JPH11266629A - Riding rice transplanter - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a riding rice transplanter designed to enable seedlings to be planted in proper depth even if the field is excessively undulated or uneven as well as prevent seedling planted spots from being run over by the wheel (s) when the transplanter is in turning travel. SOLUTION: This riding rice transplanter has such a scheme that a lift link mechanism 4 supporting a seedling planting device in a vertically movable way is supported yawably on the support member 12 of a traveling machine body, and a pitching cylinder 15 is provided so as to swing the support member 12 back and forth; the traveling machine body is mounted with a tilt sensor 21 for detecting the front and back tilt angle thereof, and a pitching control means is provided so as to subject the control valve of the pitching cylinder 15 to change-over operation based on the detection information from the tilt sensor 21 so as to maintain the front and back tilt posture of the seedling planting device relative to the field surface irrespective of the change in the front and back tilt posture of the traveling machine body.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a technique relating to a riding type rice transplanter capable of changing a relative yawing attitude and a pitching attitude between a traveling machine body and a seedling planting apparatus so that seedlings can be satisfactorily planted. is there.

[0002]

2. Description of the Related Art A field to be planted by a rice transplanter is not always flat, and in order to be able to plant a seedling well even if there are undulations, a planting device is mounted on a traveling machine body. 2. Description of the Related Art Techniques for controlling a planting state by raising and lowering or rolling the plant have been conventionally used.

[0003]

The shape of the field is not limited to a rectangular field in which the rice transplanter can easily travel, but also has a variety of deformed fields, such as a triangular field or partially projecting laterally. Therefore, as shown in FIG. 7, seedlings may be planted while traveling in a curved manner along a curved field. In this case, depending on the curvature, the trail t of the front wheel 2 or the rear wheel 3 may vary.
There is a case where the seedling planting point n is located at or near 2, 2 or 3 (this does not occur during straight running). Trace of passage of wheels t
2, t3 is leveled by the leveling float 22, but it is not perfect, so the planting seedlings tend to tilt or fall, which tends to cause poor planting. Therefore, it is safer not to match the trace of wheel passage with the planting location as much as possible.

Further, as shown in FIG. 8, the front wheel 2 falls into the depression of the hard disk G in the field, and the traveling body 1 tilts forward unexpectedly, or the front wheel 2 rides on the convex portion of the hard disk G and runs. When the traveling body 1 is tilted forward and downward, the leveling float 22 floating on the muddy surface T is also controlled to be raised and lowered in a forwardly tilted posture, that is, the sensitivity of the vertical control is sensitive. And tend to be shallower. In addition, when the slope is lowered backward, the leveling float 22 is also controlled to move up and down in the posture of tilting backward, that is, the control sensitivity for lifting and lowering is biased toward the insensitive side, and the planting tendency is increased. Therefore, there is room for improvement in this point. Was.

[0005] In view of the above-mentioned circumstances, the present invention provides a method of curving (turning) by devising a support structure of a seedling planting device.
However, so that the trace of wheel passage does not overlap with the place where seedlings are planted,
It is another object of the present invention to make it possible to perform seedling planting at an appropriate depth even when the undulations and unevenness of the field are large, so that better rice planting work can be performed.

[0006]

According to a first aspect of the present invention, a lifting link mechanism for supporting a seedling planting apparatus so as to be able to move up and down is supported on a support member of a traveling body so as to freely yaw.
The pitching posture of the seedling placement apparatus with respect to the traveling machine body can be changed by changing the front-back inclination angle of the support member.

