JP2009055830A - Posture controller of rice transplanter - Google Patents

Posture controller of rice transplanter Download PDF

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JP2009055830A
JP2009055830A JP2007225465A JP2007225465A JP2009055830A JP 2009055830 A JP2009055830 A JP 2009055830A JP 2007225465 A JP2007225465 A JP 2007225465A JP 2007225465 A JP2007225465 A JP 2007225465A JP 2009055830 A JP2009055830 A JP 2009055830A
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sensor
control
vehicle body
detection
pitching
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JP5176436B2 (en
Inventor
Isao Ishida
石田　　伊佐男
Shiro Katsuno
勝野　　志郎
Masami Muranami
村並　　昌実
Hideaki Kurose
英明 黒瀬
Hirotaka Doi
土井　　宏貴
Nobuhiro Yamane
暢宏 山根
Masahiro Takemoto
竹本　　雅浩
Kota Azuma
幸太 東
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Iseki and Co Ltd
Iseki Agricultural Machinery Mfg Co Ltd
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Iseki and Co Ltd
Iseki Agricultural Machinery Mfg Co Ltd
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Abstract

<P>PROBLEM TO BE SOLVED: To solve problems in which a weight sensor is readily swingable and control by the weight sensor is readily influenced by vibration of a machine body, and stabilization of detection and rolling control is made difficult and constitution of the weight sensor is also complicated, though the weight sensor in which detection of left and right tilting angle is carried out by hanging a weight down in order to detect left and right tilting state of a vehicle body is frequently used. <P>SOLUTION: In a posture controller of a rice transplanter, a pair of main sensor 1 and subsidiary sensor 2 for detecting soil face height of left or right planting row position is arranged and pitching control for lifting or lowering left and right both wheels 4 and 5 to a vehicle body 3 is carried out, based on detection of the main sensor 1, and rolling control of the vehicle body 3 is carried out by lifting or lowering the wheel 5 on this side, based on detection of the subsidiary sensor 2. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

この発明は、苗植機の苗植姿勢を一定に維持制御する姿勢制御装置に関し、複条植形態の苗植において、各植付条の土壌面の高さを検出して、各植付条の苗植付深さを一定に揃えるものである。   The present invention relates to a posture control device that maintains and controls a seedling planting posture of a seedling planting machine, and in a seedling planting in a multi-row planting form, the height of the soil surface of each planting strip is detected, and each planting strip is detected. The seedling planting depth is uniform.

車体腹部の左右車輪間中央部に接地センサを設けて、ピッチング制御を行わせ、車体の左右傾斜を検出するローリングセンサを設けて、左、右一側の車輪を上下動してローリング制御する姿勢制御の技術（例えば、特許文献１参照）が知られている。
特開２０００ー２２８９０４号公報（第２頁、図１）。 An attitude that provides a grounding sensor at the center between the left and right wheels on the abdomen of the car body, performs pitching control, and provides a rolling sensor that detects the left and right inclination of the car body, and moves the left and right wheels up and down to control the rolling. A control technique (see, for example, Patent Document 1) is known.
JP 2000-228904 A (2nd page, FIG. 1).

車体の左右傾斜状態を検出するために重錘を垂下させて左右傾斜角度を検出させるウエイトセンサを使用することが多い。この形態では、ウエイトセンサが揺動し易く、機体の振動によって影響を受け易い等によって、検出、乃至ローリング制御が安定し難いものである。又、構成も煩雑である。   In order to detect the left-right tilt state of the vehicle body, a weight sensor that hangs a weight and detects a left-right tilt angle is often used. In this embodiment, the weight sensor is easily swung and is easily affected by vibrations of the airframe, and therefore, detection or rolling control is difficult to stabilize. Also, the configuration is complicated.

