JPH1098921A - Rice transplanter - Google Patents

Abstract

PROBLEM TO BE SOLVED: To automatically perform the switching operation to a storage posture of the seedling planting device of a rice transplanter. SOLUTION: This rice transplanter is provided with plural connection mechanisms for holding the division object of the seedling planting device to an operation posture. At the time of the changeover to the storage posture of the seedling planting device in the operation posture, the plural connection mechanisms are released by actuators A1 to A4 and the control sequence of a controller 95 is set so as to start the drive of a motor-driven cylinder 64 for the posture changeover of the division object of the seedling planting device after it is discriminated that all the connection mechanisms reach a released state by the control in sensors S1-S4.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for dividing a seedling plant at an intermediate position in the left-right direction, and by rotating the divided product about a vertical axis around an axis, the lateral direction of the traveling machine body is changed. The present invention relates to an improvement of a rice transplanter that is configured to be switchable between a storage position in which a seedling is planted and a work position in which seedling planting work can be performed without dividing the planting device.

[0002]

2. Description of the Related Art Conventionally, there is a rice transplanter constructed as described in Japanese Patent Application Laid-Open No. 7-231705. In this conventional example, a seedling planting apparatus is provided with two right and left central portions.
Divided into two divided parts, and connected to the rear end position of the link mechanism via the first arm and the second arm so as to be rotatable about the longitudinal axis. When switching the seedling planting apparatus to the working posture, the swinging postures of the first arm and the second arm are changed and the divided parts are rotated to separate the divided parts so as to avoid contact with each other. In this state, the respective postures are changed, and the divided parts can be freely switched to the storage posture in which the lateral direction is the posture along the longitudinal direction of the body.

[0003]

In this type of rice transplanter, 8
It is effective to store small seedling planting devices having a large dimension in the width direction such as row planting or ten-row planting. However, the seedling planting device for multi-row planting is large,
Since the object is heavy, a strong operation force is required when the operator manually switches from the working posture to the storage posture, and this burdens the operator. Therefore, similarly to the conventional example, it is easily conceivable that the posture of the divided object is switched by the driving force of the electric motor, the hydraulic cylinder, or the like. However, in this type of large-sized device, it is common to provide a connecting mechanism at a plurality of locations in order to connect and hold the divided material in the working posture, and when switching the seedling planting device to the retracted posture using driving force, Prior to the switching of the posture, the operation of releasing the connection of the plurality of connecting mechanisms must be performed, which is troublesome. In particular, when at least one connection mechanism is not released when the seedling transplanting device is switched to the retracted position by the driving force, the driving force acts on the connection mechanism, and not only the connection mechanism but also the surrounding members are damaged. And there is room for improvement.

[0004] For the same reason, when the divided parts of the seedling planting apparatus are rotated around the vertical axis by a driving force to switch to the storage position, the members provided in the divided parts come into contact with each other during the rotation. In such a case, the members that come into contact with each other may be damaged by the action of the driving force. Further, even when the seedling planting device switched to the storage position is restored to the working position, the use of the driving force can reduce the burden on the operator and enables a reasonable restoring operation. A device is desired.

SUMMARY OF THE INVENTION It is an object of the present invention to make a worker feel troublesome to switch the seedling placement apparatus to the storage position and to switch from the storage position to the work position while reducing the burden on the worker. The reason for this is that the rice transplanter to be operated without the need is configured rationally.

[0006]

According to a first aspect of the present invention, as described at the outset, the seedling planting apparatus is divided at an intermediate position in the left-right direction, and the divided product is oriented vertically. By turning around the axis of the vehicle, it is possible to freely switch between a storage position in which the lateral direction is directed in the front-rear direction of the traveling machine body and a work position in which seedling planting work can be performed without dividing the seedling planting device. In the rice transplanter thus configured, a plurality of connection mechanisms that can be switched between a connection state in which the divided parts are connected and held in a working posture by operation of an actuator and a release state in which the connection is released to allow switching to the storage posture,
A plurality of sensing mechanisms for determining that each coupling mechanism is in a coupled state or a separated state, and a drive mechanism for driving the divided object around the axis of the vertical orientation to change the attitude,
Control means for controlling each of the actuator and the drive mechanism of the connecting mechanism, and when switching the seedling planting device in the working posture to the retracted posture, the control of switching the plurality of connecting mechanisms to the release state by the operation of the actuator. The control sequence of the control means is set so that the drive mechanism starts to be driven after the sensing mechanism determines that all the connection mechanisms have reached the release state by this control. It is as follows.

According to a second feature of the present invention (claim 2), in the above-mentioned claim 1, a separating operation mechanism for enlarging the relative distance between the divided surfaces of the divided seedling mounting tables constituting the divided material by a driving force. And a measuring mechanism for determining an increase in the distance between the divided surfaces of the divided seedling mounting table, and when the seedling placement device is switched from the working position to the storage position, the separation operation mechanism separates the divided surface of the divided seedling mounting surface. After measuring by a measuring mechanism that the distance between them has increased to a predetermined value or more, the control order of the control means is set so as to start driving the driving mechanism, and the operation is as follows. is there.

