JPH0361405A - Operating device in seedling planter - Google Patents
Operating device in seedling planterInfo
- Publication number
- JPH0361405A JPH0361405A JP19733389A JP19733389A JPH0361405A JP H0361405 A JPH0361405 A JP H0361405A JP 19733389 A JP19733389 A JP 19733389A JP 19733389 A JP19733389 A JP 19733389A JP H0361405 A JPH0361405 A JP H0361405A
- Authority
- JP
- Japan
- Prior art keywords
- seedling planting
- transmitted
- steering
- seedling
- transmission
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Guiding Agricultural Machines (AREA)
- Transplanting Machines (AREA)
Abstract
(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.
Description
【発明の詳細な説明】
（産業上の利用分野）
この発明は、苗植機の運転装置に関するものであって、
安全性の向上を図るものである。[Detailed Description of the Invention] (Industrial Application Field) The present invention relates to an operating device for a seedling transplanter,
The aim is to improve safety.
（従来の技術）
苗植機の自動運転装置に関しては、植っている苗列を検
出して行うもの、目標に対して直進するもの、地磁気に
よるもの、圃場に埋めた電線によるものなど種々のもの
が提案されている。(Prior technology) There are various types of automatic operation devices for seedling transplanters, such as those that detect the rows of seedlings being planted, those that move straight to the target, those that use geomagnetism, and those that use electric wires buried in the field. something is proposed.
（発明が解決しようとする問題点）
これらの従来の装置は、オペレータによる手動の舵取と
センサによる自動の舵取とは、人による選択にゆだねら
れていた。そのため、苗植機を路上で走行させていると
きなどの自動運転を要しないときに、自動運転の解除を
おこたっていると、手動優先装置などの安全装置が組込
まれていても草その他の検出で自動操舵が働いて、操縦
を誤ることがあった。(Problems to be Solved by the Invention) In these conventional devices, manual steering by an operator and automatic steering by a sensor are left to the human selection. Therefore, if automatic operation is canceled when automatic operation is not required, such as when the seedling transplanter is running on the road, grass or other objects may be detected even if safety devices such as a manual override device are installed. There were times when the autopilot was activated and the pilot made a mistake.
（問題点を解決するための手段）
この発明は、上記の問題点を解決するため、舵取車軸３
，３とエンジン１で回転される車輪４゜４を有する機体
に苗植装置６が上下に移動して作業姿勢と非作業姿勢と
に切替るように設けられ、このエンジン１の回転は作業
速度とこれよりも速い路上速度に切替る変速器８を経て
車輪４．４に伝わるとともに伝達を継続するクラッチ１
３を経て苗植装置６に伝わるように設けられ、舵取車軸
３．３は直進センサー１６の信号を受けた制御部１７か
らの指令とオペレータによるステアリングハンドル２の
操作で操舵されるように設けられ、上記の変速器８の路
上速度への切替・クラッチ１３による苗植装置６の動力
伝達の遮断・苗植装置６の上昇などの非苗植状態の検出
で制御部１７からの指令による操舵が断たれるように設
けられていることを特徴とする苗植機における運転装置
とした。(Means for Solving the Problems) In order to solve the above problems, the present invention provides that the steering axle 3
, 3 and wheels 4° 4 rotated by an engine 1. A seedling planting device 6 is installed in a machine body having wheels 4°4 rotated by an engine 1 so as to be able to move up and down to switch between a working position and a non-working position. The transmission is transmitted to the wheels 4.4 via the transmission 8 which switches to a faster road speed and the clutch 1 which continues the transmission.
The steering axle 3.3 is provided so as to be transmitted to the seedling planting device 6 via the steering wheel 3.3, and the steering axle 3.3 is provided so as to be steered by a command from the control unit 17 that receives a signal from the straight-ahead sensor 16 and by the operation of the steering handle 2 by the operator. When a non-seedling planting state is detected, such as switching the transmission 8 to the road speed, cutting off power transmission to the seedling planting device 6 by the clutch 13, and raising the seedling planting device 6, the steering is performed according to a command from the control unit 17. This is an operating device for a seedling planting machine, characterized in that the seedling transplanter is provided in such a way that the water is cut off.
