JP2007159529A - Transplanter - Google Patents

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JP2007159529A
JP2007159529A JP2005363253A JP2005363253A JP2007159529A JP 2007159529 A JP2007159529 A JP 2007159529A JP 2005363253 A JP2005363253 A JP 2005363253A JP 2005363253 A JP2005363253 A JP 2005363253A JP 2007159529 A JP2007159529 A JP 2007159529A
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planting
work machine
depth
rear cover
planting work
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Kenta Kiiro
健太 木色
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Mitsubishi Agricultural Machinery Co Ltd
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Mitsubishi Agricultural Machinery Co Ltd
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Priority to JP2005363253A priority Critical patent/JP2007159529A/en
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Abstract

<P>PROBLEM TO BE SOLVED: To provide a transplanter whose planting implement can be lightened and downsized, can eliminate the compression of a space with floats, and can facilitate the layouts of a land-leveling apparatus and the like. <P>SOLUTION: This riding rice transplanter having a planting implement 7 liftably connected to the rear portion of a travel machine frame 1 to plant seedlings in a field, and a land-leveling apparatus 16 disposed in the front of the planting implement 7 to level the land in the fronts of seedling-planting positions is characterized by disposing a rear cover 24 vertically rotated in response to changes in the planting depth of the planting implement 7 behind the land-leveling apparatus 16, disposing a rear cover sensor 25 for detecting the rotation angle of the rear cover 24, and automatically controlling the elevation of the planting implement 7 on the basis of the detection value of the rear cover sensor 25 to constantly keep the planting depth (ground height) of the planting implement 7. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

本発明は、乗用田植機などの移植機に関し、特に、植付作業機の前部に整地装置を備える移植機に関する。   The present invention relates to a transplanter such as a riding rice transplanter, and more particularly, to a transplanter including a leveling device at a front portion of a planting work machine.

一般に、乗用田植機などの移植機は、圃場に苗を植付ける植付作業機の下部に上下揺動自在なフロートを備えており、該フロートの浮沈に基づいて植付深さを検出すると共に、検出した植付深さに基づいて植付作業機を昇降制御することにより、苗の植付深さを自動的に調整している。   In general, a transplanter such as a riding rice transplanter has a float that can swing up and down at the bottom of a planting machine for planting seedlings in a field, and detects the planting depth based on the floating and sinking of the float. The planting depth of the seedling is automatically adjusted by controlling the planting machine to move up and down based on the detected planting depth.

また、植付作業機の前部に整地ロータなどの整地装置を備える移植機も知られている（例えば、特許文献１参照）。このような移植機では、植付けと同時に整地ができるので、植付精度や作業効率の向上を図ることができ、特に、機体旋回によって田面が荒れやすい枕地では、整地装置による整地効果が顕著であり、植付精度を大幅に改善することができる。
特開２００４−６５１１１号公報 Moreover, the transplanter provided with leveling apparatuses, such as a leveling rotor, in the front part of a planting work machine is also known (for example, refer patent document 1). In such a transplanter, since leveling can be performed simultaneously with planting, planting accuracy and work efficiency can be improved, and the leveling effect by the leveling device is particularly noticeable in headlands where the surface is rough due to the aircraft turning. Yes, planting accuracy can be greatly improved.
JP 2004-65111 A

しかしながら、上記のような移植機では、フロートや整地装置によって植付作業機の重量が増大するので、移植機全体の重量アップを招来するという問題がある。
また、植付作業機の前部に整地装置を設ける場合、フロートとの干渉を避ける必要があるので、スペースの圧迫が生じ、レイアウトが制限されるという問題もある。 However, in the transplanting machine as described above, the weight of the planting work machine is increased by the float and the leveling device, so that there is a problem that the weight of the entire transplanting machine is increased.
In addition, when a leveling device is provided at the front part of the planting work machine, it is necessary to avoid interference with the float, so that there is a problem that space compression occurs and the layout is limited.