A third feature of the present invention (claim 3) is that, in claim 1, a posture discrimination for discriminating that the rotation posture of each of the left and right divided objects around the axis of the vertical axis is a working posture. When switching the seedling planting device in the storage position to the working position with the mechanism, the drive of the driving mechanism determines that the left and right divided parts have reached the working position, and then the operation of the actuator is performed. The control operation of the control means is set so as to operate the connection mechanism in the connection state by the operation described above, and the operation is as follows.

According to the first feature, when the seedling placement device is switched from the working position to the retracted position, the control means performs control to switch the coupling mechanism to the released state by operating the actuator. The control means determines through the sensing mechanism that the plurality of coupling mechanisms have been switched to the released state, and after determining that all the coupling mechanisms have reached the released state, the control means drives the drive mechanism. To start. In other words, when switching the seedling planting device from the working position to the storage position, the driving force of the driving means is used to reduce the labor burden on the worker. Even when the coupling mechanism is disconnected, the driving force of the actuator is used to reduce the burden on the operator, and the operator does not have to perform the operation of confirming that the plurality of coupling mechanisms are in the released state. For example, even when the coupling mechanism is not released due to an operation failure of the actuator or the like, the driving mechanism does not switch to the storage posture, so that the apparatus is not damaged.

According to the second feature, when the seedling placement device is switched from the working posture to the storage posture, the control means increases the relative distance of the divided seedling mounting table by the driving force of the separating operation mechanism.
Next, after the control means determines that the relative distance between the divided seedling mounts has expanded to a predetermined value or more via the measurement mechanism,
The control means switches the divided object to the storage posture by driving the driving mechanism. That is, when switching the seedling placement apparatus from the working posture to the storage posture, the burden on the worker is reduced by using the driving force of the separation operation mechanism, and the relative distance between the divided seedling mounting stands is increased. The switching to the storage position is performed in a state where the contact between the divided seedling mountings is avoided, and the expansion of the relative distance between the divided seedling mountings is insufficient due to, for example, malfunction of the separation operation mechanism. In this case, the driving mechanism does not switch the storage position to the storage position, so that the divided seedling mounting stands do not come into contact with each other and do not cause damage.

According to the third feature, when the seedling placement device in the storage position is switched to the work position, the control means rotates the divided parts to the work position by the driving force of the drive mechanism, and then controls After the means determines that the divided object has reached the working posture via the posture determining mechanism, the control means operates the connecting mechanism to the connected state by operating the actuator. That is,
When switching the seedling planting device from the storage position to the working position,
By using the driving force of the driving means, the burden on the worker is reduced, and after reaching the retracted position, the operation of the plurality of connecting mechanisms to the connected state is performed by the actuator to reduce the burden on the worker. For example, when the rotational operation of the drive mechanism to the working posture due to the amount of hydraulic oil is insufficient, the actuator does not operate and incomplete connection is not performed.

[0012]

Embodiments of the present invention will be described below with reference to the drawings. As shown in FIG. 1, a drive-type front wheel 1 and a drive-type rear wheel 2 that are steered.
The engine 4 is mounted on the front part of the traveling body 3 provided with a hydraulic motor, and a hydrostatic continuously variable transmission 5 to which power from the engine 4 is transmitted and a transmission case 6 are arranged on the rear part of the traveling body 3. A driving seat 7 is disposed at the center of the traveling body 3 and a seedling planting apparatus A is connected to a rear end of the traveling body 3 via a link mechanism 9 driven up and down by a lift cylinder 8. Construct rice transplanter.

The right side of the driver's seat 7 is provided with a raising / lowering lever 10 for controlling the raising and lowering of the seedling planting device A and the on / off operation of the planting clutch C. A shift lever 11 for shifting the device 5 is provided. The planting clutch C is built in the transmission case 6 and permits the disengagement operation only when the transmission shaft 12 that transmits power from the transmission case 6 to the seedling planting device A is in a predetermined rotation phase. The planting arm (described later) of the seedling planting apparatus A is configured to shut off power in a posture that avoids contact with a field.

The seedling planting apparatus A includes a seedling mounting table 13 on which a mat-shaped seedling W is placed, a pair of left and right transmission cases 14 and 14 to which power from the transmission shaft 12 is transmitted, and a chain case 15 from the transmission case 14. Rotary case 16, which is rotated by power transmitted via the power plant, planting arms 17 provided in pairs on the rotary case 16, and a center float 18C
And a pair of side floats 18S, 18S, each of which is provided with a leveling float 18 (see FIGS. 6 and 7) for eight-row planting and a fertilizer application device B. At the same time, the planting claws provided on the planting arm 17 are cut out from the lower end of the placed mat-shaped seedling W and planted one by one, and are planted in the field scene. It is configured to supply fertilizer.

