JP2003079204A - Seedling posture control device of seedling plant - Google Patents

Abstract

PROBLEM TO BE SOLVED: To carry out precise and efficient control of a seedling planting posture with a controller of a seedling planting device because a increased hunting phenomenon of the seedling planting device causes to delay or easily lose the control when pitching and rolling controls of the seedling planting device are separately and freely carried out. SOLUTION: This controller for the posture of the seedling transplanter is composed so as to set the pitching control speed at a higher speed than the rolling control speed. The transplanter is provided with the pitching and rolling controls for controlling the posture of the seedling planting device.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a seedling planting posture control device for a seedling planting machine. In the riding type seedling planting machine,
The seedling planting device mounted on the rear part of the vehicle body so as to be able to move up and down is subjected to pitching control and rolling control to stably maintain the seedling planting posture of the seedling planting device regardless of the field conditions.

[0002]

2. Description of the Related Art The seedling planting device mounted on the rear portion of the vehicle body is controlled by pitching or rolling control by tilting the vehicle body in the front-rear direction or the left-right direction to control the seedling planting device in a horizontal state or the like. A technique for maintaining and controlling a certain seedling planting posture is known.

[0003]

[Problems to be Solved by the Invention] The seedling planting machine always keeps the seedling planting posture in response to the changing conditions of the seedling planting field such as the depth of the plow, the uneven surface, the hardness of the soil surface, the ridges, and these changes. Change. In such a mode that the seedling planting device is moved up and down with respect to the vehicle body regardless of such changes in seedling planting conditions, or pitching control or rolling control is performed to maintain a constant seedling planting posture, each operation or control is performed. If each is freely performed, the hunting phenomenon increases, and control is delayed or easily disturbed. The present invention provides a speed difference between these control speeds, particularly between pitching control and rolling control,
Such a defect is eliminated.

[0004]

The invention according to claim 1 is a seedling planting machine provided with pitching control and rolling control for controlling the seedling planting posture of the seedling planting device 2 with respect to the vehicle body 1. A seedling planting posture control device is characterized in that the pitching control speed is set to be higher than the rolling control speed.

The seedling planting device 2 is propelled by the traveling of the vehicle body 1, and the seedling planting action is performed on the surface of the propelled soil of the seedling planting device 2. When the seedling planting device 2 is tilted in the same direction by tilting the vehicle body 1 in the front-rear direction or the left-right direction, etc., the tilting posture in the front-rear direction is horizontally corrected by the pitching control, and the left-right direction is controlled by the rolling control. It is corrected and controlled to a horizontal posture. At this time, since the pitching control is performed faster at the control speed between the pitching control and the rolling control, the rolling control is delayed to reduce the rolling control amount even if the pitching control is performed in parallel.

According to the second aspect of the present invention, a link hitch 4 that is raised and lowered with respect to the vehicle body 1 by way of a raising and lowering link 3 composed of a parallel link mechanism is provided, and the link hitch 4 is provided around the rolling shaft 5. The seedling planting control device for a seedling planting machine is characterized in that the rolling rotarytable seedling planting device 2 is mounted and a horizontal sensor 6 for detecting the horizontal state in the left-right direction is provided. is there.

The seedling planting device 2 comprises a lifting link 3 at the rear of the vehicle body 1.
Since the height of the soil changes, the amount of subsidence changes depending on the depth of the soil surface and the like, and the elevation link 3 raises and lowers the soil surface to maintain a substantially constant soil surface position. Further, in the seedling planting device 2, when the horizontal sensor 6 provided on the link hitch 4 at the rear end of the elevating link 3 detects a tilt in the left-right direction together with the vehicle body 1 and the elevating link 3, rolling control is performed. The seedling planting device 2 is rotated around the rolling shaft 5, and the seedling planting device 2 is maintained and controlled in a horizontal horizontal posture even if the vehicle body 1 side leans to the left and right.

