JPS63287409A - Farm machine for paddy field - Google Patents

Abstract

PURPOSE:To facilitate confirmation and amendment of course, by providing a marker for confirming the advancing direction integrally with a base body for straight drive induction and preferentially carrying out a steering operation in carrying out the steering operation during driving by straight drive controlling device. CONSTITUTION:A center marker 57 and side marker 58 are attached on the upper face of a guide float 40 and a machine body is followed to the skid direction of the guide float which is a base body for inducing straight drive and straight drive running is maintained. An operator may sometimes only confirm the course from the visual relation between guide marker 58 in already planted side and seedling line planted in previous process during planting opera tion. When a steering handle 17 is operated, an operation detecting sensor is perceived and the guide float 40 is temporarily raised and amendment of advanc ing direction or running of curve part, etc., is carried out.

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention relates to an agricultural machine for paddy fields, such as a rice transplanter, which is equipped with an automatic straight-line control function.

[Conventional technology] When planting seedlings using a rice transplanter, since the rice transplanter needs to travel straight in order to obtain rows, a reference body such as a float is provided to guide the rice in a straight line, and during the seedling planting work, There is a rice transplanter that is configured to automatically keep the traveling direction straight by adjusting the steering angle of the steering wheels according to the deflection of the reference body in the width direction of the machine body.

[Problems to be solved by the invention] By the way, in actual planting work, when it is necessary to curve the planting row due to field conditions, or when there is a buildup on the machine for some reason, etc. There are cases where it is necessary to correct the direction of movement of the machine, but the conventional rice transplanter described above has the problem of being difficult to adjust to this immediately, and the planting rows are disturbed. Furthermore, since it is not easy to check whether the vehicle is traveling straight ahead, even if the vehicle is off course, the vehicle may continue to travel without noticing it.

[Means for Solving the Problems] In order to solve the above problems, the present invention employs the following configuration.

That is, the rice field agricultural machine according to the present invention has a straight-line control device that adjusts the steering angle of the steering wheel according to the deflection of the straight-line guidance reference body in the width direction of the machine body, and maintains the traveling direction in a straight line during work. In a paddy field agricultural machine equipped with the above, a marker is integrally provided on the reference body to serve as a guide for the operator to confirm the direction of travel, and an artificial steering operation is performed during automatic straight-ahead driving by the straight-ahead control device. The feature is that this is given priority.

[Function] During planting work, automatic straight-ahead driving is performed by the straight-ahead control device, but if necessary, by performing manual steering operations such as steering wheel operation, it is possible to drive around curves or correct the direction of travel. It can be carried out quickly and appropriate planting rows can be obtained.

Furthermore, since the direction of movement of the aircraft can be easily determined from the visual positional relationship between the planted seedling row and the marker, driving becomes easier and the burden on the operator is reduced.

[Example] The embodiments shown in the drawings will be described below.

Each of the figures following FIG. 1 shows one embodiment of the present invention. A rice transplanter 3, which is a working machine, is attached to the link device 4, and the working machine is configured as a riding rice transplanter as a whole.For example, a seeding machine or the like other than the rice transplanter may be used as the working machine.

The tow vehicle 1a includes a transmission frame 6 extending rearward at the rear of a transmission case 5, and front wheels 8.8 are supported by front wheel support cases 9.9 provided on both sides of the transmission case 5 so as to be able to change direction. The rear wheel 11.11 is pivotally supported by the tip of a transmission case 12.12 attached to the rear end of the transmission frame 6. The engine 14 is the transmission frame 6
A seat 15 is installed on a box-shaped cover that covers the engine 14. Also, the cockpit! A steering wheel 17 is mounted on the control platform 16 installed in front of the vehicle.
is provided.

A pinion 21 is fixed to the lower end of a steering shaft 20 attached to the steering handle 17, and a gear 23 integrated with a pitman arm 22 meshes with the pinion. The tip of the pitman arm 22 is connected by a drag rod 25 to the tip of a drag arm 26 projecting from one front wheel support case 9.

