JPH0549244B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a rice transplanter in which a planting section is attached to a traveling machine body so as to be movable up and down.

[Prior art]

Rice transplanters plant seedlings in rows at predetermined intervals, but recent rice transplanters are designed to maintain a constant planting depth regardless of the unevenness of the field. FIG. 8 schematically shows the main parts of such a rice transplanter. Usually, in a rice transplanter, the planting part is attached to the traveling machine body so that it can be raised and lowered by a lifting device, and the float 21 in the planting part is attached to the seedling planting device 37 etc. so that it can freely rotate in the vertical direction. Utilizing the vertical movement of the float 21 relative to the seedling planting device 37 due to the unevenness of the field surface, the planting section is raised and lowered based on the rotation.

That is, a rotation rod 23 extending in the left-right direction is attached to the seedling planting device 37, and the base end of a connecting rod 24 extending rearward and downward is fixed to the rotation rod 23, and the tip end thereof is fixed to the rotation rod 23. is the pin 24 at the rear of the float 21.
It is pivoted at a. Further, the base end of a first link arm 25 extending forward is fixed to the rotating rod 23, and the lower end of a second link arm 26 extending in the vertical direction is pivotally supported at the tip thereof. is,
Further, the upper end of the second link arm 26 is pivotally supported by the rear end of a third link arm 27 extending in the front-rear direction. The front end of the third link arm 27 is rotatably attached to a support shaft 28 connected to the seedling planting device 37, and the front end of the third link arm 27 is behind a link element 29 extending in the front-rear direction. The front end of the link element 29 is fitted with a connecting shaft 31 into a long hole 30a formed in the middle of a connecting tool 30 whose lower end is pivotally supported at the tip of the float 21. It is slidably locked. and the link element 2
One end of a wire 32 is attached to the front end of the wire 9 . Furthermore, one end of a sleeve 33 that is fitted around the wire 32 is fixed to the upper end of the connector 30 that is pivotally supported at the tip of the float 21 . sleeve 3
The other end of 3 is attached to the appropriate location on the traveling aircraft,
The other end of the wire 32 fitted into the sleeve 33 is
It extends from the other end of the sleeve 33 and is locked to a control rod 34 of a hydraulic valve 40 that controls the supply and discharge of pressure oil to and from a hydraulic cylinder for raising and lowering the planting section.

With this configuration, the float 21 is connected to pin 2.
4a, and when the tip of the float 21 is rotated upward (or downward), the sleeve 33 is pushed (or pulled) upward (or downward), and the rotation of the float 21 is The wire 32 attached to the seedling planting device 37, which does not change its position due to movement, is pulled (or pressed) relatively downward (or upward), and the operating rod 34 is rotated backward (or forward). The hydraulic valve 40 is operated, the entire planting section is raised (or lowered), and the float 21 is controlled to be in a substantially horizontal state due to the pressure from the field surface.

In the conventional rice transplanter having such a configuration, when the traveling body itself enters a front up (or front down) state, the planting section also follows the traveling machine and enters a front up (or front down) state. However, float 21
follows the field surface and is in a substantially horizontal state, so even though the float 21 is in a horizontal state, the seedling planting device 37 is in a front up (or front down) state, and the float 21 is lowered (or raised). ), the wire 32 is pressed (or pulled), the planting part is lowered (or raised), and the float 21 is therefore lowered (or raised).

The phenomenon in this case will be explained in more detail. Now, the angle of the traveling body with respect to the horizontal when the traveling body is forward up is taken as positive, and the angle of the traveling body with respect to the horizontal when forward is downward is taken as negative, and the horizontal axis is taken as the horizontal axis. The vertical axis is the angle between the seedling planting device 37 and the float 21 when the float 21 is in the forward upward direction, and the negative angle is the angle between the seedling planting device 37 and the float 21 in the case that the float 21 is in the forward downward direction. Hydraulic valve against 4
The position where 0 operates is shown in FIG.

