JP2017093300A - Transplanter - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a transplanter capable of adjusting lifting/lowering and right/left inclination stably while supporting a machine body with right/left travel support parts capable of individually adjusting a support height.SOLUTION: A transplanter includes: a machine body mounting a transplanter device 4 transplanting a vegetable seedling to a field; right/left travel support parts 6, 6 travelling and supporting the machine body so as to adjust a height; ground sensors 21, 21 detecting a support height of the machine body and arranged in the right/left; and a control unit C adjusting and controlling the support height of the travel support parts 6, 6 on a corresponding side based on the detection height of the right/left ground sensors 21, 21 at each setting height. The ground sensors 21, 21 are configured so as to be coupled right/left integrally, thereby lifting/lowering adjustment and right/left inclination adjustment can be stabilized.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a transplanter that adjusts the height and right / left inclination of a vehicle body by adjusting the support height of left and right traveling support portions.

  As in the transplanter described in Patent Document 1, there is known a transplanter that includes left and right traveling support portions whose support heights can be individually adjusted and that is planted by a mounted vegetable seedling transplanting device. This transplanter is equipped with left and right vehicle height sensors that adjust the vehicle height with one sensor to ensure a predetermined planting depth, while the other sensor suppresses left and right inclination and transplants the seedlings upright. can do.

JP 2009-55830 A

  However, if the vertical adjustment and the tilt adjustment overlap at the same time according to the detection of the left and right vehicle height sensors, the right and left vehicle height sensors detect the adjustment operation, and the next vertical adjustment and inclination adjustment operations are performed. For this reason, there was a problem that it took time until the adjustment finally stabilized, and the planting was disturbed in the meantime.

  It is an object of the present invention to provide a transplanter that can stably move up and down and tilt right and left while supporting the vehicle body with left and right traveling support portions capable of individually adjusting the support height.

  The invention according to claim 1 is a vehicle equipped with a transplanting device (4) for transplanting vegetable seedlings in a field, and left and right traveling support portions (6, 6) for traveling and supporting the left and right positions of the aircraft so that the height can be adjusted. And a grounding sensor (21, 21) arranged on the left and right for detecting the support height of the airframe, and a corresponding side running based on the detected height of the left and right grounding sensors (21, 21). A control unit (C) for adjusting and controlling the support height of the support units (6, 6) to the respective set heights, and that the grounding sensors (21, 21) are configured to be connectable to the left and right. Features.

  According to a second aspect of the present invention, in the configuration of the first aspect, the ground sensor (21, 21) supports the distance between the left and right to be changeable.

  According to a third aspect of the present invention, in the configuration of the first or second aspect, a pendulum sensor (23) for detecting a left-right inclination of the airframe is provided, and a rolling control for leveling the detected left-right inclination is provided to provide the left and right It is characterized by controlling the support height of the travel support portions (6, 6).

  According to a fourth aspect of the present invention, in the configuration of the third aspect, the control switching device (23b) is provided so that control by any one of the ground sensors (21, 21) and the pendulum sensor (23) can be selected. Features.

  According to a fifth aspect of the present invention, in the configuration according to any one of the first to fourth aspects, the left and right traveling support portions (6, 6) are configured by crawlers (31, 31) in contact with a field scene, The left and right covers (32, 32) facing the sides of the crawlers (31, 31) are provided, and the lower edges of the covers (32, 32) are overlapped with the grounding portions of the crawlers (31, 31) in a side view. In addition, a distance is provided between the side ends of the crawlers (31, 31) so that sediment can be discharged.

  The invention according to claim 6 is characterized in that, in the structure according to any one of claims 1 to 5, the headlamp (41) is provided on the fuselage so as to be able to be turned off in association with planting work.

  The invention according to claim 7 is configured in any one of claims 1 to 6 so that the soil around the transplant planted by supporting the pressure wheel (37) on the airframe so as to be able to move up and down is capable of being suppressed, A handle (37a) for rotating operation is provided on the pressure-reducing wheel (37), and a scraper (39 that contacts the outer peripheral surface of the pressure-reducing wheel (37) at a position where the pressure-reducing wheel (37) is raised to a non-operating position. ).

  According to the first aspect of the present invention, the right and left travel support portions (6, 6) can be individually adjusted to the set height and transplanted, and the left and right ground sensors (21, 21) are integrally connected. In this case, the support height of the left and right traveling support sections (6, 6) can be adjusted and controlled integrally, so that the posture of the body can be stabilized by restraining the horizontal inclination of the aircraft when planting fields with many fine irregularities. Can be achieved.