As shown in FIGS. 6, 7, and 10, the link mechanism 9 includes a top link 9T and a pair of lower links 9 on the left and right.
L and 9L are connected at their rear ends by a vertical link 9V, and an intermediate frame 19 is detachably connected to the vertical link 9V (the mounting / detaching structure is not described in detail). A seedling planting apparatus A is connected to and supported by the rolling boss 20 so as to freely roll around the rolling axis Y in the front-rear posture. Also, for the intermediate frame 19,
A moving member 22 that reciprocates in a lateral direction with a screw shaft (not shown) in a horizontal position that is driven to rotate by an electric rolling motor 21 is provided. The moving member 22 and the seedling mounting table 13 are disposed at the left and right positions. An extension member 24 </ b> A is interposed between the columnar frames 23, 23 with a tension type rolling spring 24 connected to the inner end thereof, and the intermediate frame 19 is provided.
Pair of right and left engagement rods 25, 25 fixed to the upper end of the
A tension type return spring 27 having an extension rod 27A connected to the inner end thereof is interposed between the bracket and the brackets 26 arranged on the left and right positions on the side of the seedling mounting table 13 opposite to the seedling mounting surface. An operation shaft 27B projecting upward is fixed to the right extension rod 27A by welding.
In operation B, the extension rod 27A is engaged so that it can be artificially removed from the engagement rod 25. Further, the right engagement rod 25 is provided with a first determination sensor HS1 for determining whether the extension rod 27A is in the engaged state or in the engaged state.

In this rice transplanter, the seedling planting device A is configured so as to be able to be divided into two at four positions at the center in the left-right direction. That is, as shown in FIGS. 6 to 12, the main frame 32 is composed of the upper plate 32A and the lower frame 32B connected to the plate 31 which is connected to the rolling boss 20 so as to be freely rotatable. A pair of left and right regulating arms 33, 33 are extended toward the front, and the regulating arms 33, 33 are brought into contact with the lower surfaces of the left and right lower links 9L, 9L when the seedling planting apparatus A is raised. It is configured to restrict the rolling operation of the planting device A. A cylindrical member rotatably supported by the first shaft 34 is disposed at both ends of the main frame 32 such that the first shaft 34 is non-rotatably disposed coaxially with the first shaft X1 in the vertical position. 3
5, a cylindrical frame member 36 is fixed to the frame member 36. The pivot end of the frame member 36 is coaxial with the second axis X2 in the vertical position, and is rotatable with respect to the frame member 36. The second shaft 38 is arranged inside the cylinder shaft 37 (see FIG. 8).
), The left and right channel-shaped brackets 39 are rotatably supported around the second shaft 38, and a square pipe-shaped support frame 40 is connected to the brackets 39 so that the seedling planting device A The left and right divisions AL and AR are supported.

As shown in FIG. 12, the upper end side of each of the first axis X1 and the second axis X2 with respect to the vertical direction in the posture in which the seedling planting device A is set to the working posture, The support frame 23 is connected and fixed so as to be inclined in the direction toward the front side, coaxial with the second axis X2, and integrally rotating with the bracket 39, as shown in FIG. The upper ends of the left and right columnar frames 23, 23 are connected to the left and right support frames 41, 41 which are arranged in a horizontally long posture on the side opposite to the seedling mounting surface of the seedling mounting table 13.
As shown in FIG. 5, the transmission case 14 is connected to a bracket 39, and the base end of the chain case 15 is connected to a support frame 40. Sliding rails 42, 42 for supporting the mounting table 13 movably in the left-right direction are arranged.

The power from the transmission shaft 12 is transmitted to the intermediate shaft 12A.
13 is disposed at a position displaced to the right from the rolling axis Y.
As shown in (a) and (b), the bevel case 43 is provided with output shafts 44, 44 for branching and extracting power in the left-right direction, and the power from the output shafts 44, 44 is used to transmit the power from the left and right. The intermediate shafts 45, 45 to be transmitted to the cases 14, 14 are supported in a lateral orientation, and an interlocking clutch mechanism is provided between the intermediate shaft 45 and the output shaft 44. The clutch mechanism includes a shift member 46 that is spline-fitted slidably with respect to the output shaft 44, an engaging member 47 fixed to the end of the intermediate shaft 45, and the shift member 46 in the direction of the engaging member 47. The occlusal claw 46A formed on the shift member 46 and the occlusal claw 47A formed on the occlusal member 47 are engaged only in a specific rotation phase.
Further, shifters 49, 4 which are operable to contact the respective shift members 46, 46 so that the left and right shift members 46, 46 are simultaneously operated inward to simultaneously disengage the left and right clutch mechanisms.
9, and an electric cylinder type clutch operation actuator CA for performing on / off operation of a clutch mechanism via a rod 52.
A limit switch type clutch sensor CS is provided to determine the state of the clutch mechanism from the operation amount of the on / off operation system.