According to a third aspect of the present invention, there is provided a seedling planting machine which is capable of raising and lowering control for controlling the seedling planting posture of the seedling planting device 2 with respect to the vehicle body 1 and pitching control.
In the raising control for raising the seedling, a seedling planting posture control device is characterized in that the control sensitivity of the pitching control is made insensitive.

A seedling planting device 2 by changing the depth of the soil tiller, etc.
Is controlled to move up and down with respect to the vehicle body 1, and the height position of the seedling planting device 2 on the soil surface is maintained constant. When the seedling planting device 2 tilts in the front-rear direction, the pitching control changes the tilt angle in the front-rear direction with respect to the vehicle body 1 and controls the front-rear horizontal state to be maintained. The control sensitivity of the raising / lowering control and the pitching control of the seedling planting device 2 is set in a predetermined region, but when the pitching control is performed during the raising control of the seedling planting device 2, the control sensitivity of the pitching control is set. Is less sensitive than the predetermined sensitivity.

[0010]

According to the first aspect of the present invention, since the pitching control speed of the seedling planting device 2 is higher than the rolling control speed, the soil leveling property can be improved and the rolling control can be reduced. In addition, hunting can be reduced, control disturbance can be reduced, and quick and accurate control can be performed, so that the seedling plantability can be favorably maintained.

According to the second aspect of the present invention, since the horizontal sensor 6 for detecting the lateral inclination state of the seedling planting device 2 is attached to the link hitch 4 near the mounting position of the seedling planting device 2, rattling in control interlocking is provided. Accurate rolling control can be performed by reducing the movement due to sticking and the like.

According to the third aspect of the invention, when the seedling planting device 2 is raised, the sensitivity of pitching control becomes insensitive. Since floating seedlings can be prevented and floating seedlings that are likely to occur when the seedling planting device 2 is lifted can be accurately prevented, the stability of planting can be improved.

[0013]

BEST MODE FOR CARRYING OUT THE INVENTION An embodiment of the present invention will be described with reference to the drawings. 1 to 3, a schematic configuration of a seedling planting machine has a front wheel and a rear wheel 6, and is a four-wheel-drive riding mode in which the vehicle is driven by an engine mounted in a lower portion of a driver's seat 35 to drive the vehicle. A seedling planting device 5 is connected to the rear side of the tractor vehicle body 1 via an elevating / lowering link 3. The seedling planting device 5 includes a seedling tank 9 that stores seedlings grown in a mat shape on the upper part of a seedling planting frame 8 and intermittently feeds them while reciprocating left and right, and a rear lower end portion of the seedling tank 9. Seedling guide 10 that guides lateral movement and seedling planting device 1 that acts on the seedling take-out port 11 of this seedling guide 10 to plant the separated and held seedlings on the soil surface 1.
2, a center float 39 that supports the bottoms of the seedling planting frames 8 and leveles while sliding on the soil surface, side floats 40 on both left and right sides, and the like. In such a seedling planting device 2, both the seedling tank 9 and the seedling planting device 12 are configured in a double-row planting form, and each float 39, 4 is formed.
Seedlings are planted on the soil surface leveled to zero.

The support bracket 13 at the rear of the vehicle body 1 includes
An elevating link 3 as a lower link and an upper link 7 parallel to the upper part of the lower link are connected by hinge pins 14 and 15 so as to be vertically rotatable. The link hitch 4 at the front center of the seedling planting frame 8 is connected to the lifting links 3 and the rear ends of the upper links 7 by hinge pins 22 and 23. The lift arm 17 integrated with the lifting link 3 has a body 1
The rear end of the lifting cylinder 18 that is expanded and contracted by hydraulic pressure is connected to a part of the
The center float 39 is moved up and down by an automatic interlock or the like by vertical movement. In this automatic operation by the center float 39, the lifting cylinder 18 on the vehicle body 1 side is connected via the wire 19.
When the center float 39 is moved up and down around the float support shaft 21 at the rear part by being connected to the raising and lowering control valve 20, the raising and lowering cylinder 18 is extended to raise the seedling planting device 2, and conversely, the center float 39 is raised. When it moves downward, the seedling planting device 2 is lowered, and the elevation control is performed so as to maintain the seedling planting depth constant.

