JPH1052125A - Postural controller for transplanting part of sulky type rice transplanter - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide the subject postural controller for a transplanting part capable of easily supplementing a seedling mat in a safe state from a mobile part to a seedling- carrying platform with an operator and improving the operating efficiency by synchronizing neutral operations for a speed change lever with operations of an actuator capable of performing operations to forwardly tilt the transplanting part. SOLUTION: This postural controller 60 for a transplanting part 2 of a sulky rice transplanter A is obtained by connecting the transplanting part 2 to the rear of a mobile part 1 with a lifting and lowering device so as to freely lift and lower, installing an actuator for forwardly and rearwardly shaking the transplanting part 2 and changing the posture of the transplanting part 2 in the lifting and lowering device, operating the actuator synchronously with the longitudinal tilt of the mobile part 1 and thereby enabling the postural control over the transplanting part 2 so as to keep the transplanting depth of seedlings constant. In the postural controller 60, neutral operations for a speed change lever 30 capable of keeping the respective driving mechanisms of the mobile part 1 and the transplanting part 2 in an undriven state are synchronized with operations of the actuator capable of performing the operations to forwardly tilt the transplanting part 2.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a planting portion attitude control device for a riding rice transplanter.

[0002]

2. Description of the Related Art Conventionally, as an embodiment of a riding rice transplanter, there is one in which a planting section is connected to a rear of a traveling section by a lifting device so as to be able to move up and down.

[0005] A seedling mounting table is provided in the planting section in a forward-backward-lower-backward inclined posture, and an operator riding on the traveling section replenishes a seedling mat on the seedling mounting table by the traveling section. Seedlings are being worked on.

[0004]

However, in the above-mentioned riding rice transplanter, the seedling mounting table has a forwardly inclined posture close to a vertical rising shape, and the upper end of the seedling mounting table located on the traveling section side and the rear end of the traveling section. In the meantime, there was a problem that workers could not smoothly and reliably perform seedling work from the traveling part to the seedling mounting table because there was a certain interval so as not to hinder the raising and lowering of the planting part. .

[0005]

According to the present invention, a planting portion is connected to a rear portion of a traveling portion by a lifting device so as to be movable up and down.
The raising and lowering device is provided with an actuator for changing the posture of the planting portion by swinging the planting portion back and forth, and operating the actuator in synchronization with the forward and backward inclination of the traveling portion, so that the planting depth of the seedling is reduced. A shifting lever for setting a driving mechanism of a traveling unit and a planting unit in a non-driving state, the planting unit posture control device of a riding rice transplanter capable of controlling the posture of the planting unit so as to maintain a constant height. And an operation of the actuator for tilting the planting part forward is synchronized with the operation of the above-mentioned actuator.

[0006]

Embodiments of the present invention will be described below with reference to the drawings.

(A) shown in FIG. 1 is a riding rice transplanter,
The riding rice transplanter (A) has a planting section (2) connected via a lifting link mechanism (3) behind a self-propelled traveling section (1), and moves the planting section (2) up and down hydraulic pressure. It can be moved up and down by the cylinder (4).

In addition, the riding rice transplanter (A) is provided with a planting portion attitude control device (60), and the control device (60) keeps the planting depth of the seedling by the planting portion (2) constant. The control device (60) will be described later.

First, the traveling section (1) will be described with reference to FIGS.
This will be described with reference to FIG.

As shown in FIGS. 1 and 2, the traveling section (1) is provided with an engine (11) at a front portion on a body frame (10).
An operation unit (12) is provided at the rear.

Then, on the lower rear portion of the body frame (10),
The transmission case (13) is linked to the engine (11).

Left and right front axle cases (15) and (15) project from the front lower part of the body frame (10) to the left and right and laterally outward, respectively. Front wheel
(16) (16) is installed. (19) is a transmission shaft that interlocks and connects the front axle case (15) and the transmission case (13).

A rear axle case (17) is connected to a transmission case (13) at a rear portion of the body frame (10), and rear wheels are respectively mounted on left and right side surfaces of the case (17).
(18) (18) is installed.

Reference numeral (20) denotes a casing body which also serves as a floor surface, a transmission guide, a fender, a seat mounting plate (20a), etc., and is integrally formed of a synthetic resin having high rigidity such as FRP to form a body frame. (10) Stretched above.