According to a second aspect of the present invention, in the configuration of the first aspect, the traveling body or the seedling planting apparatus is provided with an inclination sensor for detecting an inclination angle in the front-rear direction, irrespective of a change in the front-back inclination posture of the traveling body. A control device for drivingly changing the front-back inclination angle of the support member based on the detection information of the inclination sensor so that the front-back inclination posture of the seedling planting apparatus with respect to the field scene is maintained at a predetermined posture. And

According to the first aspect of the present invention, the raising and lowering link mechanism is supported so as to be able to yaw with respect to the traveling body, so that when the traveling body turns, the seedling planter turns with respect to the traveling body. I started to yaw inward,
The positional relationship between the wheels of the traveling body and the seedling planting device in the left-right direction has been changed as much as possible when traveling straight,
It is possible to avoid that the trace of wheel passage coincides with the planting location.

For example, a means for enabling yawing at the connection point between the lifting link mechanism and the seedling planting apparatus is conceivable. However, in the case of the present invention, the position of the rear wheel serving as a turning reference and the yawing fulcrum are compared with this means. This is advantageous in that the length of the overhang in the front-rear direction can be shortened, and the change in the positional relationship between the wheel and the seedling plant in the left-right direction can be reduced.

Further, since the pitching attitude of the seedling planting apparatus with respect to the traveling machine body can be changed by changing the front-back inclination angle of the support member, when the traveling machine body is inclined forward and downward due to unevenness of the field, the seedling planting apparatus is not used. When the traveling machine body is tilted forward and tilted while the pitching is performed in the descending direction, the pitching of the seedling planting apparatus in the ascending direction can suppress the change in the front-back inclination angle of the seedling planting apparatus with respect to the field scene. Deep planting and shallow planting phenomena caused by the front-back inclination of the airframe are suppressed, and an appropriate seedling planting state can be realized.

Since the above-mentioned structures capable of yawing and pitching act on the support members, the structure can be shared and integrated as compared with the case where these are separately constructed, and the mechanism is improved. It is also preferable in that the installation space can be reduced in size and cost can be reduced.

According to the second aspect of the present invention, the operation of changing the front and rear inclination angle of the support member based on the detection information of the inclination sensor allows the seedling planter to tilt the front and rear with respect to the field scene irrespective of a change in the attitude of the traveling body. Since the posture is maintained in a predetermined posture, the action of suppressing the deep planting and the shallow planting phenomenon caused by the above-mentioned front-back inclination of the aircraft is automatically performed, and the planting posture of the seedling is improved without any trouble. be able to.

[Effect] In the riding type rice transplanter according to the first and second aspects, the yaw and pitch can be performed by using the support member which is the base of the lifting link mechanism, so that the rice transplanter is relatively compactly integrated. With an efficient structure, it is possible to perform a good and appropriate seedling planting operation without disturbing planting even in a turning traveling state or when the traveling machine body is remarkably tilted back and forth.

In the riding rice transplanter according to the second aspect of the present invention, the above effect can be obtained by performing the drive pitching control based on the front-rear inclination sensor, but no special operation by the operator is required for that purpose. There are advantages.

[0015]

Embodiments of the present invention will be described below with reference to the drawings. 1 shows a rice transplanter, 1 is a traveling body, 2 is a front wheel, 3 is a rear wheel, 4 is a lifting link mechanism, and A
Is a seedling plant, 6 is a driver's seat, 7 is a fertilizer, 8 is an engine, 9 is a front mission, 10 is a belt transmission, 11
Is the rear mission. Reference numeral 5 denotes a lifting lever for the planting device A.

The lifting link mechanism 4 includes a pair of left and right upper links 4A, 4A and a pair of left and right lower links 4B, 4B.
The upper and lower links 4A and 4B are pivotally supported on a support member 12 made of a pipe material supported on the body frame F so as to be vertically swingable. A hydraulic lifting cylinder 14 is erected over a mast member 13 for supporting the seedling planting device A and an upper portion of the support member 12, and the hydraulic cylinder 14 is forcibly driven to a contraction side so that the seedling planting device is driven. A is a structure in which the seedling transplanting device A is moved by its own weight on the extension side in which A is raised and lowered.