As mentioned above, the hydraulic valve 40 operates regardless of whether the traveling body is tilted in the longitudinal direction.
This is a case where the float 21 is outside the dead zone (0.5° to 1°) with respect to 7, so if the traveling body moves forward (for example, 3°) and the seedling planting device 37 also becomes forward upward, the float 21 In order to maintain a substantially horizontal state, the relative angle between the seedling planting device 37 and the float 21 is the same as the tilting of the traveling machine (-3°) (9th
(See the double circle in the figure). For this reason, the hydraulic valve 40 operates to lower the planting section, and the planting section is lowered, but in this case, the forward tilting of the traveling body is due to rotation around the grounding point of the rear wheels. The float 21 is pressed against the rice field due to the forward tilt of the traveling machine, and the float 21 is further pressed and sinks as the planting section descends, causing the seedlings to be planted at a deeper depth, resulting in buried seedlings. .

On the other hand, if the aircraft is tilted forward and downward,
A phenomenon opposite to the above explanation occurs, and the float is separated from the field surface, resulting in floating seedlings where the seedlings cannot be reliably planted on the field surface.

In particular, in multi-row rice transplanters, the weight of the planting section is increased, which tends to cause the above-mentioned front-up condition, and providing a control member in the planting section makes it even more difficult to plant. This increases the weight of the planting section, and there are disadvantages in that it is troublesome to attach and detach the traveling body and the planting section.

〔the purpose〕

The present invention was made in view of the above circumstances, and its purpose is to prevent rolling even if the traveling aircraft tilts in the longitudinal direction, pitching, or shakes laterally. There is no risk of causing buried seedlings, floating seedlings, etc. even if
Another object of the present invention is to provide a rice transplanter that stabilizes the weight balance without adding unnecessary weight to the planting section.

〔composition〕

The present invention provides a rice transplanter in which a planting part is attached to a traveling machine body so as to be able to move up and down. Controlling the planting part up and down based on the relative rotational position of the seedling planting device and the central float pivotally supported by the seedling planting device,
Based on the detection result of the detector, the position of the central float, which serves as a reference for relative rotation between the seedling planting device and the central float in the elevation control of the planting section, is changed to create a dead zone for the elevation control of the planting section. The present invention is characterized in that it is provided with a drive mechanism that changes the angle of inclination in the longitudinal direction of the traveling body.

〔Example〕

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described in detail below based on drawings showing embodiments thereof. FIG. 1 is a partially cutaway left side view of a riding rice transplanter according to the present invention. In the diagram, A is front wheel 1
4. The traveling body supported by the rear wheels 15, B is the planting part attached to the three-point link mechanism 11 at the rear of the traveling body A, and the entire planting part B is moved by raising and lowering the three-point link mechanism 11. be raised and lowered.

The planting section B includes a seedling platform 22 attached to the upper side of the seedling planting device 37 attached to the three-point link mechanism 11 at the rear of the traveling body A, and a seedling planting device 3
It consists of three floats 21 attached to the lower side of the float 7 so as to be swingable in the vertical direction.

FIG. 2 is a plan view of the center and left floats 21, FIG. 3 is a schematic front view of the center float 21,
FIG. 4 is a schematic diagram of the main parts of the machine of the present invention, shown together with a side view thereof. Each float 21 is connected to one rotating rod 2 that extends in the left-right direction and is pivotally supported at the bottom of the seedling planting device 37.
It is attached to 3. That is, the base end portions of a pair of left and right connecting rods 24 extending rearward and downward are fixed to the center, left, and right sides of the rotation rod 23, and the tip portions of the connecting rods 24 are attached to pins 24a on the upper surface of each float 21. It is rotatably mounted. Accordingly, each float 21 is raised and lowered relative to the seedling planting device 37 by the rotation of the turning rod 23, and the planting depth of the seedlings is changed and adjusted. A base end portion of an adjustment lever 38 extending forward and upward is fixed to a portion of the rotating rod 23 corresponding to between the center float 21 and the left float 21, and by rotating the adjusting lever 38, the rotating rod 23 is rotated and the seedling planting device 37
All the floats 21 are raised and lowered.