Further, (21) is a hood, and
(11) and a steering shaft (2
3) is covered.

The operating section (12) includes an engine (1).
Immediately after 1), the steering shaft (23) is erected, and the handle (24) is attached to the upper end of the shaft (23), while the steering shaft (23) is mounted on the seat mounting plate (20a) located just behind the handle (24). seat
(25) is placed.

Further, at the rear of the upper surface of the casing body (20),
A control unit (C) that forms a part of the planting unit attitude control device (60) is attached.

Further, (30) is a speed change lever disposed on the left side of the seat (25), (31) is a sub speed change lever protruding above the left side surface of the hood (21), and (32) is , The planting section elevating lever arranged on the right side of the seat (25), (33) is the bonnet (21)
(34) is the bonnet
The brake pedal arranged on the right side of (21), and (35) is a spare seedling mounting table.

Further, as shown in FIG. 1, the planting section (2)
At the lower rear of the lifting link mechanism (3), the planting mission case (4
Attach the front end of (0) so that it can swing left and right, attach the float (41) below the case (40), and place the seedling table above the case (40).
(42) is attached, and a planting claw (43) is attached to the rear end of the case (40). (44) is a transmission shaft interposed between the transmission case (13) and the planting transmission case (40).

As shown in FIGS. 3 and 4, the lifting link mechanism (3) includes a front end of a top link (51) and a left and right lower link (45) (45) on the upper and lower sides of a rear portion of the body frame (10). Four
The front end of 5) is pivotally supported vertically by pivots (51a) (45a), and the rear end of the top link (51) and the lower link
(45) Hitch part (61) of the lifting link mechanism side between the rear end of (45)
The hitch portion (61) is detachably connected to a planting-side hitch portion (49) provided upright in front of the planting portion (2).

At the front ends of the left and right lower links (45) and (45), left and right elevating arms (46) and (46) are erected in an upright manner, and are provided between the upper ends of both arms (46) and (46). , Airframe (10)
The lifting hydraulic cylinder (4) is interposed between the upper and lower arms and the left and right lower links (45) (4).
5) Connecting rods (48) and (48) are interposed between the rear end and the rear end.

The top link (51) is connected to the link body (5
2a) and telescopic screws (52b) screwed to the link body (52a)
The expansion / contraction drive motor (52c), which rotates the expansion / contraction screw (52b) forward or reverse to extend / contract, and detects the expansion / contraction limit of the expansion / contraction screw (52b), and stops driving of the motor (52c). It is composed of detection switches (52d) and (52e) and is adjustable in expansion and contraction. (52f) is a detection rod, and (52g) is a bellows-like cover. (55) is a thick absorber, and (55a) and (55b) are connection pins.

The top link (51) constitutes a part of a later-described planting section attitude control device (60).

The hitch portion (61) of the lifting link mechanism side is
At the upper end of the hitch body (61a), a locking rod receiving portion (61b) having a U-shaped cross section is provided, and on the left and right sides of the lower part of the hitch body (61a), locking pieces (61c) (61c) are respectively attached by springs (61d). ) For upward rotation. (61e) is a spring locking pin, (61f) is a lever for unlocking the locking piece (61c), and (61g) is a pivot.

The planting-side hitch portion (49) has a locking rod (49b) mounted on the upper portion of the rear view-portion type hitch body (49a), and the lower left and right sides of the hitch body (49a). Lock pins (49c) and (49c) are protruded laterally outward on each side, and each lock pin (4
The locking pieces (61c) (61c) can be locked to 9c) and (49c).

(63) shown in FIGS. 3 to 5 is a drawing marker pulling mechanism. The mechanism (63) is provided on a pivot (61g) via a pair of left and right brackets (63a) (63a). A pair of left and right L-shaped levers (63c) (63c) are pivotally supported on the horizontally mounted support shaft (63b), and one end (63j) (63j) of each lever (63c) (63c) and the left and right lowers. Wire (63d) (63
d), while the middle part of the interlocking levers (63e) and (63e) is swingably pivoted to the hitch body (49a) of the planting side hitch part (49), and the interlocking lever (63e) (63e) front side (63k) (63k)
Can be engaged with the other ends (63m) and (63m) of the L-shaped levers (63c) and (63c), and the rear side portions (63n) and (63n) of the interlocking levers (63e) and (63e)
The interlocking wires (63f) and (63f) are interlockingly connected between the left and right drawing markers (not shown). (63h)
Is the axis.

