JP2007167040A - Transplanting machine - Google Patents

Transplanting machine Download PDF

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JP2007167040A
JP2007167040A JP2005372961A JP2005372961A JP2007167040A JP 2007167040 A JP2007167040 A JP 2007167040A JP 2005372961 A JP2005372961 A JP 2005372961A JP 2005372961 A JP2005372961 A JP 2005372961A JP 2007167040 A JP2007167040 A JP 2007167040A
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planting
work machine
transplanting
leveling device
leveling
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Tatsuhiko Nojima
辰彦 野島
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Mitsubishi Agricultural Machinery Co Ltd
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Mitsubishi Agricultural Machinery Co Ltd
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Abstract

<P>PROBLEM TO BE SOLVED: To enable the transplanting depth and acting depth of a land-leveling device to be regulated even while reducing the weight of and miniaturizing a transplanting implement by making a float unnecessary. <P>SOLUTION: The riding transplanting machine has the transplanting implement 7 linked to the rear part of a traveling machine body 1 so as to be freely lifted and lowered, and for transplanting seedlings on a field, and the land-leveling device 14 installed in the front part of the transplanting implement 7, and for leveling the ground at the front part of the seedling-transplanting position. The transplanting machine also has a rear cover 22 installed in the rear part of the land-leveling device 14 so as to be freely turnable in the upper and lower direction, and turning upward and downward so as to follow the field surface, a rear cover sensor 23 detecting the height of the transplanting implement 7 from the ground based on a turned angle of the rear cover 22, and a controlling part 28 for controlling the lifting and lowering of the transplanting implement 7 based on the detected value by the rear cover sensor 23, and the land-leveling device 14 is supported so as to be freely lifted and lowered based on the transplanting 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、圃場面に追従し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対地高さを検出する対地高さ検出手段と、該対地高さ検出手段の検出値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と共に、整地装置及び／又はカバー体を、植付作業機に対して昇降自在に支持したことを特徴とする。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。しかも、整地装置及び／又はカバー体は、植付作業機に対して昇降自在に支持されているので、整地装置やカバー体の昇降位置を変更することにより、植付作業機の植付深さや整地装置の作用深さを調節することが可能になる。
また、前記植付深さ制御手段は、基準値に対する検出値の偏差に応じて植付作業機を昇降制御すると共に、基準値を調節する基準値調節手段を備えることを特徴とする。このようにすると、作業条件（例えば、圃場の硬軟）に応じて植付深さ制御の基準値を調節し、植付作業機を上昇ぎみに制御したり、下降ぎみに制御することができるだけでなく、整地装置の作用深さも変更することができる。 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 transplanter provided at a front portion of the planting work machine, and provided with a leveling device that performs leveling in front of a seedling planting position, and is provided at a rear portion of the leveling device so as to be rotatable up and down. A cover body that moves up and down following the rotation, a ground height detection means that detects the ground height of the planting work machine based on a rotation angle of the cover body, and a detection value of the ground height detection means A planting depth control means for controlling the planting work machine to move up and down, and a leveling device and / or a cover body supported by the planting machine so as to be movable up and down. 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. In addition, since the leveling device and / or the cover body is supported so as to be movable up and down with respect to the planting work machine, the planting depth of the planting work machine can be increased by changing the lifting position of the leveling device and the cover body. It becomes possible to adjust the working depth of the leveling device.
Further, the planting depth control means includes a reference value adjusting means for adjusting the reference value while controlling the raising and lowering of the planting machine according to the deviation of the detected value with respect to the reference value. In this way, the planting depth control reference value can be adjusted according to the working conditions (for example, the hardness of the field), and the planting work machine can be controlled ascending or descending. In addition, the working depth of the leveling device can be changed.

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。図２に示すように、植付作業機７は、昇降リンク機構６の後端部に連結される作業機フレーム９、その上方に傾斜姿勢で設けられる苗載台１０、作業機フレーム９から後方に延出する複数の植付伝動ケース１１、各植付伝動ケース１１の後端部に設けられる植付機構１２などを備えて構成されており、伝動軸１３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１０の横送り動作や植付機構１２の苗植付動作を行う。   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. As shown in FIG. 2, the planting work machine 7 includes a work machine frame 9 connected to the rear end portion of the lifting link mechanism 6, a seedling stage 10 provided in an inclined posture above the work machine frame 9, and a rear side from the work machine frame 9. A plurality of planting transmission cases 11 extending to the plantation, a planting mechanism 12 provided at the rear end of each planting transmission case 11, and the like, are planted from the transmission via the transmission shaft 13. The lateral feeding operation of the seedling stage 10 and the seedling planting operation of the planting mechanism 12 are performed by the power.