（作出）
従って、この発明にかかる苗植機は、これを圃場に入れ
て自動で運転しているとき、エンジン１の動力が変速器
８で作業速度に変速されて車軸４゜４に伝わり、遅い速
度で機体を推進させる。また、このエンジン１の動力は
、クラッチ１３を経て苗植装置６に伝わり、この苗植装
置６は、下って作業姿勢にあって苗を圃場に植付（づて
いる。そして、直進センサー１６の（ｇ号が制御部１７
に伝わり、この制御部１７からの指令で舵取車軸３，３
で操舵され、苗植機は自動で運転をしている。(Creation) Therefore, in the seedling planting machine according to the present invention, when it is put into the field and operated automatically, the power of the engine 1 is changed to the working speed by the transmission 8 and transmitted to the axle 4.4, Propel the aircraft at a slow speed. The power of the engine 1 is transmitted to the seedling planting device 6 via the clutch 13, and the seedling planting device 6 descends to the working position and plants the seedlings in the field. (G is the control unit 17
The command from the control unit 17 causes the steering axles 3, 3 to
The seedling transplanter is operated automatically.
ここに、苗植作業が終り、路面を走行するために、変速
器８で車輪４，４に伝わるエンジンエの回転を路上速度
に切替える。すると、その状態が制御部１７に伝達され
、制御部１７は舵取車輪３゜３に対してこれまで送って
いた操舵指令を断ち、オペレータによる手動操舵のみに
切替わる。At this point, the seedling planting work is finished, and in order to drive on the road, the transmission 8 switches the rotation of the engine transmitted to the wheels 4, 4 to road speed. Then, this state is transmitted to the control section 17, and the control section 17 cuts off the steering commands that have been sent to the steering wheel 3.degree. 3, and switches only to manual steering by the operator.
なお、クララチエ３の操作で苗植装置６に伝達されてい
たエンジン］、の回転を断ったときに上記と同様に手動
運転に切替わるようにしても良く、或は、苗植装置６を
非作業姿勢に引き上げたとき、前記と同様に手動運転に
切替るようにしても良く、これらを併用しても良い。Note that when the rotation of the engine which was being transmitted to the seedling planting device 6 is cut off by the operation of the Clarachie 3, the operation may be switched to manual operation in the same way as above, or the seedling planting device 6 may be turned off. When the robot is pulled up to the working position, it may be possible to switch to manual operation in the same manner as described above, or these may be used in combination.
（効果）
このように、この発明によると、自動運転中の苗植機で
、変速器８から車軸４，４に伝わるエンジン■の回転を
路上速度に切替え、クラッチ１３を経て苗植装置６に伝
わるエンジン１の回転を断ち、或は苗植装置６を非作業
姿勢に引き揚げると、舵取車軸３．３は直進センサー１
６の信号にもとづく自動運転からオペレータによる手動
運転のみに自動的に切替るから、非作業中には直進セン
サー１６の検出による誤作動がなくて安全である。(Effect) As described above, according to the present invention, in the seedling planting machine during automatic operation, the rotation of the engine (2), which is transmitted from the transmission 8 to the axles 4, 4, is switched to the road speed, and the rotation is transmitted to the seedling planting device 6 via the clutch 13. When the transmitted rotation of the engine 1 is cut off or the seedling planting device 6 is pulled up to the non-working position, the steering axle 3.3
Since the automatic operation based on the signal No. 6 is automatically switched to only manual operation by the operator, there is no malfunction due to detection by the straight-ahead sensor 16 during non-operation, and it is safe.
（実施例） つぎに、この発明の実施例を、図面について説明する。(Example) Next, embodiments of the invention will be described with reference to the drawings.
機体はエンジンｌ、前方のステアリングハンドル２で操
舵される舵取車輪３，３および後方の車輪４，４を備え
、後方にはリンク５で苗植装置６が連結される。The fuselage includes an engine 1, steering wheels 3, 3 steered by a front steering wheel 2, and rear wheels 4, 4, and a seedling planting device 6 is connected to the rear via a link 5.
エンジンＬの動力は、変速レバー７の操作で作業速度と
、これよりも速い路上速度とに切替る変速器８を経て後
方の差動装置９に伝わり、車輪４゜４を回転するように
出来ている。なお１作業速度および路上速度は、後進速
度を有し、これらは必要に応じて数段に変速し得るもの
であり、差動装置９は、左右の車軸４，４に伝わる回転
を個々に継続するサイドクラッチ方式でも良く、ごく簡
易なものにあっては、単なる分配装置でも良い。また、
この実施例では、変速器８を出た回転は、前にも出て差
動装置１０を経て舵取車軸３，３にも伝わる。The power from the engine L is transmitted to the differential gear 9 at the rear via a transmission 8, which switches between a working speed and a faster road speed by operating the gear lever 7, and is configured to rotate the wheels 4. ing. Note that the working speed and the road speed have a reverse speed, which can be changed into several speeds as necessary, and the differential device 9 continues the rotation transmitted to the left and right axles 4, 4 individually. A side clutch system may be used, or a simple distribution device may be used. Also,
In this embodiment, the rotation leaving the transmission 8 also goes to the front and is transmitted via the differential 10 to the steering axles 3,3.
