
The zero degree sensor (56) is arranged in the vicinity of the peripheral surface of the rotary case (21) so as to detect the reference zero degree of the rotary case (21) based on the rotation of the transmission member (58). When the rotary case (21) rotates, the motor (so that the claw cases (22a) (22b) change to a preset swinging angle in response to each angle change during one rotation of the case (21). 45a)
(45b) is driven in the forward and reverse directions, and the claw case shaft (44a)
(44b) is the nail case shaft (44) from the rotation of the rotary case (21) before and after the seedling planting position from the seedling take-out position of the planting nail (17).
a) Slow rotation of (44b) and rotary case (21)
From the seedling planting position to the rotary case (2
The rotation of the nail case shafts (44a) (44b) is made faster than the rotation of 1) so that the motion planting locus (l) by the planting nail (17) draws a vertically long closed loop ellipse. That is, the nail case shafts (44a) (44b) are configured such that the posture of the planting claw (17) is upward while the posture of the planting claw (17) is downward before and after the seedling take-out position.

FIG. 7 shows a control circuit for the motors (45a) (45b). The claw cases (22a) (22b) are appropriately selected according to each angle change during one rotation of the rotary case (21). The control circuit (60) includes a swing angle forming circuit (59) that is set to change the swing angle, and the angle sensor (5)
5) and the zero degree sensor (56) are connected to the control circuit (60) through the rotation angle detection circuit (61), and the first and second motors (45a) (45b) are connected to the first and second drive circuits. (62)
A planting pitching sensor that is connected to the control circuit (60) via (63) and is installed on the planting case (20) in the center of the planting part (15) to detect the front-back inclination of the planting part (15). (64)
Is connected to the control circuit (60) via the pitching detection circuit (65), and the claw case (22a) is changed according to the rotation angle change of the rotary case (21) based on the detection of the sensors (55) (56). Each motor (45a) (4) is configured to change (22b) to a predetermined swing angle preset by the forming circuit (59).
5b) is configured to be drive-controlled. That is, the motors (45a) (45b) are controlled based on the operation waveform diagram set in the forming circuit as shown in FIG. 8, and when the normal planting section (15) is in the horizontal state. In the vicinity of the planting position, when the sensor (64) detects that the signal based on the solid line waveform (a) and the whole planting part (15) are tilted more than a certain amount in a front-rear-low-rearward-reclined manner. When the signal based on the waveform (b) represented by the broken line is further detected by the sensor (64) that the entire planting part (15) is tilted forward by a certain amount or more in the front low rear height, the planting position. In the vicinity, a signal based on the waveform (c) represented by the chain double-dashed line in the figure is input to the control circuit (60) via the forming circuit (59), and the claw case based on these waveforms (a), (b) and (c). The swing motions of (22a) and (22b) are performed under the control of the motors (45a) and (45b).

As is clear from the above, the rotary case (21) is rotatably attached to the planted case (20), and the rotary case (2
The claw case (22a) (22b) is rotatably attached to 1), the claw cases (22a) and (22b) are provided with the planting claws (17) and (17), and are arranged at the rotation center of the rotary case (21). Attach the sun gears (39a) (39b) to the planted case (20), and insert the sun gears (39a) (39b) through the idle gears (40a) (40b) and planetary gears (41a) (41b) to the claw case (22).
a) (22b) are connected, and the nail case (22a) (22b) is rotated by the rotation of the rotary case (21) so that the planting nail (1
In the planting device of the rice transplanter that moves 7) to the planting locus, the sun gears (39a) (39b) are rotated to change the mounting angle of the claw cases (22a) (22b) with respect to the rotary case (21). First and second planting locus control elements
The motors (45a) (45b) are provided in the planting case (20), and the planting pitching sensor (64) is provided, which includes a planting pitching sensor (64) for detecting a change in inclination of the planting part (15) in the front-rear direction. A control circuit (6) which is a controller for controlling the operation of the first and second motors (45a) (45b) based on the detection result of (1) to keep the seedling planting ground angle of the planting claw (17) substantially constant.
0) is provided.

This embodiment is configured as described above, and the planting pawl drive shaft (3
By 8), the rotary case (21) is continuously rotated at a constant speed in one direction in the longitudinal direction of the airframe around this,
The claw cases (22a) (22b) at both ends of the rotary case (21) are rotated around the axis of the drive shaft (38), but when the positive sun gears (39a) (39b) are stationary, the rotary case ( Even when the case (21) is rotating, the claw cases (22a) and (22b) maintain a fixed posture and do not perform a swinging motion, as when the case (21) is stopped. That is, the rotary case (21)
When the gear rotates once, the planetary gears (41a) (41b) also rotate once with respect to the case (21), so that the claw cases (22a) (22b) can be maintained in a fixed posture, and the sun gears (39a) (39b) are maintained. The rotation of the planetary gears (41a) (41b) is also made faster or slower by rotating the gears () in the normal state in the reverse direction, and the postures of the claw cases (22a) (22b) are appropriately changed upward or downward. .