As shown in FIG. 6, the moving force of a top (not shown) engaged with the spiral groove of the screw shaft 53 driven by the power of the left transmission case 14 is applied to the left divided seedling mounting table. 13
A lateral feeding mechanism for the seedling mounting table 13 is provided with a moving member 54 for transmitting the L to the side opposite to the seedling mounting surface. A protective frame 55 having a shape surrounding the outer end of the slide rail 42 is connected and fixed to the outer end of the support frame 40 so as to protect the outer end of the slide rail 42. The seedling mounting table 13 is connected to the left and right divided seedling mounting tables 13L and 13R as described later, so that the power from the transverse feed mechanism integrally moves the sliding rails 42 and 42 on the slide rails 42 and 42 in the horizontal direction. Reciprocate.

As shown in FIGS. 14 and 15, round pipe-shaped engaging members 56, 56 are connected and fixed to the front positions of the left and right support frames 40, 40 in a horizontally long posture, respectively. Lock members 58, 58 are connected and fixed so as to protrude rearward with respect to the left and right positions of a shaft body 57 swingably supported in a lateral posture at 32B. An electric cylinder type is provided on the upper surface side of the lock member 58. The concave engagement portion 58A is engaged with the engagement member 56 from below, and switches the lock member 58 between the locked position and the unlocked position. And a limit switch type lock sensor LS for determining the state of the lock member 58 from the operation amount of the operation system.

As shown in FIGS. 8, 9, 11, and 12, a main sprocket 65 is fixedly mounted on the first shaft 34 at a position above the first shaft 34 and coaxially with the first shaft X1. A bracket 39 rotatably supported on the second shaft 38, and a support frame having a plate-shaped rotating member 66 rotatably around the first axis X1 And a driven sprocket 67 having half the number of teeth of the main sprocket 65 is arranged so as to be externally fitted to the columnar frame 23 on the same axis as the second axis X2. Further, an endless chain 68 is wound around the main sprocket 65 and the driven sprocket 67.

The left and right rotating members 66, 66 are arranged at a higher level than the left and right frame members 36, 36, and are rotated in conjunction with the rotation of the frame members 36, 36.
One end of each of the rods 69, 69 in the suspended posture is
6, 66, and the other end is fixed to the frame members 36, 36.
It is connected and fixed by screw type. The left and right rotating members 6
An operation rod 70 for transmitting a push-pull operation force is provided between the control rods 6 and 66 so as to rotate them in opposite directions. Further, the electric cylinders 64, 6 extend between the rear end portion of the link mechanism 9 and the left and right rotating members 66, 66.
4 and a limit switch-type attitude sensor SS that determines whether the seedling planting apparatus A is in the working attitude or the stored attitude based on the attitude of the rotating member 66. still,
The electric cylinders 64 correspond to a driving mechanism according to the first aspect, and the attitude sensor SS corresponds to an attitude determining mechanism according to the third aspect.

As shown in FIG. 10, when the seedling placement device A is in the working posture, in order to maintain this working posture, the seedling placing device 13 is placed on the divided surface at the upper position of the anti-seedling placing surface. 1 is provided with a first connecting mechanism R1, a second connecting mechanism R2 is provided at a portion of the dividing surface of the support frames 41, 41, and a third connecting mechanism R is provided at a portion of the lower surface of the left and right sliding rails 42, 42.
3 and a fourth coupling mechanism R4 at a portion of the lower divided surface of the seedling mounting table 13. These connecting mechanisms are divided A
The state in which the L and the AR are connected to the working position and the connection operation are released to enable the switching operation of the seedling planting device A to the storage position, and the structure will be described using the third connecting mechanism R3 as an example. Then, as shown in FIG. 16A, the third actuator A3 of the electric motor type is attached to the member 59 on one of the divided parts.
Member 60 pivotally operated around the support shaft 60A by the
A member 61 on the other divided side is provided with an engaged rod 62 which is swingable around the axis P.
As shown in (b), the operation of the third actuator A3 causes the rod 6 to be engaged with the concave engagement portion 60B of the engagement member 60.
In a state where the end of the second actuator 2 is engaged, the engagement member 60 is rotated to a position beyond the dead point, and conversely, when the connection is released, the third actuator A3 is rotated in reverse to operate as shown in FIG.
As shown in (a), the engaged rod 62 can be separated from the engaging portion, and a sensing sensor for determining whether the connecting mechanism R is in a connected state or in a disconnected state. S3 is provided.

