JP2907691B2 - Transplant machine - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a working device which is connected to a rear portion of a traveling body by a driving mechanism so as to be driven up and down by a drive mechanism, and is switchable between an on state for driving the working device and a cutoff state for stopping the working device. The present invention relates to a transplanter having a simple working clutch.

[0002]

2. Description of the Related Art Conventionally, in the above-mentioned transplanting machine, a switch operation type lifting / lowering operation device is provided in a body operation section, and an operation of lowering a working device to a grounding operation position and a maximum raising position based on the operation of the lifting / lowering operation device. There has been a configuration in which the operation of raising the work clutch can be alternately made to appear, and the operation of engaging and disengaging the work clutch is performed by another different operating tool.

[0003]

The above-mentioned conventional structure, for example, in a rice transplanter, when the working device is raised while the working device (seedling planting device) is driven, the seedlings are discharged into the air. Therefore, it is necessary to always disengage the work clutch at the same time when the working device is raised. However, if the on / off operation of the work clutch is performed by a dedicated operating tool separately from the lifting / lowering operating tool as in the above-described conventional structure, the deceleration operation of the running speed of the aircraft, the turning steering, Multiple operations such as operation, lifting operation of the working device, and disengagement of the work clutch must be performed within a short time.
There is a drawback that the operation is complicated since it is necessary to change hands and perform the elevating operation after disengaging the work clutch, and there is room for improvement.

SUMMARY OF THE INVENTION An object of the present invention is to rationally construct a transplanting machine capable of eliminating complicated operations at the time of turning on a ridge and enabling efficient work.

[0005]

A feature of the present invention is that a working device is connected to a rear portion of a traveling body by a drive mechanism so as to be able to be driven up and down by a drive mechanism, and an in-state in which the working device is driven and a cut-out state in which the working device is stopped. In a transplanter equipped with a work clutch that can be switched between and, a lifting and lowering operation tool for raising and lowering the working device to an arbitrary height and performing an on / off operation of the work clutch is provided, and separately from this lifting and lowering operation tool, Forcibly raising the working device to a preset predetermined height with switching from the engaged state of the work clutch to the disengaged state,
The present invention is characterized in that a force lifting / lowering operating tool for lowering the contact of the working device while maintaining the disengagement state of the work clutch and engaging the work clutch is provided. The operation and effects are as follows.

[0006]

According to the above-mentioned feature, when the work clutch is disengaged and the working device is lifted at the start of the ridge turning, the turning of the machine body is completed and the raised working device is lowered on the ground. When the working device reaches the position where the transplant is started and the work clutch is engaged and operated, the forced raising / lowering operating device can be operated in any case, and the working device is raised and lowered as in the conventional case. This eliminates the need for switching between an operating tool (elevating operating tool) to be controlled and an operating tool for turning on and off the work clutch.

[0007]

As a result, a complicated operation at the time of turning on the ridge can be eliminated to enable highly efficient work, and the turning operation at the time of the ridge requires almost no need to look at the hand, so that an accurate steering operation based on vision can be performed. In addition, a transplanter that can easily perform the operations necessary for the operation with sufficient time was rationally configured. Further, according to the present invention, even when a system for forcibly moving up and down to a predetermined height breaks down, it is possible to perform conventional lifting and lowering control using a lifting and lowering operation tool capable of moving up and down to another arbitrary height. It also has the effect of becoming.

[0008]

Embodiments will be described below with reference to the drawings. FIG.
FIG. 5 shows a riding type rice transplanter which is an example of the transplanter. In this rice transplanter, a seedling planting device 3 [an example of a working device] can be driven up and down by a lift cylinder 4 [an example of a driving mechanism] via a quadruple link mechanism 2 at the rear of the riding type traveling machine 1 and can be moved up and down and electrically driven. The rolling motor 5 is connected so as to be capable of driving rolling freely around the longitudinal axis.

