JPH07203725A - Rolling control unit for rice transplanter - Google Patents

Abstract

PURPOSE:To provide the subject control unit enabling an automatic horizgntal control to be prevented from hunting due to lateral inclination of the traveling vehicle, and designed to perform an automatic horizontal control only in a situation necessary for such a control. CONSTITUTION:This rolling control unit is so designed that the traveling vehicle is equipped with a cushioning mechanism 73 supporting wheels 8 and a horizontal sensor and a horizontal control mechanism to automatically conduct a horizontal control of a planting section. By these mechanisms, the sharp slope change of farm tilling ground is absorbed by the cushioning mechanism 73; while an automatic horizontal control is made by both the horizontal sensor and the horizontal control mechanism under the gradual slope change of the farm tilting ground.

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 portion is fixedly connected to a traveling vehicle body via a rolling actuator so that the planting portion can be horizontally controlled, and is based on the detection of a horizontal sensor for detecting the lateral inclination of the planting portion. The present invention relates to a rolling control device which controls a rolling actuator so as to maintain a horizontal position of a planting part by adjusting a lateral inclination of the planting part.

[0002]

2. Description of the Related Art Conventionally, as shown in Japanese Patent Laid-Open No. 60-244214, there has been a rice transplanter in which a vehicle is supported by wheels through a buffer mechanism.

[0003]

In the above-mentioned conventional technique, the wheels are moved up and down with respect to the traveling vehicle so that work can be performed in a state where all the wheels are in contact with the ground. The planting part or the traveling vehicle is prone to tilt to the left or right due to lateral load on the attachment part or lateral movement of the seedling table,
There was a problem that the right and left planting depths of the planting part became incorrect and floating seedlings and buried seedlings were generated.

Further, as disclosed in Japanese Patent Laid-Open No. 61-177906, there is a technique for automatically controlling the horizontal level of a planting part by providing a horizontal sensor and a horizontal control mechanism. When the vehicle leans, the automatic horizontal control is performed. Therefore, there is a problem that the hunting of the automatic horizontal control cannot be easily prevented, and the planting depth accuracy cannot be easily improved.

[0005]

SUMMARY OF THE INVENTION However, the present invention is provided with a shock absorbing mechanism for supporting wheels on a traveling vehicle, a horizontal sensor for automatically horizontally controlling a planting portion, and a horizontal control mechanism, and is provided for a rapid cultivation of a field cultivator. It is characterized in that such a change in inclination is absorbed by the buffer mechanism, and automatic horizontal control is performed by the horizontal sensor and the horizontal control mechanism by a gentle change in inclination of the field tiller.

[0006]

[Operation] Therefore, it is possible to easily prevent the occurrence of floating seedlings or buried seedlings by the automatic horizontal control of the planting section, and the automatic horizontal control is performed by tilting the traveling vehicle to the left or right due to the abrupt change of the field tiller. Hunting can be easily prevented, automatic horizontal control can be performed only when horizontal control is required, and it is possible to easily improve the planting depth accuracy and increase the work traveling speed.

[0007]

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 thereof. In the figure, (1) is a traveling vehicle on which an operator rides, and an engine (2) is installed. The rear end of the body frame (3) to be mounted is connected to a mission case (4), and front wheels (6) for traveling paddy fields are supported on both sides of the front part of the mission case (4) through an axle case (5). At the same time, a transmission case (7) is connected to the rear portion of the transmission case (4), and the rear wheels (8) for traveling paddy fields are supported on both sides of the rear end of the transmission case (7). The auxiliary seedling mounts (10) are attached to both sides of the bonnet (9) covering the engine (2) and the transmission case (7) is formed by the vehicle body cover (12) forming the step (11).
Etc., the driver's seat (1
3) is attached, and a steering handle (14) is provided at the rear of the hood (9) in front of the driver's seat (13).

Further, (15) in the figure is a planting section comprising a seedling table (16) for multi-row planting, a plurality of planting claws (17), etc. Forward tilting seedling stand (1
6) via a lower rail (18) and a guide rail (19), is supported on a planting case (20) so as to be slidable left and right, and at the same time, a planting arm (21) and a planting claw drive shaft (for carrying out a crank movement). 22) through a planting case (20)
Attach the planting claw (17) to. The center and left and right side floats (23), (24) and (24) for planting leveling are provided below the planting case (20) through the planting depth adjusting link (25). ) While supporting, a hitch plate (27) is provided on the front side of the planting case (20) via a rolling fulcrum shaft (26), and a three-point link mechanism including a top link (28) and a lower link (29) ( 30) and a hitch plate (27) to connect the planting part (15) to the rear side of the traveling vehicle (1) and raise and lower the planting part (15).
1) is interposed between the rear portion of the mission case (4) and the top link (28), and the hydraulic cylinder (31) is provided.
While the planting part (15) is moved up and down by the expansion and contraction operation of the plant, the planting part (15) is lowered to move the floats (23) (24).
The seedlings for one plant are sequentially taken out by the planting claws (17) from the seedling mounting table (16) which is reciprocally moved to the left and right, and is planted.