苗植装Ｂ６は、アクチエータ１１で上下に動かされて、
下った作業姿勢と上った非作業姿勢とに切替るように出
来ている。このアクチエータ１１は、バルブ１２の切替
で圧力油が送られたり、抜き出されたりして作動する。The seedling planting B6 is moved up and down by the actuator 11,
It is designed to switch between a lowered working position and an elevated non-working position. The actuator 11 is operated by supplying or extracting pressure oil by switching the valve 12.
エンジン１の回転は、この苗植装置６にも伝わり、その
作動は、クララチエ３による伝達動力の継続で止ったり
動いたりし、このクララチエ３は、植付クラッチレバ−
１４の操作で動かされるように出来ている。The rotation of the engine 1 is also transmitted to this seedling planting device 6, and its operation is stopped or moved by the continuation of the transmitted power by the Clarachie 3, which is connected to the planting clutch lever.
It is designed to be moved by 14 operations.
機体の前部には、横に張り出した捧１５があり、この捧
１５に直進センサー１６が取付けられている。図の直進
センサー１６は、すでに植えた苗列を検出する光′社式
のもので、苗Ａとの相対的な位置関係を判別し、これを
制御部１７に伝え、この制御部１７からの指令でバルブ
１８が作動し、苗Ａと直進センサー１６とが一定の関係
位置内に保たれるように、アクチエーター１９が舵取車
輪３゜３を操舵するように出来ている。At the front of the fuselage, there is a support 15 that protrudes laterally, and a straight-travel sensor 16 is attached to this support 15. The straight sensor 16 shown in the figure is of the Hikari company type that detects a row of seedlings that have already been planted, and determines the relative positional relationship with the seedling A, and transmits this to the control section 17. The valve 18 is operated in response to a command, and the actuator 19 is configured to steer the steering wheel 3.3 so that the seedling A and the straight-ahead sensor 16 are maintained within a fixed relative position.
稲の条間は、通常３３ａｎと３５０であるから、これら
が選択出来るように、この直進センサー１６は捧１５に
対して横に移動出来るように設けると良く （第２図）
、また、条間が広がり過ぎると、苗の植込本数が不足し
て、減収に結びつくこともあるので、苗Ａと直進センサ
ー１６による自由巾は、内側に対して外側を狭く（第３
図）したり、直進センサーエ６は、要求せられる条間よ
りも若干内側となるように捧１５に取付けると良い。The distance between rows of rice is usually 33an and 350mm, so it is best to install the straight sensor 16 so that it can move laterally with respect to the rice grain 15 so that these can be selected (Figure 2).
In addition, if the spacing between the rows becomes too wide, the number of seedlings planted may become insufficient, leading to a decrease in yield.
It is preferable to attach the straight-travel sensor 6 to the support 15 so that it is slightly inside the required distance.
変速レバー７の元には、スイッチその他によるセンサー
２０があって、変速器８が車輪４，４にエンジン１の動
力を作業速度で伝えているか、路上速度で伝えられてい
るかを制御部１７に伝達する。そして、変速器８から車
輪４，４に伝わる回動が作業速度でないときには、制御
部１７からバルブ１８には指令が伝わらないように出来
ている。At the base of the gear shift lever 7, there is a sensor 20 such as a switch, which tells the control unit 17 whether the gear 8 is transmitting the power of the engine 1 to the wheels 4, 4 at working speed or at road speed. introduce. When the rotation transmitted from the transmission 8 to the wheels 4, 4 is not at the working speed, no command is transmitted from the control section 17 to the valve 18.
同じように、植付クラッチレバ−１４の元には、スイッ
チその他によるセンサ２１があって、クラッチ１３によ
る苗植装置６に対するエンジン１の動力の伝達状況を制
御部エフに伝達し、クララチエ３が伝達動力を断ってい
るときには、制御部エフからバルブ１８には指令が伝わ
らないように出来ている。なお、これらのセンサー２０
．２１は、それぞれのレバー７．１４の元ではなく、変
速歯車やクラッチに直接的に設けることも出来る。Similarly, under the planting clutch lever 14, there is a sensor 21 including a switch, etc., which transmits the power transmission status of the engine 1 to the seedling planting device 6 by the clutch 13 to the control unit F, and the Claratier 3 When the transmitted power is cut off, commands are not transmitted from the control section F to the valve 18. In addition, these sensors 20
．． 21 can also be provided not at the base of the respective lever 7.14, but directly on the transmission gear or the clutch.