A base end of a first link arm 25 extending forward is fixed to the left side of the center of the rotation rod 23, and a second link arm 26 extending vertically is attached to the distal end of the first link arm 25. The lower end of the second link arm 26 is pivotally supported, and the upper end of the second link arm 26 is pivotally supported by the rear end of a third link arm 27 extending in the front-rear direction.

The left end of a support shaft 28 that extends in the left-right direction and is integrally attached to the seedling planting device 37 is rotatably attached to the front end of the third link arm 27. The rear end portions of a pair of left and right link elements 29, which are integral with the third link arm 27 extending in the front-rear direction, are rotatably attached to 28. The front end of each link element 29 is pivotally supported by the left and right ends of a single connecting shaft 31 extending in the left-right direction.
Reference numeral 1 denotes an elongated hole extending in the vertical direction, which is formed in the left and right sides of the connector 30, which has a downward U-shape when viewed from the front, and whose left and right lower ends are pivotally supported on the front upper surface of the float 21. 30a in a slidable manner. In addition, a wire 32 is provided at the center of the connecting shaft 31 in the left and right direction.
One end is locked, and the wire 32 passes through the upper part of the connector 30, passes through a sleeve 33 whose one end is fixed to the upper part of the connector 30, and is connected to the traveling aircraft A.
It has been extended to.

With such a configuration, the float 21 is connected to the seedling planting device 3.
The sleeve 33 fixed to the connector 30 is pressed or pulled when the front part rotates upward or downward. However, since the connecting shaft 31 engaged with the elongated hole 30a of the connecting tool 30 is linked to the seedling planting device 37, its position is not changed, so that the wire 32 fitted inside the sleeve 33 is relatively To be pulled or pushed downward or upward.

The other end of the wire 32 passes through the upper center of the connector 30, is fitted into the sleeve 33, and is connected to the traveling aircraft body A.
3 at the rear of traveling aircraft A.
It is locked to the upper end of a control rod 34 of a hydraulic valve 40 that controls the supply and discharge of pressure oil to and from a hydraulic cylinder that raises and lowers the point linkage mechanism 11. control rod 34
is arranged so that the middle protrusion 34a is in contact with the spool 41 of the hydraulic valve 40, and the protrusion 34a
A slightly lower portion is rotatably supported by a pin 35. The spool 41 of the hydraulic valve 40 is moved in the direction in which the spool 41 advances (three-point linkage mechanism 1
A tension spring 36 is attached to the lower end of the control rod 34, so that the control rod 34 responds to the tensile force of the wire 32. The lower end of the control punch 34 is urged in a direction opposite to the direction in which it is rotated. The three-point link mechanism 11 of the hydraulic valve 40 is configured to move downward when the spool 41 advances, and rise when the spool 41 moves backward.

On the other hand, the wire 3 is placed at a suitable location in the traveling body A.
A sleeve position changing mechanism 50 for changing the relative position of the sleeve 33 with respect to the sleeve 33 is provided. This sleeve position changing mechanism 50 includes a screw rod 51 having a thread groove formed on its outer periphery and whose axial direction matches the moving direction of the push-pull wire 32, and a seat screwed into the screw groove on the outer periphery of the screw rod 51. 52, and one end of the sleeve 33 is attached to the seat 52. A gear 53 is attached to one end of the screw rod 51, and a gear 54 meshes with the gear 53.
4 is attached to the output shaft of the motor 55. Therefore, the forward and reverse rotations of the motor 55 are transmitted to the screw rod 51 via the gears 54 and 53, and the rotation of the screw rod 51 moves the seat 52 in the axial direction of the screw rod 51, changing the relative position of the sleeve 33 with respect to the wire 32. Be changed. That is, when the motor 55 rotates forward (or reversely), the catch 52 fitted to the screw rod 51 moves forward (or backward) as shown by the solid line (or broken line) in FIG. is pulled (or pushed),
The float 21 to which the lower end of the sleeve 33 is fixed is rotated upward (or downward) relative to the seedling planting device 37.

