JPH0246247Y2 - - Google Patents

Description

[Detailed description of the invention] [Industrial application field] The present invention connects a seedling planting device to a traveling mechanism supported by a pair of left and right front wheels and a pair of left and right rear wheels via a lifting device. The present invention relates to a device for automatically controlling the posture of planting seedlings in the seedling planting device in a riding-type rice transplanter that is mounted so as to be able to be raised and lowered.

[Conventional technology]

Generally, when rice planting is performed using a riding type rice transplanter, the planting posture of the seedlings relative to the field surface changes by vertical movement of the traveling machine body relative to the field scene and pitching of the traveling machine body relative to the field scene.

Therefore, Japanese Patent Application Laid-Open No. 57-141212 as a prior art discloses that a seedling planting device is attached to a traveling mechanism supported by a pair of left and right front wheels and a pair of left and right rear wheels, and is raised and lowered via a lifting device. A riding-type rice transplanter that can be attached to the seedling transplanter includes a height control means that moves the seedling planting device up and down in accordance with the up and down movement of a float in the seedling planting device, in the lifting device; By providing pitching control means that pitches the seedling planting device in response to the vertical movement of the float, the planting posture of the seedlings relative to the field can be maintained approximately constant regardless of the vertical movement and pitching of the traveling machine. We are proposing an attitude control device with

[The problem that the idea aims to solve]

However, in the attitude control device of this prior art, the height control means and the pitching control means are related to one float at a portion of the seedling planting device near the traveling body. The float moves up and down sensitively to the vertical movement of the traveling mechanism, but does not move up and down sensitively to pitching of the traveling body, so it has the advantage of high precision in height control. On the other hand, there was a problem of low precision in pitching control.

The object of the present invention is to provide an attitude control device that solves this problem and can simultaneously improve both the accuracy in height control and the accuracy in pitching control.

[Means to solve the problem]

In order to achieve this object, the present invention has a seedling planting device mounted on a traveling body supported by a pair of left and right front wheels as well as a pair of left and right rear wheels so as to be movable up and down via an elevating device. The lifting device includes a height control means configured to move the seedling planting device up and down in accordance with the up and down movement of the float in the seedling planting device, and a height control means configured to pitch the seedling planting device in accordance with the up and down movement of the float in the seedling planting device. In the attitude control device, the floats in the seedling planting device include a main float disposed near the traveling machine body, and an auxiliary float disposed at a part remote from the traveling machine body. The height control means is associated with the main float, and the pitching control means is associated with the auxiliary float.

[Functions and effects of the idea]

As mentioned above, the float in the seedling planting device is
When configured with a main float located close to the traveling aircraft and an auxiliary float located away from the traveling aircraft, the main float located close to the traveling aircraft controls the vertical movement of the traveling aircraft. On the other hand, the auxiliary float, which is located at a distance from the traveling machine body, moves up and down sensitively in accordance with the pitching of the traveling machine body.

Therefore, height control means is installed on the main float.
By associating the pitching control means with each of the auxiliary floats, it is possible to improve the accuracy in height control as well as the accuracy in pitching control.

Therefore, according to the present invention, the planting posture of seedlings relative to the field can be automatically controlled to a constant posture with high precision and under stable conditions, regardless of the vertical movement and pitching of the traveling machine. have an effect.

〔Example〕

Hereinafter, a drawing will be described in which an embodiment of the present invention is applied to a rear-planting type riding-type rice transplanter.

In the figure, reference numeral 1 indicates a traveling body, and the traveling body 1 includes a body frame 2, front wheels 3 attached to both left and right sides of the front part of the body frame 2, and front wheels 3 attached to both left and right sides of the rear part of the body frame 2. It consists of a rear wheel 5 attached via a chain case 4, and a control seat 6 is mounted on the upper surface of this body frame 2.
and a steering handle 7, and an engine 8 for driving both front wheels 3 and rear wheels 5 is mounted on the upper front surface of the vehicle body frame 2.