First, second, and fourth connecting mechanisms R1, R2, R
4 is basically the same as the third coupling mechanism R3 described above, and the first actuator A
1, second actuator A2, fourth actuator A4
, And the state of each coupling mechanism is determined by the first sensor S1, the second sensor S2, and the fourth sensor S4. Note that the above-described clutch operation actuator CA, lock actuator LA,
And each of the first to fourth actuators A1 to A4 corresponds to the actuator of claim 1;
The clutch sensor CS and the lock sensor L described above.
S and each of the first to fourth sensing sensors S1 to S4 corresponds to the sensing mechanism of claim 1.

As shown in FIG. 6, a connecting metal fitting 71 is provided between the rear ends of the chain cases 15 and 15 at the position sandwiching the divided surface.
Are detachably provided via the intermediate plates 72 and 73. When the seedling planting apparatus A is in the working posture, one end of the connecting metal fitting 71 is engaged with the intermediate plate 72 connected and fixed in a posture extending rearward from the rear end of one of the chain cases 15. The intermediate plate 73 connected and fixed to the rear end of the chain case 15 so as to extend rearward is
By the operation of A, the pressing portion 71B at the other end is connected in a pressing state. A limit switch type second determination sensor HS2 for determining whether the connection metal fitting 71 is in the connected state or the separated state is connected to the intermediate plates 72 and 7.
3 is provided. Further, as shown in FIG. 7, the connecting metal fitting 71 is used to maintain the stored state even when the seedling planting apparatus A is set to the stored posture, and the connection metal fitting 71 is used to detect that it has been used in this position. A three connection determination sensor HS3 is also provided.

As shown in FIGS. 17 and 18, position sensors PS, PS for contacting the seedling mounting table 13 and detecting the position of the seedling mounting table 13 are arranged at both ends of the slide rail 42. Further, a rack gear 81 is provided on the anti-seedling mounting surface of the seedling mounting table 13 on the right side, and a pinion gear 82 that meshes with the rack gear 81 and an electric motor 83 that rotationally drives the pinion gear 82 are provided on the sliding rail 42 side. I support it.
The rack gear 81 and the pinion gear 82 are always engaged with each other, and the electric system between the rack motor 81 and the electric motor 83 is provided with a clutch 84 that is electrically operated. In this state, the pinion gear 82 is rotated in the forward and reverse directions in a free state, and when the seedling mounting table 13 is divided as described later, the clutch 84 is maintained in the engaged state to maintain the sliding rail 42. The position of the divided seedling mounting table 13R can be held.

The rack gear 81 and the pinion gear 8
2 and the electric motor 83 constitute a separation operation mechanism according to claim 2, wherein the position sensors PS, PS are divided seedling mounting tables 13L, 1
This corresponds to a measuring mechanism according to claim 2 for determining that each of the 3Rs has expanded.

As shown in FIG. 1, a potentiometer type height sensor for measuring the height of the seedling plant A with respect to the body from the swinging posture of the link mechanism 9 at the base end position of the top link 9T of the link mechanism 9. A TS is provided, and a control case 85 shown in FIG. 3 is arranged at a side position of the driver's seat 7. The control case 85 includes a control device built in the control case 85 (see FIG. 2). , A main lamp 87 that is turned on when the main switch 86 is turned on, a storage switch 88 that is used to operate the seedling planting apparatus A in the storage position, and a storage lamp that is turned on when the storage operation is performed. 89, a restoring switch 90 for restoring the seedling planting apparatus A in the stowed position to the working position, a restoring lamp 91 illuminated at the time of this restoring operation, and a non-operational forcibly stopping these operations. Liquid crystal display 93 and the stop switch 92, which is configured to be able to display character as informing means
And an alarm 94 as notification means.

As shown in FIG. 2, a storage switch 88 and a storage lamp 8 provided in the control case 85 are provided to a control device 95 provided with a microprocessor (not shown).
9, a recovery switch 90, a recovery lamp 91, an emergency stop switch 92, a liquid crystal display 93, an input / output system for each of the alarms 94, and a discrimination sensor system (H
S1, HS2, HS3), sensing sensor system (CS, LS,
S1 to S4), a system for inputting signals from the attitude sensor SS, the position sensor PS, and the height sensor TS, an actuator system (CA, LA, A1 to A4), and the electric cylinder 6
4. An output system for each of the electric motor 83 and the clutch 84 is formed. Further, in this rice transplanter, a program for performing automatic control for operating the seedling planting device A in the working posture to the storage posture and automatic control for restoring the seedling planting device A in the storage posture to the working posture is transmitted to the control device 95. The control operation is described below.

As shown in the flow chart of FIG. 4, when switching the seedling planting apparatus A in the working posture to the storage posture, the storage switch 88 is further turned on while the main switch 87 of the control case 86 is turned on. If the seedling plant A is already in the stored posture based on the signal from the posture sensor SS after the start, the condition is not satisfied and the control is not performed. When the condition is established, the storage lamp 89 is turned on to determine the status of the preliminary operation (steps # 101 to # 103).