A potentiometer 56 for detecting the position of the catch 52 with respect to the screw rod 51 is provided in the movement range of the block 52. When the catch 52 moves forward, the output potential of the potentiometer 56 becomes smaller.

On the other hand, below the driver's seat 12 of the traveling body A, a horizontal sensor 13 is provided to detect the tilt angle of the traveling body A in the longitudinal direction (see FIG. 1). FIG. 5 is a schematic diagram of the interior of the horizontal sensor 13. The horizontal sensor 13 is attached to the rear lower side of the driver's seat 12, which is in a horizontal state when the front wheels 14 and rear wheels 15 of the traveling body A are installed on a horizontal plane, and is attached to the upper part inside the casing. A support shaft 13a whose axial direction is the left-right direction is installed, and the support shaft 13a
A fan-shaped weight 13b is rotatably attached to the center of the support shaft 13a, and a potentiometer 13c connected to the weight 13b is rotatably attached to the support shaft 13a. It outputs a potential corresponding to the rotational position of the weight 13b with respect to the shaft 13a (the rotational position of the weight 13b with respect to the vertical axis), and when the traveling body A moves forward upward, the output potential of the potentiometer 13c increases, and vice versa. As the forward direction decreases, the output potential of the potentiometer 13c becomes smaller.

FIG. 6 is an electrical circuit diagram of the main part of the machine of the present invention. In the figure, 56 is a potentiometer provided in the sleeve position changing mechanism 50, and 13c is a horizontal sensor 1.
The output of the potentiometer 56 is provided to the + input terminal of the comparator 61 and the - input terminal of the comparator 62.
The output of c is applied to the − input terminal of comparator 61 and the + input terminal of comparator 62. The output of the comparator 61 is the switch transistor 6
3 to the excitation coil 65C of the electromagnetic relay 65, and the high level output of the comparator 61 turns on the switch transistor 63 and excites the excitation coil 65C of the electromagnetic relay 65. On the other hand, the output of the comparator 62 is given to the excitation coil 66C of the electromagnetic relay 66 via the switch transistor 64, and the high level output of the comparator 62 turns on the switch transistor 64, and the excitation coil 66C of the electromagnetic relay 66 is excited. be done.

The normally open contact 65a of the electromagnetic relay 65 is interposed between one terminal of the motor 55 provided in the position change mechanism 50 of the sleeve 33 and the power supply line, and the normally closed contact 65a of the electromagnetic relay 65 65b is
It is interposed between the same terminal of the motor 55 and body ground. Normally open contact 6 of the other electromagnetic relay 66
6a is interposed between the other terminal of the motor 55 and the power supply line, and a normally closed contact 66b of the electromagnetic relay 66 is interposed between the same terminal of the motor 55 and body ground. Therefore, when the excitation coil 65C of the electromagnetic relay 65 is excited, its normally open contact 6
5a is closed, normally closed contact 65b is opened, and motor 5
5 is rotated in the normal direction, and the catch seat 52 moves forward as shown by the solid white arrow in FIG. 66b is opened, the motor 55 is reversely rotated, and the catch 52 moves rearward as indicated by the dashed white arrow in FIG.

In the machine of the present invention having such a configuration, the raising and lowering of the planting section is controlled as follows. When the planting section B is lowered so that its float 21 is in contact with the field surface, and the traveling body A is driven forward, and the seedling planting device 37 of the planting section B is driven, the traveling body A is placed on the tiller. The float 21 runs on the rice field, and the seedlings are planted on the rice field while sliding on the rice field.

