JP3418183B2 - Paddy field machine - Google Patents

Description

Description will be given below on an embodiment of the present invention with reference to the drawings. As shown in FIG. 1, an engine 4 is mounted on a front part of a traveling body 3 having a driven front wheel 1 and a driven rear wheel 2 that are operated by steering, and a power of the engine 4 is provided on a rear part of the traveling body 3. Continuously variable transmission 5 to which power is transmitted
And a transmission case 6, and a driver seat 7 is disposed in the center of the traveling body 3. A seedling planting device An as an example of a working device A is connected to a rear end of the traveling machine body 3 via a link mechanism 9 driven up and down by a lifting and lowering cylinder 8 as an example of an actuator. It constitutes a rice transplanter as an example. As shown in FIG. 1, on the right side of the driver's seat 7, there is provided an elevating lever 10 for controlling the elevating and lowering of the seedling planting device An and engaging and disengaging the planting clutch C as a clutch mechanism. Gearshift lever 1 on the left side of driver's seat 7
1 is provided. Planting clutch C is mission case 6
Only when the transmission shaft 12 for transmitting power from the transmission case 6 to the seedling planting device An is in a fixed rotation phase, the disengaging operation of the planting clutch C is permitted, and the planting arm 17 is provided. The power is shut off in a posture avoiding contact with the field scene. [0005] As shown in FIG. 1, a seedling planting apparatus An places a mat-shaped seedling W thereon, and the seedling mounting table 13 in which the upper end is inclined forward of the traveling machine body 3, and the power of a transmission shaft 12. , A rotary case 16 rotated by power transmitted from the transmission case 14 via the chain case 15, a pair of planting arms 17 provided on the rotary case 16, and a plurality of leveling floats 18. It is configured for multiple planting and has markers 25 at the right and left side positions. As shown in FIG. 1, a switching lever 21 as an operating tool is provided on a right side surface of a post portion of a steering handle 20 at a position in front of a driver's seat 7. As shown in FIG. 2, the switching lever 21 is urged by a spring (not shown) so as to return to a substantially horizontal neutral posture N, and the end of the switching lever 21 is referred to the neutral posture N as a reference. Operating posture U in which the portion is displaced upward, lower operating posture D in which the end of the switching lever 21 is displaced downward, switching lever 21
Left marker operating posture L with its end displaced backward, and right marker operating posture R with its end of switching lever 21 displaced forward
The switching lever 21 is configured to be swingable in the cross direction about the base end of the switching lever 21 so as to be freely operable. As shown in FIG. 3, the raising / lowering lever 10 is configured to operate along a path formed in the guide 22, and when the raising / lowering lever 10 is operated forward from the lowering position, the seedling plant An Is lowered, and when the lifting lever 10 is operated backward from the raised position, the seedling plant An is raised. When the raising / lowering lever 10 is operated to the neutral position, the control system is linked so as to maintain the seedling planting device An at that level, and when the raising / lowering lever 10 is operated to the ON position, the planting clutch C is engaged and the seedling is planted. Automatic raising and lowering control for maintaining a predetermined field height in a state where the leveling float 18 provided in the attaching device An is in contact with the ground is performed, and when the lifting lever 10 is operated to the off position, the planting clutch C is disengaged. Lift lever 10
Is moved to the automatic position, the operation of the switching lever 21 allows the raising control and the lowering control of the seedling planting device An, and at the same time, the planting clutch C during the raising control of the seedling planting device An.
Is automatically turned off. As shown in FIG. 4, right and left markers 25 are provided.
A spring 28 and a spring 2 are supported by a frame portion 26 of the seedling plant An so as to be swingable around a support shaft 27 in a front-rear posture, and hold the right and left markers 25 in an operating posture in a falling state.
8 is provided with an oscillating lock member 30 that engages with the pins 29 of the right and left markers 25 so as to hold the right and left markers 25 in the upright storage position against the urging force of the marker 8. . The wire 3 for operating the right and left markers 25 to the retracted position by utilizing the change in the relative position between the member at the rear end position of the link mechanism 9 and the planting device An when the planting device An is raised.
1. A pair of left and right electromagnetic solenoids 32 for operating the lock member 30 to the unlocked position is provided. As shown in FIG. 1, a control device 33 having a microprocessor is disposed below the driver's seat 7. As shown in FIG. 5, the control device 33 includes a lever sensor 34 for detecting the operation position of the elevating lever 10, an automatic switch 35 for detecting that the elevating lever 10 has been operated to the automatic position, and an upward operation posture U of the switching lever 21. Switch 36 for detecting the operation of the switching lever 21 to the lower operation posture D, the left marker switch 38 for detecting the operation of the switching lever 21 to the left marker operation posture L, the switching lever 21 right marker operation posture R
1 is a right marker switch 39 for detecting the operation of the link mechanism 9, and a potentiometer type link sensor 40 provided at the base end of the link mechanism 9 for measuring the height of the seedling plant An with respect to the body (FIG. 1).
), A potentiometer-type control sensitivity setting unit 41 for setting the automatic raising / lowering control sensitivity of the seedling planting device An, and a potentiometer for measuring the inclination posture of the front part of the leveling float 18 at the center on the right and left among the leveling floats 18 in the vertical direction. The signal of the type float sensor 42 is input. As shown in FIG. 5, among the leveling floats 18, the right and left centering leveling floats 18 are supported by the seedling planting device An such that the rear portion is swingable about an axis 43 in a horizontal posture, and the front portion is bent. Are supported by the seedling-planting device An through the link pieces 44. Thereby, the vertical swing amount of the front part of the leveling float 18 at the left and right center of the leveling float 18 is measured by the float sensor 42. As shown in FIG. 5, a control device 33 includes a solenoid valve 45 for controlling the lifting cylinder 8 and a relay 4 for controlling an electric motor 46 for engaging and disengaging the planting clutch C.
7. Electromagnetic solenoid 32 for right and left markers 25
Output system. In the state where the lifting lever 10 is operated to the on position, the signal of the float sensor 42 is fed back so that the swing posture around the axis 43 of the leveling float 18 set by the control sensitivity setting device 41 is maintained. By performing the raising and lowering control of the seedling planting apparatus An, the automatic raising and lowering control for maintaining a predetermined field height is performed. The control device 33 operates the switching lever 21 to control the seedling planting device A.
n raising and lowering control, operation of right and left markers 25,
The on-coming operation of the planting clutch C is configured to be performed. This control operation will be described with reference to the flowchart shown in FIG. As shown in FIG. 6, when it is determined based on a signal from the automatic switch 35 that the elevating lever 10 has been operated to the automatic position, the ascending switch 36 and the descending switch 3 are turned on.