Further, in the figure, (32) is a traveling speed change lever, (3
3) is a planting lift 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 to 5, the seedling table (16)
Seedling take-out plate (37) facing the bottom of the slope is planted (2
0) It is fixed on the upper surface side and the seedling take-out plate (37) has a seedling take-out port (3).
8) is opened facing the planting claw (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). Then, on the left side of the planted mission case (27), the lever guide (40)
The planting depth adjusting lever (41) provided via the lever is connected to the adjusting shaft (39), and the interval between the planting case (20) and the floats (23) (24) is changed by operating the lever (41). While adjusting the planting depth with the lever (4
The seedling vertical adjustment lever (43) is attached to the right side of the mission case (27) opposite to 1) via a lever guide (42).

Furthermore, the left and right outer planting cases (20) (2)
A support (4) for fixing a substrate (44) to the outer surface of the front part of (0) and supporting a seedling mounting table (16) via a guide rail (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 pulling markers (47) that extend (46) approximately horizontally to the left and right sides outside the machine and form a running locus with planting on the unplanted side rice field
(47) is supported by the pipe frames (46) and (46) so as to be freely undulated.

The side bumper (48) surrounding the outside of the end of the seedling take-out plate (37) is bent into an L-shape to form the substrate (4).
4) is integrally connected to connect and fix the middle of the front and rear extending portions of the side bumper (48) and the machine outer end of the pipe frame (46), and a fulcrum bracket is provided in 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) (50) are provided adjacent to each other on the outer side of the outermost level float (24) (24), and the sensor float is attached to the bracket (49) via a fulcrum shaft (51). The float (50) is supported, and the rear part of the float (50) moves up and down due to a change in ground pressure, and a potentiometer type float sensor (52a) that detects the amount of vertical displacement in conjunction with the up and down movement of the float (50). (52b) is attached to the bracket (50), and the vertical displacement of the left and right sensor floats (50) (50) is determined by the left and right float sensors (52a) (52b).
Is configured to be converted into a linear output.

Further, as shown in FIGS. 6 to 7, a hitch plate (27) is connected to rear ends of the top link (28) and the lower link (29) through pins (53) (54), and The rolling fulcrum plate (57) is detachably locked to the hitch plate (27) through the upper and lower hitch pins (55) (56), and the rolling fulcrum plate (57) is planted through the rolling fulcrum shaft (26). The mission case (27) is connected and supported, and the fulcrum shaft (2
The planting part (15) is swingably supported right and left around the center 6), and the left and right sensor floats (50) (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), and the frame (5)
8) A rolling cylinder (61), which is a rolling actuator, is supported at the upper end via a bracket (59) and a support shaft (60), and the cylinder (61) that tilts the planting part (15) in the left-right direction is the fulcrum. Plate (57)
A column (45a) that is connected to the vicinity of the upper end of the plant and that supports the seedling placing table (16) through the guide rail (19) provided in the planted mission case (27). The piston rod (64) of the cylinder (61) is connected to the fixed shaft (62) of the sensor (52) through a ball joint (63).
a) Based on the detected value of (52b), the rolling cylinder (61) is actuated to control the lateral inclination of the planting part (15) about the rolling fulcrum shaft (26) to adjust the planting part ( It is configured so as to maintain the horizontal position of 15).

By the way, as shown in FIGS. 1 and 8, the rear wheel (8) has a rear axle case (65) at the rear end of the transmission case (7) via a differential case (66) and left and right central pivot points (67). The transmission housing (68) is supported at one point so as to be swingable left and right, and between the frame frame (69) under the driver's seat (13) and the rear axle case (65) extending to the left and right outside of the differential case (66). A compression spring (73), which is a shock-absorbing ammunition, is interposed via fixed mounting plates (70) (71) and guides (72), respectively, and left and right rear of the traveling vehicle (1) centering around a fulcrum shaft (67). The wheel (8) is elastically supported so as to be swingable right and left. Further, 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, and when an impact force such as a push-up force above a certain level is applied to one or both of the left and right wheels (8), the sensor (75) is used. Therefore, it is configured to detect this.

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

FIG. 10 is a horizontal control circuit diagram of the planting section (15), which is provided with a horizontal control circuit (80) composed of a microcomputer, and each of the sensors (52a) (52).
b), each solenoid (77) (78) and impact force sensor (75) are connected to the control circuit (80), and the automatic switch (81) and the left raising and right raising terminals (82a).
A manual switch (82) having (82b), a work switch (83) for detecting the descending work state of the planting part (15) by a descending operation of the elevating lever (33), and the impact force sensor (75). Impact force setting device (8
4) and are connected to the control circuit (80).