A steering force sensor 27 is provided in the middle of the drag rod 25 to detect when a load is applied to the drag rod. Further, a power steering cylinder 29 is provided parallel to the drag rod 25, and the tip of this piston mid is connected to the tip of the drag arm 25. The amount of contraction of the cylinder 29 is detected by a steering angle sensor 30 installed in parallel thereto. In addition, from the left and right front wheel support cases 9.9, the knuckle arms 3
2.32 are provided to protrude rearward, and their tips are connected to each other by tie rods 33.

The straight-line control device 2 includes a guide float 40, which serves as a reference body for straight-line guidance, provided at the bottom of the aircraft body. This guide flow) 40 is a support provided coaxially with the left and right rear wheel axes lla, lla and rotatable up and down and left and right about a fulcrum P located at the center of the left and right rear wheels lla, 11. It is attached to the tip of the rod 41. Support rod 41
consists of a pair of left and right bars 41a, 41a, supported by horizontal shafts 44 and 44 that are rotatable with respect to a vertical shaft 43 passing through a fulcrum P, and whose intermediate part is attached to the tip of a hanging arm 46. It is suspended by chains 47, 47. A suspension cylinder 50 is connected to the tip of a cylinder arm 49 provided integrally with the suspension arm 46, and when the suspension cylinder 50 is extended or contracted, the suspension arm 46 is rotated up and down. When the suspension arm 46 moves upward, the guide float 40 is forcibly lifted up, but when the suspension arm 46 moves downward, the guide float 40 descends under its own weight and the weight of the support rods 41, 41. Support rod 4
The amount of left and right rotation of 1.41 is detected by a left and right rotation sensor 52 attached to the water drop shaft, and the amount of lifting is detected by a lifting sensor 53 attached to the suspension arm.

A support post 55.55 is erected on the upper surface of the guide float 40, and a marker support rod 56 is horizontally provided on the support post 55.55. A center marker 57 is attached upward to the center of the marker support rod 56, and downwardly bent side markers 58 and 58 are attached from both ends so as to be extendable and retractable left and right. Further, on the bottom surface of the guide float 40, a fin 60 is provided to prevent the guide float from sliding sideways. A plurality of ... are provided in the front-back direction.

The link device 4 includes a frame 62 fixedly provided to the transmission frame 6, two upper links 63, 63 and two lower links 84, 64 supported by the frame, and a rear link between these upper and lower links. A connecting tool 6 for the work equipment is attached to the end and is attached to the lower end.
5a and a connecting frame 65. Above link 8
A lift hydraulic cylinder 68 whose base is pivoted to the frame 62 is connected to the connecting rod 67 that connects the intermediate portion of 3.63, and by expanding and contracting this, the link device 4 is rotated up and down. It looks like this. The amount of rotation is detected by a machine height sensor 69 having a detection rod 69a attached to the upper link (or the lower link).

The rice planting 4113 is provided by tilting the seedling tank 71 above the transmission case 70 so that the front side is on top, and starting from the lower part of the transmission case 70 with the branch case 74. ... are respectively extended rearward, and each branch case 74. ...planting device 75
．． ... is installed. Central branch case 74
(C) has one on each side, left and right branch case 74 (L),
A total of five sets of planting devices t75, one on each side, are attached to (R), and this rice transplanter 3 is configured as a rice transplanter for planting five rows. The planting device 75 is a one-turn case 7
6 is equipped with planting rods 77, 77 which themselves rotate, and the planting claws 78, 78 of these pair of planting rods are placed on the seedling tank 71 while moving up and down while drawing a predetermined trajectory. 0-branch case 74. Seedlings are taken out one by one from the seedbed and planted in the rice field alternately.・・・
A center float 80 (C) and a pair of left and right side floats 80 (L) and (R) are provided below.

These floats 80 are each supported so as to be able to rotate up and down, and the front part is provided with an expansion/contraction link 8.
1 to the branch case 74. The rice transplanter 3 is attached by rotatably connecting the front end of the transmission case 70 to the connector 65a, and is towed by the running of the towing vehicle 1a, and is also pulled by the PTO of the towing vehicle la.
Ta205 power is transmitted.