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１２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１４が設けられる。この整地装置１４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。   In the field where seedlings are planted, the scraping work is performed in advance, and the planting mechanism 12 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 deal with such a problem, a leveling device 14 is provided at the front portion of the planting work machine 7. This leveling device 14 can improve the roughing of the paddy surface due to the wheel marks and improve planting accuracy by performing leveling work at the rear position of the rear wheel 3 in a side view, and is particularly effective for improving the headland. Is remarkable.

整地装置１４は、リヤアクスルケース４側から伝動軸１５を介して動力を入力する入力ケース１６、該入力ケース１６から左右に延出するロータ軸１７、該ロータ軸１７に一体的に設けられる整地ロータ１８、該整地ロータ１８の上方を覆うロータカバー１９、ロータ軸１７を回転自在に軸支する左右一対の軸支部（図示せず）、該軸支部から上方に延出する左右一対のロータフレーム２１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１８を所定方向に回転させることにより、圃場の整地を行う。   The leveling device 14 includes an input case 16 for inputting power from the rear axle case 4 via the transmission shaft 15, a rotor shaft 17 extending left and right from the input case 16, and a leveling rotor provided integrally with the rotor shaft 17. 18, a rotor cover 19 covering the top of the leveling rotor 18, a pair of left and right shaft support portions (not shown) for rotatably supporting the rotor shaft 17, and a pair of left and right rotor frames 21 extending upward from the shaft support portion. The ground leveling rotor 18 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１９の後端部には、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）２２が上下回動自在に設けられている。即ち、リヤカバー２２は、先端側が圃場面に接地し、圃場面に追従して上下回動するので、その回動角に基づいて植付作業機７の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１９上にポテンショメータからなるリヤカバーセンサ（対地高さ検出手段）２３を設けると共に、該リヤカバーセンサ２３を、検知ロッド２４及び検知アーム２５を介してリヤカバー２２に連結することにより、リヤカバー２２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２３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１４などのレイアウトが容易になる。   A rear cover (cover body) 22 that is also used as a ground height detection cover and a flat cover is provided at the rear end of the rotor cover 19 so as to be rotatable up and down. That is, the rear cover 22 comes into contact with the farm scene at the front end side and rotates up and down following the farm scene. Therefore, the height of the planting work machine 7 with respect to the ground can be detected based on the pivot angle. . For example, in the present embodiment, a rear cover sensor (ground height detection means) 23 composed of a potentiometer is provided on the rotor cover 19, and the rear cover sensor 23 is connected to the rear cover 22 via a detection rod 24 and a detection arm 25. Thus, the rotation angle of the rear cover 22 is detected. In this way, the planting work machine 7 is automatically lifted and lowered based on the detection value of the rear cover sensor 23 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 14 and the like.

植付作業機７の前面部には、整地装置１４のロータフレーム２１を上下摺動自在に支持する左右一対のガイド部材２６が設けられている。ガイド部材２６とロータフレーム２１との間には、昇降モータ（電動シリンダ）２７が介設され、該昇降モータ２７の駆動に応じて整地装置１４が昇降される。つまり、整地装置１４は、植付作業機７に対して昇降自在に支持されているので、整地装置１４の昇降位置を変更することにより、植付作業機７の植付深さを調節することが可能になる。尚、本実施形態では、整地ロータ１８とリヤカバー２２を一体的に昇降させるが、いずれか一方を昇降させるようにしてもよく、この場合には、整地ロータ１８とリヤカバー２２の相対的な位置変更により、植付作業機７の植付深さや整地装置１４の作用深さを調節することが可能になる。   A pair of left and right guide members 26 that support the rotor frame 21 of the leveling device 14 so as to be slidable up and down are provided on the front surface of the planting work machine 7. A lifting motor (electric cylinder) 27 is interposed between the guide member 26 and the rotor frame 21, and the leveling device 14 is lifted and lowered according to the driving of the lifting motor 27. That is, since the leveling device 14 is supported so as to be movable up and down with respect to the planting work machine 7, the planting depth of the planting work machine 7 can be adjusted by changing the lifting position of the leveling device 14. Is possible. In the present embodiment, the leveling rotor 18 and the rear cover 22 are integrally raised and lowered, but either one may be raised and lowered. In this case, the relative position change between the leveling rotor 18 and the rear cover 22 is possible. Thus, the planting depth of the planting work machine 7 and the working depth of the leveling device 14 can be adjusted.