In the traveling body 1, the power of an engine 6 mounted on the front of the body is transmitted to front and rear wheels 10 and 11 via a belt type continuously variable transmission 7 and a gear shift type main transmission 9 in a transmission case 8. The planting device 3 is constructed so as to drive and drive the machine body, and the power after shifting can be freely intermittently operated via the planting clutch 12 [an example of a work clutch].
The transmission system is configured to be transmitted to The continuously variable transmission 7 is a split-pulley type continuously variable transmission, and is electrically driven so that the interval between the split pulleys is set to a speed set by a potentiometer-type speed setting device (not shown) provided on the body operation panel 13. The drive operation is performed by the cylinder 15. The main transmission 9 is driven by the main transmission lever 16 to a first forward speed F1 for planting work and a second forward speed F for road running.
2. It is configured to be freely switchable between a neutral position N and a reverse position R.

The seedling planting apparatus 3 removes seedlings one by one from the lower end of the seedling rest 18 and the lower end of the seedling rest 18 which reciprocate in a reciprocating manner at a constant stroke with respect to the planting transmission case 17 also serving as a frame. A planting mechanism 19 for planting, a plurality of ground floats 20 and the like which are supported so as to be able to swing up and down around a rear fulcrum are provided, and a drawing for drawing a running index line in the next work process on a field scene is provided on both left and right sides. The marker 21 is provided so as to be able to move back and forth. Each of the drawing markers 21 and 21 is
Each is configured to be biased by switching to the protruding posture and to be forcibly stored via a wire as the seedling planting device 3 is raised, and to lock and hold the left and right drawing markers 21 and 21 in the stored state. The lock mechanisms 22 and 22 are selectively unlocked, and when the seedling planting apparatus 3 is lowered, the drawing marker on the selected side is set to the protruding action posture. As shown in FIG. 7, the release operation of each of the lock mechanisms 22, 22 is performed by turning the steering handle 2 as shown in FIG.
3 is selectively operated by switching the first operating tool 24 provided on the lower right side from the neutral position in which the return bias is applied in the forward and backward and forward and reverse directions. The first operating tool 24 is linked so that when the forward / reverse switching operation is performed from the neutral position, the on / off clutch switch 25 of the planting clutch 12 is turned on in conjunction therewith.

As shown in FIG. 1, the stud clutch 12 is operated by a forward / reverse type electric clutch motor 27 driven by a relay circuit 26 which is switched by a clutch ON signal and a clutch OFF signal. A structure for performing the on / off operation via the member 28,
To determine whether the clutch is engaged or disengaged,
Clutch-off switch 2 that contacts operating member 28
9. It is configured to detect by one of the clutch-on switches 30. The link mechanism for the interlocking operation is provided with a compression spring SP that is interlocked and linked by a compression operation when operating on the clutch disengagement side, so that the clutch disengagement operation can be quickly performed while ensuring operation flexibility. .

The seedling planting device 3 is provided with an operation lever 32 provided on the lateral side of the driver's seat 31 so as to be able to swing back and forth manually.
The lifting operation is performed by the switching operation of [example of lifting operation tool]. This operation lever 32 is shown in FIG.
As shown in the figure, the "planting position" P (an example of a working position),
It is configured to be capable of switching between a “down position” D, a “neutral position” N, a “up position” U, and an “automatic position” AT, and the switching operation is performed by detecting a forward / backward swing amount by a potentiometer type lever sensor 33. The determination is performed by the control device 34 having a microcomputer by determining the level of the detection value of the lever sensor 33. That is, if the control device 34 is in the “planting” position based on the level determination, the control device 34 causes the planting clutch 12 to be engaged with the seedling planting device 3 in a state where the ground contact is lowered, and the control device 34 is in the “down position” D In this case, the seedling planting apparatus 3 is lowered while touching the planting clutch. If the "neutral position" N, the position is held as it is,
If the “up position” is U, the seedling planting device 3 is forcibly raised to the set height. Then, when the operation is switched to the "automatic position" AT, as described later, the elevating operation by the elevating operation switch 35 can be performed, and the control for forcibly raising the seedling planting device 3 when the body moves backward is performed.