Now, when the traveling aircraft A is in a substantially horizontal state,
When the float 21 follows the unevenness on the rice field and its front part moves upward (or downward), the float 2
The sleeve 33 attached to the first connector 30 is pushed (or pulled) upwards (or downwards), and the wire 32 fitted within the sleeve 33 is pulled (or pushed) downwards (or upwards). Ru. As a result, the control rod 34 is rotated rearward (or forward), the spool 41 of the hydraulic valve 40 is retracted (or advanced), and the three-point linkage mechanism 11 is raised (or lowered).
As a result, the entire planting section B rises (or descends), and the float 21 that is grounded on the rice field also rises (or descends), and the float 21 is moved by the force from the rice field to the seedling planting device 3.
The front portion of the float 21 is rotated downward (or upward) relative to the float 21, and the float 21 is returned to a substantially horizontal state. As the front part of the float 21 rotates downward (or upward), the sleeve 33 is pulled (or pressed) downward (or upward), and the wire 32 is relatively pushed (or pressed) upward (or downward). When the spool 41 of the hydraulic valve 40 advances (or retracts) and the float 21 becomes approximately horizontal, the hydraulic valve 4
0 is a neutral state, and the raising and lowering of the planting section B is stopped.

When the traveling body A is tilted forward upward (or forward downward) due to unevenness of the tiller, the output potential of the potentiometer 13c of the horizontal sensor 13 increases (or decreases), and the comparator 62 ( or 6
The output of 1) becomes high level, the motor 55 is driven in reverse (or forward), and the screw rod 51 is rotated.
The catch seat 52 moves rearward (or forward) as shown by the broken line (or solid line) in FIG. 3 with an open arrow, and the sleeve 33 moves rearward (or forward).

On the other hand, when the traveling body A is tilted to the front up (or front down) state, the seedling planting device 37 in the planting section B
Similarly, the float 21 is tilted forward (or forward downward), but since it is in contact with the field surface, it maintains a substantially horizontal state, and the link element attached to the front part of the float 21 and the seedling planting device 37 A force is applied so that the connecting shaft 31 at the tip of the wire 29 (therefore, the lower end of the wire 32) moves away from (or approaches). However, as described above, since the sleeve 33 moves backward (or forward) as the traveling body A tilts, the sleeve 33 moves rearward as the seedling planting device 37 in the planting section B tilts with respect to the float 21. Therefore, no pressing (or pulling) force is applied to the wire 32 fitted into the sleeve 33, so the hydraulic valve 40 is not operated and the planting section B is not raised or lowered. That is, as the traveling body A tilts, the front part of the float 21 is moved downward (or upward) with respect to the seedling planting device 37, and the length of the lower end of the wire 32 extending from the lower end of the sleeve 33 becomes smaller (or larger).
However, no force is applied to the wire 30, and the control rod 35
is not operated. Therefore, while the traveling body A is tilted forward upward (or forward downward), the front part of the float 21 in the planting section B is connected to the seedling planting device 37.
The planting work is performed while the plant is positioned slightly below (or above) the plant. During such work, when the front part of the float 21 is positioned slightly below or above the seedling planting device 37, if the float 21 is not in a horizontal state and an acting force is applied from the rice field, the float 21 will become horizontal. In order to make the condition
As described above, the entire planting section B is lowered and raised based on the pressing and pulling of the wire 32 due to the upward and downward swinging of the float 21.

FIG. 7 shows the tilt angle of the traveling body A in the longitudinal direction with respect to the horizontal direction and the float 21 with respect to the seedling planting device 37.
The relationship between the rotation angle of the hydraulic valve 40 and the operating state of the hydraulic valve 40 is shown. In the figure, when the traveling aircraft A is tilted forward upward, it is positive, and when it is tilted forward downward, it is negative.
Further, the case where the float 21 rotates forward upward with respect to the seedling planting device 37 is considered positive, and the case where it rotates forward downward with respect to the seedling planting device 37 is considered negative, and the rotation angle of the float 21 with respect to the seedling planting device 37 where the hydraulic valve 40 operates. The range changes depending on the tilt angle of the traveling body A. As is clear from this figure, when the traveling body A is in a horizontal state, the float 21 is
When A rotates outside the dead zone (0.5° to -1°), the hydraulic valve 40 operates, but the traveling aircraft A moves forward by 3°.
By tilting, the sleeve position changing mechanism 50
is driven, and the float 21 is rotated downward by −3° with respect to the seedling planting device 37 in the planting section B. In such a state, the float 21 rotates by 0.5° to -1° or more with respect to the seedling planting device 37, that is, the rotation angle of the float 21 with respect to the seedling planting device 37 is -
The hydraulic valve 40 will not operate unless the angle is 2.5° to -4° (see double circle in Figure 7), and therefore the planting part B
does not descend, and the planting work is performed with the float 21 rotated -3 degrees relative to the seedling planting device 37 (approximately horizontal in the drawing), which causes the float 21 to sink. Never. In other words,
Seedling planting device 3 serving as a dead zone for controlling the hydraulic valve 40
The relative angle between 7 and the float 21 changes with the inclination angle of the traveling body in the longitudinal direction, and the dead zone of the elevation control of the planting section is changed in accordance with the tilting of the traveling body.

