WO2016072348A1

WO2016072348A1 - Rice transplanter

Info

Publication number: WO2016072348A1
Application number: PCT/JP2015/080572
Authority: WO
Inventors: 土井　邦夫; 三宅　康司; 彬石川
Original assignee: ヤンマー株式会社
Priority date: 2014-11-06
Filing date: 2015-10-29
Publication date: 2016-05-12
Also published as: JP2016086760A; CN107072147A; KR20170073680A

Abstract

The purpose of the present invention is to provide a rice transplanter which detects the rising and falling of a float to correct the sensitivity of the raising and lowering control of a planting unit and which can maintain planting accuracy. This rice transplanter is provided with a float which detects the ground plane of an agricultural field, a sensor which is swingably supported by the planting unit and which follows the ground plane of the agricultural field, and a sensitivity adjustment lever which changes the sensitivity with which the inclination of the float is detected, wherein the sensitivity adjustment lever is rotated in a prescribed input direction on the basis of swinging of the sensor.

Description

Rice transplanter

The present invention relates to a rice transplanter.

Conventionally, there has been known a rice transplanter that includes a float that detects a ground contact surface of a field, detects the surface of the field with the float, and adjusts the planting portion to an appropriate height based on the detection result, while planting seedlings. Yes.

JP 2012-170426 A

If the float sinks into the field more than expected, or the float floats up from the field more than expected, that is, the float floats and sinks with respect to the ground surface during planting, the field ground surface detected by the float Information is changed. Therefore, it has been difficult to plant a certain amount based only on float sensing.
Then, this invention makes it a subject to provide the rice transplanter which can detect the ups and downs of a float, correct | amend the sensitivity in the raising / lowering control of a planting part, and can maintain planting precision.

The rice transplanter according to the first aspect of the present invention changes the float for detecting the ground contact surface of the field, the sensor that is swingably supported by the planting part and follows the surface of the field, and the sensitivity for detecting the inclination of the float. And a sensitivity adjusting lever for rotating the sensitivity adjusting lever in a predetermined input direction based on the swing of the sensor.

The sensitivity adjusting lever includes a locking piece fixed in the middle thereof, a slider in which a plurality of locking grooves engageable with the locking piece are formed along the input direction of the sensitivity adjusting lever, and the slider A lever guide slidably supported along the input direction of the sensitivity adjustment lever, and the sensor includes a switch for detecting a swing direction of the sensor, and the sensitivity is determined based on a detection result of the switch. The slider with the adjustment lever locked is slid a predetermined amount.

An actuator that slides the slider, the actuator being connected to the slider, an output shaft that slides the slider, a contact rod fixed to a midway portion of the output shaft, and a corresponding contact rod And a switch for stopping the drive of the output shaft by contact.

The rice transplanter according to the second aspect of the present invention is supported by a planting part so as to be swingable, and follows a field surface of a field, a float for detecting a ground contact surface of a field, a float sensor for detecting a swing angle of the float. A rice transplanter that controls the raising and lowering of the planting unit so as to maintain the swing angle of the float at a target angle, and based on the swing of the sensor, the target angle of the float is It is configured to be changeable.

According to the present invention, good planting work can be maintained by detecting float ups and downs and correcting the sensitivity as needed.

It is a side view of a rice transplanter. It is a top view of a planting part. It is a side view of the planting part containing a sensitivity adjustment lever. It is a figure which shows the structure of a sensitivity adjustment lever. It is a figure which shows the switch for a float detection provided in a sensor, and the switch for a sink detection. It is a graph which shows correction | amendment of the sensitivity at the time of the floating detection by a sensor. It is a graph which shows correction | amendment of the sensitivity at the time of the sinking detection by a sensor. It is a figure which shows the structure of a planting depth adjustment lever. It is a graph which shows correction | amendment of the planting depth at the time of the floating detection by a sensor. It is a graph which shows correction | amendment of the planting depth at the time of the sinking detection by a sensor. It is a side view of the planting part of the rice transplanter of another embodiment. It is a block diagram which shows the structure of the control apparatus of the rice transplanter of another embodiment. It is a top view which shows a side float.