本発明は、上記の如き実情に鑑みこれらの課題を解決することを目的として創作されたものであって、走行機体の後部に昇降自在に連結され、圃場に苗を植付ける植付作業機と、該植付作業機の前部に設けられ、苗植付位置の前方で整地を行う整地装置とを備える移植機であって、前記整地装置の後部に上下回動自在に設けられ、植付作業機の植付深さ変化に応じて上下回動するカバー体と、該カバー体の回動角に基づいて植付作業機の植付深さを検出する植付深さ検出手段と、該植付深さ検出手段の検出深さに基づいて植付作業機を昇降制御する植付深さ制御手段とを備えることを特徴とする。このようにすると、フロートによる植付深さ検出が不要になるので、フロートを省くことができる。これにより、植付作業機の軽量化や小型化が図れるだけでなく、フロートによるスペースの圧迫を解消し、整地装置などのレイアウトが容易になる。
また、前記植付深さ検出手段は、整地装置の後部に左右方向に並んで複数設けられるカバー体のうち、中央に位置するカバー体の回動角に基づいて植付作業機の植付深さを検出することを特徴とする。このようにすると、植付作業機の左右傾斜に起因する検出誤差が排除されるので、植付深さを高精度で検出することができる。また、カバー体を複数に分割すると、カバー体の間から泥水流を適度に逃がすことができるので、一体型カバーを用いた場合のごとく、カバー体が発生させる泥水流によって既植の苗が倒される不都合も回避できる。
また、前記整地装置の後部に左右方向に並んで複数設けられるカバー体のうち、左右両端に位置するカバー体の回動角に基づいて植付作業機の左右傾斜を検出する傾斜検出手段と、該傾斜検出手段の検出傾斜に基づいて植付作業機を水平制御する水平制御手段とを備えることを特徴とする。このようにすると、植付作業機の左右傾斜を精度良く検出できるだけでなく、植付作業機を水平に保ち、植付精度を向上させることができる。 The present invention was created for the purpose of solving these problems in view of the above circumstances, and is connected to a rear part of a traveling machine body so as to be movable up and down, and a planting work machine for planting seedlings in a farm field, A planting machine provided at the front part of the planting work machine and for leveling in front of the seedling planting position, provided at the rear part of the leveling apparatus so as to be pivotable up and down. A cover body that rotates up and down in response to a change in the planting depth of the work implement, a planting depth detection means that detects the planting depth of the planting work implement based on the pivot angle of the cover body, A planting depth control unit that controls the planting work machine to move up and down based on the detection depth of the planting depth detection unit is provided. This eliminates the need for detecting the planting depth by the float, so that the float can be omitted. As a result, not only can the planting machine be reduced in weight and size, but the space pressure caused by the float can be eliminated, and the layout of the leveling device and the like can be facilitated.
Further, the planting depth detecting means is configured to plant the planting depth of the planting work machine based on the rotation angle of the cover body located in the center among the plurality of cover bodies provided in the left-right direction at the rear part of the leveling device. It is characterized by detecting the thickness. In this way, since a detection error caused by the right / left inclination of the planting work machine is eliminated, the planting depth can be detected with high accuracy. In addition, when the cover body is divided into a plurality of parts, the muddy water flow can be appropriately released from between the cover bodies, so that, as in the case of using the integrated cover, the existing seedlings are brought down by the muddy water flow generated by the cover body. Inconveniences can be avoided.
Further, among a plurality of cover bodies provided side by side in the left-right direction at the rear part of the leveling device, an inclination detection means for detecting the left-right inclination of the planting work machine based on the rotation angles of the cover bodies located at both left and right ends; Horizontal control means for horizontally controlling the planting work machine based on the detected inclination of the inclination detection means. If it does in this way, not only the right-and-left inclination of a planting work machine can be detected accurately, but a planting work machine can be kept horizontal and planting precision can be improved.

次に、本発明の実施形態について、図面に基づいて説明する。図１において、１は乗用田植機の走行機体であって、該走行機体１は、機体前部に搭載されるエンジン（図示せず）、エンジン動力を変速するトランスミッション（図示せず）、トランスミッションから出力される走行動力を左右の前輪２に伝動するフロントアクスルケース（図示せず）、トランスミッションから出力される走行動力を左右の後輪３に伝動するリヤアクスルケース４、機体上に設けられる運転席５などを備えて構成されている。   Next, embodiments of the present invention will be described with reference to the drawings. In FIG. 1, reference numeral 1 denotes a traveling machine body of a passenger rice transplanter. The traveling machine body 1 includes an engine (not shown) mounted on the front part of the machine body, a transmission (not shown) for shifting engine power, and a transmission. A front axle case (not shown) for transmitting the traveling power output to the left and right front wheels 2, a rear axle case 4 for transmitting the traveling power output from the transmission to the left and right rear wheels 3, and a driver seat 5 provided on the fuselage. And so on.

走行機体１の後部には、昇降リンク機構６を介して植付作業機７が昇降自在に連結されている。走行機体１と昇降リンク機構６との間には、昇降シリンダ８が介設されており、該昇降シリンダ８の伸縮に応じて植付作業機７の昇降動作が行われる。また、図２に示すように、植付作業機７は、ローリング支軸９を支点としてローリング（左右傾斜）自在となっており、昇降リンク機構６と植付作業機７との間に介設される水平制御モータ１０の駆動に応じて植付作業機７のローリング動作が行われる。   A planting work machine 7 is connected to the rear part of the traveling machine body 1 through a lift link mechanism 6 so as to be lifted and lowered. An elevating cylinder 8 is interposed between the traveling machine body 1 and the elevating link mechanism 6, and the elevating operation of the planting work machine 7 is performed according to the expansion and contraction of the elevating cylinder 8. In addition, as shown in FIG. 2, the planting work machine 7 can be freely rolled (tilt right and left) with the rolling support shaft 9 as a fulcrum, and is interposed between the lifting link mechanism 6 and the planting work machine 7. The rolling operation of the planting machine 7 is performed according to the driving of the horizontal control motor 10.