As shown in FIG. 2 and FIG.
Has a lower end pivotally supported by a body frame F at a left-right fulcrum P, and has a hydraulic pitching cylinder 1 at the upper end.
The lifting / lowering link mechanism 4, that is, the seedling planting apparatus A travels around a vertical axis Z which is the axial direction of the supporting shaft 16. Aircraft 1
To the vehicle. However, a stopper 17 for making the yawing angle within a predetermined range is provided in a state in which the stopper 17 comes into contact with the lower pipe 12a of the support member 12 that supports the lower link 4B.

The pitching cylinder 15 is pivotally supported by a mounting member 18 having a front portion fixed to the body frame F,
The rear portion is pivotally supported by the upper end of the support shaft 16 as described above, and the elevating link mechanism 4, that is, the seedling planting device is moved by the expansion and contraction movement of the pitching cylinder 15 to move the traveling machine 1.
Can be driven to pitch.

In this rice transplanter, an automatic elevating control means B for maintaining the planting depth in a predetermined state, a sensitivity setting means D for adjusting and setting the elevating control sensitivity of the automatic elevating control means B, and the front and rear of the traveling machine 1 Pitching control means C for maintaining the seedling planting apparatus A in the front-rear inclination position with respect to the field scene at a predetermined position regardless of the change in the inclination position is provided.

As shown in FIG. 4, an electromagnetic proportional control valve 19 for the lift cylinder 14 and a swingable ground float 2
2. A float sensor 23 comprising a potentiometer for detecting the vertical movement of the plant 2 is provided, and the control valve 19 is switched based on the detection information of the float sensor 23 to stably maintain the height of the seedling plant A with respect to the ground. The control device 25 is provided with an automatic elevating control means B in order to perform the automatic elevating control.

The grounding float 22 pivotally attaches to a support stay 26 on the seedling planting device side around the rear fulcrum Y, and a bracket 27 at the front of the float and a potentiometer type float provided on the seedling planting device side. The sensor 23 and the sensor 23 are linked to each other via a link 28. The front of the ground float 22 is equipped with a spring 29 that biases it downward via a link 28.

The control device 25 includes sensitivity setting means D, which is a known technique for adjusting the sensitivity of the elevation control by adjusting the reference position of the float sensor 23. In brief, when the sensitivity adjustment dial 30 is operated to the insensitive side, the reference position of the float sensor 23 becomes, for example, A
The position is changed to the A2 position, which is a short distance from the 1 position. Then, in this state, the attitude of the ground float 22 is changed to the reference value A1.
It is more upward than the posture at the time, and the ground contact area decreases,
Further, since the spring 29 is more compressed, it is difficult to follow the ups and downs of the rice field, and the elevation control sensitivity is adjusted to the insensitive side.

When the sensitivity adjustment dial 30 is operated to the sensitive side, the reference position of the float sensor 23 is changed to, for example, the position A3 slightly before the position A1. Then, in this state, the posture of the grounding float 22 is more downward than when the grounding float 22 is at the reference value A1, and the grounding area increases, and the spring 2
Since the compression of No. 9 is alleviated, it becomes easy to follow the ups and downs of the rice field, and the elevation control sensitivity is adjusted to the sensitive side.

The pitching control means C is provided on the body frame F with an inclination sensor 21 for detecting the inclination angle of the traveling body 1 in the front-rear direction. The control valve 20 of the pitching cylinder 15 is switched based on the detection information of the inclination sensor 21 so as to maintain the front and rear inclination posture with respect to the field scene A at the predetermined posture set by the front and rear posture setting dial 24. is there.

The front / rear posture setting dial 24 is normally operated at the "horizontal" position, and
Seedling planting apparatus A is forcibly pitched so that is in a horizontal posture. That is, from the normal traveling state in the horizontal field where the mud surface T and the hard platen G shown in FIG. 5 (a), as shown in FIG. In the case of downward inclination, pitching cylinder 1
5, the support member 12 is tilted rearward with respect to the traveling machine body 1 and oscillated, thereby offsetting the forward descending movement of the seedling planting apparatus A, and the posture in which the float 22 is parallel to the mud surface T is set. It will be maintained.