〔effect〕

According to the present invention, in order to keep the planting depth constant, the planting section is raised and lowered based on the swinging of the float in the front-back direction, and when the traveling body is tilted in the front-back direction, The rotational position of the float relative to the seedling planting device in the planting section is changed to prevent the float from sinking into the rice field or rising from the rice field, resulting in buried or floating seedlings. Furthermore, since the detector for the longitudinal tilt angle of the traveling body and the mechanism for changing the relative rotational position between the float and the seedling planting device are attached to the traveling body, the weight of the planting section does not increase. , it is possible to prevent false detection by the detector due to vibrations of the planting part, and its durability is improved. Further, since such an action is performed by the movement of the central float, even if rolling occurs, the effect thereof is extremely small, and pitching can be compensated accurately. In addition, the dead zone for the elevation control of the planting section changes with the tilt angle of the traveling body in the longitudinal direction, so when the tilt angle is large, the planting section does not move up and down excessively, and extreme float sinking can be avoided. Furthermore, since the tilt angle of the traveling body in the longitudinal direction is detected electrically, the attitude of the traveling body can be detected regardless of the movement of the planting part and the float, and the control system can be easily configured. .

[Brief explanation of the drawing]

Fig. 1 is a partially cutaway left side view of the inventive machine, Fig. 2 is a plan view of the float in the planting section, Fig. 3 is a front view of its main parts, and Fig. 4 is the invention shown together with the side surface of the float. Fig. 5 is a schematic diagram of the main parts of the machine, Fig. 5 is a schematic diagram of the inside of the horizontal sensor, Fig. 6 is an electrical circuit diagram of the main parts of the machine of the present invention, and Fig. 7 shows the longitudinal tilt angle of the traveling machine with respect to the horizontal direction and the seedlings. A graph showing the relationship between the tilting angle of the float with respect to the planting device and the operation of the hydraulic valve,
FIG. 8 is a schematic diagram of the main parts of a conventional rice transplanter, and FIG. 9 is a graph for explaining the operation of the conventional rice transplanter. A... Traveling body, B... Planting section, 11... Three-point link mechanism, 13... Horizontal sensor, 13c... Potentiometer, 21... Float, 32... Wire, 33... Sleeve, 34 ...control rod, 37
... Seedling planting device, 40 ... Hydraulic valve, 50 ... Sleeve position changing mechanism, 51 ... Screw rod, 52 ... Seat, 55 ... Motor, 56 ... Potentiometer.

Claims (1)

[Claims] 1. In a rice transplanter in which the planting part is attached to the traveling machine so that it can be raised and lowered, a detector that electrically detects the tilt angle of the traveling machine in the front and back direction is installed on the traveling machine, and the rice transplanter is installed in the rice transplanter so that it can move up and down. The raising and lowering of the planting section is controlled based on the relative rotational position between the device and the central float pivotally supported by the seedling planting device, and the above-mentioned control in raising and lowering the planting section is performed based on the detection result of the detector. A drive mechanism that changes the position of the central float, which serves as a reference for relative rotation between the seedling planting device and the central float, and changes the dead zone for the elevation control of the planting section in response to the longitudinal tilt angle of the traveling machine. A rice transplanter characterized by being equipped with.