植付作業機７は、昇降リンク機構６の後端部にローリング自在に連結される作業機フレーム１１、その上方に傾斜姿勢で設けられる苗載台１２、作業機フレーム１１から後方に延出する複数の植付伝動ケース１３、各植付伝動ケース１３の後端部に設けられる植付機構１４などを備えて構成されており、伝動軸１５を介してトランスミッションから入力した植付動力によって、苗載台１２の横送り動作、植付機構１４の苗植付動作などを行う。苗を植付ける圃場は、予め代掻き作業が行われており、平坦化された田面に対して植付機構１４が苗を植付けるが、植付作業機７は、走行機体１の後方で植付作業を行う関係上、車輪跡などによる田面の荒れによって植付精度が低下する可能性がある。特に、機体旋回が行われる枕地は、車輪跡による田面の荒れが顕著であり、植付精度が低下しやすい箇所である。そこで、このような問題に対処するために、植付作業機７の前部には、整地装置１６が設けられる。この整地装置１６は、側面視における後輪３の後方位置で整地作業を行うことにより、車輪跡による田面の荒れなどを改善し、植付精度を高めることができ、特に、枕地において改善効果が顕著である。   The planting work machine 7 extends rearward from the work machine frame 11 that is connected to the rear end of the lifting link mechanism 6 so as to be able to roll, a seedling stage 12 provided in an inclined position above the work machine frame 11, and the work machine frame 11. A plurality of planting transmission cases 13, a planting mechanism 14 provided at the rear end portion of each planting transmission case 13, and the like, are formed by planting power input from the transmission through the transmission shaft 15. A lateral feed operation of the mounting table 12 and a seedling planting operation of the planting mechanism 14 are performed. In the field where seedlings are planted, the scraping work is performed in advance, and the planting mechanism 14 plants seedlings on the flattened surface, but the planting work machine 7 is planted behind the traveling machine body 1. In relation to the work, planting accuracy may be reduced due to rough rice fields caused by wheel marks. In particular, the headland where the airframe is turned is a place where the roughness of the surface due to the wheel marks is remarkable, and the planting accuracy tends to decrease. Therefore, in order to cope with such a problem, a leveling device 16 is provided in the front portion of the planting work machine 7. This leveling device 16 can improve the roughing of the paddy surface due to wheel marks and improve planting accuracy by performing leveling work at the rear position of the rear wheel 3 in a side view. Is remarkable.

図３〜図５に示すように、整地装置１６は、リヤアクスルケース４側から伝動軸１７を介して動力を入力する入力ケース１８、該入力ケース１８から左右に延出するロータ軸１９、該ロータ軸１９に一体的に設けられる整地ロータ２０、該整地ロータ２０の上方を覆うロータカバー２１、ロータ軸１９を回転自在に軸支する左右一対の軸支部２２、該軸支部２２から上方に延出する左右一対のロータフレーム２３などを備えて構成され、リヤアクスルケース４側から入力した動力で整地ロータ２０を所定方向に回転させることにより、圃場の整地を行う。   As shown in FIGS. 3 to 5, the leveling device 16 includes an input case 18 for inputting power from the rear axle case 4 via the transmission shaft 17, a rotor shaft 19 extending left and right from the input case 18, and the rotor A leveling rotor 20 provided integrally with the shaft 19, a rotor cover 21 covering the top of the leveling rotor 20, a pair of left and right shaft support portions 22 for rotatably supporting the rotor shaft 19, and extending upward from the shaft support portion 22 The ground leveling rotor 20 is rotated in a predetermined direction by the power input from the rear axle case 4 side, thereby leveling the field.