Reference numeral 9 indicates a seedling planting device which is attached to the rear of the traveling body 1 so as to be vertically movable via a parallel link mechanism 10 consisting of one top link 41 and two lower links 42, 42. The planting device 9 includes a transmission case 11 with a seedling planting mechanism 17, a plurality of planting cases 13 attached to both left and right sides of the transmission case 11 at appropriate intervals in the lateral direction via pipe-shaped support members 12, and an upper end. A planting case 13 located at the center of each of the planting cases 13 and a seedling stand 16 inclined so as to approach the traveling vehicle body 1;
A central main float 15 having a long dimension in the front-rear direction is arranged at the lower part of the planting case 13, and a main float 14 and an auxiliary float are arranged at the lower part of the planting cases 13 located on both left and right sides of each of the planting cases 13. 14′ and
An auxiliary float 14' is arranged at a location remote from the traveling body 1.

Further, between the traveling body 1 and the parallel link mechanism 10, there is a hydraulic actuator 18 for height control for raising and lowering the seedling planting device 9 with respect to the field.
is provided.

Furthermore, the central main float 15 and both main floats 14 in the seedling planting device 9 have a pin 21 at the tip of an arm 20 that protrudes from a horizontal shaft 19 with a planting depth adjustment lever 22 pivotally supported on each planting case 13.
Each auxiliary float 14' is rotatably connected to each planting case 13 by a pin 43.

In a hydraulic circuit 23 extending from a hydraulic pump 24 provided in the traveling aircraft 1 to the height control hydraulic actuator 18, a spool 27 with a spring 26 moves to cut off the flow of hydraulic pressure into and out of the hydraulic actuator 18. Neutral position, hydraulic actuator 18
A switching valve 28 is provided which can be switched between three positions: a raised position for supplying hydraulic pressure to the hydraulic actuator 18 and a lowered position for releasing hydraulic pressure from the hydraulic actuator 18.
The spool 27 of No. 8 is brought into contact with one end of a bell crank lever 29 whose base end is rotatably pivoted by its spring 26, and the other end of this bell crank lever 29 has a wire inserted into the cable conduit 30. One end of the cable conduit 31 is attached, and one end of the cable conduit 30 is attached to the traveling body 1 with a receiving metal fitting.

Reference numeral 33 indicates a sensor mechanism disposed at the lower part of the transmission case 11 in the seedling planting device 9, and the sensor mechanism 33 includes a pair of left and right parallel link mechanisms 3 in the transmission case 11 extending in the front direction of the traveling body 1.
4, the parallel link mechanism 34 and the horizontal shaft 19 are interlocked with the rotation of the horizontal shaft 19 so that the bracket 3
5 are interlocked and connected via a link mechanism so as to move up and down in the same direction and by the same amount as the up and down movement of the center main float 15 around the pivot pin 21. A height sensor 38 is provided vertically movably via a sensor parallel link mechanism 37 consisting of a pair of equal length links extending perpendicular to the direction of movement of the height sensor 3.
8 is rotatably provided with a trochanter that contacts the upper surface of the central main float 15, while a wire receiving fitting 39 is provided on the bracket 35, and the cable conduit 30 and other parts are attached to the wire receiving fitting 39. The other end of the wire 31 in the cable conduit 30 is attached to the extension of the upper link in the sensor parallel link mechanism 37, and the seedling planting device 9 is at a predetermined height position with respect to the field surface 40. At this time, the spool 27 of the switching valve 28 interlocked with one end of the wire 31 is engaged so as to be in the neutral position.

Note that a buffer spring whose spring constant is larger than that of the spring 26 of the spool 27 is provided in the middle of the wire 31 .

Furthermore, a pitching sensor 44 is provided at the rear of the planting case 13, the free end of which is brought into contact with the rear part of the upper surface of the auxiliary float 14', and a parallel link mechanism for raising and lowering the seedling planting device 9 is provided. A pitching control means 45 having a hydraulic cylinder 46 is provided in the middle of the top link 41 at 10, and an electromagnetic solenoid 4 is connected to the hydraulic circuit to the hydraulic cylinder 46 in the pitching control means 45.
By providing a three-position, four-port switching valve 48 with a 7-piece switch, and electrically connecting the electromagnetic solenoid 47 in the switching valve 48 to the pitting sensor 44, if the rear end of the auxiliary float 14' moves upward, By moving the spool 49 via the electromagnetic solenoid 47 in response to the output signal from the pitting sensor 44, oil is supplied from the B port of the switching valve 48 to the upper chamber of the hydraulic cylinder 46, while oil from the lower chamber is transferred from the A port. When the top link 41 is returned toward the oil tank 50 and the length of the top link 41 is shortened, and the rear end of the auxiliary float 14' moves downward, the electromagnetic solenoid 4 is activated by the signal from the pitching sensor 44.
7, the spool 49 is supplied to the lower chamber of the hydraulic cylinder 46 from the A port of the switching valve 48, while the oil in the upper chamber is returned from the B port toward the oil tank 50, and the top link 41 is extended. At the neutral position, the oil pressure cylinder 46 is configured to cut off oil from entering and exiting the hydraulic cylinder 46.