請求項１に記載の発明は、左右各苗植付条位置の土壌面高さを検出する一対の主センサ１と副センサ２を配置して、この主センサ１の検出に基づいて車体３に対して左右両車輪４、５を昇降するピッチング制御を行い、副センサ２の検出に基づいてこの側の車輪５を昇降して車体１のローリング制御を行うことを特徴とする苗植機の姿勢制御装置の構成とする。車体３を走行させながら苗植装置による複数条の苗植付を行う。左右両側の一対の車輪４、５間に配置の主センサ１と副センサ２の接地によって、左右両側部の土壌面の高さを検出していて、この主センサ１による検出によっては、左右両車輪４、５が昇降されて、車体３の高さが苗植付深さを一定に維持するようにピッチング制御される。又、副センサ２による検出によっては、この副センサ２と同側の車輪５が昇降されて、車体３の左右傾斜が水平状態等の左右苗植付深さを一定に維持するようにローリング制御される。   According to the first aspect of the present invention, a pair of main sensor 1 and sub sensor 2 for detecting the soil surface height at the positions of the left and right seedling planting strips are arranged, and the vehicle body 3 is detected based on the detection of the main sensor 1. The posture of the seedling transplanter is characterized in that pitching control is performed to raise and lower both the left and right wheels 4 and 5, and the wheel 5 on this side is raised and lowered to perform rolling control of the vehicle body 1 based on the detection of the sub sensor 2. The configuration of the control device. A plurality of seedlings are planted by a seedling planting device while the vehicle body 3 is traveling. The height of the soil surface on the left and right sides is detected by the grounding of the main sensor 1 and the sub sensor 2 disposed between the pair of wheels 4 and 5 on both the left and right sides. The wheels 4 and 5 are moved up and down, and pitching control is performed so that the height of the vehicle body 3 maintains the seedling planting depth constant. Further, depending on the detection by the sub sensor 2, the wheel 5 on the same side as the sub sensor 2 is moved up and down, and the rolling control is performed so that the right and left inclination of the vehicle body 3 maintains the right and left seedling planting depth in a horizontal state or the like. Is done.

請求項２に記載の発明は、前記ピッチング制御をローリング制御に対して優先的に作動することを特徴とする。前記苗植機車体３の姿勢制御において、ピッチング制御とローリング制御とが同時に行われるときは、ピッチング制御が優先して行われ、このピッチング制御の後に続いてローリング制御が行われる。   The invention according to claim 2 is characterized in that the pitching control is preferentially operated over the rolling control. In the posture control of the seedling planting vehicle body 3, when the pitching control and the rolling control are performed simultaneously, the pitching control is preferentially performed, and the rolling control is performed subsequent to the pitching control.

請求項１に記載の発明は、車体３幅方向に配置された左右一対の主、副センサ１、２によって各対応土壌面の高さを検出しながら、主センサ１によりピッチング制御を行い、副センサ２によりローリング制御を行うものであるから、苗植付条幅方向に配置の各センサ１、２によって土壌面の高さ形態を的確に検出して、安定したピッチング制御とローリング制御を行うことができ、各制御毎に接地センサ等の同形態のセンサを設けて各別のピッチング、ローリング制御を行うため、構成を簡単化することができる。   The invention according to claim 1 performs pitching control by the main sensor 1 while detecting the height of each corresponding soil surface by the pair of left and right main and sub sensors 1 and 2 arranged in the width direction of the vehicle body 3. Since rolling control is performed by the sensor 2, the height form of the soil surface is accurately detected by the sensors 1 and 2 arranged in the width direction of the seedling planting, and stable pitching control and rolling control can be performed. In addition, since the same type sensor such as a ground sensor is provided for each control to perform different pitching and rolling control, the configuration can be simplified.

請求項２に記載の発明は、主、副センサ１、２によるピッチング、ローリング両制御において、ピッチング制御を優先するため、左右各苗植付深さを優先して決めておいて、苗植付を確実に行わせる状態にしておいて、その後に左右の車体３の傾斜角度を調整して、その左右植付深さの調整を行わせるものであるから、安全で、安定した苗植付姿勢の揃えを行うことができる。   In the invention according to claim 2, in order to give priority to pitching control in both pitching and rolling control by the main and sub-sensors 1 and 2, the right and left seedling planting depths are determined in advance, This is a safe and stable seedling planting posture because the right and left planting depths are adjusted by adjusting the inclination angle of the left and right vehicle bodies 3 after that. Can be made.