ロータカバー２１の後端部には、植付深さ検知カバー（対地高さ検知カバー）及び均平カバーに兼用されるリヤカバー（カバー体）２４が上下回動自在に設けられている。即ち、リヤカバー２４は、先端側が田面に接地し、植付作業機７の植付深さ変化（対地高さ変化）に応じて上下回動するので、リヤカバー２４の回動角検出により植付作業機７の植付深さや対地高さを検出することが可能になる。例えば、本実施形態では、ロータカバー２１上にポテンショメータからなるリヤカバーセンサ（植付深さ検出手段）２５を設けると共に、該リヤカバーセンサ２５を、検知ロッド２６及び検知アーム２７を介してリヤカバー２４に連結することにより、リヤカバー２４の回動角を検出するようにしている。このようにすると、フロートによる従来の植付深さ検出を行うことなく、リヤカバーセンサ２５の検出値に基づいて植付作業機７を自動的に昇降制御し、植付作業機７の植付深さを一定に維持することが可能になる。その結果、フロートを省いて植付作業機７の軽量化や小型化が図れるだけでなく、フロートによるスペースの圧迫を解消し、整地装置１６などのレイアウトが容易になる。   A rear cover (cover body) 24 that is also used as a planting depth detection cover (ground height detection cover) and a leveling cover is provided at the rear end of the rotor cover 21 so as to be rotatable up and down. That is, the rear cover 24 is grounded at the tip side and is rotated up and down according to the planting depth change (the height change with respect to the ground) of the planting work machine 7, so that the planting operation is performed by detecting the rotation angle of the rear cover 24. It becomes possible to detect the planting depth and the ground height of the machine 7. For example, in the present embodiment, a rear cover sensor (planting depth detecting means) 25 formed of a potentiometer is provided on the rotor cover 21, and the rear cover sensor 25 is connected to the rear cover 24 via a detection rod 26 and a detection arm 27. By doing so, the rotation angle of the rear cover 24 is detected. In this way, the planting work machine 7 is automatically lifted and lowered based on the detected value of the rear cover sensor 25 without performing the conventional planting depth detection by the float, and the planting depth of the planting work machine 7 is controlled. It is possible to keep the thickness constant. As a result, it is possible not only to reduce the weight and size of the planting work machine 7 by omitting the float, but also to eliminate the space pressure caused by the float and facilitate the layout of the leveling device 16 and the like.

リヤカバー２４は、図４に示すように、整地装置１６の左右幅に亘って一枚で構成してもよいが、図５に示すように、左右方向に並ぶ複数のリヤカバー２４Ｌ、２４Ｃ、２４Ｒに分割すると共に、各リヤカバー２４Ｌ、２４Ｃ、２４Ｒ間に所定の間隙を確保することが好ましい。このようにすると、リヤカバー２４Ｌ、２４Ｃ、２４Ｒの間から泥水流を適度に逃がすことができるので、リヤカバー２４を一枚で構成した場合のごとく、リヤカバー２４が発生させる泥水流によって既植の苗が倒される不都合を回避できる。また、左右方向に並ぶ複数のリヤカバー２４Ｌ、２４Ｃ、２４Ｒのうち、中央に位置するリヤカバー２４Ｃの回動角に基づいて植付作業機７の植付深さや対地高さを検出するするようにすれば、植付作業機７の左右傾斜に起因する検出誤差を可及的に排除し、植付深さを高精度で検出できる。   As shown in FIG. 4, the rear cover 24 may be constituted by a single sheet across the left and right width of the leveling device 16, but as shown in FIG. 5, a plurality of rear covers 24L, 24C, 24R arranged in the left-right direction are arranged. It is preferable to divide and secure a predetermined gap between the rear covers 24L, 24C, 24R. In this way, the muddy water flow can be appropriately released from between the rear covers 24L, 24C, and 24R. The inconvenience of being knocked down can be avoided. In addition, the planting depth and the ground height of the planting machine 7 are detected based on the rotation angle of the rear cover 24C located in the center among the plurality of rear covers 24L, 24C, 24R arranged in the left-right direction. For example, the detection error caused by the right / left inclination of the planting work machine 7 can be eliminated as much as possible, and the planting depth can be detected with high accuracy.

また、左右方向に並ぶ複数のリヤカバー２４Ｌ、２４Ｃ、２４Ｒのうち、中央に位置するリヤカバー２４Ｃの回動角だけでなく、左右両端に位置するリヤカバー２４Ｌ、２４Ｒの回動角も検出することが好ましい。このようにすると、リヤカバー２４Ｌ、２４Ｒの回動角を検出するリヤカバーセンサ２５Ｌ、２５Ｒの検出値の差に基づいて植付作業機７の左右傾斜を検出できるだけでなく、検出傾斜に基づいて植付作業機７を水平制御することが可能になり、その結果、植付作業機７を水平に保ち、植付精度を向上させることができる。   Of the plurality of rear covers 24L, 24C, 24R arranged in the left-right direction, it is preferable to detect not only the rotation angle of the rear cover 24C positioned at the center but also the rotation angles of the rear covers 24L, 24R positioned at the left and right ends. . In this way, not only the right / left inclination of the planting work machine 7 can be detected based on the difference between the detection values of the rear cover sensors 25L and 25R that detect the rotation angles of the rear covers 24L and 24R, but also the planting based on the detected inclination. The work machine 7 can be horizontally controlled, and as a result, the planting work machine 7 can be kept horizontal and the planting accuracy can be improved.