The middle part of the wires (63d) (63d) is the hitch body (61a) of the hitch part (61) on the lifting link mechanism side.
(63g) (63g) attached to the upper part of. (6
3p) is the pivot, (63q) is the L-shaped lever locking hook, (63r)
Is a spring that locks and biases the hook (63q).

With such a configuration, the L-shaped levers (63c) and (63c) are connected to the wire by interlocking with the lifting operation of the lifting link mechanism (3).
(63d) (63d) and the lever (63c) (63
c) the other end (63m) (63m) is connected to the front side of the interlocking lever (63e) (63e) (6
3k) and (63k) to rotate the interlocking levers (63e) and (63e) counterclockwise in the side view of FIG.
The interlocking wires (63f) and (63f) connected to the rear end of the (63e) are pulled so that the drawing marker stands up and can be stored.

At this time, the L-shaped lever retaining hook (63q) (63
q) is locked to the L-shaped lever (63c) (63c), and the lever (6
3c) Since the rotation of (63c) is restricted, the drawing marker is held in the upright stored state.

The operation of the lifting hydraulic cylinder (4) is controlled by a hydraulic control valve (69) shown in FIG.
9) is controlled by a sensor (S) that detects a change in height difference between the planting section (2) and the float (41).

That is, the sensor (S) is connected to the float (4
A pivot (41b) protrudes from the upper surface of the front part of (1), and the pivot (41b)
The lower end of a sliding rod (71) having a long hole (70) drilled in it, and a guide projecting from the front extension (40a) of the planting mission case (40) in the long hole (70). Insert the pin (72) movably, and slide the rod (7
At the upper end of 1), connect the outer of the wire (74) connected to the spool (73) of the hydraulic control valve (69), and connect the inner (75) of the same wire (74) to the guide pin (72). The expansion and contraction of the wire (74) due to the vertical movement of (41) is transmitted to the spool (73) of the hydraulic control valve (69) to operate the lifting hydraulic cylinder (4).

The hydraulic control valve (69) is a five-position control valve.
(4) Block the side and choke (7
8) with hydraulic pump (P) and lifting hydraulic cylinder (4)
And on its left side (79) a direct hydraulic pump
(P) is connected to the lifting hydraulic cylinder (4), and at the right position (80) of the neutral position (76), the lifting hydraulic cylinder (4) is connected to the reservoir (82) with the choke (81) interposed. Further, at the right outside position (83), the lifting hydraulic cylinder (4) is directly connected to the reservoir (82).

Accordingly, when the position of the planting portion (2) is low and the hydraulic control valve (69) side of the inner (75) of the wire (74) is retracted, the spool (73) is moved to the left to move up and down. The hydraulic cylinder (4) is contracted to raise the planting part (2), and conversely, the position of the planting part (2) is high and the hydraulic control valve (69) side of the inner (75) of the wire (74) is pulled out. When the spool (73)
To the right to extend the lifting hydraulic cylinder (4),
The planting part (2) is lowered so that the planting part (2) is supported at a certain height and the planting depth of the seedling is kept constant.

At the center neutral position (76), the lifting hydraulic cylinder (4) is blocked, and at the left position, the hydraulic pump (P) and the lifting hydraulic cylinder (4) are connected via a choke (78). In the left position (79), the hydraulic pump (P) is directly connected to the lifting hydraulic cylinder (4) .In the right position (80) of the neutral position (76), the lifting hydraulic pressure (80) is interposed with the choke (81). Connect the cylinder (4) and the reservoir (82), and directly move the hydraulic cylinder
By connecting (4) and the reservoir (82), the absolute value of the deviation from the set value of the height difference between the planted part (2) and the float (41) that is suitable for the optimum planting depth is reduced. At this time, the planting section (2) is moved up and down at a low speed, and when the absolute value of the deviation becomes large,
By moving the planting section (2) up and down at a high speed, a stepwise proportional operation is performed.