As shown in FIG. 5 (c), when the traveling body 1 inclines greatly forward due to the front wheels 2 climbing over the convex portions, the pitching cylinder 15 is shortened and the supporting member 12 is driven. Is tilted forward with respect to the traveling machine body 1 and swings, thereby offsetting the forward rising movement of the seedling planting apparatus A, and the posture in which the float 22 is parallel to the mud surface T is maintained.

The front and rear posture setting dial 24 is operated to a position other than the "horizontal" position in the following cases. That is,
In the case where the field scene itself is tilted forward in the traveling direction of the rice transplanter, the field float 22 is operated to the “front rising” side corresponding to the tilt angle so that the ground float 22 is parallel to the field scene tilted forward. The pitching reference attitude is set so that The same applies to the case where the field scene itself is tilted forward and downward in the traveling direction of the rice transplanter, and the field float 22 is operated to the “front drop” side corresponding to the tilt angle so that the ground float 22 is tilted forward and downward. The pitching reference posture is set so as to be parallel to the surface.

Further, as shown in FIG. 6, when the rice transplanter is turning along a curved field, the seedling planting apparatus A yaw-moves around the support member 12 inside the turn, and A posture along the turning radius direction appears, so that the trails t2, t3 of the front wheel 2 and the rear wheel 3 of the seedling planting device A are displayed.
The left and right positional relationship between and the planting location n is not much different from that in the case of straight running, and the traces t2, t3
Is prevented from overlapping, so that seedling planting at the trace of passage of the front wheel 2 or the rear wheel 3 is first eliminated.

[Another Embodiment] Instead of operating the pitching movement of the support member 12 with an actuator such as a hydraulic cylinder, the support member 12 is configured to swing slightly by a balance means such as a spring or a gas cylinder. Alternatively, a means for changing the pitching posture of the seedling planting apparatus A by manually turning and operating a screw-operated rotary handle may be used.

A steering sensor for detecting the turning angle of the front wheel 2 and an actuator for driving and swinging the lifting link mechanism 4 around the support shaft 16 are provided. May be provided on the inside of the turn.

The pitching control means C in which the inclination sensor 21 is provided on the seedling planting device A side may be used. In this case, the inclination sensor 21 can also detect whether or not the target posture is set by the front / rear posture setting dial 24, and can perform feedback control.

[Brief description of the drawings]

FIG. 1 is a side view of a riding rice transplanter.

FIG. 2 is a perspective view of a main part showing a support structure of a lifting link mechanism.

FIG. 3 is a diagram showing a yawing structure of a lifting link mechanism.

FIG. 4 is a control block diagram showing a control system.

FIG. 5 is an explanatory diagram showing an operation by pitching control.

FIG. 6 is a plan view showing a relationship between a wheel passing trace and a planting location during turning.

FIG. 7 is a plan view showing a relationship between a wheel passing trace and a planting location during a conventional turning operation.

FIG. 8 is an explanatory view showing a posture of the seedling planting apparatus at the time of pitching the conventional airframe.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Traveling body 4 Elevating link mechanism 12 Support member 21 Inclination sensor 25 Control device A Seedling planting device

Claims (2)

[Claims] An up-and-down link mechanism for supporting the seedling planting apparatus so as to be able to move up and down is supported on a support member of the traveling body so as to be able to yaw freely, and the front-back inclination angle of the support member is changed to change the inclination of the seedling planting apparatus. A riding type rice transplanter configured to be capable of changing a pitching attitude with respect to the traveling body. 2. The traveling machine or the seedling planting device is provided with an inclination sensor for detecting an inclination angle in the front-rear direction of the traveling machine body. The riding type according to claim 1, further comprising a control device that changes a drive angle of the support member in the front-rear direction based on the detection information of the tilt sensor so that the front-back tilt posture with respect to the surface is maintained at a predetermined posture. Rice transplanter.