JPH08103127A - Rice transplanter - Google Patents

Abstract

PURPOSE: To obtain an accurate detected value of furrow trace by maintaining a ground making float, forming furrow trace, in a position in parallel with the ground in the longitudinal direction. CONSTITUTION: This rice transplanter is provided with a third grounding material 43 for detecting the laterally rocked amount of a side float 17S behind the side float 17S, drives the side float 17S by an actuator based on the detected result of the third grounding material 43 and to maintains a ground making float in a position in parallel with the ground.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention provides a seedling planting device mounted on a traveling machine body so that its posture can be freely changed. The present invention relates to a rice transplanter that is provided with groove trace depth detection means for detecting the formed groove trace depth and uses the detection result of the groove trace depth detection means for posture control of the seedling planting device.

[0002]

2. Description of the Related Art A ground level float is supported so as to be vertically swingable around a rear fulcrum, and a groove mark formed in a field scene in a grounded state is used as a detection target of a groove depth detecting means. That is, as shown in FIG. 11, behind the side float 17S as a ground leveling float, on the side of the first grounding portion 18 that follows the groove trace G formed by the side float 17S to the ground, and to the lateral side of the first grounding portion 18. A second grounding portion 19 which is located and follows the ground where the side float 17S does not pass is grounded, and the difference between the detection amounts of the two grounding portions 18, 19 is detected as the depth of the groove trace G (for example, , Japanese Patent Application No. 6-185605
issue).

[0003]

In the case of the above-mentioned conventional structure, the groove mark attached to the field scene of the side float is to be detected. However, depending on the inclination of the side float in the front-back direction, the hardness of the field scene may be different. Even if the side floats are the same, the groove trace depth may be different compared to the case where the side floats are parallel to the ground. In other words, when the side float is in the forward-raising posture, the rear end of the side float deeply enters the field surface, so deep groove marks are formed for the hardness of the field. When the float was in the front-lowering posture, the rear end of the side float tended to float, so there was a tendency that shallow groove marks were formed for the hardness of the field. An object of the present invention is to provide a rice transplanter equipped with a groove trace depth detecting means capable of better forming a groove trace by a side float.

[0004]

According to a feature of the present invention, a rocking amount detecting means for detecting a vertical rocking amount of the ground leveling float with respect to a field surface in a longitudinal direction of a vehicle body and a float actuator for driving the ground leveling float to rock. Provided,
The detection result of the rocking amount detection means is that it has a control means for driving and controlling the float actuator so that the front-back orientation of the ground leveling float is in parallel with the value that is parallel to the ground. It is as follows.

[0005]

In other words, when the ground leveling float is parallel to the ground, attention is paid to the fact that a groove mark accurately reflecting the hardness of a field scene can be formed, and the rocking amount detecting means detects the inclination of the ground leveling float in the front-rear direction. Then, the slope can be corrected by the float actuator, and the ground leveling float can be maintained in the ground parallel state.

[0006]

As a result, not only the inclination of the ground leveling float is detected, but also the ground leveling float is actively driven by the float actuator so as to maintain the attitude of the ground leveling float on the basis of the detection result. The groove mark formed by the float can be accurately detected, and is useful as a detection value used for the posture control of the seedling planting device thereafter.

[0007]

Embodiments of the present invention will be described below with reference to the drawings. As shown in FIG. 1, an engine 4 is provided at the front of a traveling machine body 3 having a drive-type front wheel 1 and a drive-type rear wheel 2 that are operated by a steering operation, and power from the engine 4 is continuously variable. A belt tension type continuously variable transmission 5 for shifting gears is mounted, a driving seat 6 is arranged in the center of the traveling machine body 3, and a lift cylinder 7 is driven to move up and down with respect to the rear end portion of the traveling machine body 3. The seedling planting device A is connected through the mechanism 8 so that it can be rolled around the axis X in the front-rear posture to form a riding-type rice transplanter.

An elevating lever 9 is provided on the right side of the driver's seat 6 for controlling the raising and lowering of the seedling planting device A and for opening and closing a planting clutch (not shown) as a clutch mechanism. A shift lever 10 for operating the continuously variable transmission 5 is provided on the left side, and a control box 11 is provided on the upper surface of the fender on the left side of the driver's seat 6.

The seedling planting apparatus A is rotated by a seedling stand 12 on which a mat-like seedling W is placed, a transmission case 13 to which power is transmitted from the traveling machine body 3, and a power transmitted from the transmission case 13 via a chain case 14. Rotary case 15,
From the lower end of the mat-like seedling W placed on the seedling stand 12 at the time of operation, the rotary case 15 is provided with a pair of planting arms 16 provided one by one and three ground leveling floats 17 and configured for 6-row planting. The planting arms 16 cut out the seedlings one by one and plant them in a field scene.