As shown in FIG. 7, a second operating tool 36 is provided on the lower left side of the steering handle 23 in the body operating section.
[Example of a forced lifting operation tool] is provided, and when the second operation tool 36 is rocked upward from the neutral position in which the return operation is performed, the lifting operation switch 35 is turned on. The state in which the seedling planting device 3 is lowered to the ground and the state in which the seedling planting device 3 is raised to the maximum ascending position can alternately appear. When the second operating tool 36 is pivoted downward from the neutral position, the clutch switch 25 for switching the planting clutch 12 to the engaged state is operated.

A reverse detection switch 37 for detecting that the main speed change lever 16 has been detected at the reverse position R is provided. When the reverse detection switch 37 is in the detection operation state, the control device 34 causes the seedling planting device 3 to operate. Is forcibly raised to the maximum raising position. The detection that the seedling planting device 3 has been raised to the maximum raised position is configured to be detected by an intermediate portion of the link mechanism 2 acting on a link switch 38 provided on the rear side of the driver's seat 31. is there. The raising and lowering control of the seedling planting apparatus 3 by the raising and lowering operation switch 35 and the forcible raising control at the time of the aircraft reversing are performed only when the operation lever 32 is operated to the "automatic position" AT. I have.

The operation lever 32 is operated to one of the "planting position" P, the "down position" D, and the "automatic position" AT, and the main shift lever 16 is moved to the first forward position. In a state where the speed is operated at the speed F1 or the forward second speed F2, the automatic rolling control is executed so that the left and right inclination posture of the seedling planting device 3 is maintained at the set posture. More specifically, as shown in FIG. 3, the main transmission switch 39 for detecting whether the main transmission lever 16 is operated to the first forward speed F1 or the second forward speed F2, and the absolute position of the seedling planting device 3 A weight type inclination sensor 40 for detecting an inclination angle from a horizontal posture, and a potentiometer type inclination angle setting device 41 for artificially setting a target inclination posture, and a control device based on these outputs and the output of a lever sensor 33 are provided. 3
4 performs control as shown in the control flowchart of FIG. The main shift switch 39 detects that the main shift lever 16 is operated to the first forward speed F1 or the second forward speed F2, and the output of the lever sensor 33 changes the operating position of the operating lever 32 to the “planting position”. P, when it is detected that any of the “down position” D and the “automatic position” AT has been operated, the detection value XR of the inclination sensor 40 differs from the target value Ra by the inclination angle setting device 41, The detected value XR of the inclination sensor 40 is the target value Ra by the inclination angle setting device 41.
If it is smaller, the output for the lower right is output to the relay circuit 42 until these values substantially match, and the rolling motor 5 is rotated in the lower right direction. Tilt sensor 4
If the detected value XR of 0 is larger than the target value Ra by the inclination angle setting device 41, an output for lowering to the left is output to the relay circuit 42, and the rolling motor 5 is rotationally driven to lower left.

When the rolling motor 5 is driven to the mechanical operation limit and detected by the right and left limit switches 43 and 44, the relay circuit 42 is directly operated to stop the driving of the rolling motor 5. The circuit is configured as follows. Further, even when an abnormality occurs in the automatic control system as described above, the relay circuit 42 is directly driven by the manual rolling switch 45 which is three-position switching type and is biased to return to the center, thereby manually performing the rolling drive. It is configured to be able to. In the manual rolling operation by the manual switch 45, the control signal from the controller 34 is configured to be kept in the off state.