As is clear from the above, the compression spring (73) which is a buffer mechanism for supporting the wheel (8) on the traveling vehicle (1) and the horizontal sensor for automatically horizontally controlling the planting part (15) are used. It has a certain float sensor (52a) (52b) and a rolling cylinder (61) that is a horizontal control mechanism, and the compression spring (73) absorbs a sudden tilt change of the field cultivator, so that the gradual tilt change of the field cultivator can be performed. Float sensor (52a) (52b) and rolling cylinder
It is configured so that automatic horizontal control by (61) is performed.

This embodiment is constructed as described above, and its operation will be described below with reference to the flow chart of FIG.

Now, with the automatic switch (81) turned on and the manual switch (82) not being input, the lifting lever (3)
3) When the work switch (83) for lowering the planting part (15) by operation is on, the left and right float sensors (52)
a) The solenoids (77) and (78) are operated to be excited based on the output signal from (52b) to adjust the lateral inclination of the planting part (15).
When an output difference occurs between a) and (52b), left-up and right-up control is performed so as to eliminate this output difference, and the planting part (15) is maintained substantially horizontal to the planted rice field. When the slope of the cultivator suddenly changes during such control work, or when unevenness having a sharp step is formed on the cultivator, one of the left and right rear wheels (8) (8) is When the main body of the traveling vehicle (1) is instantaneously and suddenly tilted in the left-right direction due to the influence, the spring (68) absorbs this and prevents the main body of the traveling vehicle (1) from being inclined. so,
As a result, as the main body of the traveling vehicle (1) tilts, the planting part (1
Also in 5), the adverse effects such as floating seedlings and buried seedlings that occur when the left and right side floats (24) rise or sink without the cylinder (61) following the abrupt inclination to the left and right are eliminated. In addition, a sudden impact force acts on such a rear wheel (8), and an impact force sensor (7) is generated via the spring (73).
5) when detecting this, the float sensor (52
a) The horizontal control of leftward raising or rightward raising based on (52b) is interrupted for a certain period of time so that this horizontal control is always possible only under appropriate conditions. The prevention prevents the malfunction of the control and the instability of the control, and enables stable and highly accurate horizontal control. 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 (1), it is possible to obtain an averaged appropriate detection value and also to maintain stable performance of the sensor (75).

Further, since the left and right rear wheels (8) are supported by the main body of the traveling vehicle (1) via the central fulcrum shaft (67), for example, when the left and right rear wheels (8) are independently suspended. In the front-back direction of the main body side (pitching direction), the main body side sinks with respect to the wheel (8) due to the weight of the operator who rides on the driver's seat (13) and the weight of the seedling mounted on the spare seedling mounting table (10). ) The posture of the planting part (1
5) It does not cause the inconvenience that the relative angle with respect to 5) changes, and therefore the traveling vehicle (1) body and the planting part (15).
Even in the planting depth control system that controls the planting part (15) to move up and down based on the change in the relative angle of the float sensor for controlling the planting depth of the plant, the proper value is always maintained without changing the reference value. It enables deep control.

Incidentally, in the above embodiment, the rear wheel (8)
Although only the structure has been described in which only the front wheel (6) or the front and rear wheels (6) (8) can be horizontally swung via the fulcrum shaft (67), only the front wheel (6) or the front and rear wheels (6) (8) can be horizontally swung.

[0023]

As is apparent from the embodiments described above, the present invention provides a buffer mechanism (7) for supporting wheels (8) on a traveling vehicle (1).
3), horizontal sensors (52a) (52b) for automatically horizontally controlling the planting part (15), and a horizontal control mechanism (61), and a shock absorbing mechanism (73) is used to absorb a sudden change in inclination of a field cultivator. The horizontal sensor (52a) (52b) and the horizontal control mechanism (61) are configured so that the automatic horizontal control of the planting part (15) is performed by absorbing the gradual inclination change of the field cultivator. The control can easily prevent floating seedlings or buried seedlings, and can easily prevent the traveling vehicle (1) from tilting left and right due to a sudden change in the tilt of the field cultivator and hunting by the automatic horizontal control. The automatic horizontal control can be performed only when the control is required, and the planting depth accuracy and the work traveling speed can be easily increased.

[Brief description of drawings]

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

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

FIG. 3 is a plan view of the same.

FIG. 4 is an explanatory side view of a planting part.

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

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

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

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) Traveling vehicle (6) (8) Wheels (15) Planting part (52a) (52b) Float sensor (horizontal sensor) (61) Rolling actuator (horizontal control mechanism) (73) Ammunition (buffer mechanism)

Claims (1)

[Claims] 1. A buffer mechanism (73) for supporting wheels (8) on a traveling vehicle (1), horizontal sensors (52a) (52b) and a horizontal control mechanism for automatically horizontally controlling a planting part (15). (61) is provided, and the sudden inclination change of the field cultivator is absorbed by the buffer mechanism (73), and the horizontal sensors (52a) (52b) and the horizontal control mechanism (61) automatically perform the gradual inclination change of the field cultivator. A rolling control device for a rice transplanter, which is configured to perform horizontal control.