As shown in FIGS. 2, 3 and 4, three leveling floats 17 are arranged, and the leveling floats 17 located on the left and right of these are designated as side floats 17S and 17S, and the left and right directions of the side floats 17S and 17S. The first grounding portion 18 that comes into contact with the bottom of the groove mark G formed in the field scene S at the central portion of the above, and the second grounding portion 19 that comes into contact with the field scene S that is not grounded by the side float 17S It is a potentiometer type that is provided so as to be swingable around Y, and is operated to measure the depth of the groove mark G in cooperation with the first grounding portion 18 and the second grounding portion 19 via the push-pull wire 20. A groove mark sensor T is provided. Above, the first,
The second ground contact portions 18, 19 and the groove mark sensor T are referred to as groove mark depth detecting means.

The groove mark sensor T is fitted in and held by a pipe material 47 which is rotatably supported by a frame 46 of the seedling planting apparatus A via a bearing 46.
The pipe material 47 and the operation axis Ta of the groove mark sensor T are linked to the push-pull wires 20 to rotate the operation axes Ta, respectively, so that the level difference between the first grounding portion 18 and the second grounding portion 19, that is, The depth of the groove trace G can be measured.

As shown in FIG. 6, three leveled floats 1
7, a leveling float at the center position on the left and right (hereinafter referred to as center float 17C) is swingably connected to a rear end portion of an arm 21 extending rearward from a lower portion of a chain case 14 around a lateral support shaft 22. In addition, by connecting the front part to the lower part of the seedling planting device A through a bending-type link 23, the front part is configured to be able to move up and down, and a rod 24 that is connected to this front position, The operation arm 26 of the potentiometer type float sensor 25 is connected, and further,
A spring 27 that applies a downward biasing force to the center float 17C with respect to the operation arm 26 is provided to measure the amount of vertical movement of the front position of the center float 17C. Then, so that the detection value of the float sensor 25 is maintained (the seedling planting device A and the center float 17C
The raising / lowering control means is configured by raising / lowering the seedling planting device A so that the distance from the front part of the plant becomes constant.

As shown in FIG. 7, the double-acting rolling cylinder 2 is mounted on the upper end of the vertical frame 8A at the rear end of the link mechanism 8.
8 is provided in a horizontal posture, and the rolling spring 30 is provided in a horizontal posture between the end portion of the piston rod 28A protruding left and right from the cylinder 28 and the vertically oriented frame 29 of the seedling planting apparatus A.
In addition, the seedling planting apparatus A is provided with a rolling sensor 31 as a tilt detecting means configured to measure the amount of rocking of the weight so as to measure the amount of tilt in the left-right direction.

On the upper surface of the control box 11, as shown in FIG. 8, an "absolute" position for performing absolute rolling control,
Selection switch 32 that can be switched between "ground" for performing ground rolling control and "OFF" position for releasing rolling control, changeover switch 33 for allowing automatic switching of rolling control modes, and seedling planting during absolute rolling control A rolling angle setting device 34 for setting a rolling angle of the device A, a manual rolling switch 35 for forcibly performing a rolling operation, an elevation sensitivity setting device 36 for setting a control sensitivity at the elevation control of the seedling planting device A, Alarm lamps 37 and 38 are provided to notify the rolling sensor 31 of the abnormality and the groove mark sensor T of the abnormality.

Further, at the time of raising / lowering control of the seedling planting apparatus A, the control sensitivity is changed by changing the value measured by the float sensor 25 as a control target. That is, the spring 27 acting on the operation arm 26
If the control target is changed to compress the
Of the center float 17C and the upward movement of the center float 17C suppress the vertical fluctuation of the front part of the center float 17C. As a result, the control sensitivity decreases, and conversely, the direction in which the spring 27 is relaxed is reduced. If the center float 17C is lowered to the front at the same time when the control target is changed to 1, the biasing force of the spring 27 becomes small, and the front part of the center float 17C easily swings in the vertical direction, resulting in an increase in control sensitivity. .

As shown in FIG. 9, the selection switch 32, the changeover switch 33, the rolling angle setting device 34, the manual rolling switch 35, and the elevation sensitivity setting device 3 are provided for the control device 39 having a microprocessor as a control means.
6, a solenoid valve 40 for controlling the lift cylinder 7, a solenoid valve 41 for controlling the rolling cylinder 28, and a pair of the pair of sensors for forming a system in which signals are respectively input from the left and right groove mark sensors T, T and the float sensor 25. Alarm lamp 3
An output system is formed for each of 7, 38.

Lifting and rolling control will be described with the above-mentioned structure as a basic structure. As a mode of performing rolling control, in the case of parallel control to the ground, control is performed so that the detection results of the left and right groove mark sensors T, T are the same.
In the case of absolute horizontal control, control is performed so that the detection result of the rolling sensor 31 and the set value of the rolling angle setter 34 match. As a mode of performing the elevation control, control is performed so that the interval between the seedling planting device A and the front part of the center float 17C is constant, that is, the detection value of the float sensor 25 is constant, and the control sensitivity is as follows. Is set as follows.
In other words, this control sensitivity can be said to push the side float 17S too much as the groove trace G measured by the groove trace sensor T becomes deeper. Therefore, when the control sensitivity is changed to the sensitive side and the groove trace G is shallow. Judges that the side float 17S is not pressed enough, and switches the control sensitivity to the insensitive side. In this case, as the control reference value, the average value of the detection values of the left and right groove mark sensors T, T is adopted, and the groove mark G increases as the average value increases, and the control sensitivity becomes insensitive. Judge and control the control sensitivity to the sensitive side.