また、植付作業機７の左右両側部には、図６及び図７に示すような境界板２８を設けることができる。境界板２８は、前後を向く内外二枚の板材２８ａ、２８ｂを所定の間隔を存して並設して構成されており、内外の板材２８ａ、２８ｂ間に泥水流の流路を形成し、泥水流を植付作業機７の後方にスムーズに導く。つまり、左右両端に位置するリヤカバー２４Ｌ、２４Ｒが発生させた泥水流が植付作業機７の幅を越えて左右外側方に流出することを外側板材２８ｂで抑制しつつ、当該植付作業機７が植付けた苗に対する泥水流の流れ込みを内側板材２８ａで抑制する。これにより、植付けた苗が泥水流で倒される不都合を効果的に防止することができる。   In addition, boundary plates 28 as shown in FIGS. 6 and 7 can be provided on the left and right sides of the planting work machine 7. The boundary plate 28 is configured by arranging two inner and outer plate members 28a and 28b facing in the front-and-rear direction at a predetermined interval, and forms a muddy water flow path between the inner and outer plate members 28a and 28b. The muddy water flow is smoothly guided behind the planting machine 7. In other words, the muddy water flow generated by the rear covers 24L and 24R located at both left and right ends exceeds the width of the planting work machine 7 and flows out to the left and right outer sides with the outer plate material 28b, while the planting work machine 7 is concerned. The inner plate material 28a suppresses the flow of the muddy water flow into the seedling planted by the plant. Thereby, the inconvenience that the planted seedling falls by a muddy water flow can be prevented effectively.

図８に示すように、走行機体１には、マイクロコンピュータ（ＣＰＵ、ＲＯＭ、ＲＡＭ、Ｉ／Ｏなどを含む）を用いて構成される制御部２９が設けられている。制御部２９の入力側には、前述したリヤカバーセンサ２５Ｌ、２５Ｃ、２５Ｒの他に、植付深さ設定ボリューム３０や植付レバースイッチ３１が接続されており、また、制御部２９の出力側には、前述した水平制御モータ１０の他に、昇降シリンダ用電磁切換バルブ３２の上昇ソレノイド３２ａや下降ソレノイド３２ｂが接続されている。そして、制御部２９は、ＲＯＭに書き込まれたプログラムに従い、植付深さ制御（植付深さ制御手段）や水平制御（水平制御手段）を実行する。植付深さ制御は、植付深さ（対地高さ）を一定に維持すべく植付作業機７を自動的に昇降制御する制御機能であり、水平制御は、水平姿勢を目標姿勢として植付作業機７を自動的に傾斜制御する制御機能である。以下、植付深さ制御及び水平制御の具体的な制御内容について、図９〜図１１に示すフローチャートを参照して説明する。   As shown in FIG. 8, the traveling machine body 1 is provided with a control unit 29 configured using a microcomputer (including a CPU, a ROM, a RAM, an I / O, and the like). A planting depth setting volume 30 and a planting lever switch 31 are connected to the input side of the control unit 29 in addition to the rear cover sensors 25L, 25C and 25R described above. In addition to the horizontal control motor 10 described above, an ascending solenoid 32a and a descending solenoid 32b of an electromagnetic switching valve 32 for a lifting cylinder are connected. And the control part 29 performs planting depth control (planting depth control means) and horizontal control (horizontal control means) according to the program written in ROM. The planting depth control is a control function that automatically controls the planting machine 7 to move up and down in order to maintain the planting depth (height from the ground) constant. Horizontal control uses the horizontal posture as the target posture. This is a control function for automatically controlling the inclination of the auxiliary work machine 7. Hereinafter, the specific control content of planting depth control and horizontal control is demonstrated with reference to the flowchart shown to FIGS.