Then, the control circuit (60) operates and each motor (45a)
When (45b) is driven and controlled based on the detection of each sensor (55) (56), the pawl cases (22a) (22b) swing up and down according to each rotation angle of the rotary case (21). When the planting part (15) is maintained in the normal horizontal state, the signal based on the waveform (a) in FIG. 8 is applied to the control circuit (6).
0) is input to drive control of the motors (45a) (45b). The operation on the side of the pawl case (22) shown in FIG. 8 will be described below as an example. As shown by the solid line states in FIGS. 4 to 5, the horizontal horizontal position of the rotary case (21) is set to the reference zero degree (0 °). ) Is set, and when the rotary case (21) is rotated approximately 90 ° in the direction of the arrow in FIG. 5 from this state, the postures of the claw case (22a) are sequentially turned upward (upward from the horizontal posture). The motor (45a) controls the rotation of the sun gear (39a), and when the claw case (22a) reaches the rotation position of approximately 90 °, its swinging angle is set to the maximum α, and then the claw case is reached until it reaches the rotation position of approximately 180 °. Operate the posture of (22a) from the upward direction to the original horizontal (0 °) direction, and when it reaches the rotation position of approximately 180 °, put the nail case (22a) in the same horizontal posture as the rotary 0 ° state of the rotary case (21). The motor (45a) controls the rotation of the sun gear (39a) so that the sun gear (39a) is returned. Further, when the rotary case (21) rotates more than 180 °, the posture of the claw case (22a) is sequentially turned downward (downward from the horizontal posture), and when the rotary position reaches approximately 270 °, the downward swing angle is set. The maximum α is set, and the motor (45a) controls the rotation of the sun gear (39a) so as to return the claw case (22a) to the original horizontal posture when it subsequently rotates and reaches a rotation position of about 360 °.

Thus, when the pitching sensor (64) detects that the planting part (15) is tilted forward or backward while being worked, the rotary case (21) is rotated from 180 ° to 360 °. The control is performed based on the waveforms (b) and (c) in FIG. 8 during the interval, and when the nail is tilted more than a certain amount in the future, the nail case (22a) near the 270 ° rotation position (seedling planting position) The swing angle is larger than α in the standard horizontal state, the claw case (22a) posture is changed downward by a certain angle from the standard state, and the same as when tilted forward by a certain amount or more. The swinging angle of the claw case (22a) near the position is larger than α in the standard horizontal state,
The posture of the claw case (22a) changes upward by a certain angle from the standard state. As a result, the planting section (15)
Even if it tilts back and forth (pitching), the planting claw (1
The landing angle of 7) is kept constant and planting work with a stable posture of planting seedlings is performed. That is, at the time of pitching, by substantially matching the pitching angle and the swinging angle displacement amount (Δα) of the nail case (22a) at the seedling planting position shown in FIG. 8, the grounding angle of the planting nail (17) is constant. Be kept.

In the above embodiment, when the planting part (15) is tilted forwards or backwards by a certain amount or more, the postures of the claw cases (22a) (22b) at the planting position are changed one step upward or downward. The nail cases (22a) (22b) can be changed proportionally according to the amount of change in the anteroposterior inclination of the planting part (15).
The posture may be changed upward or downward.

"Effects of the Invention" As is apparent from the above embodiments, according to the present invention, the rotary case (21) is rotatably attached to the planting case (20), and the claw cases (22a) (22b) are attached to the rotary case (21). Installed rotatably and planted claws (17) in claw cases (22a) (22b)
(17) is installed, and the sun gears (39a) (39b) to be placed at the rotation center of the rotary case (21) are attached to the planting case (20), and the sun gears (39a) (39b) are idle gears (40a) (40b). ) And the planetary gears (41a) (41b) to connect the claw cases (22a) (22b), and the rotary cases (21) rotate to rotate the claw cases (22a) (22b) and the planting claws (17). In the planting device of the rice transplanter for moving the plant on the locus of planting, the sun gears (39a) (39b) are rotated to rotate the claw case (22) with respect to the rotary case (21).
a) A planting locus control element (45a) (45b) that changes the mounting angle of (22b) is provided in the planting case (20), and planting pitching that detects a change in inclination of the planting part (15) to the ground. A sensor (64) is provided, and the planted pitching sensor (6
Based on the detection result of 4), the planted locus control element (45a)
Since the controller (60) for controlling the operation of (45b) to keep the seedling planting angle of the planting claw (17) substantially constant is provided, the planting posture is always maintained regardless of the front-back inclination of the planting part (15). Stable seedlings are planted with a constant yield, and therefore, remarkable effects such as the occurrence of stockouts can be prevented and the harvest rate can be improved.

[Brief description of drawings]

FIG. 1 is a cross-sectional explanatory view of a rotary case portion, FIG. 2 is a side view of the whole, FIG. 3 is a plan view thereof, FIG. 4 is a partial side view of a planting portion, and FIG. FIG. 6 is an explanatory view showing the drive system of the main part, FIG. 7 is a control circuit diagram, and FIG. 8 is a diagram showing the relationship between the rotation angle of the rotary case and the swinging angle of the claw case. (15) …… Planting part (17) …… Planting claw (21) …… Rotary case (45a) (45b) …… Planting locus control element (64) …… Pitching sensor

Claims (1)

[Claims] 1. A rotary case (21) in a planted case (20)
Rotatably attached, and the rotary case (21) rotatably attaches the claw case (22a) (22b) to the claw case (22a)
The sun gear (39) is provided with the planting claws (17) (17) on the (22b) and is arranged at the rotation center of the rotary case (21).
Attach a) (39b) to the planting case (20), and attach the sun gear (39
a) (39b) via idle gears (40a) (40b) and planetary gears (41a) (41b) to claw cases (22a) (22b)
In the planting device of the rice transplanter, the sun gear (39a) is connected to the plant, and the nail case (22a) (22b) is rotated by the rotation of the rotary case (21) to move the planting claw (17) on the planting locus. ) (39b) rotate to rotate case (21)
The planting locus control elements (45a) (45b) that change the mounting angle of the claw cases (22a) (22b) with respect to the planting case (2
0) and a planting pitching sensor (64) for detecting a change in inclination of the planting section (15) with respect to the ground, and the planting trajectory control element (64) based on the detection result of the planting pitching sensor (64). 45a) (45b) are controlled to operate and
7) Controller that keeps the seedling-to-ground angle almost constant (6
0) is provided, the planting device of the rice transplanter.