In such a configuration, the gist of the present invention lies in the configuration of the planting portion attitude control device (60), which will be described below.

That is, the planting portion posture control device (60) is the same as that shown in FIG.
As shown in the figure, the inclination sensor (S1) and the telescopic drive motor (52
c) with the top link (51) and the top link (5
Feedback sensor (S2) attached to 1) and control unit (C)
It is composed of

The tilt sensor (S1) is attached to the left side of the up-down link mechanism side hitch portion (61), so that the running portion (1) can be tilted in the front-rear direction when pitching along the unevenness of the plow. The angle of the front-up slope or the front-down slope is detected.

The inclination sensor (S1) can be provided in the traveling section (1).

The top link (51) swings the two hitch portions (61) and (49) back and forth by the expansion and contraction operation, and the planting portion (2)
The up and down tilt of the planted part (2) is corrected by swinging the rear part up and down, and the relative angle between the planted part (2) and the traveling part (1) is kept constant, The planting depth of the seedling by the section (2) can be kept constant.

The feedback sensor (S2) uses a potentiometer or the like, and has a telescopic drive motor (52c).
And the top link from the rotation speed of the motor (52c)
The expansion and contraction of (51) is detected.

Further, the control unit (C), as shown in FIG.
A detection result of the front and rear inclination of the traveling section (1) by the above-mentioned inclination sensor (S1) is input, and based on the detection result, the top link (51) is output to extend and contract, while the top sensor by the feedback sensor (S2) is output. The detection result of the extension / retraction length of the link (51) is input, and the extension / retraction operation of the top link (51) is stopped based on the detection result.

With the above arrangement, the inclination sensor (S1) detects the forward / backward inclination of the traveling section (1), and based on the detection result, the control section (C) causes the top link (51) to expand and contract. The feedback sensor (S2) detects the expansion / contraction operation of the top link (51), and the control unit (C) stops the expansion / contraction operation of the top link (51) based on the detection result. By (51), the inclination of the front and rear of the planting section (2) can be properly corrected, the planting depth of the seedling can be kept constant, and the planting operation can be satisfactorily secured.

Further, the planting portion attitude control device (60) configured as described above operates to lock the shift lever (30) provided on the traveling portion (1) to the neutral position, and to perform the operation of the planting portion (2). Is synchronized with the operation of the telescopic drive motor (52c) for tilting forward.

That is, as shown in FIG.
(30) The neutral position lock section (8
5a), a lever detection switch (86) is provided, and as shown in FIG. 9, the switch (86) detects the locked state of the shift lever (30) in the neutral position and the top link (51).
The telescopic drive motor (52c) provided at the top link (51)
Is driven so as to be shortened. (86a) is a contact terminal, (87) is a relay, and (87a) is a switching contact.

When the shift lever (30) is in its neutral position locked state as a seedling operation position and the shift lever (30) is locked in the seedling operation position, the traveling portion (1) and the planting portion ( 2) Each driving mechanism can be held in a non-driving state, that is, a clutch disengaged state, so that a safe seedling harvesting operation can be ensured.

Therefore, in order to perform the seedling operation, the shift lever (30) is moved to the lever guide groove which is the operation position for seedling.
(85) When locked to the neutral position lock section (85a), the lever detection switch (86) is turned ON and the telescopic drive motor (52c)
The top link (51) is shortened by the operation, and both hitch parts (61)
To tilt the planting part (2) forward and the planting part (2) forward, it is necessary to further lean the seedling mounting table (42) provided in the planting part (2) closer to the horizontal posture. it can.

At this time, when the top link (51) is shortened to the maximum, that is, the detection rod (52f) is moved to the detection switch.
When (52e) is turned off, the telescopic drive motor (52c) stops, so that the seedling mounting table (42) can be held in a substantially horizontal posture.

When the lever detection switch (86) is turned off, the top link is driven by the telescopic drive motor (52c).
(51) extends and the detection rod (52f) moves the detection switch (5
2d) is turned off so that the automatic attitude control is started.

For this purpose, the upper end of the seedling mounting table (42)
(1) Adopting a forward leaning posture close to the horizontal posture as well as the rear end, the worker can easily move the seedling mat placed on the spare seedling rest (35) from the traveling part (1) to the seedling rest ( 42) can be replenished.