図例に基づいて、苗植機車体３は、前後方向にわたるチューブ材から形成され、前端部にミッションケース６を有し、後端部にハンドル７を有する。このミッションケース６上にはエンジン８を搭載し、左右両側にアクスルハウジング９を伸して、両側端部には車輪伝動ケース１０を上下回動可能に設け、これら伝動ケース１０の後端部に車輪４、５を軸装１１する。エンジン８によってミッションケース６の伝動機構、各アクスルハウジング９、及び伝動ケース１０内の伝動機構等を介して左右車輪４、５を回転して走行することができる。このミッションケース６の前部には支架フレーム１２によって前輪１３を回転自在に支持する。又、このミッションケース６の後部上には苗植伝動ケース１４を設け、この上端部に植付ケース１５を設けて、この植付ケース１５に対して平行状のダブルクランク機構形態の植付杆１６と、この植付杆１６の後端部において平行状態を保持して昇降の苗植嘴１７とを設け、この各植付杆１６をクランク軸１８によって回転駆動することにより、苗植嘴１７を上下に長い楕円形状の苗植付軌跡線Ｄを描くように植付作動させる。この苗植嘴１７は、適宜の植付条幅を保って複条植形態に配置される。この苗植嘴１７の上方には、ターンテーブル形態に旋回する苗カップ１９を有する苗供給テーブル２０を設け、前記苗植伝動ケース１４から伝動軸２１を介して苗カップ１９レーンを旋回連動することができ、この苗カップ１９が各苗植嘴１７の直上に位置すると、このカップ底部が開口されて収容していた苗を落下させて、苗植付軌跡線Ｄの上支点部位置に停止する苗植嘴１７内に苗を落下供給させるものである。又、この苗カップ１９の前方には補助苗受枠２２を設け、予め搭載しておく苗を取出しながら各苗カップ１９に供給収容させることができる。   Based on the illustrated example, the seedling planting vehicle body 3 is formed of a tube material extending in the front-rear direction, has a transmission case 6 at the front end, and a handle 7 at the rear end. An engine 8 is mounted on the transmission case 6, an axle housing 9 is extended on both the left and right sides, and wheel transmission cases 10 are provided at both end portions so as to be vertically rotatable. Wheels 4 and 5 are mounted 11. The engine 8 can travel by rotating the left and right wheels 4, 5 via the transmission mechanism of the transmission case 6, the axle housings 9, the transmission mechanism in the transmission case 10, and the like. A front wheel 13 is rotatably supported by a support frame 12 at the front portion of the transmission case 6. In addition, a seedling planting transmission case 14 is provided on the rear part of the transmission case 6, and a planting case 15 is provided at the upper end of the mission case 6. 16 and raising and lowering seedling planting ridges 17 that are maintained in a parallel state at the rear end of the planting cage 16, and each planting cage 16 is rotationally driven by a crankshaft 18, thereby Is planted so as to draw a long oval seedling planting locus line D. This seedling planting rod 17 is arranged in a double row planting form while maintaining an appropriate planting row width. A seedling supply table 20 having a seedling cup 19 that swivels in a turntable form is provided above the seedling planting pot 17, and the seedling cup 19 lane is pivotally interlocked from the seedling planting transmission case 14 via a transmission shaft 21. When the seedling cup 19 is positioned immediately above each seedling planting pot 17, the seedling that has been stored with the cup bottom opened is dropped and stopped at the position of the upper fulcrum of the seedling planting locus line D. A seedling is dropped and supplied into the seedling planting pot 17. Further, an auxiliary seedling receiving frame 22 is provided in front of the seedling cup 19 so that the seedling cups 19 can be supplied and accommodated while taking out the seedlings to be mounted in advance.

前記苗植嘴１７の直後側には、培土ディスク２３を回転自在に設け、接地することにより回転して、苗植嘴１７によって植付けられた土壌面の植付穴をこの培土ディスク２３が培土して埋め戻し、植付姿勢を支持するものである。   Immediately after the seedling culvert 17, a cultivating disk 23 is rotatably provided and rotated by being grounded. This cultivating disk 23 cultivates the planting hole on the soil surface planted by the seedling cultivating ridge 17. Backfill and support the planting posture.