The determination of the status of the preliminary operation is to determine whether or not an operation which should be performed artificially when switching the storage position of the seedling placement apparatus A is performed.
It is determined whether the seedling placement device A is at the upper limit position based on the signal from S, and based on the signal from the position sensor PS, it is determined whether the seedling mounting table 13 is located at the left end. Based on a signal from the determination sensor HS1, it is determined whether the end of the extension rod 27A of the return spring 27 is separated from the engagement rod 25 by operating the operation shaft 27B.
Based on the signal from S2, it is determined whether or not the connection fitting 71 is in the separated state.
And operate the necessary operations on the liquid crystal display 9.
3 is displayed to prompt the operator to perform an operation (steps # 104 and # 105). If the seedling planting device A is not at the upper limit position, the raising and lowering lever 10 is operated to raise the seedling planting device A to the upper limit.
Is not located at the left end, the seedling planting device A is operated by the operation of engaging the planting clutch C, the position of the seedling mounting table 13 is set to the left end position by the force of the traverse mechanism, and the return spring 27 is actuated. If not removed, remove it artificially and connect
If 1 is not separated, an operation of removing it artificially is performed. At this point, the seedling mounting table 13 moves to the left end as shown in FIG.

Next, when the preliminary operation has been completed,
The control device 95 controls the second and third actuators A2 and A3 to release the connection between the second and third connection mechanisms R2 and R3, and notifies the completion of the release of the connection by the second and third sensing sensors. When S2 and S3 are detected, the control device 95 operates the clutch 84 to control the electric motor 83 to move the right divided seedling mounting table 13R to the right end. The state in which the divided seedling mountings 13L and 13R are separated from each other as shown in FIG. 20 is represented as shown in FIG.
The distance between the 3R divided surfaces reaches about 30 cm.

Also, as described above, the right divided seedling mounting table 13R
When the position PS detects that has moved to the right end, the control device 95 controls the clutch operation actuator CA to operate the clutch release operation, and the control device 95 controls the lock actuator LA to release the locked state of the lock member 58. Then, the control device 95 controls the first actuator A1 to release the connection between the support frames 41, 41, and the control device 95 controls the third actuator A3 to release the connection between the slide rails 42, 42, If it is determined from the signals from the clutch sensor CS, the lock sensor LS, the first sensor S1, and the third sensor S3 that the respective controls have been properly performed and completed (steps # 106 to # 111), the control is performed. The device 95 controls the electric cylinder 64 to change the attitude of the divided objects AL and AR. There stops the control of the electric cylinder 64 when the orientation sensor SS senses that has reached the storage position, which is assumed to turn off the storage lamp 89 (# 1
12 to # 114 steps).

It should be noted that the divided product A is
When the postures of L and AR are changed to the storage posture,
As a result of the respective frame members 36, 36 being interlocked by the forces from the left and right rotating members 66, 66 and the operating rod 70,
By rotating around the first axis X1, X1, the frame member 36,
At the same time as swinging inward of the traveling body 3 on the rear end side, the brackets 39, 39 around the second axes X2, X2.
Is rotated in the opposite direction at twice the rotation speed of the frame members 36, 36, that is, the left and right outer ends thereof rotate forward of the traveling body 3. At the time of rotation, as shown in FIG.
Although the corners 13E, 13E at the upper end of the inner end of the 13R approach, the divided seedling mounts 13L, 13R rotate at positions separated from each other in a plan view, so that the contact between the corners 13E, 13E is avoided. It is possible to move and reach the retracted posture as shown in FIG. 22 by the end of the rotation.

If the appropriate control is not performed in any of the steps # 106, # 108, # 110 and # 112, the alarm 94 is activated at that point to stop the control. A notification operation is performed to display on the liquid crystal display 93 the portion where the control was not performed (# 115 step), and the storage lamp 89
Is turned off and the control is interrupted. If the proper control is not performed as described above, the location displayed on the liquid crystal display 94 is adjusted and repaired, and the above-described control is performed again. Can be switched to Note that the emergency stop switch 92 has a function of stopping all control operations during the control, and even if a problem occurs during the switching to the storage position by driving the hydraulic cylinder 64, the emergency stop switch 92 is not operated. The electric cylinder 64 can be stopped by an ON operation.

Next, a description will be given of a control operation when the seedling planting device A in the storage position is restored to the working position. As shown in the flowchart of FIG. 5, when the seedling planting device A in the storage position is restored to the working position, the control case 86 is restored.
When the restoration switch 90 is turned on with the main switch 87 being turned on, the seedling plant A is already in the working posture by the signal from the posture sensor SS after the start. , The control is not performed because the condition is not satisfied, and when this condition is satisfied, the restoration lamp 91 is turned on to determine the status of the preliminary operation (# 201 to # 1).
03 steps).

