JP2651563B2 - Rice transplanter rolling control device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a rice transplanter in which a planting section is fixedly connected to a traveling vehicle body via a rolling actuator so that the planting section can be controlled horizontally and horizontally, based on the detection of a horizontal sensor for detecting the lateral inclination of the planting section. The present invention relates to a rolling control device that controls the operation of a rolling actuator so as to adjust the lateral inclination of a planted portion with respect to a planted rice field surface and maintain the horizontal position.

[0002]

SUMMARY OF THE INVENTION Conventionally, JP-A-61-1
Traveling vehicle provided with front and rear wheels as disclosed in JP 77906
The planting section is mounted on the rear side of the
Automatic leveling to support the planting part almost horizontally with the rice field
Float sensor to perform control and rolling sheet cylinder
There is a technology to provide. Also, JP-A-60-244214
As shown in the official gazette, the left and right rear wheels are
And swing the differential case around the rolling axis.
And a buffer spring to regulate the swing of the differential case.
Body frame and front wheels on which the engine is mounted
The axle case that supports the shaft is integrated with the transmission case
There is a technology to connect them .

[0003] However, Japanese Patent Application Laid-Open No.
No. 4 discloses extending the left and right square pipe-shaped vehicle bodies back and forth.
The front mission case and the rear differential case.
Power from transmission case to differential case
There is a problem that the shaft that transmits
And the transmission case and vehicle body or vehicle body and
Simplification of the running vehicle structure by securing the connection strength of the base
Is not easily achieved .

Accordingly, Japanese Patent Application Laid-Open No. 61-177906 describes the above.
As shown in the gazette, a transmission case is connected to the transmission case
By attaching the rear wheels, the transmission case can also be used.
The body can be configured by
Transmission from the transmission case to the rear wheels
The mechanism can be installed in the transmission case, but the left and right rear wheels are raised and lowered
To easily improve the horizontal control function of the planting section.
There are problems such as not .

[0005]

Means for Solving the Problems] However, the present invention is, before and after
Planting part via a link mechanism on the rear side of a traveling vehicle equipped with wheels
Is installed so that it can move up and down freely, and the planting part is almost horizontal to the rice field.
A float sensor for performing automatic level control for supporting
Install rolling cylinders and remove the left and right rear wheels.
The shaft is supported on both sides of the case, and the differential case is
And swing the differential case.
Frame spring with a shock-absorbing spring
Axle case that supports the front wheels
Rolling control device for rice transplanter integrated with case
At the front of the transmission case behind the transmission case.
And the transmission housing is integrated with the rear of the transmission case.
Connected to the transmission housing via a rolling shaft.
The differential case is connected, and
With the frame mechanism fixed and the link mechanism attached
With transmission case and transmission housing in the transmission case
Since the rear wheels are installed by attaching the differential case,
Combines the transmission case and transmission housing to form the body
Simplification of the running vehicle structure by securing the body strength
Easy to plan, raising and lowering the left and right rear wheels for planting
It is possible to easily improve the horizontal control function of the section .

[0006]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of the present invention will be described below in detail with reference to the drawings. FIG. 1 is an explanatory view of a traveling wheel portion, FIG. 2 is a side view of a riding rice transplanter, and FIG. 3 is a plan view of the same, wherein (1) is a traveling vehicle on which an operator rides, and an engine (2) is used. The rear end of the body frame (3) to be mounted is connected to the transmission case (4), and the front wheels (6) for traveling in paddy fields are supported on both sides of the front of the transmission case (4) via the axle case (5). At the same time, a transmission case (7) is connected to the rear of the transmission case (4), and rear wheels (8) for traveling in paddy fields are supported on both sides of the rear end of the transmission case (7). A spare seedling mount (10) is mounted on both sides of the hood (9) covering the engine (2) and the like, and the transmission case (7) is provided by a body cover (12) forming a step (11).
And a driver's seat (1) above the vehicle body cover (12).
3) is mounted, and a steering handle (14) is provided in front of the driver's seat (13) and behind the hood (9).

[0007] In the figure, reference numeral (15) denotes a planting section provided with a seedling table (16) for multiple planting and a plurality of planting claws (17). Forward tilting seedling platform (1
6) is supported on a planting case (20) via a lower rail (18) and a guide rail (19) so as to be reciprocally slidable right and left, and a planting arm (21) for cranking movement and a planting claw drive shaft ( 22) Through the planting case (20)
Attach the planting claws (17). Then, below the planting case (20), the center and left and right side floats (23) (24) (24) for planting leveling are planted through the planting depth adjusting link (25). And a hitch plate (27) provided on the front side of the planting case (20) via a rolling fulcrum shaft (26), and a three-point link mechanism (3) including a top link (28) and a lower link (29). 30) and a hydraulic cylinder (3) that connects the planted portion (15) to the rear side of the traveling vehicle (1) via a hitch plate (27) and raises and lowers the planted portion (15).
1) is interposed between the rear part of the transmission case (4) and the top link (28), and the hydraulic cylinder (31)
The planting section (15) is raised and lowered by the expansion and contraction operation of the above, while the planting section (15) is lowered to separate the floats (23) and (24).
The seedlings for one plant are sequentially taken out from the seedling mounting table (16), which reciprocates left and right, and are planted by planting claws (17).