図９に示すように、制御部２９は、植付レバースイッチ３１のＯＮ／ＯＦＦに基づいて植付作業中であるか否かを判断し（Ｓ１０１）、該判断結果がＹＥＳの場合は、植付深さ制御を実行すると共に（Ｓ１０２）、タイマがセットされているか否かを判断する（Ｓ１０３）。タイマがセットされていない場合は、左側リヤカバーセンサ２５Ｌ及び右側リヤカバーセンサ２５Ｒの出力が変化しているか否かを判断し（Ｓ１０４、Ｓ１０５）、両リヤカバーセンサ２５Ｌ、２５Ｒの出力が変化している場合は、タイマセットを行う（Ｓ１０６）。タイマセット状態では、所定時間の経過を判断し（Ｓ１０７）、該判断結果がＹＥＳのとき、水平制御を実行する（Ｓ１０８）。つまり、左側リヤカバーセンサ２５Ｌ及び右側リヤカバーセンサ２５Ｒの出力が変化してから所定時間後に水平制御を実行することにより、瞬間的な出力変化に応じた過剰な制御動作を回避し、水平制御の安定性を高めている。   As shown in FIG. 9, the control unit 29 determines whether or not a planting operation is being performed based on ON / OFF of the planting lever switch 31 (S101). If the determination result is YES, The attached depth control is executed (S102), and it is determined whether the timer is set (S103). If the timer is not set, it is determined whether the outputs of the left rear cover sensor 25L and the right rear cover sensor 25R have changed (S104, S105), and the outputs of both rear cover sensors 25L, 25R have changed. Performs timer setting (S106). In the timer set state, the elapse of a predetermined time is determined (S107), and when the determination result is YES, horizontal control is executed (S108). That is, the horizontal control is executed after a predetermined time after the outputs of the left rear cover sensor 25L and the right rear cover sensor 25R change, thereby avoiding an excessive control operation corresponding to the instantaneous output change and the stability of the horizontal control. Is increasing.

図１０に示すように、植付深さ制御では、まず、中央リヤカバーセンサ２５Ｃの検出値と植付深さ設定ボリューム３０の設定値を比較し、両値が一致しているか否かを判断する（Ｓ２０１）。この判断結果がＹＥＳの場合は、植付作業機７の昇降を停止させるが（Ｓ２０２）、判断結果がＮＯの場合は、中央リヤカバーセンサ２５Ｃの検出値が植付深さ設定ボリューム３０の設定値よりも大きいか否かを判断する（Ｓ２０３）。そして、この判断結果がＹＥＳの場合は、植付作業機７を上昇させる一方（Ｓ２０４）、判断結果がＮＯの場合は、植付作業機７を下降させる（Ｓ２０５）。これにより、中央リヤカバーセンサ２５Ｃの検出値と植付深さ設定ボリューム３０の設定値とが一致するように植付作業機７を自動的に昇降制御し、植付作業機７の植付深さ（対地高さ）を一定に維持することが可能になる。   As shown in FIG. 10, in the planting depth control, first, the detection value of the center rear cover sensor 25C and the setting value of the planting depth setting volume 30 are compared to determine whether or not both values match. (S201). When this determination result is YES, the raising and lowering of the planting work machine 7 is stopped (S202), but when the determination result is NO, the detected value of the center rear cover sensor 25C is the set value of the planting depth setting volume 30. It is judged whether it is larger than (S203). When the determination result is YES, the planting work machine 7 is raised (S204), and when the determination result is NO, the planting work machine 7 is lowered (S205). As a result, the planting work machine 7 is automatically lifted and lowered so that the detection value of the center rear cover sensor 25C matches the setting value of the planting depth setting volume 30, and the planting depth of the planting work machine 7 is controlled. It is possible to maintain a constant (height above ground).

図１１に示すように、水平制御では、まず、左側リヤカバーセンサ２５Ｌの検出値と、右側リヤカバーセンサ２５Ｒの検出値との差を算出し（Ｓ３０１）、算出した検出値の差が通常目標範囲内（水平範囲内）か否かを判断する（Ｓ３０２）。この判断結果がＮＯの場合は、通常目標範囲から外れた度合を判断し（Ｓ３０３）、外れた度合が大きい場合は、範囲が大きい大目標値範囲を適用すると共に（Ｓ３０４）、モータ駆動速度を高速にするための大デューティ比を適用する（Ｓ３０５）。また、外れた度合が中程度の場合は、範囲が中程度の中目標値範囲を適用すると共に（Ｓ３０６）、モータ駆動速度を中速にするための中デューティ比を適用する（Ｓ３０７）。また、外れた度合が小さい場合は、範囲が小さい小目標値範囲を適用すると共に（Ｓ３０８）、モータ駆動速度を低速にするための小デューティ比を適用する（Ｓ３０９）。その後、サブルーチンのモータ駆動を実行し（Ｓ３１０）、左右リヤカバーセンサ２５Ｌ、２５Ｒの検出値を一致させるべく、水平制御モータ１０を駆動させる。   As shown in FIG. 11, in the horizontal control, first, the difference between the detection value of the left rear cover sensor 25L and the detection value of the right rear cover sensor 25R is calculated (S301), and the difference between the calculated detection values is within the normal target range. It is determined whether or not (within a horizontal range) (S302). When the determination result is NO, the degree of deviation from the normal target range is determined (S303), and when the degree of deviation is large, a large target value range with a large range is applied (S304), and the motor drive speed is set. A large duty ratio for high speed is applied (S305). When the degree of deviation is medium, a medium target value range with a medium range is applied (S306), and a medium duty ratio for making the motor drive speed medium is applied (S307). When the degree of deviation is small, a small target value range with a small range is applied (S308), and a small duty ratio for reducing the motor driving speed is applied (S309). Thereafter, a subroutine motor drive is executed (S310), and the horizontal control motor 10 is driven so that the detection values of the left and right rear cover sensors 25L and 25R coincide.