図３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２８が設けられている。制御部２８の入力側には、前述したリヤカバーセンサ２３の他に、整地装置１４の昇降位置を検出する昇降位置センサ２９、植付深さを設定する植付深さ設定ボリューム３０、圃場の硬軟を設定する圃場感度設定ボリューム（基準値調節手段）３１などが接続されており、また、制御部２８の出力側には、前述した昇降モータ２７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２８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）を実行する。植付深さ制御は、リヤカバーセンサ２３の検出値を基準値に一致させるべく、植付作業機７を自動的に昇降制御することによって、植付作業機７の植付深さ（対地高さ）を一定に保つ制御機能であり、以下、植付深さ制御の具体的な制御内容について、フローチャートを参照して説明する。   As illustrated in FIG. 3, the traveling machine body 1 is provided with a control unit 28 configured using a microcomputer (including a CPU, a ROM, a RAM, an I / O, and the like). On the input side of the control unit 28, in addition to the above-described rear cover sensor 23, a lift position sensor 29 that detects the lift position of the leveling device 14, a planting depth setting volume 30 that sets the planting depth, and the softness of the field A field sensitivity setting volume (reference value adjusting means) 31 and the like are set, and an elevator cylinder electromagnetic switching valve 32 is raised on the output side of the controller 28 in addition to the elevator motor 27 described above. A solenoid 32a and a descending solenoid 32b are connected. And the control part 28 performs planting depth control (planting depth control means) according to the program written in ROM. The planting depth control is performed by automatically raising and lowering the planting work machine 7 so that the detection value of the rear cover sensor 23 matches the reference value, so that the planting depth (ground height) of the planting work machine 7 is controlled. ) Is kept constant. Hereinafter, specific control contents of the planting depth control will be described with reference to a flowchart.

図４に示すように、植付深さ制御では、まず、各センサの検出値を読み込み（Ｓ１）、その後、昇降位置センサ２９の検出値と、植付深さ設定ボリューム３０の設定値とが一致しているか否かを判断する（Ｓ２）。この判断結果がＮＯである場合は、昇降位置センサ２９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し（Ｓ３）、該判断結果がＹＥＳの場合は、昇降モータ２７を下降側に駆動させる一方（Ｓ４）、判断結果がＮＯの場合は、昇降モータ２７を上昇側に駆動させる（Ｓ５）。例えば、図５に示すように、植付深さ設定ボリューム３０を浅側に設定操作すると、整地装置１４が植付作業機７に対して下降するので、リヤカバーセンサ２３の回動角を一定に保つように植付作業機７を昇降制御すると、相対的に植付作業機７の対地高さが上昇し、植付深さが浅側に変更されることになる。また、図６に示すように、植付深さ設定ボリューム３０を深側に設定操作すると、整地装置１４が植付作業機７に対して上昇するので、リヤカバーセンサ２３の回動角を一定に保つように植付作業機７を昇降制御すると、相対的に植付作業機７の対地高さが下降し、植付深さが深側に変更されることになる。   As shown in FIG. 4, in the planting depth control, first, the detection value of each sensor is read (S1), and then the detection value of the lift position sensor 29 and the setting value of the planting depth setting volume 30 are obtained. It is determined whether or not they match (S2). If the determination result is NO, it is determined whether or not the detection value of the lift position sensor 29 is larger than the setting value of the planting depth setting volume 30 (S3). If the determination result is YES, While raising / lowering motor 27 is driven to the lowering side (S4), when the determination result is NO, raising / lowering motor 27 is driven to the raising side (S5). For example, as shown in FIG. 5, when the planting depth setting volume 30 is set to the shallow side, the leveling device 14 descends with respect to the planting work machine 7, so that the rotation angle of the rear cover sensor 23 is kept constant. If raising / lowering control of the planting work machine 7 is performed so as to keep, the ground height of the planting work machine 7 is relatively increased, and the planting depth is changed to the shallow side. Further, as shown in FIG. 6, when the planting depth setting volume 30 is set to the deep side, the leveling device 14 rises with respect to the planting work machine 7, so that the rotation angle of the rear cover sensor 23 is kept constant. If raising / lowering control of the planting work machine 7 is performed so as to keep, the ground height of the planting work machine 7 is relatively lowered, and the planting depth is changed to the deep side.