ここにおいて、この発明に係る苗植機の姿勢制御装置は、左右各苗植付条位置の土壌面高さを検出する一対の主センサ１と副センサ２を配置して、この主センサ１の検出に基づいて車体３に対して左右両車輪４、５を昇降するピッチング制御を行い、副センサ２の検出に基づいてこの側の車輪５を昇降して車体１のローリング制御を行うことを特徴とするものである。車体３を走行させながら苗植装置による複数条の苗植付を行う。左右両側の一対の車輪４、５間に配置の主センサ１と副センサ２の接地によって、左右両側部の土壌面の高さを検出していて、この主センサ１による検出によっては、左右両車輪４、５が昇降されて、車体３の高さが苗植付深さを一定に維持するようにピッチング制御される。又、副センサ２による検出によっては、この副センサ２と同側の車輪５が昇降されて、車体３の左右傾斜が水平状態等の左右苗植付深さを一定に維持するようにローリング制御される。   Here, the posture control device of the seedling planting machine according to the present invention is arranged with a pair of main sensors 1 and sub-sensors 2 for detecting the soil surface height at the positions of the left and right seedling planting strips. Pitching control for raising and lowering the left and right wheels 4 and 5 with respect to the vehicle body 3 is performed based on the detection, and rolling control for the vehicle body 1 is performed by raising and lowering the wheels 5 on this side based on the detection of the sub sensor 2. It is what. A plurality of seedlings are planted by a seedling planting device while the vehicle body 3 is traveling. The height of the soil surface on the left and right sides is detected by the grounding of the main sensor 1 and the sub sensor 2 disposed between the pair of wheels 4 and 5 on both the left and right sides. The wheels 4 and 5 are moved up and down, and pitching control is performed so that the height of the vehicle body 3 maintains the seedling planting depth constant. Further, depending on the detection by the sub sensor 2, the wheel 5 on the same side as the sub sensor 2 is moved up and down, and the rolling control is performed so that the right and left inclination of the vehicle body 3 maintains the right and left seedling planting depth in a horizontal state or the like. Is done.

又、前記ピッチング制御をローリング制御に対して優先的に作動することを特徴とする。前記苗植機車体３の姿勢制御において、ピッチング制御とローリング制御とが同時に行われるときは、ピッチング制御が優先して行われ、このピッチング制御の後に続いてローリング制御が行われる。   Further, the pitching control is preferentially operated over the rolling control. In the posture control of the seedling planting vehicle body 3, when the pitching control and the rolling control are performed simultaneously, the pitching control is preferentially performed, and the rolling control is performed subsequent to the pitching control.