Reference numeral 35 is a driver's seat on the rear portion of the vehicle body 1, and 36 is a fender covering the rear wheels 16. A rolling shaft 5 is connected to the link hitch 4 so that the seedling planting frame 8 can be tilted left and right. The rolling control for maintaining the horizontal posture of the seedling planting device 2 in the left-right direction is performed by attaching a horizontal sensor 6 to a suspension base 41 integrally provided on the link hitch 4 and forming a gate-like shape on the seedling planting frame 8. A rolling cylinder 44 having a piston 46 connected through a link 43 is provided on a tank support frame 42 that stands upright and supports and guides a guide rail 49 on the upper part of the seedling tank 9, and this rolling cylinder 44 is mounted on a suspension base 41. It is pivotally supported by a swing pin 45. When the vehicle body 1 to the link hitch 4 are tilted in the left-right direction and detected by the horizontal sensor 6, the rolling control valve 47 is output via the controller 31 to operate the piston 46 of the rolling cylinder 44 to operate the seedling planting device 2 Is rotated about the rolling shaft 5 to control the horizontal posture. Reference numeral 48 denotes a potentiometer, which is provided near the rolling shaft 5 and detects the control angle of the seedling planting device 2 around the rolling shaft 5 for feedback control.

Next, referring mainly to FIGS. 4 to 7, the floats 39, 40 are attached to the rear portion of the vehicle body 1 via the elevating link 3.
In the seedling planting machine for connecting the seedling planting device 2 having the
The rear part of the seedling planting device 2 is provided so as to be vertically rotatable with respect to the elevating link 3 by the inclination in the front-rear direction, thereby forming a pitching control device. Thereby, the rear part of the seedling planting device 2 is moved downward by the inclination of the vehicle body 1 in the front downward direction, and the rear part of the seedling planting device 2 is moved by the inclination of the vehicle body 1 in the rear downward direction,
The seedling planting depth and the planting posture of the seedling planting device 2 are maintained constant.

The pitching control is performed together with the elevation control by the elevation link 3, whereby the pitching control by the vertical movement of the rear portion of the seedling planting device 2 is performed together with the elevation control of the seedling planting device 2 by the elevation of the elevation link 3. Therefore, the posture of the seedling planting device 2 and the posture of the planted seedlings thereby can be accurately and smoothly controlled.

Here, in order to rotate the seedling planting frame 8 up and down around the hinge pin 22 of the elevating link 3, the hinge pin 23 of the upper link 7 is arranged around the hinge pin 22 below the link hitch 4. The seedling planting frame 8 can be pivoted back and forth in the region of the slot 24 by fitting it into the arc-shaped slot 24 for pitching control. The rotation of the seedling planting frame 8 is performed by the upper link 7
And a pitching cylinder 25 that is expanded and contracted by a hydraulic pressure or a geared motor provided between the upper end of the link hitch 4 and the link hitch 4. The pitching control valve 26 of the pitching cylinder 25 is output by a manual operation by the raising switch 27, the lowering switch 28, etc., or by automatic interlocking by the turning steering sensor 29, the vehicle body front-back inclination sensor 30, etc. When the pitching cylinder 25 is extended, the seedling planting device 2 is rotated rearward and downward, and when the pitching cylinder 25 is shortened, the seedling planting device 2 is in a rearwardly downward posture. At this time, in the region of the long hole 24, the seedling planting device 2 is in a state of being vertically slidable under the soil surface sliding pressure by the floats 39 and 40.

On the input side of the controller 31 for performing the various controls, the raising switch 27, the lowering switch 28,
A center float 39 sensor for detecting the angle of attack of the float, a vehicle body front-back tilt sensor 30, and a turning steering sensor 29.
In addition to the above, a manual switch, an automatic changeover switch 32, a lift link angle sensor 33, a pitching angle sensor 34, and the like are provided.