  According to the invention according to claim 2, in addition to the effect of claim 1, by widening the left-right distance of the grounding sensors (21, 21), the aircraft can easily tilt left and right due to the inclination of the field scene, and the left-right inclined posture of the aircraft Responsiveness of the control is improved, and conversely, by narrowing the interval, it becomes difficult for the aircraft to tilt left and right due to the inclination of the field scene, and the left and right tilt posture of the aircraft can be stabilized.

  According to the invention of claim 3, in addition to the effect of claim 1 or 2, it is possible to prevent the aircraft from tilting left and right extremely by the height adjustment and the horizontal adjustment by the ground sensor (21, 21). The posture can be optimized.

  According to the fourth aspect of the present invention, in addition to the effect of the third aspect, the traveling support portions (6, 6) can be appropriately moved up and down by switching the control according to the degree of inclination of the field scene.

  According to the invention of claim 5, in addition to the effect of any of claims 1 to 4, the cover (32, 32) is disposed so as to overlap with the ground contact portion of the crawler (31, 31) in a side view. It is possible to prevent the soil from entering the inner space of the crawler (31, 31) accurately from the side, and even if the soil enters the inside of the cover (32, 32), the crawler (31, 31) side end The soil can be discharged through the gap.

  According to the sixth aspect of the invention, in addition to the effect of any of the first to fifth aspects, it is possible to illuminate the front of the aircraft during traveling and turn it off during planting work, thereby suppressing wasteful power consumption.

  According to the invention of claim 7, in addition to the effect of any one of claims 1 to 6, by operating the handle (37a) in the non-operating position and rotating the pressure reducing wheel (37), the pressure reducing wheel (37) The soil adhering to the outer peripheral surface can be dropped by the action of the scraper (39).

Side view of seedling transplanter according to an embodiment of the present invention Development view of the support height adjustment mechanism of the travel support Cross section of the main part of the crawler running support Block diagram of headlight illumination control system Flowchart (a) (b) of lighting control example of headlamp Side view around the wheel

  Embodiments specifically configured based on the above technical idea will be described below with reference to the drawings. In the following description, “front and rear” and “left and right” are referred to based on the forward direction of the aircraft.

  As shown in FIG. 1, a side view of the transplanter 1 is equipped with a transplanter 4 for transplanting vegetable seedlings to be transplanted into a field, front wheels 7 and 7 that support the front of the aircraft, and left and right of the rear of the aircraft Travel support portions 6 and 6 by left and right rear wheels that support the position so that the position can be adjusted and travel driven, left and right ground sensors 21 and 21 that detect the support height of the fuselage, and left and right ground sensors 21, And a control unit C that adjusts and controls the support heights of the corresponding traveling support units 6 and 6 to the respective set heights based on the detected heights 21.

(Elevation control)
The traveling support portions 6 and 6 that are the left and right rear wheels connect the lifting and lowering hydraulic cylinder 12 and the left and right adjustment hydraulic cylinder 15 to the arms 11 and 11 that rotate and lift the rear wheel transmission cases 9 and 9, respectively. A travel support portion is provided that can individually adjust the support height.

  The support height adjustment control structure of the left and right travel support portions 6 and 6 is provided with adjustment valves 6a and 6a that are adjusted up and down by hydraulic pressure, as shown in a developed view of FIG. Is supported on the left and right direction shaft 21a, and left and right grounding sensors 21 and 21 are configured that can follow the farm scene and detect the ground height by tilting and rotating. By connecting the cables 22 and 22 to the operation portions 6b and 6b of the adjustment valves 6a and 6a for raising and lowering the corresponding traveling support portions 6 and 6 from the left and right ground sensors 21 and 21, The detection height of 21 is configured to be adjustable to a set height (so as to be a desired ground height). Therefore, the support heights of the left and right traveling support portions 6 and 6 can be accurately controlled so that the ground height and the ground posture of the aircraft are appropriate.

  The left and right ground sensors 21 and 21 are configured to be position-changeable along the left-right axis 21a, and the position of the left and right ground sensors 21 and 21 is changed in multiple stages by the inner and outer restriction pins 21b and 21b, so This makes it easier for the aircraft to tilt left and right, improving the responsiveness of the aircraft's left and right tilt posture control. Can be controlled parallel to the surface.