叙述の如く構成された本実施形態によれば、走行機体１の後部に昇降自在に連結され、圃場に苗を植付ける植付作業機７と、該植付作業機７の前部に設けられ、苗植付位置の前方で整地を行う整地装置１６とを備える乗用田植機において、整地装置１６の後部に、植付作業機７の植付深さ変化に応じて上下回動するリヤカバー２５を設けると共に、リヤカバー２５の回動角を検出するリヤカバーセンサ２５を設け、該リヤカバーセンサ２５の検出値に基づいて植付作業機７を自動的に昇降制御することにより、植付作業機７の植付深さ（対地高さ）を一定に保つので、フロートによる植付深さ検出（対地高さ検出）が不要になる。その結果、フロートを省いて植付作業機７の軽量化や小型化が図れるだけでなく、フロートによるスペースの圧迫を解消し、整地装置１６などのレイアウトが容易になる。   According to the present embodiment configured as described above, the planting work machine 7 is connected to the rear part of the traveling machine body 1 so as to be movable up and down, and is provided at the front part of the planting work machine 7. In a riding rice transplanter equipped with a leveling device 16 that performs leveling in front of the seedling planting position, a rear cover 25 that rotates up and down in accordance with a planting depth change of the planting work machine 7 is provided at the rear of the leveling device 16. And providing a rear cover sensor 25 for detecting the rotation angle of the rear cover 25, and automatically raising and lowering the planting work machine 7 on the basis of the detection value of the rear cover sensor 25. Since the attachment depth (ground height) is kept constant, planting depth detection (floor height detection) using a float is not necessary. As a result, it is possible not only to reduce the weight and size of the planting work machine 7 by omitting the float, but also to eliminate the space pressure caused by the float and facilitate the layout of the leveling device 16 and the like.

また、整地装置１６の後部に左右方向に並んで複数設けられるリヤカバー２４Ｌ、２４Ｃ、２４Ｒのうち、中央に位置するリヤカバー２４Ｃの回動角に基づいて植付作業機７の植付深さを検出するので、植付作業機７の左右傾斜に起因する検出誤差を排除し、植付深さを高精度で検出できる。また、リヤカバー２４を複数に分割すると、リヤカバー２４の間から泥水流を適度に逃がすことができるので、一体型カバーを用いた場合のごとく、リヤカバー２４が発生させる泥水流によって既植の苗が倒される不都合も回避できる。   Further, the planting depth of the planting work machine 7 is detected based on the rotation angle of the rear cover 24C located in the center among the rear covers 24L, 24C, 24R provided in a row in the left-right direction at the rear portion of the leveling device 16. Therefore, the detection error resulting from the left-right inclination of the planting work machine 7 can be eliminated, and the planting depth can be detected with high accuracy. Further, if the rear cover 24 is divided into a plurality of parts, the muddy water flow can be appropriately released from between the rear covers 24, so that the existing seedlings are brought down by the muddy water flow generated by the rear cover 24 as in the case of using the integrated cover. Inconveniences can be avoided.

また、整地装置１６の後部に左右方向に並んで複数設けられるリヤカバー２４のうち、左右両端に位置するリヤカバー２４Ｌ、２４Ｒの回動角に基づいて植付作業機７の左右傾斜を検出し、該検出傾斜に基づいて植付作業機７を水平制御するので、植付作業機７の左右傾斜を精度良く検出できるだけでなく、植付作業機７を水平に保ち、植付精度を向上させることができる。   Further, the left and right inclinations of the planting work machine 7 are detected based on the rotation angles of the rear covers 24L and 24R located at the left and right ends of the plurality of rear covers 24 provided side by side in the left and right direction at the rear portion of the leveling device 16. Since the planting work machine 7 is horizontally controlled based on the detected inclination, not only the right and left inclination of the planting work machine 7 can be detected with high accuracy, but also the planting work machine 7 can be kept horizontal to improve the planting accuracy. it can.