一方のリンク５の元には、ポテンショメータ２２があっ
て、リンク５の回動による苗植装置６の上下の位置を制
御部１７に伝達し、苗植装置６が上って作業姿勢にない
ときには、制御部１７からバルブ１８には操舵指令が伝
わらないようになっている。There is a potentiometer 22 at the base of one of the links 5, which transmits the vertical position of the seedling planting device 6 due to the rotation of the link 5 to the control unit 17, and when the seedling planting device 6 is not in the upward working position, , the steering command is not transmitted from the control unit 17 to the valve 18.
なお、ポテンショメータ２２に代えて、バルブ１２の操
作系やリンク５の作動位置にスイッチその他のセンサを
設けても良い。また、機体の前端と前方の畦との間隔を
検出し、苗植機が畦に近づくと自動操舵が断たれるよう
にすることも出来る。Note that instead of the potentiometer 22, a switch or other sensor may be provided in the operating system of the valve 12 or in the operating position of the link 5. It is also possible to detect the distance between the front end of the machine and the ridge in front of it, and turn off automatic steering when the seedling transplanter approaches the ridge.
第１図はこの発明を施した移植機の各装置の配置図、第
２図はその一部の正面図、第３図は他の実施例を示す一
部の正面図である。
なお１図中の符号は、つぎの通り。
ｌ エンジン
２ ステアリングハンドル
３ 舵取車輪 ４ 車輪
６ 苗植装置 ８ 変速器
１３ クラッチ １６ 直進センサー↓７ 制御
部FIG. 1 is a layout diagram of each device of a transplanter according to the present invention, FIG. 2 is a front view of a portion thereof, and FIG. 3 is a front view of a portion of another embodiment. The symbols in Figure 1 are as follows. l Engine 2 Steering handle 3 Steering wheel 4 Wheels 6 Seedling planting device 8 Transmission 13 Clutch 16 Straight ahead sensor↓7 Control unit
Claims (1)
有する機体に苗植装置６が上下に移動して作業姿勢と非
作業姿勢とに切替るように設けられ、このエンジン１の
回転は作業速度とこれよりも速い路上速度に切替る変速
器８を経て車輪４，４に伝わるとともに伝達を継続する
クラッチ１３を経て苗植装置６に伝わるように設けられ
、舵取車輪３，３は直進センサー１６の信号を受けた制
御部１７からの指令とオペレータによるステアリングハ
ンドル２の操作で操舵されるように設けられ、上記の変
速器８の路上速度への切替・クラッチ１３による苗植装
置６の動力伝達の遮断・苗植装置６の上昇などの非苗植
状態の検出で制御部１７からの指令による操舵が断たれ
るように設けられていることを特徴とする苗植機におけ
る運転装置。A seedling planting device 6 is installed on a machine body having steering wheels 3, 3 and wheels 4, 4 rotated by an engine 1 so as to be able to move up and down to switch between a working position and a non-working position. The rotation is transmitted to the wheels 4, 4 via a transmission 8 that switches between the working speed and a faster road speed, and is also transmitted to the seedling planting device 6 via a clutch 13 that continues the transmission. 3 is provided so as to be steered by a command from a control unit 17 that receives a signal from a straight-ahead sensor 16 and by an operator's operation of a steering wheel 2. A seedling transplanter characterized in that the seedling transplanter is provided so that steering by a command from the control unit 17 is cut off upon detection of a non-seedling planting state such as interruption of power transmission of the device 6 or raising of the seedling planting device 6. Driving device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1197333A JP2803196B2 (en) | 1989-07-28 | 1989-07-28 | Seedling plant |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1197333A JP2803196B2 (en) | 1989-07-28 | 1989-07-28 | Seedling plant |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH0361405A true JPH0361405A (en) | 1991-03-18 |
| JP2803196B2 JP2803196B2 (en) | 1998-09-24 |
Family
ID=16372725
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP1197333A Expired - Fee Related JP2803196B2 (en) | 1989-07-28 | 1989-07-28 | Seedling plant |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2803196B2 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2012130279A (en) * | 2010-12-21 | 2012-07-12 | Iseki & Co Ltd | Chemical spraying vehicle |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS64414U (en) * | 1987-06-23 | 1989-01-05 |
-
1989
- 1989-07-28 JP JP1197333A patent/JP2803196B2/en not_active Expired - Fee Related
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS64414U (en) * | 1987-06-23 | 1989-01-05 |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2012130279A (en) * | 2010-12-21 | 2012-07-12 | Iseki & Co Ltd | Chemical spraying vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2803196B2 (en) | 1998-09-24 |
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