前記アクスルハウジング９周りに上下回動可能の左右の車輪伝動ケース１０は、アクスルアーム２４とピッチング２５の先端部に設けられるアーム２６端との間をローリングシリンダ２７、又はロッド２８で連結している。このうち左側のアクスルアーム２４とピッチングアーム２６の左端との間をローリングシリンダ２７で間隔調節可能に連結し、右側の同アーム２４、２６間をロッド２８で連結している。ピッチングシリンダ２５の伸縮によって、これらピッチングアーム２６、ローリングシリンダ２７、ロッド２８等を介して、左右に車輪４、５を上下回動させてピッチング作動する構成としている。又、このピッチング作動と共に、又は独立的に、ローリングシリンダ２７の伸縮によって左側の車輪５を上下回動して、右側に車輪４に対する上下位置を昇降させて、車体３の左右傾斜を変更、又は調節するローリング作動する構成としている。このようなピッチング制御や、ローリング制御は、車体３下部の左右両側部に配置の主、副センサ１、２の苗植付土壌面Ａの高さを検出によって、バルブケース２９内の各コントロールバルブを作動させることによって制御する。主センサ１、副センサ２はソリ板状形態にして、前端上部を車体３に固定のセンサ軸３０周りに上下回動自在に支持し、後下端部を土壌面に摺接させる。このうち主センサ１のセンサアーム３１はリンク３２を介してバルブケース２９のピッチングバルブ軸３３に連結し、この主センサ１の上下回動によって、ピッチングバルブ出力によりこの軸３３を回動して、ピッチングシリンダ２５を作動させるように構成している。又、副センサ２のセンサアーム３４はリンク３５を介してバルブケース２９のローリングバルブ軸３６に連結し、この副センサ２の上下回動によって、ローリングバルブ出力によりこの軸３６を回動して、ローリングシリンダ２７を作動させるように構成している。このようなバルブを収容したバルブケース２９内の油圧回路は、油圧ポンプＰを有し、エンジン８によって駆動し、この油圧力によって、前記ピッチングバルブや、ローリングバルブの切替作動で各ピッチングシリンダ２５、ローリングシリンダ２７を伸縮作動するように構成している。又、前記主センサ１は、畝土壌面Ａ幅の右側の苗植付条位置Ｒを摺接するように設け、副センサ２は、左側の苗植付条位置Ｌを摺接するように設けている。   The left and right wheel transmission cases 10 that can be pivoted up and down around the axle housing 9 are connected by a rolling cylinder 27 or a rod 28 between an axle arm 24 and an end of an arm 26 provided at the tip of a pitching 25. . Among these, the left axle arm 24 and the left end of the pitching arm 26 are connected by a rolling cylinder 27 so that the distance can be adjusted, and the right arms 24, 26 are connected by a rod 28. By the expansion and contraction of the pitching cylinder 25, the wheels 4 and 5 are pivoted up and down through the pitching arm 26, the rolling cylinder 27, the rod 28, and the like to perform a pitching operation. Also, along with this pitching operation, or independently, the left wheel 5 is rotated up and down by the expansion and contraction of the rolling cylinder 27, and the vertical position relative to the wheel 4 is moved up and down to change the right and left inclination of the vehicle body 3. The rolling operation is adjusted. Such pitching control and rolling control are performed by detecting each control valve in the valve case 29 by detecting the height of the seedling planting soil surface A of the primary and secondary sensors 1 and 2 arranged on the left and right sides of the lower part of the vehicle body 3. Control by operating. The main sensor 1 and the sub sensor 2 are formed in the shape of a sled plate, and the front end upper part is supported so as to be rotatable up and down around a sensor shaft 30 fixed to the vehicle body 3, and the rear lower end part is brought into sliding contact with the soil surface. Among these, the sensor arm 31 of the main sensor 1 is connected to the pitching valve shaft 33 of the valve case 29 via the link 32, and by rotating the main sensor 1 up and down, the shaft 33 is rotated by the pitching valve output, The pitching cylinder 25 is configured to operate. Further, the sensor arm 34 of the sub sensor 2 is connected to the rolling valve shaft 36 of the valve case 29 via the link 35. By rotating the sub sensor 2 up and down, the shaft 36 is rotated by the rolling valve output. The rolling cylinder 27 is configured to operate. The hydraulic circuit in the valve case 29 that accommodates such a valve has a hydraulic pump P and is driven by the engine 8, and by this hydraulic pressure, each pitching cylinder 25 is switched by the switching operation of the pitching valve and the rolling valve. The rolling cylinder 27 is configured to extend and contract. The main sensor 1 is provided so as to be in sliding contact with the right seedling planting strip position R of the dredged soil surface A width, and the sub sensor 2 is provided so as to be in sliding contact with the left seedling planting strip position L. .

前記ピッチングバルブ軸３３を手動操作する操作レバー３７を設けて、操向旋回時等には、この操作レバー３７を操作して、旋回時には車輪４を下降させて車体を上昇させた姿勢とし、旋回容易にすることができる。又、ローリングバルブ軸３６を手動操作するローリングレバー３８を設け、この操作で車体３の左右傾斜角度等を調節することができる。   An operating lever 37 for manually operating the pitching valve shaft 33 is provided, and the steering lever 37 is operated at the time of steering turning, etc., and the vehicle body is raised by lowering the wheel 4 at the time of turning. Can be easily. Further, a rolling lever 38 for manually operating the rolling valve shaft 36 is provided, and the left and right inclination angle of the vehicle body 3 can be adjusted by this operation.

次に、主として図４に基づいて、前記苗植機の培土ディスク２３部を利用して、灌水チューブ４０の巻取、引出可能に構成したものである。前記培土ディスク２３の外側に、このディスク軸４１周りに回動自在のリール４２を設ける。ディスク軸４１は外側端下りの傾斜に設定して、培土ディスク２３による培土効果を得易くしている。車体３の走行時に予めリール４２に巻きつけていた灌水チューブ４０を土壌面Ａの苗植付条位置Ｌ、Ｒの外側部に沿って引出して敷設したり、逆に敷設の灌水チューブ４０を巻取ることができる。このリール４２を培土ディスク２３の外側に設けるため、着脱が簡単、容易であり、又、この灌水チューブ４０を介して行う灌水を適切、有効位置に行わせることができる。   Next, mainly based on FIG. 4, the irrigation tube 40 can be wound and pulled out using the cultivating disk 23 of the seedling transplanter. A reel 42 that is rotatable around the disk shaft 41 is provided on the outside of the culture disk 23. The disc shaft 41 is set to have an inclination at the outer end descending so that the cultivating effect by the cultivating disc 23 can be easily obtained. The irrigation tube 40 previously wound around the reel 42 during the traveling of the vehicle body 3 is drawn out and laid along the outer side of the seedling planting positions L and R on the soil surface A, or conversely, the irrigation tube 40 is laid. Can be taken. Since this reel 42 is provided on the outside of the culture disc 23, it is easy to attach and detach, and irrigation performed through the irrigation tube 40 can be performed at an appropriate and effective position.