In the figure, (32) is a traveling speed change lever, (3)
3) is a planting elevating lever, (34) is a planting depth sensitivity adjusting lever, (35) is a clutch pedal, and (36) and (36) are left and right brake pedals.

As shown in FIGS. 4 and 5, the seedling table (16)
Seedling removal board (37) facing the lower end of slope is planted in case (2).
0) The seedling removal outlet (3) of the seedling removal board (37)
8) is opened facing the planting claws (17), and a planting depth adjusting shaft (39) for connecting the planting depth adjusting link (25) is pivotally supported on the lower surface side of the planting case (20). Lever guide (40) on left side of planting mission case (27)
The lever (41) for adjusting the depth of planting is connected to the adjusting shaft (39), and the distance between the planting case (20) and the floats (23) and (24) is changed by operating the lever (41). While adjusting the planting depth, the lever (4
On the right side of the transmission case (27) on the side opposite to 1), a seedling vertical control lever (43) is attached via a lever guide (42).

The left and right outer planting cases (20) (2)
The substrate (44) is fixed to the front outer surface of the base (0), and the support (4) supporting the seedling mounting table (16) via the guide rule (19).
5) the base end is integrally connected to the substrate (44);
A pipe frame (4) integrally connected to the substrate (44).
6) Left and right muscle markers (47) that extend (46) substantially horizontally to the left and right sides outside the machine and form a planting travel locus on the unplanted rice field.
The pipe frame (47) is supported on the pipe frames (46) and (46) so that the pipe frame can be raised and lowered.

A side bumper (48) surrounding the outside of the end of the seedling extracting plate (37) is bent into an L-shape to form the substrate (4).
4), the middle of the front and rear extending portions of the side bumper (48) and the outside end of the pipe frame (46) are connected and fixed, and the fulcrum bracket is provided at the middle of the left and right extending portions of the side bumper (48). (49) is fixed, and the planting part (1
5) Left and right sensor floats (50) and (50) are provided adjacent to the outer side of the outermost leveling floats (24) and (24), and the sensor floats are provided on the bracket (49) via a fulcrum shaft (51). A potentiometer-type float sensor (52a) for supporting the (50) and for detecting the amount of vertical displacement in conjunction with the vertical movement of the float (50) while the rear part of the float (50) moves vertically due to a change in the ground pressure. (52b) is attached to the bracket (50), and the vertical displacement of the left and right sensor floats (50) and (50) is measured by the left and right float sensors (52a) and (52b).
Is converted to a linear output.

As shown in FIGS. 6 and 7, a hitch plate (27) is connected to the rear ends of the top link (28) and the lower link (29) via pins (53) and (54). A rolling fulcrum plate (57) is detachably engaged with the hitch plate (27) via upper and lower hitch pins (55) and (56), and is mounted on the fulcrum plate (57) via a rolling fulcrum shaft (26). The transmission case (27) is connected and supported, and the fulcrum shaft (2
The planting portion (15) is supported so as to be swingable right and left around 6), and left and right sensor floats (50) and (50) are arranged symmetrically about the fulcrum shaft (26).

A portal frame (58) is integrally connected to the upper end of the fulcrum plate (57).
8) A rolling cylinder (61) as a rolling actuator is supported at the upper end via a bracket (59) and a support shaft (60), and the cylinder (61) for tilting the planting portion (15) in the left-right direction is used as the fulcrum. Plate (57)
And a support (45a) provided in the planting mission case (27) and supporting the seedling mounting table (16) via a guide rail (19), and an upper end of the support (45a). The piston (64) of the cylinder (61) is connected to the fixed shaft (62) of the cylinder via a ball joint (63).
a) The operation of the rolling cylinder (61) is controlled based on the detected value of (52b) to adjust the lateral inclination of the planting portion (15) about the rolling fulcrum shaft (26), and the planting portion ( It is configured to maintain the level of 15).