Here, the manual / automatic changeover switch 32 is
Pitching control up switch 27, down switch 2
8 is used to switch between the manual operation and the automatic turning operation sensor 29 or the vehicle body front-back inclination sensor 30.

The lifting link angle sensor 33 is used for the lifting link 3
Is detected by a potentiometer or the like provided near the hinge pin 14 of the elevating link 3, and is mainly provided for feedback control. The pitching angle sensor 34 detects a front and rear inclination angle of the seedling planting device 2, and is a potentiometer for detecting a front and rear position of the hinge pin 23 with respect to the elongated hole 24, or a stroke sensor for detecting an expansion and contraction amount of the pitching cylinder 25. It can be detected and is mainly provided for feedback control. The vehicle body front-rear inclination sensor 30 is provided on the tractor body 1 and detects the inclination angle of the vehicle body 1 in the front-rear direction. The turning steering sensor 29 is
The steering angle of the steering wheel 37 or the front wheels 38 is detected.

The controller 31 lowers the seedling planting device 5 to the working position to switch the raising / lowering control valve 20 by the vertical movement of the center float 39, thereby changing the raising / lowering cylinder 18.
Is expanded and contracted to control the raising and lowering of the seedling planting device 2. At this time, the elevating link 3 and the upper link 7 are in an inclined state of descending to the rear.

When the pitching control of the seedling planting apparatus 2 is performed manually, the manual / automatic changeover switch 32 is switched to the manual position, and the raising switch 27 is turned on, whereby the pitching control valve 26 is changed over to the pitching cylinder 25. Is reduced, and the connecting bracket 16 and the rear part of the seedling frame 8 are appropriately rotated around the hinge pin 22 in the area of the slot 24. As a result, the seedling planting device 2 is also inclined forward (backward).
The rear ends of the floats 39 and 40 are floated above the soil surface to be in a non-seedling posture. At this time, the front ends of the floats 39 and 40 are in a state of being in contact with the soil surface, or can be in contact with the soil surface to level the soil surface.

When the lowering switch 28 is turned on, the pitching cylinder 25 is extended and the rear part of the seedling planting device 2 is lowered, and the rear parts of the floats 39 and 40 are also grounded to be in the working posture. To automatically perform pitching control,
The manual / automatic switch 32 is switched to the automatic position. As a result, pitching control is performed when the vehicle body 1 largely tilts in the front-rear direction or turns back at the ridge during seedling planting work. When the vehicle body 1 tilts back and forth among these, the pitching control valve 26 is output by the detection of the vehicle body tilt sensor 30 and the front-back tilting posture of the seedling planting device 2 with respect to the soil surface due to the front-back tilting of the vehicle body 1 is corrected.

When the steering wheel 37 is turned, the steering handle 37 is operated at a turning angle, and the pitching cylinder 25 is reduced by the detection of the turning steering sensor 29, so that the seedling planting device 5 moves around the hinge pin 22. When the floats 39 and 40 are rotated forward, the rear portions of the floats 39 and 40 are also raised to the non-working posture.

During such pitching control,
The elevation control of the seedling planting device 2 by the center float 39 is also performed in parallel. However, when the seedling planting device 2 is lifted to a predetermined height or more and the lift link angle sensor 33 detects this, the pitching control is restrained, and the seedling planting device 2
Do not rotate to the forward tilt side. Therefore, it is possible to prevent the upper end portion of the seedling tank 9 from coming into contact with the fender 36 or the like of the vehicle body 1 on the front side. Therefore, the seedling tank 9 can be provided close to the rear portion of the vehicle body 1, and safety can be achieved.