The forward tilting operation of the seedling mounting table (42) is as follows.
Not only when the shift lever (30) and the seedling operation lever (36) are operated, but when various operation levers are shifted to the non-driving state of the riding rice transplanter (A), which is an inevitable operation during the seedling operation. , Can also be synchronized.

As shown in FIG. 3, an engagement / disengagement switch (8) is attached to the locking piece (61c) of the hitch (61) of the lifting link mechanism.
8), and as shown in FIG. 10, the switch (88) is used to lock the locking piece (61c) and the locking pin (49) of the planting-side hitch (49).
c) Detecting the disengagement state with
The telescopic drive motor (52c) provided in (51) is
(51) is driven so as to extend, while detecting the engagement state between the locking piece (61c) and the locking pin (49c) and reducing the length of the telescopic drive motor (52c) by the top link (51). To be driven.

Accordingly, when the engagement between the locking piece (61c) and the locking pin (49c) is released in order to perform the work of removing the planting portion (2), the disengagement detection switch is switched to the disengaged state. (88) detects that the top link (51) is extended and the lifting link mechanism side hitch portion (61) has a front-to-back / back-to-high inclination posture as a whole. 3) By lowering, the engagement between the locking rod receiving portion (61b) of the hitch portion (61) and the locking rod (49b) of the planting side hitch portion (49) is easily released. The removal work of the planting section (2) can be completed quickly and easily.

When mounting the planting section (2), the lifting mechanism (3) with the top link (59) in the extended state is raised as described above. The locking pin (49c) moves to the locking piece (61c) side and engages with the locking piece (61c), and the engagement state is determined by the engagement detection switch (88). ) Is detected, the top link (51) is shortened, and both hitches (61) and (49) can be set upright, making installation of the planting section (2) quick and easy. Can be completed.

[0054]

According to the present invention, the following effects can be obtained.

In other words, according to the present invention, when performing the seedling transfer operation, the drive mechanism of the traveling section and the planting section can be set in the non-drive state by operating the shift lever to the neutral position. In order for the actuator that changes the posture of the planted portion to move in synchronization with the neutral operation of the shift lever to move the planted portion forward, the seedling table provided at the planted portion further tilts forward. Moves and approaches a horizontal position.

For this purpose, the seedling mounting table adopts a forward inclined position close to a horizontal position, with the upper end close to the rear end of the running section.
The operator can easily replenish the seedling mat from the traveling section to the seedling mounting table in a safe state.

[Brief description of the drawings]

FIG. 1 is a side view of a riding rice transplanter equipped with a planting section attitude control device according to the present invention.

FIG. 2 is a plan view of the rice transplanter.

FIG. 3 is an enlarged side view of the planting section attitude control device.

FIG. 4 is a plan view of the implanting unit posture control device.

FIG. 5 is a front view of a drawing marker pulling mechanism.

FIG. 6 is a hydraulic circuit diagram for controlling the lifting link mechanism.

FIG. 7 is a block diagram of a planting section posture control device.

FIG. 8 is an explanatory plan view of a lever detection switch.

FIG. 9 is a circuit diagram illustrating a circuit including a lever detection switch.

FIG. 10 is an explanatory diagram of a circuit including a disengagement detection switch.

[Explanation of symbols]

 (A) Riding rice transplanter (C) Control unit (S1) Tilt sensor (S2) Feedback sensor (1) Traveling unit (2) Planting unit (3) Elevating link mechanism (60) Planting unit attitude control device

Claims (1)

[Claims] 1. A planting section (2) is connected to the rear of a traveling section (1) so as to be vertically movable by an elevating device, and the planting section (2) is swung back and forth by the elevating device. An actuator for changing the posture of (2) is provided, and the actuator is operated in synchronization with the forward and backward inclination of the traveling unit (1), so that the planting depth of the seedling is kept constant. (2) A posture control device for a transplanting part of a riding rice transplanter, which is capable of controlling the posture of (2), wherein a shift lever (30) for disabling each drive mechanism of a traveling part (1) and a planting part (2). 3) A planting section attitude control device for a riding rice transplanter, wherein a neutral operation is synchronized with an operation of the actuator for tilting the planting section (2) forward.