Further, the distance between the left and right ground sensors 21 and 21 is reduced, and the left and right ground sensors 21 and 21 are connected to be integrally moved up and down by a connecting pin serving as a connecting body, whereby the left and right traveling support portions 6 and 6 are connected. Are controlled to be the same height, which is the same as a conventional pitching sensor. As a result, when the left and right ground sensors 21 and 21 are connected together, the support height of the left and right traveling support parts 6 and 6 can be adjusted and controlled integrally. At this time, it is possible to stabilize the posture by suppressing the horizontal inclination of the aircraft.
Further, by connecting the ends of the cables 22 and 22 to the equalizer 22a so that the left and right can be operated simultaneously, it is possible to lift the aircraft up without rolling.

(Rolling control)
A weight pendulum 23 is suspended at an intermediate position between the left and right control valves 6a and 6a to form a tilt sensor that serves as a pendulum sensor for detecting the left and right tilt of the airframe, and proportional links 24 and 24 are provided on the left and right ends 23a and 23a, respectively. The right and left operation links 6c, 6c are connected symmetrically from the middle part of the left and right proportional links 24, 24 to the corresponding control valves 6a, 6a on the corresponding side. Are connected to the operation units 6b and 6b.

  The right and left inclination of the fuselage is on the corresponding side from the right and left proportional links 24 and 24 through the operation links 6c and 6c until the positional deviation of the left and right ends 23a and 23a due to the drooping rotation of the weight pendulum 23 is resolved. The horizontal posture is restored by acting on the operation portions 6b and 6b of the adjusting valves 6a and 6a. Accordingly, the weight pendulum 23 can perform rolling control to make the right / left tilt horizontal, and the left / right tilt posture of the airframe is comprehensively considered by both the detection by the left and right ground sensors 21 and 21 and the detection by the weight pendulum 23. Can be controlled, the aircraft can be prevented from being extremely tilted left and right, and the right and left tilt posture of the aircraft can be optimized.

  In addition, it is possible to smoothly control by selecting one of the rising operation on one side, the lowering operation on the other side, and the simultaneous operation on both sides so as to suppress the operation amount when returning to the horizontal. Rolling compatible control is possible.

  In addition, by providing a lock pin 23b of the weight pendulum 23 and restricting the rotation of the weight pendulum 23 so that control can be switched, the weight pendulum 23 is fixed and planted so as to follow the heel surface. be able to. Therefore, it is possible to select the state in which the control by the pendulum sensor 23 is stopped by the control switching device including the lock pin 23b and only the control by the ground sensors 21 and 21 is performed, and the control is switched according to the degree of inclination of the field scene. In the field where the change of the inclination is small, only the control by the ground sensors 21 and 21 can be performed to prevent the control from being inappropriate due to the control by the pendulum sensor 23, and the traveling support portions 6 and 6 can be appropriately moved up and down. Can be made.

(Crawler configuration)
Next, instead of the rear wheels that are the left and right traveling support portions 6 and 6, the traveling support portion having a crawler structure when a crawler is provided will be described. As shown in FIG. The left and right crawlers 31, 31 in contact with the surface constitute left and right traveling support portions, and a cover 32 facing each side of the crawlers 31, 31 is attached to the support shaft 33 a of the ground support wheel 33.

  The cover 32 is arranged so that a predetermined height range A of each lower edge portion overlaps within the thickness of the crawler 31 with respect to the ground contact range of the crawler 31 in a side view, and between the side ends of the crawler 31 A dischargeable distance B is provided.

  As described above, since the constant height range A of the lower edge of the cover 32 is disposed so as to overlap with the side end portion of the ground contact range of the crawler 31 in a side view, the soil from the side to the inner space of the crawler 31 is arranged. Intrusion can be prevented accurately, and even if soil enters the inside of the cover 32, the soil can be discharged through the gap B at the side end of the crawler 31.

(Headlight control)
Next, with regard to the headlamp 41, the linkage light-off control is performed at the time of planting work, so that it is possible to confirm the front of the aircraft during the traveling movement, and the light is turned off at the time of planting work to reduce wasteful power consumption. Unexpected situations such as engine stoppage due to shortage can be avoided.

  Specifically, as shown in FIG. 4 of the system configuration diagram of the lighting control, the lighting state of the headlamp 41, the on / off operation of the lighting button 42, and the planting operation according to the operation position of the planting lift lever 43 are always detected. Depending on the conditions, for example, if the planting lifting lever 43 is not in the “planting” position, the headlamp 41 can be turned on when traveling on the road at night by turning on / off the illumination button 42, and planting If the lifting lever 43 is in the “planting” position, the headlamp 41 is controlled to be turned off.