As shown in FIGS. 1 and 8, the rear wheel (8) is connected to a rear axle case (65) via a differential case (66) and a left and right central pivot shaft (67) at the rear end of the transmission case (7). One point is supported on the transmission housing (68) so as to be able to swing left and right, and between the frame (69) below the driver's seat (13) and the rear axle case (65) extending to the left and right outside of the Teff case (66). A compression spring (73), which is a shock-absorbing ammunition, is interposed via a fixed mounting plate (70) (71) and a guide (72). The wheel (8) is elastically supported so as to be able to swing right and left. A spring seat (74) is provided between the mounting plate (70) and the spring (73).
An impact force sensor (75), which is a pressure-sensitive sensor, is provided via each of the sensors (75), and when one or both of the right and left wheels (8) is subjected to an impact force such as a certain upward pushing force, the sensor (75) is used. This is configured to detect this.

As shown in FIG. 9, a rolling valve (76) for controlling the operation of the rolling cylinder (61) to raise or lower the planting portion (15) to the left or right is provided. Right tilt solenoid (77) (7
8), and a hydraulic pump (79) is connected to the rolling cylinder (61) via the valve (76).

FIG. 10 is a horizontal control circuit diagram of the planting section (15), which includes a horizontal control circuit (80) constituted by a microcomputer, and includes the sensors (52a) (52).
b), each solenoid (77) (78) and the impact sensor (75) are connected to a control circuit (80), and an automatic switch (81) and a left-up and right-up terminal (82a)
(82b), a work switch (83) for detecting a descent operation state of the planting portion (15) by a descent operation of an elevating lever (33), and an impact force sensor (75). Impact force setting device (8
4) is connected to the control circuit (80).

As is clear from the above, the front and rear wheels (6)
The link mechanism (3) is provided on the rear side of the traveling vehicle (1) provided with (8).
0), the planting part (15) is installed to be able to move up and down freely,
Automatic water for supporting the attachment part (15) substantially horizontally on the rice field surface
Float sensors (52a) (52b) for performing flat control
And rolling cylinder (61)
The rear wheels (8) and (8) are pivotally supported on both sides of the differential case (66).
And make the differential case (66)
It is mounted swingably around the central pivot shaft (67) and
A compression spring which is a buffer spring for regulating the swing of the case (66).
Body (73) and the engine (2)
Ax to support frame (3) and front wheel (6)
Case (5) is integrated with the mission case (4).
In the rice transplanter rolling control device, the mission
The transmission case (7) front part is integrally connected to the case (4) rear side.
And a transmission housing (68) at the rear of the transmission case (7).
And the transmission housing (68)
The differential case (66) is connected via a pivot shaft (67).
Frame on the top side of the transmission housing (68).
The link mechanism (30) is attached by fixing the link (69).
Transmission case (7) and transmission case
The moving housing (68) is connected and the Tef case (66)
Attach the rear wheel (8) and install the transmission case (7) and the transmission
The body is constructed by also using the moving housing (68),
Simplify the structure of the traveling vehicle (1) by securing the degree
At the same time, the left and right rear wheels (8) and (8) are raised and lowered to
It is designed to improve the horizontal control function of
You .

This embodiment is configured as described above, and the operation will be described below with reference to the flowchart of FIG.

Now, in a state where the automatic switch (81) is on and there is no input from the manual switch (82), the lift lever (3) is turned on.
3) When the operation switch (83) for lowering the planting section (15) by operation is on, the left and right float sensors (52)
a) The solenoids (77) and (78) are energized based on the output signal from (52b) to adjust the left and right inclination of the planting section (15).
a) When an output difference occurs in (52b), a left-up and right-up control is performed so as to eliminate this output difference, and the planting portion (15) is maintained substantially horizontal with respect to the planting field. During such a control operation, when the inclination of the tillage changes suddenly or when the tillage has unevenness having a steep step, for example, one of the left and right rear wheels (8) and (8) The spring (68) absorbs this when the main body of the traveling vehicle (1) is instantaneously and suddenly inclined in the left-right direction under the influence of the traveling vehicle (1) to prevent the traveling vehicle (1) from leaning. so,
As a result, as the traveling vehicle (1) body tilts,
5) also sharply tilts left and right, so that the cylinder (61) does not follow this, and the adverse effects such as floating seedlings and buried seedlings that occur when the left and right side floats (24) rise or sink are eliminated. Further, a sudden impact force acts on such a rear wheel (8), and an impact force sensor (7) is applied via the spring (73).
5) When this is detected, the float sensor (52)
a) The horizontal control of raising left or raising right based on (52b) is interrupted for a certain period of time, and this horizontal control is always enabled only under appropriate conditions. By preventing this, it is possible to eliminate malfunction or instability in the control, thereby enabling stable and accurate horizontal control at all times. In this case, the impact force applied to the wheel (8) is directly detected by the sensor (75).
By detecting through the spring (73) without detecting by the above, an averaged and appropriate detection value can be obtained, and the performance of the sensor (75) can be stably maintained.