7. The posture of the switching lever 21 is determined based on signals from the left marker switch 38 and the right marker switch 39. When the switching lever 21 is operated to the upper operation posture U, the raising control for raising the seedling planting device An based on the signal of the float sensor 42 only when the seedling planting device An is at the working height is performed. And the flag is set to “0” (#
101 to # 105 steps). In the raising control of the seedling planting apparatus An, the operation of the solenoid valve 45 supplies pressure oil to the lifting cylinder 8 to raise the seedling planting apparatus An, and the link sensor 40
When it is determined based on this signal that the height of the body of the seedling planting apparatus An has reached the upper limit height as a preset limit, the raising control of the seedling planting apparatus An ends. When the switching lever 21 is operated to the lower operation posture D, the timer is operated and the flag is set to "0".
Only when is at the upper limit height, the descending control for lowering the seedling planting apparatus An is performed, and the flag is set to "1" (steps # 106 to # 111). In the descending control of the seedling planting apparatus An, when it is determined from the count result of the timer that the switching lever 21 has been continuously operated in the downward operation posture D for 3 seconds or more, it is determined that the leveling float 18 has touched the ground. At the timing detected by the signal of the sensor 42, the planting clutch C is engaged and operated (# 112, # 1).
13 steps). In the lowering control of the seedling planting apparatus An, the solenoid valve 4
When the seedling planting device An descends by draining the oil from the lifting cylinder 8 by the operation of 5, the leveling float 18 descends to the working height where the leveling float 18 contacts the field scene based on the signal of the float sensor 42. Then, the lowering control of the seedling plant An is ended. # 104 for raising the seedling plant An
Step # 11 for controlling the lowering of the seedling planting apparatus An
The control means E is constituted by 0 steps. After the switching lever 21 is operated to the lower operation position D and the lowering control of the seedling planting apparatus An is started, if the switching lever 21 is again operated to the lower operation position D, the value of the flag is changed. The operation is discriminated, and at the timing of the operation of the switching lever 21 to the lower operation posture D, the planting clutch C is engaged and operated (step # 114). The # 114 step constitutes the clutch operating means F. When the switching lever 21 is operated to the left marker operating posture L or the right marker operating posture R, the electromagnetic solenoid 32 on the side corresponding to the operation is operated, and the marker 25 on the side corresponding to the operation is operated. Is performed (steps # 115 and # 116). When the elevating lever 10 is operated to a position other than the automatic position, control for setting the flag to the initial value "0" is performed (step # 117). By the # 116 step, the right and left markers 25
The marker operation means G is configured to operate in a working posture. When the seedling-planting device An is raised, the right or left marker 25 in the operating position is raised by the tension of the wire 31 and is held in the retracted position by the lock member 30. If the seedling planting device An is lowered when the lock member 30 is operated to the unlocked position, the lock member 30
Is operated in the operating posture when the marker 25 is operated in the unlocking posture, but when the seedling transplanting device An is not completely lowered, the seedling planting device An is completely lowered. , The marker 25 is operated to an appropriate action posture. [Other Embodiment] The present invention can be applied to a paddy field working machine in which, besides the seedling planting apparatus An, a grooving device for forming a groove in a field scene is connected to the rear end of the traveling machine body 3 so as to be able to move up and down. It is possible. In the case where the work is performed in such a manner as to contact the field scene, the height at which the work contacts the field scene is the work height. It is also possible to configure so that the height when the working device is raised and controlled by the operating tool can be arbitrarily changed. The present invention is, for example, shown in FIG.
As shown in (1), instead of the seedling planting device An at the rear end of the traveling machine body 3, it is also possible to apply a control device Ab as an example of the working device A that is connected so as to be able to move up and down. Pest control machine A
b is provided with a tank 56 for storing a liquid drug at the top,
An arm-shaped nozzle 57 extending laterally is provided at the rear, and the medicine in the tank 56 is
Is provided with a unit 58 for sending to the user. Pest control machine A
When the control device b is connected to the traveling body 3, a position control for raising and lowering the control device Ab to the body height corresponding to the operation position of the lifting lever 10 is configured to be performed.
The raising and lowering control of the pest control machine Ab is performed by the operation in the up and down direction of 1, and the control operation at the time of raising and lowering is performed according to the flowchart shown in FIG. First, a flag is set to an initial value "0",
After the state of the flag is determined, the operation amount of the elevating lever 10 is measured based on the signal of the lever sensor 34, and the control device Ab is moved to the height of the aircraft corresponding to the signal of the lever sensor 34.
Position control is performed while feeding back the signal of the link sensor 40 so as to move up and down (# 2).
01 to # 203 steps). In the position control state,
When the switching lever 21 is operated to the upward operation posture U, the signal of the link sensor 40 is stored in a memory or the like, and the ascending control for raising the control device Ab to the upper limit height is performed. (# 204 to # 20)
7 steps). In this case, the height of the body of the control device Ab set by the elevating lever 10 is the working height, and the upper limit height is a predetermined height that is set in advance. When the switching lever 21 is operated to the lower operation posture D with the control device Ab raised to the upper limit height, the control device Ab is lowered to the working height stored in the memory. The control is performed, the flag is returned to the initial value “0”, and the operation for enabling the position control is repeatedly performed until the operation is reset. Although the operation of the clutch mechanism C is not described in the flowchart shown in FIG. 8, the switching operation of the clutch mechanism C is performed by lowering the switching lever 21 after the lowering control of the control device Ab is performed as in the above-described embodiment. The disengagement operation of the clutch mechanism C is performed by operating to the operation posture D, and is performed simultaneously with the raising control of the control device Ab when the switching lever 21 is operated to the upper operation posture U. In the claims, reference numerals are provided for convenience of 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 an overall side view of a rice transplanter. FIG. 2 is a side view showing an operation direction of a switching lever. FIG. 3 is a plan view showing a path of a lifting lever. FIG. FIG. 5 is a block diagram showing a control system. FIG. 6 is a flowchart showing a control operation. FIG. 7 is a side view of a rear part of a traveling body to which a control device is connected in another embodiment. FIG. 3 is a flowchart showing a control operation in the embodiment.