That is, as shown in FIGS. 5A and 5B, a flowchart of an example of lighting control of the headlamp 41 is turned off during the planting operation, the illumination button 42 is invalidated, and planting is performed when the lamp is lit. When the operation is started, the power is forcibly turned off, so that useless power consumption can be suppressed.
If the headlamp 41 is forcibly turned off when the shift lever 44 is operated to the planting work speed position based on the lever position signal of the shift lever 44 instead of the planting lift lever 43, Similar lighting control is possible.

(Number of planted stocks)
Next, the counting of the number of planted strains will be described. In order to facilitate the management of seedlings in the field, the number of planted strains is recorded together with the total number of planted strains. Specifically, when the planting travels to the heel end and shifts to the adjacent heel, the turning motion of the aircraft is detected and the number of stocks for each heel is stored.

  That is, when planting and running sequentially for parallel rods, the aircraft turns every time it reaches the heel end, so the rotation sensor mounted on the front wheels 7 and 7 detects the planting start → planting end = turning motion. . By recording the number of planted stocks from the turning operation to the next turning operation, the number of planting stocks for each basket can be recorded.

  In addition, since the number of stocks in the cocoon that has been planted can be calculated, displaying the number of planted plants in the previous cocoon enables the seedlings required for the next cocoon without interrupting the work at the heel and counting. Since the target of the number can be confirmed, the shortage of seedlings during work can be prevented.

(Pressure wheel)
Next, as shown in FIG. 6 which is a side view around the pressure-reducing wheel, the pressure-reducing wheel 37 is configured to be supported by the rear end of the lifting arm 38 to which the ascending cable 38a is connected so as to be raised to the non-operating position. A scraper 39 that contacts the outer peripheral surface of the pressure reducing wheel 37 is provided at the raised position, and a handle 37a for rotational operation is provided on the pressure reducing wheel 37. When the pressure reducing wheel 37 is raised to the non-operating position, the pressure is reduced by operating the handle 37a. By rotating the ring 37, the soil attached to the outer peripheral surface of the pressure reducing wheel 37 can be dropped by the scraper 39. A pair of left and right pressure wheels 37 are provided on the rear side of the transplanting device 4 and are rotatably provided on an up and down mounting frame. In a normal transplanting operation, the transplanted wheel is moved up and down following the farm scene. Suppress the surrounding soil.

DESCRIPTION OF SYMBOLS 1 transplanting machine 4 transplanting device 6 travel support part 2 grounding sensor 23 pendulum sensor 23b control switching device 31 crawler 32 cover 37 pressure reducing wheel 37a handle 39 scraper 41 headlamp C control part

Claims (7)

In a transplanter equipped with a machine body equipped with a transplant device (4) for transplanting a transplant into a field, and left and right running support parts (6, 6) for running and supporting the machine body with adjustable height,
The left and right grounding sensors (21, 21) for detecting the support height of the airframe and the corresponding traveling support parts (6, 6) based on the detected heights of the left and right grounding sensors (21, 21). And a control unit (C) for adjusting and controlling the support height to the respective set heights, and the grounding sensors (21, 21) can be connected to the left and right integrally.   The transplanter according to claim 1, wherein the ground sensor (21, 21) supports the distance between the left and right to be changeable.   A pendulum sensor (23) for detecting the left and right inclination of the airframe is provided, and a rolling control for leveling the detected right and left inclination is provided to control the support height of the left and right traveling support portions (6, 6). The transplanter according to claim 1 or 2, characterized by the above.   The transplanter according to claim 3, further comprising a control switching device (23b) so that control by any one of the grounding sensors (21, 21) and the pendulum sensor (23) can be selected.   The left and right traveling support portions (6, 6) are constituted by crawlers (31, 31) in contact with a farm scene, and include left and right covers (32, 32) facing the sides of these crawlers (31, 31), The lower edge portion of the cover (32, 32) is disposed so as to overlap the grounding portion of the crawler (31, 31) in a side view, and earth and sand can be discharged between the side ends of the crawler (31, 31). The transplanter according to any one of claims 1 to 4, wherein a distance is provided.   The transplanter according to any one of claims 1 to 5, wherein a headlamp (41) is provided on the machine body so that the lamp can be turned off during a planting operation. The pressure wheel (37) is supported by the airframe so that it can be moved up and down, and the surrounding soil of the transplanted plant is configured to be pressure-reducible, and a handle (37a) for rotating operation is provided on the pressure wheel (37), The transplanter according to any one of claims 1 to 6, further comprising a scraper (39) that contacts the outer peripheral surface of the pressure reducing wheel (37) at a position where the pressure reducing wheel (37) is raised to a non-operating position. Machine.