Further, since the left and right rear wheels (8) are supported by the main body of the traveling vehicle (1) via the center fulcrum shaft (67), for example, the left and right rear wheels (8) are independently suspended. The body side sinks with respect to the wheel (8) depending on the weight of the worker riding on the driver's seat (13) and the weight of the seedling mounted on the spare seedling mounting table (10) in the front-back direction (pitching direction). The posture of the planting section (1) changes.
Inconvenience that the relative angle with respect to 5) changes does not occur, and therefore, the traveling vehicle (1) main body and the planting portion (15)
In a planting depth control system that controls the planting section (15) to move up and down based on a change in the relative angle of a float sensor for controlling planting depth, a proper planting can be achieved by always maintaining a normal value without changing its reference value. This allows deep control.

In the above embodiment, the rear wheels (8)
Although only the configuration in which only the left and right wheels (6) and (8) can be swung right and left via the fulcrum shaft (67) has been described, the configuration may be such that both the front wheels (6) and the front and rear wheels (6) and (8) can be swung right and left.

[0022]

As is apparent from the above embodiments, the present invention is directed to a rear side of a traveling vehicle (1) having front and rear wheels (6) and (8).
The planting section (15) is moved up and down via the link mechanism (30).
The planting part (15) almost horizontally with the rice field
Float sensor (5
2a) (52b) and rolling cylinder (61)
And the rear wheels (8) (8)
(66) Support the shaft on both sides and roll the differential case (66).
Swinging around the shaft (67)
A damping spring (73) for regulating the swing of the
The body frame (3) on which the engine (2) is mounted
Axle case (5) for supporting the front wheels (6)
Rori of rice transplanter to be integrated with the case (4)
The rear of the transmission case (4)
The front of the transmission case (7) is integrally connected to the transmission case.
(7) A transmission housing (68) is integrally connected to the rear part,
A transmission shaft (67) is connected to the transmission housing (68) via a rolling shaft (67).
To connect the differential case (66)
Fix the frame (69) on the top of the jing (68)
With the link mechanism (30) attached, the transmission
Transmission case (7) and transmission housing in case (4)
(68) and a differential case (66) attached to the rear car
Since the wheel (8) is provided, the transmission case (7) and the transmission
The body is also configured as a jing (68) to ensure the strength of the body.
Simplifies the structure of the traveling vehicle (1) easily
As well as raising and lowering the left and right rear wheels (8) and (8)
It is allowed to improve the horizontal control function of the planting unit in which the it is possible to easily like.

[Brief description of the drawings]

FIG. 1 is an explanatory view of a traveling wheel unit.

FIG. 2 is a side view of the riding rice transplanter.

FIG. 3 is a plan view of the same.

FIG. 4 is an explanatory side view of the planting section.

FIG. 5 is an explanatory plan view of the same.

FIG. 6 is a partial side view of the same.

FIG. 7 is a partial front view of the same.

FIG. 8 is a partial side view of the same.

FIG. 9 is a hydraulic circuit diagram.

FIG. 10 is a horizontal control circuit diagram.

FIG. 11 is the same flowchart.

[Explanation of symbols]

(1) vehicle (3) the vehicle body frame (4) the transmission case (5) after the axle casing (6) before the wheel (7) the transmission case (8) the wheels (15) Planting unit (30) link mechanism (52a) ( 52b) Float sensor (61) Rolling cylinder (66) Differential case (67) Left and right center pivot point shaft (rolling shaft) (68) Transmission housing (69) Frame frame (73) Compression spring (buffer spring)

Claims (1)

(57) [Claims] 1. A traveling vehicle having front and rear wheels (6) and (8).
(1) The planting portion (1) is provided on the rear side via a link mechanism (30).
5) is installed to be able to move up and down freely, and the planting part (15) is
To perform automatic leveling control to support the device almost horizontally
Sensor (52a) (52b) and rolling cylinder
(61) and the left and right rear wheels (8) and (8)
The differential case (66) is supported on both sides, and the differential case (6
6) swingably mounted around the rolling axis (67),
And a cushioning spring (7) for regulating the swing of the differential case (66).
3) and body frame with engine (2)
Axle cage that supports the vehicle (3) and the front wheel (6)
Field (5) integrated with the mission case (4)
Mission case in the planting machine rolling control device
(4) The transmission case (7) has a front part integrally connected to the rear side.
Transmission housing (68) integrated with transmission case (7) rear
A rolling shaft is attached to the transmission housing (68).
The differential case (66) is connected via (67),
Also, a frame (6) is provided on the upper side of the transmission housing (68).
9) A rolling control device for a rice transplanter, wherein the link mechanism (30) is fixed and the link mechanism (30) is attached .