また、植付深さ制御では、リヤカバーセンサ２３の検出値と、圃場感度設定ボリューム３１の設定値とが一致しているか否かを判断する（Ｓ６）。この判断結果がＮＯである場合は、リヤカバーセンサ２３の検出値が圃場感度設定ボリューム３１の設定値よりも大きいか否かを判断し（Ｓ７）、該判断結果がＹＥＳの場合は、昇降シリンダ８を下降側に動作させる一方（Ｓ８）、判断結果がＮＯの場合は、昇降シリンダ８を上昇側に動作させる（Ｓ９）。つまり、圃場感度設定ボリューム３１の操作に応じてリヤカバーセンサ２３の基準値が調節されるので、例えば、図７に示すように、圃場感度設定ボリューム３１を軟い側に設定操作すると、植付作業機７を上昇ぎみに昇降制御することができ、また、図８に示すように、圃場感度設定ボリューム３１を硬い側に設定操作すると、植付作業機７を下降ぎみに昇降制御することが可能になる。また、リヤカバーセンサ２３の基準値を調節することにより、整地装置１４の作用深さも変更可能となる。   Further, in the planting depth control, it is determined whether or not the detection value of the rear cover sensor 23 matches the setting value of the field sensitivity setting volume 31 (S6). If the determination result is NO, it is determined whether the detection value of the rear cover sensor 23 is larger than the setting value of the field sensitivity setting volume 31 (S7). If the determination result is YES, the lift cylinder 8 Is moved to the lower side (S8), and if the determination result is NO, the elevating cylinder 8 is moved to the upper side (S9). That is, since the reference value of the rear cover sensor 23 is adjusted according to the operation of the field sensitivity setting volume 31, for example, when the field sensitivity setting volume 31 is set to the soft side as shown in FIG. As shown in FIG. 8, when the field sensitivity setting volume 31 is set to the hard side, the planting work machine 7 can be controlled to move up and down. become. Further, by adjusting the reference value of the rear cover sensor 23, the working depth of the leveling device 14 can be changed.

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１４とを備える乗用田植機であって、整地装置１４の後部に上下回動自在に設けられ、圃場面に追従して上下回動するリヤカバー２２と、該リヤカバー２２の回動角に基づいて植付作業機７の対地高さを検出するリヤカバーセンサ２３と、該リヤカバーセンサ２３の検出値に基づいて植付作業機７を昇降制御する制御部２８とを備えるので、フロートによる植付深さ検出を不要にし、フロートを省くことができる。これにより、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１４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. A rear rice paddy machine provided with a leveling device 14 that performs leveling in front of the seedling planting position, and is provided at the rear of the leveling device 14 so as to be rotatable up and down, and is rotated up and down following a farming scene. A rear cover sensor 23 that detects the height of the planting work machine 7 with respect to the ground based on the rotation angle of the rear cover 22, and a control unit that controls the planting work machine 7 to move up and down based on the detection value of the rear cover sensor 23. 28, the planting depth detection by the float is unnecessary, and the float can be omitted. Thereby, not only weight reduction and size reduction of the planting work machine 7 can be achieved, but the pressure of the space due to the float is eliminated, and the layout of the leveling device 14 and the like becomes easy.

しかも、整地装置１４（リヤカバー２２）は、植付作業機７に対して昇降自在に支持されているので、整地装置１４の昇降位置を変更することにより、植付作業機７の植付深さを調節することができる。   Moreover, since the leveling device 14 (rear cover 22) is supported so as to be movable up and down with respect to the planting work machine 7, the planting depth of the planting work machine 7 can be changed by changing the lifting position of the leveling device 14. Can be adjusted.