During the planting operation, automatic raising and lowering control is performed so that the ground height of the seedling planting device 3 is maintained at a set value. As shown in FIG. 2, a potentiometer type float sensor 46 for detecting the vertical swing amount based on the ground pressure fluctuation of the ground float 20 located at the left and right center is provided.
The detection value of the float sensor 46 is transmitted to the control panel 13
The controller 34 automatically controls the electromagnetic control valve 48 for the lift cylinder 4 so as to fall within the setting range of the potentiometer type sensitivity setting device 47 provided in the above, so that the ground height of the seedling planting device 3 is set. Value will be maintained. That is, as shown in FIG. 5, the control device 34 holds the state if the detection value XS of the float sensor 46 is within the dead zone of the target value Sa, and if the detection value XS is larger than the target value Sa, the electromagnetic control is performed. A drive signal is output to the ascending electromagnetic solenoid UPSol of the valve 48, and if the detected value XS is smaller than the target value Sa, the descending electromagnetic solenoid DWS
ol to output a drive signal. The automatic lifting control is configured to be executed only when the operation lever 32 is operated to any one of the “planting position” P, the “down position” D, and the “automatic position” AT. I have.

The sensitivity setting device 47 is connected to the ground float 20.
Is changed, and the sensing load of the ground float 20 is changed according to the hardness of the mud. The control target value by the sensitivity setting device 47 can be corrected by a three-position switching type correction switch 51. As shown in FIG. 8, by changing the correction switch 51, the change characteristic of the control target value with respect to the set value by the sensitivity setting unit 47 is changed by the parallel movement to the insensitive side (the reference attitude of the ground float is in the forward rising direction) or the sensitive side (the forward Downward direction]. Further, if the vehicle traveling speed becomes high, the contact float 20 may be slightly lifted, and the seedling planting device 3 may rise to become shallow. Therefore, the change characteristic of the control target value in the elevating control is the vehicle speed. It is configured to be changed according to. That is, the rotation speed sensor 52 for detecting the rotation speed of the engine 6 and the continuously variable transmission 7
Is provided with a potentiometer-type shift position sensor 53, and the control device 34 calculates the vehicle speed from these outputs, and if the vehicle speed is high [for example, the vehicle speed is 0.8 m /
[Seconds or more] The change characteristic of the control target value is changed to the insensitive side, and the change amount increases as the vehicle speed increases.

Further, since a hydraulic pump (not shown) for the lift cylinder 4 is driven by the engine 6, the flow rate of hydraulic oil for the lift cylinder 4 changes due to a change in the engine speed.
Is to appropriately change the duty ratio of the pulse current supplied to each of the electromagnetic solenoids UPSol and DWSol of the electromagnetic control valve 48 in accordance with the detection result of the engine speed so that the hydraulic oil flow is always kept constant. I do.

As shown in FIG. 9, the tilt angle setting device 4
1. Manual rolling switch 45 and correction switch 51
Are disposed on a rear wheel fender 54 located on the side of the driver's seat 31, and these are openable and closable lids 55.
It is configured to cover with.

Next, the control operation of the controller 34 relating to the raising and lowering operation of the seedling planting apparatus 3 will be described in detail with reference to the control flowcharts shown in FIGS. When the main switch is turned on and the control is started, the ascending electromagnetic solenoid UPSo of the electromagnetic control valve 48 for the lift cylinder 4 is moved.
1 and the outputs of the lowering electromagnetic solenoid DWSol are turned off, and the operation flag f0 for the lifting / lowering operation switch 35, the operation flag f1 for the clutch switch,
Initialize each of the operation flag f2 for automatic lifting control and the operation flag f3 for reverse lifting operation to “0” [Step 1,
2]. If the operation lever 32 is operated to a position other than the "automatic position" AT, the operation flags f0 to f3 are initialized, and if the "neutral position" is N, the clutch engagement signal STR for the clutch motor 27 is turned off. If the clutch off switch 29 is on, the clutch off signal ST
P is turned off, and if the clutch off switch 29 is off, a clutch disengagement signal STP is output and the planting clutch 1
2 is maintained in the cut state [Steps 3-9]. And
If the operation lever 32 is at a position other than the "automatic position" AT or the "neutral position" N when the main switch is turned on, once the operation lever 32 is switched to the "neutral position" N, the next operation is performed. Proceed to step [Step 1
0].