As shown in FIG. 1, the rice transplanter 1 includes an engine 2, a power transmission unit 3, a planting unit 4, and a lifting unit 5. The planting unit 4 is connected to the airframe via the lifting unit 5, and can be automatically moved up and down by controlling the operation of the lifting unit 5. Power from the engine 2 is transmitted to the planting unit 4 via the power transmission unit 3. The rice transplanter 1 plants seedlings in the field by the planting unit 4 while traveling by driving the engine 2.
This embodiment demonstrates the case where the seedling planting operation | work with the predetermined planting depth is performed from the field surface in the state where the surface water was stretched in the field. It should be noted that the same technical idea can be applied to the planting work in a state where the rice field water is not stretched on the field.

The driving force from the engine 2 is transmitted to the PTO shaft 7 through the transmission 6 in the power transmission unit 3. The PTO shaft 7 is provided to protrude rearward from the transmission 6. Power is transmitted from the PTO shaft 7 to the planting transmission case 8 through the universal joint, and the planting unit 4 is driven. A drive shaft 9 is provided rearward from the transmission 6, and a driving force is transmitted from the drive shaft 9 to the rear axle case 10.

The planting unit 4 includes a planting arm 11, a planting claw 12, a seedling stage 13, a float 14, and the like. The planting claw 12 is attached to the planting arm 11. The planting arm 11 is rotated by the power transmitted from the planting transmission case 8.
A seedling is supplied to the planting claw 12 from a seedling stage 13. With the rotational movement of the planting arm 11, the planting claws 12 are inserted into the field, and seedlings are planted so as to have a predetermined planting depth (the amount of nail protrusion of the planting claws 12). In this embodiment, a rotary planting claw is employed, but a crank type may be used.

The elevating unit 5 includes a link mechanism including a top link 15 and a lower link 16, an elevating cylinder 17 (see FIG. 3), and the like.
The front ends of the top link 15 and the lower link 16 are connected to the traveling machine body, and the rear ends of the top link 15 and the lower link 16 are connected to the planting part 4. The elevating cylinder 17 is connected to the lower link 16, and the planting unit 4 is raised and lowered by operating the link mechanism by driving the elevating cylinder 17. The lift cylinder 17 is provided with a lift valve 18 (see FIG. 3).

2 and 3, the planting part 4 includes a plurality of floats 14 (in the present embodiment, a center float 14A and two side floats 14B) arranged in the left-right direction. Each float 14 is attached to a planting frame 20 constituting the planting unit 4. A bracket 21 is provided on the upper surface of the rear end of the center float 14 A that detects the field contact surface. A pivoting support shaft 23 provided on the planting frame 20 is attached to the pitching fulcrum shaft 22 provided on the bracket 21 via a link mechanism 24, so that the rear end of the center float 14A is rotatably supported. The An intermediate portion of the link 26 is rotatably supported on a support shaft 25 fixed to the planting transmission case 8, and a rear portion of the link 26 is pivotally connected to a distal end of an arm 27 whose base end is fixed to the rotation support shaft 23. ing. A planting depth can be set by fixing a planting depth adjusting lever 28 to the rotating support shaft 23.

The planting depth adjustment lever 28 extends from the pivot shaft 23 of the float 14 toward the upper front. The planting depth adjustment lever 28 is pivoted in the input direction (pitching direction) with the pivotal support shaft 23 as a fulcrum, thereby pivoting the link mechanism 24 to remove the planting claw 12 from the lower surface of the float 14. The nail sticking amount can be changed, that is, the planting depth can be adjusted.

A locking pin 29 is provided at the front end of the link 26, and the locking pin 29 is inserted into the elongated hole 30 a of the center link 30. The center link 30 is connected to the sensitivity adjustment lever 31 via a wire.
An outer wire 32 is connected to the upper end of the center link 30, and the inner wire 33 is connected to a locking pin 29 of the link 26. The other end of the outer wire 32 is connected to the sensitivity adjustment lever 31. The other end of the inner wire 33 is connected to an arm 34 as a switching operation member for the lift valve 18, and the arm 34 is brought into contact with the spool of the lift valve 18.

The sensitivity adjustment lever 31 rotates the lever to change the slack of the inner wire 33 and adjust the sensitivity for detecting the inclination of the float 14, that is, the sensitivity in the lifting control of the planting unit 4. .
When the sensitivity adjustment lever 31 is tilted backward, the slack of the inner wire 33 is reduced, so that the sensitivity for detecting the inclination of the float 14 is made sensitive. When the sensitivity adjusting lever 31 is tilted forward, the slack of the inner wire 33 is increased, thereby desensitizing the sensitivity of detecting the inclination of the float 14. The operator judges the field conditions and adjusts the sensitivity to an appropriate sensitivity to maintain an appropriate planting depth.

As shown in FIG. 2, a leveling device 40 for headland leveling is provided in front of the planting unit 4 and in front of the float 14 (14 A / 14 B). The leveling device 40 is supported by the planting frame 20 so that the height can be changed.
A part of the power from the drive shaft 9 (see FIG. 1) is branched to the leveling transmission shaft 41 via the rear axle case 10 (see FIG. 1), and the universal joint 42, the input shaft 43 and the leveling transmission from the leveling transmission shaft 41. It is transmitted to the drive shaft 45 extending toward both sides via the case 44. A plurality of rotors 46 are fixed to each drive shaft 45, and the rotor 46 is rotated by the rotational drive of the drive shaft 45, thereby leveling the field.

The leveling device 40 is arranged such that the center is disposed forward, and is inclined from the front toward the rear as it goes from the center to both sides. That is, it is provided so that the central portion is positioned in front of other portions. In the top view, the leveling device 40 is arranged in a letter C shape.

A space can be secured in front of the center float 14 A by arranging the leveling device 40 in a square shape when viewed from above. By using this space to move the center float 14A forward, a sensor 60 described later can be arranged without difficulty between the flat part of the center float 14A and the planted seedling. Moreover, even if the position of the rotation support shaft 23 of the center float 14A is arranged at the same side surface position as the side float 14B, the center float 14A can be made as long as possible by using the space in front of the center float 14A.

Alternatively, using the space formed by the leveling device 40, the position of the rear end surface of the center float 14A can be left as it is, and the front end surface can be extended forward. Can be improved. In addition, the sensing ability can be improved by increasing the area of the center float 14A.

As shown in FIG. 4, the locking piece 50 is fixed to the middle part of the sensitivity adjustment lever 31. The slider 52 formed with a plurality of locking grooves 51 that can be engaged with the locking piece 50 is slidably attached to the back surface of the lever guide 53. The slider 52 is a hollow plate in which a plurality of locking grooves 51 are arranged side by side along the input direction of the sensitivity adjustment lever 31. The lever guide 53 is fixed to an appropriate location of the traveling machine body.

Support plates

54 and 54 for slidably supporting the slider 52 along the input direction of the sensitivity adjustment lever 31 are provided on the back surface of the lever guide 53.
The operator manually sets the desired sensitivity by operating the sensitivity adjustment lever 31 so that the locking piece 50 is engaged with one of the locking grooves 51 formed in the slider 52.

The input direction of the sensitivity adjustment lever 31 means the arrow direction in FIG.
By rotating the sensitivity adjustment lever 31 to the sensitive side (rear side in FIG. 3), the slack of the inner wire 33 is reduced, and the sensitivity for detecting the inclination of the float 14 (sensitivity in the lifting control of the planting unit 4) is increased. Become sensitive.
By rotating the sensitivity adjustment lever 31 to the insensitive side (the front side in FIG. 3), the slack of the inner wire 33 increases, and the sensitivity for detecting the inclination of the float 14 (sensitivity in the lifting control of the planting unit 4) is increased. It becomes insensitive.

The center float 14A may sink or float from the surface of the field more than expected, which may cause an error in the detection result by the center float 14A. Therefore, as will be described later, the planting depth is made constant by correcting the sensitivity as needed according to the ups and downs of the center float 14A.

2 and 3, in the center float 14A, a sensor 60 that follows the field surface is provided immediately before the planting position P of the planting unit 4. The sensor 60 extends from the front toward the rear. The sensor 60 is supported by the planting frame 20 so as to be swingable in the pitching direction, and hangs down by gravity around the swing fulcrum, so that the state where the tip is in contact with the field surface is maintained. That is, the rice transplanter 1 proceeds so that the tip of the sensor 60 always follows the field surface.

In this embodiment, the planting position P is the side of the rear end of the center float 14A that rotates via the link mechanism 24. Further, the position immediately before the planting position P is a field after leveling with the center float 14A for planting seedlings, and it is possible to sense such irregularities on the surface of the field in a stable state. Further, the influence of the muddy water flow generated by the float on the sensor 60 can be reduced.

The tip of the sensor 60 serving as a contact portion with the field surface is formed in a rake shape by fixing a plurality of rod bodies 61 to the stay 62. Each rod 61 is arranged in parallel in the front-rear direction, and in a side view, extends from the base portion toward the rear lower side, and the tip portion that follows the field surface has an angle with the horizontal plane from the base end portion side. It is bent from the middle so that it becomes smaller.
The stay 62 is fixed to the support 63. A sensing rod 64 (see FIG. 5) that extends outward in a direction perpendicular to the column axial direction is fixed to the middle portion of the column 63. The base end portion of the support 63 is fixed to a swing shaft 65 supported on the planting frame 20 so as to be swingable in the pitching direction.

As shown in FIG. 5, the sensor 60 is provided with a float sensing switch 70 and a sink sensing switch 71 for sensing the ups and downs of the center float 14A.
The floating detection switch 70 is configured by a micro switch having a hinge lever 70a. The sink detection switch 71 is configured by a similar micro switch having a hinge lever 71a. The floating detection switch 70 and the sink detection switch 71 are normally open contact type switches. When the hinge levers 70a and 71a are pressed, the switches are switched from OFF to ON. To switch off.

The float sensing switch 70 is disposed below the sensing rod 64, and the sink sensing switch 71 is disposed above the sensing rod 64.
Note that the float detection switch 70 and the sink detection switch 71 are fixed at positions where they do not move in response to the swing of the sensor 60. For example, it is fixed to the planting frame 20 around the column 63.

When the center float 14 A is lifted, the sensor 60 rotates downward, so that the sensing rod 64 lifts and presses the hinge lever 70 a of the floating detection switch 70. As a result, the floating detection switch 70 is turned on to detect the floating of the center float 14A.
When the center float 14A sinks, the sensor 60 rotates upward, so that the sensing rod 64 sinks and presses the hinge lever 71a of the sensing switch 71. As a result, the sink detection switch 71 is turned on to detect the sink of the center float 14A.

Note that the float detection switch 70 and the sink detection switch 71 for detecting the ups and downs of the center float 14A according to the present embodiment are configured by micro switches having

hinge levers

70a and 71a. However, the ups and downs of the center float 14A are detected. Any switch that can be used is not limited to this.

As shown in FIG. 4, an actuator 80 for sliding the slider 52 of the sensitivity adjustment lever 31 is provided. The actuator 80 includes an output shaft 81 that is converted from a rotational motion to a linear motion, and a slider 52 is fixed to the output shaft 81. Specifically, a plate 82 protrudes from the slider 52, and the plate 82 and the output shaft 81 are fixed.
A contact rod 83 is provided so as to protrude from the middle portion of the output shaft 81 toward the side of the lever guide 53. Limit switches 84 and 85 are arranged on the moving direction of the contact rod 83, that is, on both sides in the axial direction of the output shaft 81, and the contact rod 83 is configured to slide between the limit switches 84 and 85.

The limit switches 84 and 85 are normally open contact type switches having

hinge levers

84a and 85a. The contact switch 83 switches from off to on when the contact lever 83 presses the hinge levers 84a and 85a. When the pressure applied to the hinge levers 84a and 85a is released, the hinge levers 84a and 85a are configured to switch from on to off.
When either of the limit switches 84 and 85 is turned on, the driving of the actuator 80 is stopped and the sliding of the slider 52 is stopped. That is, the sliding distance of the slider 52 is between the limit switches 84 and 85. The distance between the limit switches 84 and 85 is preferably approximately one distance between the locking grooves 51 of the slider 52 in the sensitivity adjustment lever 31.

A configuration for correcting the sensitivity according to the ups and downs of the center float 14A will be described with reference to FIGS. 4, 6, and 7.
The ups and downs of the center float 14 A is detected by a float detection switch 70 and a sink detection switch 71 provided in the sensor 60.
As shown in FIG. 6, when the floating detection switch 70 is turned on, the actuator 80 is rotated forward to slide the slider 52 to the insensitive side. When the slider 52 is slid by a predetermined distance, the contact bar 83 contacts the limit switch 84. When the limit switch 84 is turned on, the driving of the actuator 80 is stopped and the slider 52 is stopped.
That is, when the floating detection switch 70 is turned on, the sensitivity adjustment lever 31 locked to the slider 52 is rotated to the insensitive side by a predetermined angle to correct the sensitivity.
As shown in FIG. 7, when the sink detection switch 71 is turned on, the actuator 80 is reversed to slide the slider 52 toward the sensitive side. When the slider 52 is slid by a predetermined distance, the contact bar 83 contacts the limit switch 85. When the limit switch 85 is turned on, the driving of the actuator 80 is stopped and the slider 52 is stopped.
That is, when the sink detection switch 71 is turned on, the sensitivity adjustment lever 31 locked to the slider 52 is rotated by a predetermined angle toward the sensitive side, thereby correcting the sensitivity.

As described above, the sensitivity is corrected at any time by sliding the slider 52 toward the sensitive side or the insensitive side based on the swing of the sensor 60. Further, it has a simple structure including the float detection switch 70, the actuator 80, and the limit switch 84, and the sink detection switch 71, the actuator 80, and the limit switch 85, so that a controller is unnecessary.
Further, since the sensitivity can be corrected at any time without using an electromagnetic valve or the like, expensive parts such as an electromagnetic valve or a controller are not required, and the sensitivity correction can be realized at a low cost.

As described above, by rotating the sensitivity adjustment lever 31 according to the swing of the sensor 60, the sensitivity can be corrected and the planting accuracy can be maintained. Similarly, by rotating the planting depth adjusting lever 28 according to the swing of the sensor 60, the planting depth can be corrected and the planting accuracy can be maintained.

As shown in FIG. 8, the locking piece 90 is fixed to the middle portion of the planting depth adjustment lever 28. The slider 92 in which a plurality of locking grooves 91 that can be engaged with the locking piece 90 is formed is slidably attached to the back surface of the lever guide 93. The slider 92 is a hollow plate in which a plurality of locking grooves 91 are arranged side by side along the input direction of the planting depth adjustment lever 28. The lever guide 93 is fixed to the planting frame 20 (see FIG. 3). On the back surface of the lever guide 93,

support plates

94 and 94 for supporting the slider 93 so as to be slidable along the input direction of the planting depth adjusting lever 28 are provided.
The operator manually sets a desired planting depth by operating the planting depth adjustment lever 28 so that the locking piece 90 is engaged with one of the locking grooves 91 formed in the slider 92.

The input direction of the planting depth adjusting lever 28 means the arrow direction in FIG.
By rotating the planting depth adjustment lever 28 rearward (see FIG. 3), the float 14 is moved downward by the rotation support shaft 23 and the link mechanism 24. In that case, the distance of the float 14 and the planting part 4 becomes wide, and the planting depth becomes shallow.
By rotating the planting depth adjustment lever 28 forward (see FIG. 3), the float 14 is moved upward by the rotation support shaft 23 and the link mechanism 24. In that case, the distance of the float 14 and the planting part 4 becomes narrow, and the planting depth becomes deep.

An actuator 100 for sliding the slider 92 of the planting depth adjusting lever 28 is provided. The actuator 100 includes an output shaft 101 that is converted from a rotational motion into a linear motion, and a slider 92 is fixed to the output shaft 101. Specifically, the plate 102 is provided so as to protrude from the slider 92, and the plate 102 and the output shaft 101 are fixed.
A contact rod 103 is provided so as to protrude from the middle portion of the output shaft 101 toward the side of the lever guide 93.

Limit switches

104 and 105 are arranged in the moving direction of the contact rod 103, that is, on both sides in the axial direction of the output shaft 101, and the contact rod 103 is configured to slide between the

limit switches

104 and 105.

The limit switches 104 and 105 are normally open contact type switches having

hinge levers

104a and 105a, and the contact bar 103 is switched from off to on by pressing the hinge levers 104a and 105a. When the pressure applied to the hinge levers 104a and 105a is released, the hinge levers 104a and 105a are configured to switch from on to off.
When any one of the

limit switches

104 and 105 is turned on, the driving of the actuator 100 is stopped and the sliding of the slider 92 is stopped. That is, the sliding distance of the slider 92 is between the

limit switches

104 and 105. The interval between the

limit switches

104 and 105 is preferably set to be approximately one interval between the locking grooves 91 of the slider 92 in the planting depth adjustment lever 28.

The structure which correct | amends the planting depth according to the ups and downs of the center float 14A is demonstrated using FIG.8 and FIG.9 and FIG.10.
The ups and downs of the center float 14 A is detected by a float detection switch 70 and a sink detection switch 71 provided in the sensor 60.
As shown in FIG. 9, when the floating detection switch 70 is turned on, the actuator 100 is rotated forward to slide the slider 92 in the direction of increasing the planting depth. When the slider 92 is slid by a predetermined distance, the contact rod 103 contacts the limit switch 104. When the limit switch 104 is turned on, the driving of the actuator 100 is stopped and the slider 92 is stopped.
That is, when the floating detection switch 70 is turned on, the planting depth adjustment lever 28 locked to the slider 92 is rotated by a predetermined angle in the direction of increasing the planting depth, thereby correcting the planting depth. ing.
As shown in FIG. 10, when the sink detection switch 71 is turned on, the actuator 100 is reversed to slide the slider 92 in a direction to reduce the planting depth. When the slider 92 is slid by a predetermined distance, the contact rod 103 contacts the limit switch 105. When the limit switch 105 is turned on, the driving of the actuator 100 is stopped and the slider 92 is stopped.
That is, when the sinking detection switch 71 is turned on, the planting depth adjustment lever 28 that is locked to the slider 92 is rotated by a predetermined angle in the direction of decreasing the planting depth, thereby correcting the planting depth. ing.

As described above, the planting depth is corrected at any time by sliding the slider 92 to the side of increasing the planting depth or the side of decreasing the planting depth based on the swing of the sensor 60. In addition, it has a simple structure including the float detection switch 70, the actuator 100, and the limit switch 104, and the sink detection switch 71, the actuator 100, and the limit switch 105, so that a controller is unnecessary.

Below, the structure which can detect the ups and downs of the center float 14 and can correct | amend sensitivity at any time is demonstrated in the rice transplanter which performs raising / lowering control of the planting part 4 using an electromagnetic proportional control valve.
Similar to the rice transplanter 1, the actuator 100 is provided with a planting depth adjustment lever 28 configured to be rotatable in the input direction, and a sensor 60 that follows the field surface. The sensor 60 is provided with a float detection switch 70 and a sink detection switch 71.

The center float 14A for field contact surface detection will be described with reference to FIG.
The front end of the center float 14 A is supported so as to be swingable in the vertical direction with respect to the planting frame 20. A bracket 120 is provided on the upper surface of the rear end of the center float 14A. A pivotal support shaft 122 provided on the planting frame 20 is attached to a pitching fulcrum shaft 121 provided on the bracket 120 via a link mechanism 123, so that the rear end of the center float 14A is rotatably supported. .

At the front end of the center float 14A, a float sensor 124 configured by a potentiometer or the like that detects a swing angle of the center float 14A (rotation angle in the pitching direction according to the resistance received on the front surface of the float: a float angle) is provided via a link 125. Installed. The float sensor 124 detects the swing angle of the center float 14 A that changes according to the unevenness of the field. The target angle of the center float 14A is determined based on the swing angle, and the planting depth is kept constant by controlling the height of the planting unit 4 so that the float angle approaches the target angle.

A spring 126 that biases downward through a link 125 is provided at the front of the center float 14A. The front part of the center float 14 A is pressed downward by a spring 126. Therefore, the center float 14 A is in a forward downward posture as the planting unit 4 is separated from the ground.

A planting depth can be set by fixing the planting depth adjusting lever 28 to the rotating support shaft 122.
A planting depth sensor 127 (see FIG. 12) composed of a potentiometer or the like is attached to the rotating support shaft 122 or the link mechanism 123. Whether the planting depth is set shallow or deep by the planting depth sensor 127. The depth of planting is adjusted by driving the actuator 100 according to the detection result.

According to the operation position of the sensitivity setting dial 128 (see FIG. 12) and the sensitivity setting dial 128 for changing the sensitivity in the lifting control of the planting unit 4 by adjusting the target angle of the center float 14A. A sensitivity setting unit 129 (see FIG. 12) for outputting a signal is provided. The sensitivity setting dial 128 is configured to be rotatable to the sensitive side or the insensitive side.

As shown in FIG. 12, a float sensor 124, a planting depth sensor 127, a sensitivity setting device 129, a float detection switch 70, a sink detection switch 71, and the like are connected to the input side of the control device 130. An electromagnetic proportional control valve 132 that regulates the operation of the elevating cylinder 131 that elevates and lowers the planting unit 4, the actuator 100, and the like are connected to the output side.

The sensitivity setting device 129 transmits a signal for determining the setting position of the sensitivity setting dial 128 to the control device 130. Based on the transmitted signal, the control device 130 operates the control valve 123 based on the signal from the float sensor 124 so as to obtain the target angle of the center float 14A corresponding to the set position. Adjust to the appropriate height.

Specifically, when the sensitivity setting dial 128 is rotated to the sensitive side, the target angle of the center float 14A is changed and the planting unit 4 is raised. As the planting part 4 is raised, the center float 14A is lowered, and the spring 126 is extended to reduce the spring pressure. Therefore, the sensitivity is adjusted to the sensitive side.

When the sensitivity setting dial 128 is rotated to the insensitive side, the target angle of the center float 14A is changed, and the planting unit 4 is lowered. As the planting part 4 is lowered, the posture of the center float 14A becomes upward, and the spring 126 is compressed to increase the spring pressure. Therefore, the sensitivity is adjusted to the insensitive side.

When the center float 14A is lifted and the floating detection switch 70 is turned on, a sensing signal is transmitted to the control device 130. Based on the signal from the float sensor 124, the control device 130 operates the control valve 123 to raise the planting unit 4 so that the float target angle corresponding to the transmitted sensing signal is obtained. Adjusted to the sensitive side.

When the center float 14A sinks and the sink detection switch 71 is turned on, a sensing signal is transmitted to the control device 130. Based on the signal from the float sensor 124, the control device 130 operates the control valve 123 to lower the planting unit 4 so that the target angle of the float corresponding to the transmitted sensing signal is obtained, so that the sensitivity is increased. It is adjusted to the insensitive side.

As described above, by adjusting the sensitivity to the sensitive side or the insensitive side based on the swing of the sensor 60, the sensitivity can be corrected as needed according to the ups and downs of the float 14, and the planting depth is kept constant. Can do.
The target angle of the float sensor 124 that is changed when the float detection switch 70 and the sink detection switch 71 are turned on is preferably about one interval between the rotation positions of the sensitivity setting dial 128.
In addition, the ups and downs of the float 14 is detected by configuring the planting depth adjusting lever 28 to rotate in the direction of increasing the planting depth or the direction of decreasing the planting depth based on the swing of the sensor 60. You can also correct the planting depth.

FIG. 13 shows a side float 140 having a single planting position unlike the configuration of two planting positions like the side float 14B shown in FIG. The side float 140 is formed in a substantially U shape in plan view. The side float 140 is formed with a concave portion 141 that is recessed toward the inside at a side end near the front.
When the rice transplanter 1 travels and water flows from the front of the side float 140, the water flows from the front surface to the side surface of the side float 140. The water that has flowed into the side surface of the side float 140 flows along the concave portion 141 provided at the side end as it is. That is, since water flows toward the inside of the side float 140, the water flow to the outside of the side float 140 can be reduced. Therefore, it can prevent that the adjacent seedling located outside the side float 140 is pushed down by the water flowing outward from the side float 140.

The present invention can be used for rice transplanters.

1: Rice transplanter, 4: Planting part, 5: Lifting part, 12: Planting claw, 14: Float, 14A: Center float, 20: Planting frame, 23: Rotating support shaft, 24: Link mechanism, 28 : Planting depth adjustment lever, 31: Sensitivity adjustment lever, 50: Locking piece, 51: Locking groove, 52: Slider, 53: Lever guide, 60: Sensor, 70: Switch for detecting floating, 71: For detecting sinking Switch: 80: Actuator, 83: Contact rod, 84/85: Limit switch, 124: Float sensor, 128: Sensitivity setting dial, 129: Sensitivity setting device, 130: Controller, 131: Lifting cylinder, 132: Control valve 140: Side float

Claims

A rice transplanter comprising a float that detects a ground contact surface of a field, a sensor that is swingably supported by a planting unit and that tracks the surface of the field, and a sensitivity adjustment lever that changes the sensitivity of detecting the inclination of the float. And
A rice transplanter characterized in that the sensitivity adjustment lever is rotated in a predetermined input direction based on the swing of the sensor.
The sensitivity adjusting lever includes a locking piece fixed in the middle thereof, a slider in which a plurality of locking grooves engageable with the locking piece are formed along the input direction of the sensitivity adjusting lever, and the slider And a lever guide that slidably supports along the input direction of the sensitivity adjustment lever,
The sensor includes a switch that senses its swinging direction,
The rice transplanter according to claim 1, wherein the slider on which the sensitivity adjusting lever is locked is slid by a predetermined amount based on a detection result of the switch.
An actuator for sliding the slider;
The actuator is connected to the slider and stops driving the output shaft by contacting an output shaft that slides the slider, a contact rod fixed to the middle of the output shaft, and the contact rod. The rice transplanter of Claim 2 provided with the switch to be made.
A float for detecting the ground contact surface of the field, a float sensor for detecting the swing angle of the float, and a sensor that is swingably supported by the planting part and follows the surface of the field,
A rice transplanter that controls the raising and lowering of the planting part so as to maintain the swing angle of the float at a target angle,
The rice transplanter is configured so that the target angle of the float can be changed based on the swing of the sensor.