また、制御部２８は、基準値に対する検出値の偏差に応じて植付作業機７を昇降制御するにあたり、圃場感度設定ボリューム３１の操作に応じて基準値を調節するので、作業条件（例えば、圃場の硬軟）に応じて植付深さ制御の基準値を調節することにより、植付作業機７を上昇ぎみに制御したり、下降ぎみに制御することができるだけでなく、整地装置１４の作用深さも変更することができる。   In addition, the control unit 28 adjusts the reference value according to the operation of the field sensitivity setting volume 31 when controlling the raising / lowering of the planting work machine 7 according to the deviation of the detected value with respect to the reference value. By adjusting the reference value of the planting depth control according to the hardness of the field), the planting work machine 7 can be controlled not only in the upward and downward direction but also in the operation of the leveling device 14. The depth can also be changed.

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. 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. 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. 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. 植付深さ設定ボリュームを浅側に設定した状態を示す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 work machine and a leveling device showing a state where the planting depth setting volume is set to the shallow side. 植付深さ設定ボリュームを深側に設定した状態を示す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 work machine and a leveling device showing a state where the planting depth setting volume is set to the deep side. 圃場感度設定ボリュームを軟い側に設定した状態を示す整地装置の側面図である。It is a side view of the leveling apparatus which shows the state which set the field sensitivity setting volume to the soft side. 圃場感度設定ボリュームを硬い側に設定した状態を示す整地装置の側面図である。It is a side view of the leveling apparatus which shows the state which set the field sensitivity setting volume to the hard side.

符号の説明Explanation of symbols

１ 走行機体
７ 植付作業機
１４ 整地装置
１８ 整地ロータ
１９ ロータカバー
２２ リヤカバー
２３ リヤカバーセンサ
２７ 昇降モータ
２８ 制御部
２９ 昇降位置センサ
３０ 植付深さ設定ボリューム
３１ 圃場感度設定ボリューム DESCRIPTION OF SYMBOLS 1 Traveling machine body 7 Planting work machine 14 Leveling apparatus 18 Leveling rotor 19 Rotor cover 22 Rear cover 23 Rear cover sensor 27 Lifting motor 28 Control part 29 Lifting position sensor 30 Planting depth setting volume 31 Field sensitivity setting volume

Claims (2)

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、圃場面に追従し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対地高さを検出する対地高さ検出手段と、該対地高さ検出手段の検出値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と共に、整地装置及び／又はカバー体を、植付作業機に対して昇降自在に支持した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 which is provided at the rear part of the leveling device so as to be rotatable up and down, and which rotates up and down following a farm scene, and a ground surface which detects the height of the planting work machine based on the rotation angle of the cover body A height detecting means, and a planting depth control means for controlling the raising and lowering of the planting work machine based on the detection value of the ground height detecting means, and the leveling device and / or the cover body is attached to the planting work machine. A transplanter characterized by being supported so as to be movable up and down. 前記植付深さ制御手段は、基準値に対する検出値の偏差に応じて植付作業機を昇降制御すると共に、基準値を調節する基準値調節手段を備えることを特徴とする請求項１記載の移植機。   The said planting depth control means is equipped with the reference value adjustment means which adjusts a reference value while controlling raising / lowering of a planting work machine according to the deviation of the detected value with respect to a reference value. Transplanter.
JP2005372961A 2005-12-26 2005-12-26 Transplanting machine Pending JP2007167040A (en)

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JP2009023589A (en) * 2007-07-23 2009-02-05 Iseki & Co Ltd Riding type working machine
JP2009118846A (en) * 2008-11-25 2009-06-04 Iseki & Co Ltd Riding-type rice transplanter
JP2016187362A (en) * 2015-02-26 2016-11-04 井関農機株式会社 Work machine
JP2016214259A (en) * 2016-08-09 2016-12-22 井関農機株式会社 Work machine
CN110313281A (en) * 2018-03-30 2019-10-11 株式会社久保田 Saddle type rice transplanter

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JP2009023589A (en) * 2007-07-23 2009-02-05 Iseki & Co Ltd Riding type working machine
JP2009118846A (en) * 2008-11-25 2009-06-04 Iseki & Co Ltd Riding-type rice transplanter
JP2016187362A (en) * 2015-02-26 2016-11-04 井関農機株式会社 Work machine
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CN110313281A (en) * 2018-03-30 2019-10-11 株式会社久保田 Saddle type rice transplanter

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