The determination of the state of the preliminary operation is to determine whether or not an operation to be performed artificially is performed when the seedling transplanting apparatus A is switched to the working posture. First, a signal from the height sensor TS is output. It is determined whether the seedling planting device A is at the upper limit position based on the above, and based on the signal from the third determination sensor HS3, it is determined whether the connection fitting 71 (see FIG. 7) is in the separated state, When there is no situation, the alarm 94 is activated, and the necessary operation is displayed on the liquid crystal display 93 to prompt the operator to perform the operation (# 2).
04, # 205 step). When the seedling planting device A is not at the upper limit position, the seedling planting device A is operated by operating the elevating lever 10.
Is raised to the upper limit, and when the connection fitting 71 is not separated, an operation of artificially removing the connection fitting 71 is performed.

Next, when the preliminary operation has been completed,
The control device 95 sets the clutch operation actuator CA in a state in which the clutch operation actuator CA can be entered.
After the detection of S, the electric cylinder 64 is controlled to operate the divided parts AL and AR in the restoring direction. By this operation, the posture sensor S detects that the divided parts AL and AR have reached the working posture.
When S is detected, the control of the electric cylinder 94 is stopped. When the divided objects AL and AR rotate to the working posture in this manner,
The clutch interposed in the transmission system from the bevel case 43 enters the state naturally by the urging force of the spring 48. When the divided parts AL and AR reach the working posture, the control device 95 controls the lock actuator LA to move the lock member 58 to the lock position, and the lock sensor LS detects that the operation is completed. After that, the control device 95 connects the second connection mechanism R2 and the third connection mechanism R3 by driving the second actuator A2 and the third actuator A3. The completion of this connection operation is indicated by the second sensor S2.
And the third sensor S3, the control device 95 operates the clutch 85 to drive the electric motor 83 to move the divided seedling mounting table 13 to the connection position, and to this position. When this is detected by the position sensor PS, the control device 95 operates the first actuator A1 and the fourth actuator A4 to connect the first connection mechanism R1 and the fourth connection mechanism R4, and that the connection operation is completed. Is detected by signals from the first sensor S1 and the fourth sensor S4, the restoring lamp 91 is turned off (steps # 206 to # 212).

It should be noted that the electric cylinder 64 separates the
When the postures of L and AR are changed in the restoring direction, the respective frame members 36 and 36 are interlocked by the forces from the left and right rotating members 66 and 66 and the operation rod 70, so that the Frame members 36 around the single axes X1, X1,
The rotation of 36 and the rotation of the system supported by the brackets 39, 39 around the second axis X2, X2 are performed.

If the appropriate control is not performed in any of the steps # 206, # 208, and # 210, the alarm 94 is activated at that point to stop the control, and the control is performed. A notification operation for displaying the untouched portion on the liquid crystal display 93 is performed (#
(213 steps), the restoration lamp 91 is turned off, and the control is interrupted. If the proper control is not performed as described above, the plant displayed on the liquid crystal display 94 is adjusted and repaired, and the above-described control is performed again. Can be switched to The emergency stop switch 92 has a function of stopping all control operations in the middle of the control. Even when a trouble occurs during the switching to the working posture by driving the electric cylinder 64, the emergency stop switch 92 is not operated. The electric cylinder 64 can be stopped by an ON operation.

As described above, according to the present invention, when switching the seedling placement apparatus A from the working posture to the storage posture, and when restoring the storage posture from the storage posture to the working posture, the operation of the part requiring the manual operation is performed. If not, the liquid crystal display 93
The operation of the necessary parts can be performed without fail by performing the work according to the contents displayed in the above.If this operation is completed, the automatic driving system reduces the labor burden on the operator by the driving force of the actuator. It is possible to switch the posture of the seedling planting apparatus A by a simple operation.
In addition, when the seedling planting apparatus A is switched to the storage position, the clutch of the transmission system is in the disengaged state, the lock mechanism is in the released state, and the connection of the four connecting mechanisms R1 to R4 is in the released state. When the mounting table 13 is completely separated, the clutch sensor CS, the lock sensor LS,
The driving of the electric cylinder 64 is performed only when the first to fourth sensing sensors S1 to S4 and the position sensor PS are detected, so that the driving of the actuator in a state where the connection is not released due to an operation failure of the connection mechanism system or the like. The divided seedling mountings 13L, 13R are prevented from being damaged by preventing the parts that are not disconnected from being broken, and the storage operation when the interval between the divided seedling mountings 13L, 13R is not sufficiently secured is avoided. Can be prevented from being damaged.

In particular, in the present control system, the operation cannot be performed when the electric cylinder 64 cannot be operated when the seedling placement apparatus A is switched to the storage position and when the operation is restored to the working position. Since the operator can grasp the cause from the display contents of the liquid crystal display 93, the seedling plant A is automatically controlled.
When the posture cannot be switched, the operator can easily eliminate the cause based on the displayed contents.