Next, the attitude control of the side float 17S to which the first and second ground contact portions 18 and 19 for detecting the groove trace depth are attached will be described. As shown in FIGS. 2 to 5, the swing arm 42 extends rearward from the bracket 41 provided on the side float 17S, the third ground portion 43 is attached to the tip of the swing arm 42, and the swing arm 42 further swings. In order to detect the amount of swing of the moving arm 42, the swing arm 42 is linked to the detection sensor 44 to configure swing amount detection means B for detecting the vertical swing amount of the side float 17S with respect to the field surface S in the machine longitudinal direction. . Here, side float 17
With the value of the detection sensor 44 in the horizontal posture in the front-back direction of S as a reference value, when the side float 17S is in the forward rising posture, the third ground contact portion 43 swings relatively upward, and the side float 17S When the posture is lowered forward, the third ground contact portion 43 relatively swings downward. The detection sensor 44 captures such a movement and controls the posture of the side float 17S. Side float 17
As a method of controlling the attitude of S, as shown in FIG.
A support rod 49 is erected from the front end bracket 48 of the side float 17S, a compression spring 50 is attached to the support rod 49, and a moving member 51 is fitted onto the support rod 49 so as to be lifted by the compression spring 50. There is. On the other hand, a screw shaft driving electric motor as a float actuator 53 is attached to the lateral frame 52 provided at the front end of the chain case 14, and thus the moving member 51 is moved up and down by the electric motor 53 to move the support rod 49 up and down. , The side-float 17S is controlled so that its front-rear posture is parallel to the ground.

Next, the structure for charging the battery 54 will be described. As shown in FIG. 10, the battery 54 mounted on the traveling machine body 3 is connected to a charging circuit from the generator 55, and is provided with a connection cable 57 connecting the charging circuit and the generator 55. There is. And this generator 5
In order to charge the battery 58 of another agricultural machine at 5, a connection cable adapter 59 incorporating a rectifying bridge circuit 56 is provided as a fixture. Therefore, when using the connection cable adapter 59, the connection cable 57 is detached from the main unit side terminal, connected to the connection cable adapter 59, and connected to the battery 58 of another machine having no charging circuit. , Generator 5 through the bridge 56
5 can be charged.

[Other Embodiments] (1) As the float actuator 53, a cylinder may be used. (2) As the swing amount detecting means B, a pressure sensor that detects a ground pressure that detects the inclination of the side float 17S in the front-rear direction may be used without providing the third ground portion 43. In this case, a single pressure sensor may be provided on the bottom surface of the side float 17S, but two pressure sensors may be arranged front and back.

It should be noted that reference numerals are given in the claims for convenience of comparison with the drawings, but the present invention is not limited to the configurations of the accompanying drawings by the entry.

[Brief description of drawings]

[Figure 1] Overall side view of rice transplanter

FIG. 2 is a plan view showing the arrangement of leveling floats and the like.

FIG. 3 is a rear view showing first to third grounding portions.

FIG. 4 is a side view showing a side float.

FIG. 5 is a side view showing a swing amount detecting means.

FIG. 6 is a side view of the front part of the center float.

FIG. 7 is a front view of a rolling drive system.

FIG. 8 is a plan view of the control box.

FIG. 9 is a block circuit diagram of a control system.

FIG. 10 is a schematic configuration diagram showing a charging structure from a generator.

FIG. 11 is a plan view showing a conventional example.

[Explanation of symbols]

 3 Traveling Aircraft 17 Leveling Float 39 Control Means 53 Float Actuator A Plant Seedling Equipment B Swing Amount Detection Means

Claims (1)

[Claims] 1. A pair of left and right ground leveling floats (1) are attached to a seedling planting device (A) attached to a traveling machine body (3) in a posture-changeable manner.
7) is provided so as to be swingable up and down around a fulcrum in the left-right direction of the machine body, and groove trace depth detection means for detecting the groove trace depth formed by the leveling float (17) is provided. In the rice transplanter, which uses the detection result by the method for controlling the posture of the seedling planting device (A), the rocking amount detection for detecting the vertical rocking amount in the machine longitudinal direction with respect to the field surface of the ground leveling float (17). Means (B) and a float actuator (53) for swinging and driving the leveling float (17), and the swing amount detecting means (B)
The control means (3) for driving and controlling the float actuator (53) so that the detection result of (1) matches the value in which the front-back orientation of the ground leveling float (17) is parallel to the ground.
Rice transplanter having 9).