──────────────────────────────────────────────────続 き Continuation of the front page (56) References JP-A-7-46914 (JP, A) JP-A-2-97306 (JP, A) JP-A-5-244804 (JP, A) JP-A-7- 31231 (JP, A) JP-A-2-100607 (JP, A) JP-A-4-107114 (JP, U) JP-A-55-23077 (JP, U) (58) Fields investigated (Int. Cl. ⁷ , DB name) A01C 11/02 A01B 63/10

Claims (1)

(57) [Claims 1] An operating device (A) is actuated on a traveling body (3).
Left and right markers (2) which are connected to each other by a tutor (8) so as to be able to ascend and descend freely, and can be freely changed to a working posture and a storage posture in which a traveling index for the next stroke is drawn on a field scene at a lateral position of the traveling body (3).
5) and a clutch mechanism (C) for transmitting power to a working device (A) provided on the traveling body (3), and an operation tool (21) that is artificially operated is provided with a steering wheel (20). With the operation tool (21) in the middle,
Energized to return to the standing position (N), and moved above the neutral position (N).
The working device (A) is configured to be freely operable in a downward direction and a front-rear direction, and the working device (A) is operated upward from a neutral position (N) of the operating tool (21) by an actuator (8).
The ascending control to raise to a predetermined height is performed by the
For downward operation from the neutral position (N) of the operation tool (21)
Thus, the working device (A) is controlled by the actuator (8).
Lowering control to lower to the working height
The operation tool (21) is once operated to the lower operation posture (D).
Is again operated to the lower operation posture (D),
Configuration to control the entry operation of the switch mechanism (C)
A paddy working machine configured to select the posture change of the left and right markers (25) by an operation in the front-rear direction from the neutral posture (N ) of the operation tool (21).