[Other Embodiments] The present invention is not limited to the above embodiment. For example, an operation of raising the seedling planting device to the upper limit at the start of the storing operation, an operation of removing the return spring, etc. The operation to be performed can be performed by an actuator to enable complete automation.

[0044]

Accordingly, there is provided a rice transplanter which can switch the seedling planting apparatus to the storage position by automatic control without burdening the worker with the burden on the worker reduced. It was reasonably configured (Claim 1). Further, when switching to the storage position, the contact between the divided seedling mounting tables can be avoided by automatic control (Claim 2). A rice transplanter that can be automatically controlled without burdening the operator while reducing the burden of the above is rationally configured (claim 3).

[Brief description of the drawings]

FIG. 1 is an overall side view of a rice transplanter.

FIG. 2 is a block circuit diagram of a control system.

FIG. 3 is a plan view of a control case.

FIG. 4 is a flowchart of a storage routine.

FIG. 5 is a flowchart of a restoration routine.

FIG. 6 is a plan view of a transmission system of the seedling planting apparatus in a working posture.

FIG. 7 is a plan view of the transmission system of the seedling planting device in the retracted position.

FIG. 8 is a plan view of a working attitude storage operation system.

FIG. 9 is a plan view of a storage operation system in a storage posture.

FIG. 10 is a front view showing members linked to the intermediate frame.

FIG. 11 is a rear view of a main frame and a frame member with a partially cutaway.

FIG. 12 is a side view showing a posture of a first shaft center and a second shaft center.

FIG. 13 is a rear view showing the engaged state and the disengaged state of the clutch mechanism.

FIG. 14 is a plan view of an operation system of the lock member.

FIG. 15 is a side view of the lock member in the lock position.

FIG. 16 is a rear view of the third connection mechanism in a connected state and a disconnected state.

FIG. 17 is a front view of the seedling mounting table positioned at the end of the sliding rail;

FIG. 18 is a front view of the seedling mounting table subjected to the separation operation.

FIG. 19 is a plan view of a rice transplanter in which a seedling mounting table is positioned at an end of a sliding rail.

FIG. 20 is a plan view of a rice transplanter in which a seedling mounting stand is separated.

FIG. 21 is a plan view of a rice transplanter in which the seedling planting device is divided and rotated.

FIG. 22 is a plan view of a rice transplanter in which the seedling planting device is set in a retracted position.

[Explanation of symbols]

 13L, 13R Divided seedling rest 64 Drive mechanism 83 Separation operating mechanism 95 Control means A Seedling plant AL, AR Divided A1-A4 Actuator R1-R4 Connecting mechanism S1-S4 Sensing mechanism PS measuring mechanism SS Attitude discriminating mechanism

Claims (3)

[Claims] 1. A storage position in which a seedling planting device is divided at an intermediate position in the left-right direction, and the divided material is turned around a shaft in a vertical position, so that its lateral direction is directed to the front-rear direction of a traveling body. And a rice transplanter configured to be switchable to a working posture in which seedling planting work can be performed without dividing the seedling planting device, wherein the divided material is connected to and held in the working posture by operation of an actuator. A plurality of connection mechanisms that can be switched to a release state in which connection is released to allow switching to the storage position, a plurality of sensing mechanisms that determine whether each connection mechanism is in a connected state or a separated state, and A driving mechanism for driving the object around the vertical axis to change the posture, and a control means for controlling each of an actuator and a driving mechanism of the coupling mechanism; When switching to The control means switches the plurality of coupling mechanisms to the release state by the operation of the heater, and the control means starts the driving of the drive mechanism after the detection mechanism determines that all the coupling mechanisms have reached the release state by this control. Rice transplanter with control sequence set. 2. A separating operation mechanism for enlarging a relative distance between divided surfaces of divided seedling platforms constituting the divided object by a driving force, and a measuring mechanism for judging an increase in a distance between divided surfaces of divided seedling platforms. And, when switching the seedling planting device from the working posture to the storage posture, after measuring by the measuring mechanism that the distance between the divided surfaces of the divided seedling mounting base has been expanded to a predetermined value or more by the separating operation mechanism. 2. The rice transplanter according to claim 1, wherein a control order of said control means is set so as to start driving of said driving mechanism. 3. An apparatus for determining whether the rotational posture of each of the left and right divided parts about the vertical axis is in a working posture is provided, and the seedling planting device in the stored posture is switched to the working posture. At this time, after the posture discriminating mechanism determines that the left and right divided objects have reached the working posture by driving the driving mechanism, the control operation of the control means is performed to operate the coupling mechanism in the coupled state by operating the actuator. The rice transplanter according to claim 1, wherein the rice transplanter is set.