In this configuration, the rice planting work is carried out by the seedling planting device 9.
is carried out by moving the traveling body 1 forward after each of the main floats 14, 15, 14 descends until they touch the ground on the field. During this seedling planting work,
When the seedling planting device 9 is at a predetermined height with respect to the field scene 40, the height sensor 3 contacts the main float 15.
Since the switching valve 28 associated with the seedling planting device 9 via the wire 31 is in the neutral position, the seedling planting device 9 will not move up or down, but if the height between the seedling planting device 9 and the field surface becomes higher than a predetermined value. When the front part of the central main float 15 is displaced away from the seedling planting device 9, the height sensor 38 in contact with it moves downward and the tension on the wire 31 is loosened, so that the switching valve 28
is switched to the lowered position by the spring 26, and the rod in the hydraulic actuator 18 moves in the direction of the cylinder to lower the entire parallel link mechanism 10, and the seedling planting device 9 is lowered toward the field and brought to a predetermined height. When this happens, the switching valve 28 becomes the neutral position and the seedling planting device stops descending.

Furthermore, when the height between the seedling planting device 9 and the field surface 40 becomes lower than a predetermined value, the front part of the central main float 15 is displaced to approach the seedling planting device 9, thereby increasing the height of the area in contact with the seedling planting device 9. The sensor 38 rises and pulls the wire 31, the switching valve 38 switches to the raised position and pushes out the piston rod, and when the seedling planting device 9 is raised from the field and reaches a predetermined height, the switching valve 28 reaches the neutral position and the raising of the seedling planting device is stopped, thereby automatically controlling the height of the seedling planting device 9 relative to the field scene 40 to a predetermined value.

On the other hand, when the traveling body 1 pitches forward, the base attached to the rear of the traveling body 1 in the parallel link mechanism 10 tilts so as to move forward and upward on the top link 41 side, and the top link 41 is also pulled in that direction. The seedling planting device 9 is pitched so that its front part is leaning forward, but at this time, the rear part of the auxiliary float 14' is lifted from the field surface 40, so the top link 41 is activated via the pitching sensor 44. By increasing the length, the posture of the seedling planting device 9 can be controlled so that the front and back sides thereof are approximately horizontal.

On the other hand, if the traveling body 1 pitches so that its front part faces upward, the top link 41 in the parallel link mechanism 10 is pushed backward, and the seedling planting device 9
pitches so that its rear part sinks; in this case, by retracting the top link 41 via the pitching sensor 44 of the auxiliary float 14', the seedling planting device 9 becomes approximately horizontal without tilting forward or backward. This allows for posture control.

[Brief explanation of the drawing]

The drawings show an embodiment of the present invention; FIG. 1 is a side view of a riding rice transplanter, FIG. 2 is a plan view, and FIG. 3 is a schematic diagram of a control device. 1... Traveling body, 9... Seedling planting device, 10... Parallel link mechanism, 14... Left and right main float, 14'
...Auxiliary float, 15...Central main float, 1
8...Hydraulic actuator for height control, 28...Switching valve, 38...Height sensor, 41...Top link, 44...Pitching sensor, 45...Pitching control means, 46...Hydraulic cylinder, 48
...Switching valve.

Claims (1)

[Scope of utility model registration request] A seedling planting device is attached to a traveling body supported by a pair of left and right front wheels and a pair of left and right rear wheels so that it can be raised and lowered via a lifting device, and a float in the seedling planting device is attached to the lifting device. height control means for vertically moving the seedling planting device in accordance with the vertical movement of the seedling planting device; and pitching control means for pitching the seedling planting device in accordance with the vertical movement of the float in the seedling planting device. In the attitude control device, the float in the seedling planting device is configured by a main float disposed near the traveling body and an auxiliary float disposed in a region distant from the traveling body, and A posture control device for a seedling planting device in a rice transplanter, characterized in that the height control means is associated with the float, and the pitching control means is associated with the auxiliary float.