When the operating lever 32 is moved to the "up position" U, the clutch engagement signal STR is turned off, the operation flag f2 for automatic up / down control is set to "0", and then the clutch off switch 29 is turned on. If there is, the clutch disengagement signal STP is turned off, and if the link switch 38 is on (the seedling planting device 3 is in the up state), the ascending electromagnetic solenoid UPSol is turned off. If the link switch 38 is in the off state, it goes up. The operator turns on the electromagnetic solenoid UPSol for raising the seedling planting device 3 [steps 11 to 1].
7]. If the clutch-off switch 29 is not on, the clutch disengagement signal STP is turned on, and the planting clutch 12 is disengaged by the clutch motor 27 to turn off the ascending and descending solenoids UPSol and DWSol (steps 18 and 19).

When the operating lever 32 is operated to the "down position" D, the output of the clutch engagement signal STR is stopped, and the planting clutch 12 is maintained in the disengaged state in the same manner as in the control described above. Steps 20 to 23], lower the seedling planting device 3 [Steps 24 to 26]. When it is determined from the detection value of the float sensor 46 that the seedling planting device 3 has touched the ground, the automatic elevation control mode is executed [step 27]. At this time, if the link switch 38 is turned on, the ascending solenoid UPSol is turned off, and the automatic up / down control operation flag f2 is set to "1" (steps 28 to 30). The operating lever 32 is in the “planting position” AT
Is turned off, the clutch-on signal STR is turned off, and then the clutch-on signal STR is output until the clutch-on switch 30 is turned on to operate the clutch motor 27 to put the planting clutch 12 into the on state [step 31-34]. Thereafter, automatic elevating control is performed.
The operation flags f other than the operation flag f2 for the automatic lifting control
0, f1, and f3 are maintained at “0” [Step 3
5].

Next, the operation when the operation lever 32 is operated to the "automatic position" AT will be described. Operation lever 3
When the up / down operation switch 35 is operated after the 2 is operated to the "automatic position" AT, the switch operation flag f0 is set to "1", and when the link switch 38 is in the ON state (up state), the automatic up / down operation is performed. Set the control operation flag f2 to “0”
, The lowering solenoid DWSol is turned on to lower the seedling planting device 3 [Steps 36, 37, 39 to
43]. When the seedling planting apparatus 3 comes down on the ground, the switch operation flag f0 is set to "0", the operation flag f2 for automatic elevating control is set to "1", and then the mode shifts to the automatic elevating control mode [Steps 44 to 44]. 48]. If the link switch 38 is off when the lifting operation switch is operated, the planting clutch 12 is disengaged to raise the link switch 38 until the link switch 38 is turned on (steps 49 to 5).
4]. When the link switch 38 is turned on, the switch operation flag f0 is set to "0" [Steps 55 and 5].
6]. When the up / down operation switch 35 is operated again during the up / down operation, the operation direction is reversed [steps 56 to 60]. Note that, when the raising / lowering operation switch 35 is operated in the initial state, the planting clutch 12
If is not the cutting state, it returns to the initial state [Step 3
7, 38].

After the seedling plant 3 is lowered, when the clutch switch 25 is turned on by the operating tools 24, 36 of the control unit, the clutch switch operation flag f1 is set to "1". To activate the planting clutch 12 (steps 61 to 64), sound the alarm buzzer 56 until the clutch-on switch 30 is turned on, and when the clutch-on switch 30 is turned on, set the clutch switch operation flag f1 to "0". To stop the alarm (steps 65 to 69). Thereafter, the mode shifts to the automatic elevating control mode.