As shown in FIG. 8, the hydraulic circuits of the lifting cylinder 18, the pitching cylinder 25, and the rolling cylinder 44 are the hydraulic circuits 5 by the gear pumps P1 and P2.
0,51. The hydraulic circuit 50 is provided with a lift control valve 20, a constant flow valve 52, a lock valve 53 that can be switched by a lock lever 67, and the like.
5 By operating the lateral planting lever 66, the lifting control valve 20
From neutral fixed position N to lowered position D, planted raised position U
1. The seedling planting device 2 can be moved up and down by switching to each operating position such as the turning-up position U2. Further, a constant flow valve (flow priority valve) 54, a proportional flow dividing valve 55, a pitching control valve 25, a rolling control valve 47, etc. are arranged in the hydraulic circuit 51. The constant flow valve 54 diverts the power steering hydraulic circuit 56. T is a tank port.

The proportional flow dividing valve 55 of the hydraulic circuit 51 as described above.
Between the throttle valve 58 for branching to the circuit 57 on the pitching cylinder 25 side and the throttle valve 60 for branching to the circuit 59 on the rolling cylinder 44 side.
The throttle ratio of 0 is increased and the operating speed of the pitching cylinder 25 is set higher than the operating speed of the rolling cylinder 44. If the control speed cannot be compared only by the operating speed of each cylinder depending on the cross-sectional diameters of the pitching cylinder 25 and the rolling cylinder 44, the angular speed of the pitching rotation around the hinge pin 22 of the seedling planting device 2, The comparison may be made by the angular velocity of rolling rotation around the rolling shaft 5.

In FIG. 9, a difference from the above example is that a constant flow valve 54 of the hydraulic circuit 51 is replaced with a proportional flow dividing valve 61 to divide the power steering into the hydraulic circuit 56 and the circuit 59 side. The proportional shunt valves 55 and 61 are arranged in series to form a speed-sensitive type that increases the pitching control speed. The rotation of the engine changes the rotation of the pump P2 and the operating speed of each of the cylinders 25 and 44. .

In FIG. 10, the difference from the above example is that the constant flow valve 6 is provided at the branch portion between the circuits 57 and 59 of the hydraulic circuit 51.
2 is provided, and a constant flow valve 63 is provided at a branch portion of the circuit 57 with the hydraulic circuit 56. The hydraulic circuits 59 and 57 passing through the constant flow valves 62 and 63 are provided with throttle valves 64 and 65, respectively, and the degree of throttle is increased by the throttle valve 65 and set by 64 to reduce the pitching control speed to the rolling control speed. Set faster than.

Next, referring mainly to FIG. 7 and FIG. 11, in the pitching control, the control sensitivity of the pitching control is made insensitive during the raising control for raising the seedling planting device 2. The control sensitivity can be changed by setting the dead band width of the pitching angle sensor 34 as a specified value which is wider than the dead band width in the normal state, and switching the change.

The horizontal sensor 6 for rolling control according to the second aspect of the present invention is shown in FIGS.
As described above, the seedling planting device 2 is mounted on the link hitch which is mounted with the pitching operation disabled, but can be mounted on the link hitch 4 which is mounted with the pitching operation enabled as shown in FIGS. 4 to 6.

Next, referring mainly to FIGS. 1 and 12, the difference from the above example is that a planting lever 66 for operating the elevation control valve 20 in the hydraulic circuit 50 and a planting lever for operating the lock lever 53 are used. A wire is provided between the lock lever 67 and the lock lever 67 so that the lock lever 67 is at the lock position of the lock valve 53 when the lock lever 67 is at the neutral fixed position N or the raised positions U1, U2. 68
It is configured in conjunction with.

Conventionally, during the seedling planting operation, when the seedling planting device 2 is being raised and the seedling tank 9 is being replenished with seedlings, the raising / lowering control valve 20 of the hydraulic circuit 50 leaks and so on. Two parts may be lowered. At this time, if it is raised again by operating the planting lever 66 or the like, the inter-seedling plant marker (not shown) whose left and right instructing directions can be switched alternately by interlocking with the raising and lowering of the seedling planting device 2 is indicated in the opposite direction. There is. However, such a defect is eliminated by the interlocking structure of the levers 66 and 67 as described above.