次に、主として図５に基づいて、前記培土ディスク２３の外側に灌水チューブ４０巻付用のリール４２を設ける形態において、左右一対のディスク軸４１間をユニバーサル軸４３で連結して、一体回転するように構成する。これら培土ディスク２３のディスク軸４１は、車体３に対してフレームブラケット４４、及びアーム４５等を介してメタル４６に回動自在に支持されるが、このアーム４５には後方下部に向けて突出のガイド板４７を設けて、苗植付条位置Ｌ、Ｒに植付けられた苗に灌水チューブ４０が接触しないように構成する。又、この着脱するリール４２の内側のリブ部には、突出の爪部４８を取付けて、このリール４２を取付けるときは、培土ディスク２３の爪穴部４９に係合して、一体的に回動するように構成している。又、この爪部４８には、ハンドル５０を着脱可能に構成して、リール４２をハンドル５０操作で回動して、チューブ４０の巻取を行うことができる。   Next, mainly in accordance with FIG. 5, in a form in which a reel 42 for winding the irrigation tube 40 is provided on the outside of the culture disk 23, the pair of left and right disk shafts 41 are connected by a universal shaft 43 to rotate integrally. Configure as follows. The disc shaft 41 of the earthing disc 23 is rotatably supported by the metal 46 via the frame bracket 44, the arm 45, and the like with respect to the vehicle body 3, and the arm 45 projects toward the lower rear part. A guide plate 47 is provided so that the irrigation tube 40 does not contact the seedlings planted at the seedling planting strip positions L and R. Further, a protruding claw portion 48 is attached to the inner rib portion of the reel 42 to be attached and detached. When the reel 42 is attached, the reel 42 is engaged with the claw hole portion 49 of the culture disc 23 to rotate integrally. It is configured to move. In addition, a handle 50 can be attached to and detached from the claw portion 48, and the reel 40 can be rotated by operating the handle 50 to wind the tube 40.

次に、主として図６に基づいて、前記培土ディスク２３をアルミ鋳造製として円柱形状に形成し、外周面、及び左右両側面に土が付着しにくいように樹脂加工、乃至ビニール製のシート５１を張りつけるもので、培土時の土壌の付着を防止する。又、この培土ディスク２３の回転周面に接触して付着土壌を掻取るスクレパー５２の周面に土が付着しにくいように樹脂加工、乃至ビニール製のシート５３を張りつけたものである。   Next, mainly based on FIG. 6, the cultivating disk 23 is made of aluminum and formed into a columnar shape, and resin processing or vinyl sheet 51 is made so that soil does not easily adhere to the outer peripheral surface and both the left and right side surfaces. It sticks and prevents soil adhesion during cultivation. In addition, resin processing or a vinyl sheet 53 is attached to the peripheral surface of the scraper 52 that contacts the rotating peripheral surface of the earthing disk 23 and scrapes the attached soil so that the soil does not easily adhere.

次に、主として図７に基づいて、前記灌水チューブ４０等に送水して苗植付土壌Ａ中に灌水する等の送水ポンプ５４を、プランジャ形態として、ハンドルフレームである車体３の下部に沿わせて簡潔な構成として設けたものである。苗植嘴１７の植付杆１６は、車体３側部に位置する植付ケース１５に、後部軸周りに前端が上下に作動するように後部駆動形態に設けられ、この植付杆１６を昇降駆動する伝動軸５５に回転カムを設けて、車体３の下側部に沿って取付けられる送水ポンプ５４をカム駆動して往復動し、送水する構成としている。又、この送水ポンプ５４に供給するための水を収容した水タンク５６を、前記補助苗受枠２２下のタンク支持台５７上に搭載している。このタンク支持台５７には水タンク５６の重量等を検出する水量センサ５８を設け、この水量センサ５８が水量減少を検出することによってオペレータ警報するように構成している。   Next, mainly based on FIG. 7, the water supply pump 54 for supplying water to the irrigation tube 40 or the like and irrigating the seedling-planted soil A is arranged in the form of a plunger along the lower part of the vehicle body 3 as a handle frame. This is a simple configuration. The planting basket 16 of the seedling planting basket 17 is provided in a rear drive form on the planting case 15 located on the side of the vehicle body 3 so that the front end operates up and down around the rear axis. A rotating cam is provided on the drive shaft 55 to be driven, and a water feed pump 54 attached along the lower side of the vehicle body 3 is driven to reciprocate to feed water. Further, a water tank 56 containing water to be supplied to the water pump 54 is mounted on a tank support base 57 below the auxiliary seedling receiving frame 22. The tank support 57 is provided with a water amount sensor 58 for detecting the weight of the water tank 56 and the like, and this water amount sensor 58 is configured to alert the operator when the water amount decrease is detected.