After the operation lever 32 is operated to the "automatic" position, the operation of the main transmission lever 16 to the reverse transmission position is detected by the reverse detection switch 37, and if the link switch 38 is not in the ON state, After setting the reverse ascending operation flag f3 to "1" [Steps 70 to 7]
4] Then, the process proceeds to a step 49, wherein the seedling planting apparatus 3 is operated until the planting clutch 12 is turned off and the link switch 38 is turned on.
Is forced to rise. When the link switch 38 is turned on, the reverse ascending operation flag f3 is set to "0" (step 56). Further, there is no operation of the lifting / lowering operation switch 35 or the detection operation of the reverse detection switch 37, and the reverse lifting operation flag f3
Is “1”, when the seedling planting device 3 is in the ascending position and the operation lever 32 is shifted from another position, or when the automatic elevating control mode is not set, the seedling planting device 3 is held at the ascending / descending position [ Steps 75 to 79]; otherwise, the mode shifts to the automatic elevating control mode [steps 80 and 46].

[Other Embodiments] (1) Based on the downward operation of the second operating tool 36, the on-off state and on-off state of the planting clutch 12 for each operation in the same manner as the operation of the elevation operation switch 35. May be controlled so as to appear alternately. That is, the second
The operating tool 36 disengages the planting clutch 12 with respect to the seedling planting device 3 and forcibly raises the seedling planting device 3 to the predetermined position based on the operation in the predetermined direction from the restored biased neutral position. The first state and the second state of lowering the seedling planting device 3 to the ground alternately appear, and based on an operation in a direction different from the predetermined direction from the neutral position,
The control device 34 is configured to perform a control operation so that a state where the planting clutch 12 is operated to be turned on and a state where the planting clutch 12 is operated to be turned off alternately appear. (2) Further, the second operating tool 36 is provided to be able to freely move back and forth around the axis of the vertical axis, and performs the switching operation of the lifting / lowering operation switch 35 based on the swinging operation to the rear side, and based on the operation to the front side. The planting clutch 12 may be operated by operating the planting clutch 12.

In the claims, the reference numerals are used to facilitate comparison with the drawings, but the present invention is not limited to the configuration shown in the attached drawings.

[Brief description of the drawings]

FIG. 1 is a control block diagram for a lifting operation.

FIG. 2 is an elevation control block diagram.

FIG. 3 is a block diagram of a rolling control.

FIG. 4 is a flowchart of a rolling control.

FIG. 5 is a lifting control flowchart.

FIG. 6 is an operation explanatory view of an operation lever.

FIG. 7 is a plan view of an arrangement portion of the operation tool.

FIG. 8 is a diagram showing the sensitivity characteristics

FIG. 9 is a plan view of an operation unit.

FIG. 10 is an elevating control flowchart.

FIG. 11 is an elevating control flowchart.

FIG. 12 is an elevating control flowchart.

FIG. 13 is a lifting control flowchart.

FIG. 14 is an elevating control flowchart.

FIG. 15 is an overall side view of the rice transplanter.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Traveling body 3 Working device 4 Drive mechanism 12 Working clutch 32 Elevating operation tool 36 Forced elevating operation tool

──────────────────────────────────────────────────続 き Continued on the front page (58) Field surveyed (Int.Cl. ⁶ , DB name) A01C 11/02 A01B 63/10 A01B 71/02

Claims (1)

(57) [Claims] A driving mechanism (4) is provided at the rear of the traveling body (1).
And a work clutch (12) that can be switched between an engaged state for driving the work apparatus (3) and a disengaged state for stopping the work apparatus (3). An implanting machine, comprising: a lifting / lowering operating tool (3) for raising / lowering the working device (3) to an arbitrary height and performing an on / off operation of the working clutch (12);
2), and separately from the lifting / lowering operation tool (32), the working device (3) is switched from the engaged state to the disengaged state of the work clutch (12) to a preset predetermined height. An implant provided with a forcible lifting / lowering operation tool (36) for forcibly raising, lowering the working device (3) while maintaining the disengaged state of the work clutch (12), and engaging the work clutch (12). Machine.