Further, as shown in FIG. 13, the spools of the lift control valves 20 and the lock valves 53 can be interlocked by a link mechanism as described above. Reference numeral 69 denotes a valve body of the elevation control valve 20 and the lock valve 53, which are interlocked between these spools via arms 70 and 71 and a spring 72. The arm 70 is supported around a support shaft 73 and is engaged with the tip end portion of the elevation control valve 20. The arm 71 is supported around the support shaft 74 and abuts on the lock valve 53. The spring 72 is provided in a pulling direction between the base ends of these arms 70 and 71.

When the raising control valve 20 is in the neutral fixed position N or the raising positions U1 and U2, the arm 70 is pulled to pull the spring 72, and the arm 71 is rotated upward to push the lock valve 53 to push the lock position. Operates on R. Conversely, when the lift control valve 20 is moved to the lowered position D, the lock valve 53 is returned to the unlocked position F via the arm 70, the spring 72, and the arm 71.

[Brief description of drawings]

FIG. 1 is a side view of a seedling planting machine.

FIG. 2 is an enlarged side view of a part thereof.

FIG. 3 is a front view of a part thereof.

FIG. 4 is a side view of a seedling planting device part showing an embodiment of another part thereof.

FIG. 5 is a side view showing the operating state thereof.

FIG. 6 is an enlarged side view of a part thereof.

FIG. 7 is a block diagram of the control.

FIG. 8 is a hydraulic circuit diagram thereof.

FIG. 9 is a hydraulic circuit diagram showing an embodiment of another part thereof.

FIG. 10 is a hydraulic circuit diagram showing an embodiment of another part thereof.

FIG. 11 is a flowchart of partial control thereof.

FIG. 12 is a side view of a planting lever portion showing an embodiment of a part thereof.

FIG. 13 is a side view of a lift control valve portion showing an embodiment of a part thereof.

[Explanation of symbols]

1 car body 2 seedling planting equipment 3 lifting links 4 link hitch 5 rolling axes 6 Horizontal sensor

   ─────────────────────────────────────────────────── ─── Continued front page    (72) Inventor Hideyuki Kusamoto             No. 1 Yakura, Tobe-cho, Iyo-gun, Ehime Prefecture             Technology Department Co., Ltd. (72) Inventor Hiroshi Nagai             No. 1 Yakura, Tobe-cho, Iyo-gun, Ehime Prefecture             Technology Department Co., Ltd. (72) Inventor Name University             No. 1 Yakura, Tobe-cho, Iyo-gun, Ehime Prefecture             Technology Department Co., Ltd. F-term (reference) 2B062 AA05 AB01 CA08 CA09 CA20                 2B304 KA11 LA02 LA09 LB05 LB16                       MA07 MA08 MA18 MB02 MC01                       MC08 MD10 QA11 QA15 QA26                       QB03 RA27

Claims (3)

[Claims] 1. A seedling planting machine provided with pitching control and rolling control for controlling the seedling planting posture of the seedling planting device 2 with respect to the vehicle body 1, wherein the pitching control speed is set higher than the rolling control speed. A seedling planting posture control device. 2. A link hitch 4 that is raised and lowered via a lifting link 3 composed of a parallel link mechanism with respect to the vehicle body 1, and the link hitch 4 is capable of rolling and turning around a rolling shaft 5. A seedling planting posture control device for a seedling planting machine, which is equipped with a horizontal sensor 6 for mounting the planting device 2 and detecting the horizontal state in the horizontal direction. 3. A seedling planter capable of raising and lowering control for controlling the seedling planting posture of the seedling planting device 2 with respect to the vehicle body 1 and pitching control, when the raising control for raising the seedling planting device 2 is performed, pitching control is performed. A seedling planting posture control device characterized by desensitizing control sensitivity.