Next, FIG. 7 is a block diagram of the straight-ahead control device, in which the detection signals of the steering force sensor 27, steering angle sensor 30, left/right rotation sensor 32, lifting sensor 53, and machine height sensor 69 are transmitted to the controller. 90, and by processing it, the solenoid valve 91 of the power steering cylinder, the solenoid valve 92 of the guide float suspension cylinder,
An output command signal is issued in the 9th attempt. The controller 90 also includes an automatic switch 95 that turns automatic straight-line control ON10 F F, a guide float up/down switch 96 that raises and lowers the guide float, and a work machine upper/lower switch that raises and lowers the rice transplanter.
A lower switch 97 and a shake alarm 98 are connected.

When you start the planting work and turn on the automatic switch 95,
The hanging cylinder 53 is extended, the guide float 40 is lowered to the ground, and an automatic operation state is entered.

Since the guide float 40 is swingable in a horizontal plane about the fulcrum P, it slides on the surface of the paddy field in an attitude with the least resistance, that is, an attitude facing in the straight direction. A fin 60 for preventing sideways sliding is provided on the bottom surface of the guide float 40. ... is provided, so the guide float 4 is
During this automatic operation, the guide float 40 relative to the aircraft is controlled by the left and right rotation sensor 52.
It is constantly monitored to see if there is any left-right wobbling, and if there is any wobbling, the steering is adjusted in a direction that eliminates the wobbling by appropriately expanding and contracting the power steering cylinder 29. In the case of the embodiment, the power steering cylinder 29
When extended, the front wheel 8.8, which is a steering wheel, is turned to the left, and when retracted, it is turned to the right. In this way, by causing the aircraft to follow the sliding direction of the guide float, which is a reference body for straight-ahead guidance, it is possible to maintain straight-ahead travel. Whether or not the aircraft is traveling straight can be confirmed by checking whether the center marker 57 visually matches the center line of the aircraft. If the misalignment between the aircraft body and the guide float exceeds the allowable range, the deflection alarm 98. is designed to notify the pilot of this by emitting a warning sound. Therefore, during planting work, it is possible to operate hands-free, and the operator uses the guide marker 58 on the already planted area side and the seedlings 1 planted in the previous process.
It is only necessary to occasionally check the direction of travel based on the visual relationship with column 00.

If the direction of travel deviates for some reason or if it is necessary to curve the planting row, 1. Operate the steering handle 17 as in normal driving. When the steering wheel 17 is operated, the operating force is detected by the operating force detection sensor 27, and the guide float 40 is temporarily raised to switch to manual operation, so that steering wheel operation is required to correct the direction of travel or drive around a curve. When the operation force detection sensor 27 stops detecting the steering force, the guide float 40 descends and touches the ground again, and the guide float 40 travels straight again based on the sliding direction of the guide float 40 at that time.

In this embodiment, the guide float 40 is connected to the support rod 41.
41 to be swingably supported in a horizontal plane,
If a direction regulating means such as a fin for preventing a tank from rising is provided, the guide float may be provided rotatably in a horizontal plane with respect to the body.

Further, the present invention is not limited to agricultural working machines for paddy fields, but may also be applied to control devices for ams such as tractors.

[Effects of the Invention] As is clear from the explanation below, the paddy field agricultural machine according to the present invention is capable of automatic operation that maintains the direction of movement straight during planting work, and also can perform simple operations even during automatic operation. It is now possible to correct the course and drive around curves with simple operations. It has also become easier to confirm the route.

[Brief explanation of the drawing]

Fig. 1 is a side view of a paddy field agricultural machine to which the present invention is applied;
The figure is a plan view, FIGS. 3 to 6 are explanatory diagrams of the main parts, and FIG. 7 is a block diagram of the straight-line control device.

Claims (1)

[Claims] (1) In a paddy field agricultural machine equipped with a straight-line control device that adjusts the steering angle of the steering wheel according to the deflection of the straight-line guidance reference body in the width direction of the machine body and maintains the traveling direction in a straight line during work, A marker is provided integrally on the reference body to serve as a guide for the operator to confirm the direction of travel, and when an artificial steering operation is performed during automatic straight-ahead driving by the straight-ahead control device, priority is given to this marker. An agricultural machine for paddy fields featuring: