WO2017170499A1

WO2017170499A1 - Paddy work machine

Info

Publication number: WO2017170499A1
Application number: PCT/JP2017/012557
Authority: WO
Inventors: 三宅　康司; 小坂田　誠之
Original assignee: ヤンマー株式会社
Priority date: 2016-03-28
Filing date: 2017-03-28
Publication date: 2017-10-05

Abstract

This invention is provided with a main work part for supplying an odd number of rows of seedlings or rice seeds to a field. The main work part is provided with: a center float for sensing the ground contact surface of the field; and sensors provided separately from the center float, the sensors sensing the surface of the field immediately in front of the position at which the seedlings are planted or the position to which the rice seeds are supplied. The center float prepares the soil corresponding to three center rows, and is shaped so that the sections corresponding to two rows to the left and to the right of the three center rows open sidewards. The sensors are disposed at positions corresponding to the two rows to the left and to the right.

Description

Paddy field machine

The present invention relates to a paddy field machine for transplanting seedlings in a field or supplying seed pods.

In Patent Document 1, a sensor for detecting the surface of the field is provided immediately before the planting position, separately from the float for sensing the ground contact surface of the field, thereby detecting the amount of settlement of the float and correcting the deviation of the float sensing. A machine is disclosed.

JP 2014-128220 A

Generally, in an odd-numbered-planted rice transplanter, a U-shaped center float or an L-shaped center float for single-row planting was used to level the portion corresponding to the central strip as a fraction. In addition, the sensor in Patent Document 1 is preferably arranged in a center float that is a sensing float, and a U-shaped float that is symmetric is preferable in consideration of the weight balance of the rice transplanter.

When the sensor of Patent Document 1 is adopted for the U-shaped float, since the both sides of the planting position are covered with the float, the flow of water around the sensor becomes weak, and contaminants easily accumulate on the sensor. End up. And if foreign matter accumulates on the sensor, it may affect the detection result of the sensor. In view of the above, the present invention provides a center float that senses a ground contact surface in a paddy field work machine that supplies odd-numbered seedlings or seed pods to an agricultural field, such as an odd-numbered seedling transplanter or an odd-numbered seeding machine. Provided is a technique for suppressing the accumulation of impurities on a provided field surface detection sensor.

A paddy field working machine according to an embodiment of the present invention includes a main working unit that supplies odd-numbered seedlings or seed pods to a field, and a center float that detects a field ground contact surface in the main working unit, the center float, And a sensor for detecting the surface of the field immediately before the seedling planting position or the position for supplying the seed pod, and the center float performs leveling for three central strips, and the right and left 2 A portion corresponding to the strip has a shape opened to the side, and the sensor is disposed at a position corresponding to the two left and right strips.

The main working section includes a groove forming device for forming a groove for supplying the seed potato and a feeding portion for feeding the seed potato into the groove formed by the groove builder, on the surface of the field detected by the sensor. Accordingly, the main working unit is raised and lowered so that the groover forms a groove having a substantially constant depth.

The main working section includes a groove forming device for forming a groove for supplying the seed potato and a feeding portion for feeding the seed potato into the groove formed by the groove builder, on the surface of the field detected by the sensor. Accordingly, the main working portion is inclined in the rolling direction so that the groove groovers corresponding to each of the sensors form grooves of the same depth.

The sensors arranged at the positions corresponding to the two left and right strips of the center float are arranged inside the outermost side of the center float.

According to the present invention, it is possible to suppress the accumulation of impurities on the field surface detection sensor provided in the center float that senses the field ground contact surface.

Side view of rice transplanter as an example of paddy field machine Top view of the planting part as an example of the main working part Side view of planting part Diagram showing the water flow around the center float Diagram showing sensor structure Side view of seeder as an example of paddy field machine Top view of center float

As shown in FIG. 1, a rice transplanter 1 as an example of a paddy field work machine includes an engine 2, a power transmission unit 3, a planting unit 4, and an elevating 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. Moreover, the planting part 4 is connected with the raising / lowering part 5 via the rolling axis | shaft (not shown), and can control inclination in a rolling direction. 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. The rice transplanter 1 of this embodiment is a seedling transplanter for odd-numbered planting, and the planting unit 4 as a main working unit is for planting odd-numbered seedlings such as 5, 7, 9, etc.

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. Further, power is transmitted from the rear axle case 10 to the leveling device 20 disposed behind the rear axle case 10.

The planting part 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.

The seedling is supplied to the planting claw 12 from the seedling mount 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.

As shown in FIG. 2, the planting unit 4 includes a plurality of floats arranged in the left-right direction (this embodiment shows a seven-planted rice transplanter, and a center float 14A for leveling the central three segments, its It is provided with two side floats 14B) which are arranged on the side and level the two sides. Each of the

floats

14A and 14B is attached to a planting frame 15 constituting the planting unit 4. More specifically, the front end of each float is supported so as to be swingable in the vertical direction with respect to the planting frame 15, and the rear end of each float is linked to a rotation support shaft 16 provided on the planting frame 15. It is attached to be movable up and down via.

The center float 14A is a sensing float that detects the field ground contact surface at the center of the left and right sides of the body of the rice transplanter 1. The center line of the center float 14 </ b> A is disposed so as to substantially coincide with the center line of the rice transplanter 1. The center float 14A is formed in a cross-sectional shape when viewed from above. The “Π shape” includes a left and right extension part extending in the left-right direction and two front and rear extension parts extending rearward of the left and right extension part, and the connection of the front and rear extension part to the left and right extension part Each of the parts has a shape that is a predetermined distance from the left and right ends. That is, a portion corresponding to two left and right strips of the center float 14A has a shape opened to the side. And in center float 14A, planting is performed in a total of three places between the two front-back extension parts and the both outer sides. In this way, the center float 14A is formed in a cross-sectional shape when viewed from the top, and leveles a portion corresponding to the central three strips.

A leveling device 20 for headland leveling is provided in front of the float 14 (14A / 14B) in the front of the planting unit 4. The leveling device 20 is supported by the planting frame 15 so that the height can be changed. The height (rotor height) of the leveling device 20 is detected by an appropriate sensor.

A part of the power from the drive shaft 9 is branched to the leveling transmission shaft 21 via the rear axle case 10, and directed to both sides from the leveling transmission shaft 21 via the universal joint 22, the input shaft 23 and the leveling transmission case 24. Is transmitted to the extended drive shaft 25. A plurality of rotors 26 are fixed to each drive shaft 25, and the rotor 26 is rotated by the rotational drive of the drive shaft 25 to level the field. A leveling transmission case 24 is disposed in the center of the leveling device 20, and power is transmitted from the center to both sides.

The leveling device 20 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. In other words, the central portion is provided so as to be positioned in front of other portions, and is arranged in a letter C shape when viewed from above. The leveling device 20 is configured to secure a space behind the central portion thereof, and the center float 14A can be placed forward using the space.

As shown in FIG. 3, an appropriate sensor such as a potentiometer is attached to the rotation support shaft 16 or the link mechanism 17, and the link height h0 is calculated based on the detection value by the sensor. This link height h0 is detected as the amount of protrusion of the planting claw 12 (the distance between the tip of the planting claw 12 and the bottom surface of the float). Then, as will be described later, the actual planting depth h (h = h0 + d) is detected using the settlement amount d of the center float 14A.

The center float 14A arranged at the center is used as a float detection body for detecting the ground contact surface of the field. Specifically, the target angle of the float is determined based on the swing angle of the center float 14A that changes according to the unevenness of the field (the rotation angle in the pitching direction according to the resistance received on the front surface of the float: the float angle α). The planting part height (planting depth) is controlled so that the float angle α approaches the target angle.

As shown in FIGS. 2 and 3, in the center float 14A for leveling the central three sections, a sensor 30 for detecting the field surface is provided immediately before the planting positions on both the left and right sides. The sensor 30 extends from the front toward the rear. The sensor 30 is supported by the planting frame 15 so as to be swingable in the pitching direction, and hangs down by gravity around the swing fulcrum, so that the rear end portion is in contact with the field surface. That is, the rice transplanter 1 advances so that the sensor 30 always follows the field surface.

The rotation angle of the sensor 30 is measured by an appropriate angle measurement device such as a potentiometer, and the sensor 30 and the field are measured using the height of the rotation shaft of the sensor 30 and the distance between the rear end of the sensor 30 and the rotation shaft. The positional relationship of is calculated. Then, the actual height of the field (the height of the field on which the seedling is planted) is detected. Thus, by detecting the actual height of the field with the sensor 30, the subsidence amount d of the center float 14A (the amount of subsidence into the mud field) can be measured.

As described above, the sensor 30 is provided separately from the center float 14A used for detecting the ground contact surface of the field, and the sensor 30 detects the height of the field surface in the vicinity of the planting position so that the center is a sensing float. The actual planting depth is detected by calculating the amount of settlement of the float 14A. Then, by detecting the actual planting depth by the sensor 30, it is possible to determine whether or not the seedling is properly planted. That is, it is not necessary to adjust the sensitivity according to the field conditions, and the sensitivity adjustment is automatically performed by the elevation control using the sensor 30.

Further, by realizing sensing immediately before planting seedlings with the sensor 30, it is possible to improve the sensing accuracy. The planting position in this embodiment is the side of the rear end of the float that rotates via the link mechanism 17. Further, the position immediately before the planting position is a field after being leveled with a float for planting seedlings, and in order to sense such a stable field, the uneven shape appearing on the surface of the field is the sensor 30. And the influence of the muddy water flow generated by the float on the sensor 30 can be reduced. And by arrange | positioning the sensor 30 inside the outermost side of the center float 14A, the sensor 30 can be made hard to receive the influence of the whirling wave which arises by a float, and the fall of sensing accuracy is prevented.

Furthermore, as shown in FIG. 4, the side of the center float 14A is open, so that the muddy water flow from the side passes along the outer periphery of the float. That is, a water flow that flows out from the side of the center float 14A toward the planting position of the seedlings and eventually toward the sensor 30 is generated. As a result, contaminants accumulated on the sensor 30 can be easily removed by receiving a flow from the side of the center float 14A to the sensor 30 side. As described above, the configuration in which impurities are difficult to deposit on the sensor 30 is realized by the shape of the center float 14 </ b> A and the arrangement of the sensor 30. Therefore, it is possible to reduce the possibility that impurities will affect the sensing by the sensor 30.

As shown in FIG. 3, the sensor 30 is supported by a support portion 32 that is rotatably provided on the swing support shaft 31. The support portion 32 is supported so as to be swingable in the pitching direction around the swing support shaft 31, and the sensor 30 follows the unevenness of the field surface by the support portion 32. The rotation angle of the swing support shaft 31 is detected by a potentiometer 33, and the amount of settlement of the center float 14A is calculated based on the detected value. In order to detect minute rotation of the sensor 30, it is possible to improve the detection capability by interposing a reduction gear or the like between the swing support shaft 31 and the potentiometer 33.

As shown in FIGS. 3 and 5, the sensor 30 includes a stay 40 connected to the support portion 32, a grounding portion 41 that extends in a substantially horizontal direction and makes contact with the field surface, and the stay 40 and the grounding portion 41. And an extending portion 42 extending in the vertical direction so as to connect the two.

The extending part 42 and the grounding part 41 are extended from the stay 40 in a rake shape. Further, it is formed so as to be bent at a portion connected from the extending portion 42 to the grounding portion 41. By forming it in a rake shape, the influence of the fluid force due to the muddy water flow can be reduced, and the detection performance by the sensor 30 can be stabilized. Moreover, by forming it in a bent shape, the front-rear length can be reduced and the space can be compactly accommodated.

The sensor 30 is a resin member molded by integral molding or a light metal member molded by integral molding. By using resin, mass production can be easily performed and the cost of the sensor 30 can be reduced. By making it metal, the lifetime of the sensor 30 can be improved. In the case of adopting a metal one, for example, the strength of the sensor 30 can be secured while reducing the weight of the sensor 30 by forming it in a hollow shape.

As shown in FIG. 5, the cross-sectional shape of the grounding portion 41 is formed such that the lower portion is wide and the upper portion is narrow. That is, the contact area is increased by making the lower part in contact with the field surface wider. Thus, the sensor 30 itself is configured to be thin while ensuring the surface pressure applied to the sensor 30. Moreover, the amount of mud, water, etc. staying on the ground contact portion 41 can be reduced by narrowing the upper part that does not contact the field surface. Thereby, disturbance of the water flow by the sensor 30 can be suppressed, and accumulation of mud or the like can be prevented. In the present embodiment, the grounding portion 41 is configured to be vertically long, in other words, the vertical width is larger than the horizontal width. Thereby, the rigidity of the sensor 30 can be ensured.

As shown in FIG. 5, the cross-sectional shape of the extending part 42 is formed so that the front part is narrow and the rear part is wide. That is, by narrowing the front side in the traveling direction that collides with muddy water, it is possible to reduce the influence of the fluid force of muddy water from the front, suppress the lift of the sensor 30, and suppress deterioration in detection accuracy. Thus, according to the shape of the sensor 30 of the present embodiment, it is possible to reduce the influence of the muddy water flow accompanying the progress of the rice transplanter 1, and to improve the sensing accuracy.

In the present embodiment, the seven-planted rice transplanter 1 is described as an example of an odd-numbered seedling transplanter. However, the present invention is not limited to this. Can be similarly applied. Moreover, in this embodiment, although the rice transplanter 1 is demonstrated as an example of a seedling transplanter, if it is a paddy field work machine provided with the float for leveling and the center float for field contact surface detection of this embodiment, The configurations of the center float 14A and the sensor 30 can be similarly applied. Examples of paddy field machines include seeding machines, transplanters, paddy field management machines, and the like.

Next, a seeding machine 50 as an example of a paddy field working machine will be described with reference to FIGS. 6 and 7. The basic configuration of the sowing machine 50 is substantially the same as the rice transplanter 1 having the planting unit 4 for planting odd-numbered seedlings in the field as the main working unit, but the odd-numbered seed pods in the field as the main working unit. The difference is that a seeding device 51 is provided. Hereinafter, different points will be described.

The seeding device 51 is connected to the machine body via the lifting unit 5 and is configured to be automatically lifted up and down by controlling the operation of the lifting unit 5. The seeding device 51 is connected to the elevating unit 5 via a rolling shaft (not shown), and is configured to be tiltable in the rolling direction by rotating the rolling shaft. The seeding machine 50 supplies seed pods to the field by the seeding device 51 while traveling by driving the engine 2. The seeder 50 according to the present embodiment is a submerged seeder that supplies odd-numbered seeds, and the seeding device 51 as a main working unit supplies seeds to odd-numbered items such as 5, 7, 9, etc. It is.

The seeding device 51 includes a feeding device 52, a hopper 53, a float 54, a grooving device 55, and the like. The feeding device 52 supplies the soy seeds stored in the hopper 53 to the field at a predetermined amount and at a predetermined timing. The feeding device 52 is provided for the number of lines supplied by the seeding machine 50. A plurality of floats 54 are arranged in the left-right direction, and include a center float 54A for leveling the central three segments, and two side floats disposed on the sides for leveling the two lateral segments. The float 54 is attached to the sowing frame.

The center float 54A has the same configuration as the center float 14A of the rice transplanter 1. In other words, the center float 54 </ b> A is formed in a “Π shape” in a top view, and is arranged so that the center line thereof substantially coincides with the center line of the seeding machine 50. The sensor 30 is similarly provided in the center float 54A. That is, in the center float 54A, the sensor 30 is provided in front of the seed supply positions on the left and right sides. As described above, the sensor 30 realizes sensing at the position immediately before the supply of the seed soy, and the side of the center float 54A where the sensor 30 is disposed is opened, so that the muddy water flow from the side is generated. It will pass the inner side along the outer periphery of the float. At that time, by arranging the sensor 30 on the inner side of the outermost side of the center float 54A, the influence of the whirling wave of the float can be reduced, and the sensing accuracy can be improved.

A groove device 55 is attached to the float 54. The grooving device 55 forms a groove in the field for supplying the seed meal fed by the feeding device 52. The number of the groove forming devices 55 is the same as that of the feeding devices 52, that is, the number of grooves.

In the rice transplanter 1, the actual planting depth is detected by calculating the settlement amount of the center float 14A using the detection result of the sensor 30. And the planting of the appropriate seedling is implement | achieved by detecting the actual planting depth and carrying out raising / lowering control of the raising / lowering part 5. FIG. On the other hand, in the seeder 50, the amount of settlement of the center float 54A is calculated using the detection result of the sensor 30, and the depth of the groove formed by the grooving device 55 is detected. The raising / lowering control of the raising / lowering part 5 is performed so that the depth of the detected groove | channel may become predetermined depth. That is, according to the field surface detected by the sensor 30, the seeding device 51 is moved up and down so that the groove producing device 55 forms a groove having a substantially constant depth.

In addition, since the seeding device 51 is attached to the elevating unit 5 so as to be tiltable in the rolling direction, each groove is formed on both sides of the center float 54A to which the sensor 30 is attached using the detection result of the sensor 30. It is also possible to control the inclination of the seeding device 51 in the rolling direction so that the grooves formed by the vessel 55 have the same depth. That is, by detecting the tilt in the rolling direction of the center float 54A arranged so as to substantially coincide with the center line of the aircraft by the sensors 30 provided on the left and right sides, the groove depths on the left and right sides of the aircraft center line can be determined. It is possible to control to be the same.

The present invention can be used for paddy field machines for supplying odd-numbered seedlings or seed pods.

1: Rice transplanter (paddy field machine), 4: Planting part (main work part), 5: Lifting part, 12: Planting claw, 14: Float, 14A: Center float, 15: Planting frame, 30: Sensor , 50: seeding machine (paddy field machine), 51: seeding device (main working part), 52: feeding device, 54: float, 54A: center float, 55: groover

Claims

It has a main working part that supplies odd-numbered seedlings or seed pods to the field,
A center float for detecting a ground contact surface on the main working unit, and a sensor that is provided separately from the center float and that detects the field surface immediately before the planting position of the seedling or the position for supplying the seed pods. Prepared,
The center float performs leveling for three central strips and has a shape corresponding to the two left and right strips opened to the side, and the sensor is disposed at a position corresponding to the two left and right strips. Paddy field work machine characterized by doing.
The main working part includes a groove forming device for forming a groove for supplying the seed soup, and a feeding portion for feeding the seed soot into the groove formed by the groove making device, for a number of lines,
The paddy field work machine according to claim 1, wherein the main working unit is moved up and down so that the groover forms a groove having a substantially constant depth in accordance with a field surface detected by the sensor.
The main working part includes a groove forming device for forming a groove for supplying the seed soup, and a feeding portion for feeding the seed soot into the groove formed by the groove making device, for a number of lines,
The main working part is inclined in a rolling direction so that a groove grooving device corresponding to each of the sensors forms a groove having the same depth according to a field surface detected by the sensor. Paddy field machine.
The paddy field work machine according to any one of claims 1 to 3, wherein the sensors arranged at positions corresponding to the two left and right strips of the center float are respectively arranged on the inner side of the outermost side of the center float. .