乗用田植機の全体側面図である。It is a whole side view of a riding rice transplanter. （Ａ）、（Ｂ）はリヤカバーの作用を示す説明図である。(A), (B) is explanatory drawing which shows the effect | action of a rear cover. 植付作業機及び整地装置の側面図である。It is a side view of a planting machine and a leveling device. 一体型リヤカバーを備える整地装置の平面図である。It is a top view of a leveling apparatus provided with an integrated rear cover. 分割型リヤカバーを備える整地装置の平面図である。It is a top view of a leveling apparatus provided with a split-type rear cover. 植付作業機に境界板を備える乗用田植機の全体側面図である。It is a whole side view of the riding rice transplanter provided with a boundary board in a planting work machine. 境界板の作用を示す整地装置の平面図である。It is a top view of the leveling apparatus which shows the effect | action of a boundary board. 制御部の入出力を示すブロック図である。It is a block diagram which shows the input / output of a control part. 制御部の制御手順を示すフローチャートである。It is a flowchart which shows the control procedure of a control part. 植付深さ制御の制御手順を示すフローチャートである。It is a flowchart which shows the control procedure of planting depth control. 水平制御の制御手順を示すフローチャートである。It is a flowchart which shows the control procedure of horizontal control.

符号の説明Explanation of symbols

１ 走行機体
７ 植付作業機
８ 昇降シリンダ
１０ 水平制御モータ
１６ 整地装置
２４ リヤカバー
２５ リヤカバーセンサ
２９ 制御部
３０ 植付深さ設定ボリューム DESCRIPTION OF SYMBOLS 1 Traveling machine body 7 Planting work machine 8 Lifting cylinder 10 Horizontal control motor 16 Leveling device 24 Rear cover 25 Rear cover sensor 29 Control part 30 Planting depth setting volume

Claims (3)

走行機体の後部に昇降自在に連結され、圃場に苗を植付ける植付作業機と、該植付作業機の前部に設けられ、苗植付位置の前方で整地を行う整地装置とを備える移植機であって、
前記整地装置の後部に上下回動自在に設けられ、植付作業機の植付深さ変化に応じて上下回動するカバー体と、該カバー体の回動角に基づいて植付作業機の植付深さを検出する植付深さ検出手段と、該植付深さ検出手段の検出深さに基づいて植付作業機を昇降制御する植付深さ制御手段とを備えることを特徴とする移植機。 A planting work machine connected to the rear part of the traveling machine body so as to be movable up and down and planting seedlings in a farm field, and a leveling device provided at the front part of the planting work machine and leveling in front of the seedling planting position A transplanter,
A cover body that is provided at the rear part of the leveling device so as to freely rotate up and down, and that rotates up and down in response to a change in planting depth of the planting work machine, and a planting work machine based on a rotation angle of the cover body A planting depth detecting means for detecting a planting depth; and a planting depth control means for controlling raising and lowering of the planting work machine based on the detection depth of the planting depth detecting means. Transplant machine. 前記植付深さ検出手段は、整地装置の後部に左右方向に並んで複数設けられるカバー体のうち、中央に位置するカバー体の回動角に基づいて植付作業機の植付深さを検出することを特徴とする請求項１記載の移植機。   The planting depth detecting means is configured to determine a planting depth of the planting work machine based on a rotation angle of a cover body located in the center among a plurality of cover bodies provided in the left-right direction at the rear portion of the leveling device. The transplanter according to claim 1, wherein the transplanter is detected. 前記整地装置の後部に左右方向に並んで複数設けられるカバー体のうち、左右両端に位置するカバー体の回動角に基づいて植付作業機の左右傾斜を検出する傾斜検出手段と、該傾斜検出手段の検出傾斜に基づいて植付作業機を水平制御する水平制御手段とを備えることを特徴とする請求項２記載の移植機。   Inclination detecting means for detecting the right / left inclination of the planting work machine based on the rotation angles of the cover bodies located at the left and right ends of the plurality of cover bodies arranged in the left / right direction at the rear part of the leveling device, and the inclination The transplanter according to claim 2, further comprising: horizontal control means for horizontally controlling the planting work machine based on a detection inclination of the detection means.
JP2005363253A 2005-12-16 2005-12-16 Transplanter Pending JP2007159529A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102067763A (en) * 2010-12-23 2011-05-25 潍坊同方机械有限公司 Automatic seedling transplanting depth control device

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH10108501A (en) * 1996-10-02 1998-04-28 Iseki & Co Ltd Rotary cultivation device cover
JP2004344019A (en) * 2003-05-20 2004-12-09 Iseki & Co Ltd Farm working machine

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH10108501A (en) * 1996-10-02 1998-04-28 Iseki & Co Ltd Rotary cultivation device cover
JP2004344019A (en) * 2003-05-20 2004-12-09 Iseki & Co Ltd Farm working machine

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102067763A (en) * 2010-12-23 2011-05-25 潍坊同方机械有限公司 Automatic seedling transplanting depth control device

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