次に、主として図８に基づいて、前記左、右一側の車輪伝動ケース１０に、パワーアシストモータ６０を設けて、このモータ６０の電動によってチエン６１を介して車軸１１を逆回転（後進方向）するように構成している。このモータ６０は、ハンドル７に設けるサイドクラッチレバー６１等の操作によって車体３走行を旋回操向することにより、操向クラッチを切ったとき、この操向クラッチ切り側の車輪４を逆回転するようにして、操向を速かに行わせるものである。車輪４の伝動は、アクスルハウジング９内の車輪駆動軸６２の駆動によってチエン６３を介して車軸１１へ連動するように構成している。又、モータ６０の軸６４、又はこのスプロケットにはワンウエイクラッチを設けて、通常の車輪４の走行回転時にはモータ軸６４が逆転駆動されないように構成している。   Next, mainly based on FIG. 8, a power assist motor 60 is provided in the left and right wheel transmission case 10, and the axle 11 is reversely rotated via the chain 61 by the electric power of the motor 60 (reverse direction). ). When the steering clutch is disengaged by turning the vehicle body 3 by turning the side clutch lever 61 provided on the handle 7, the motor 60 reversely rotates the wheel 4 on the steering clutch disengagement side. Thus, steering is performed quickly. The transmission of the wheel 4 is configured to be linked to the axle 11 via the chain 63 by driving the wheel drive shaft 62 in the axle housing 9. Further, the shaft 64 of the motor 60 or the sprocket is provided with a one-way clutch so that the motor shaft 64 is not driven in reverse rotation during normal traveling of the wheel 4.

次に主として、図９に基づいて、前記車輪４を伝動する車輪伝動ケース１０を伸縮可能に構成し、上側等一部を開閉可能にケースカバー６５を設けたものである。伝動ケース１０は内１０Ａ、外１０Ｂに嵌挿して摺動伸縮可能に構成し、車高調節、変更等を行うことができる。この引出端部は内外に係止するストッパー６６を形成して抜止する構成としている。又、これら各伝動ケース１０Ａ、１０Ｂの上側面は開口部として、ケースカバー６５Ａ、６５Ｂを開閉可能に取付ける。これら各ケースカバー６５Ａは抜き差しピン６７で、ケースカバー６５Ｂはピン６８で着脱可能に構成して、内部のチエン６３の掛換え等を行い易く構成する。   Next, mainly based on FIG. 9, the wheel transmission case 10 that transmits the wheel 4 is configured to be extendable, and a case cover 65 is provided so that a part of the upper side and the like can be opened and closed. The transmission case 10 is configured to be slidable and extendable by being inserted into the inner 10 </ b> A and the outer 10 </ b> B, and the vehicle height can be adjusted and changed. The drawer end portion is configured to form a stopper 66 that is locked inside and outside to prevent the withdrawal. In addition, the upper side surfaces of these transmission cases 10A and 10B are opened so that the case covers 65A and 65B can be opened and closed. Each case cover 65A is configured to be detachable with an insertion / removal pin 67, and the case cover 65B is configured to be detachable with a pin 68 so that the internal chain 63 can be easily exchanged.

センサ配置の平面図。The top view of sensor arrangement | positioning. その油圧回路ブロック図。The hydraulic circuit block diagram. 苗植機の左側面図。The left view of a seedling transplanter. 培土ディスク部の側面図と、背面図。The side view and rear view of a culture disc part. 一部別例を示す培土ディスク部の背面図と、側面図。The rear view and side view of the culture disc part which show some other examples. 一部別例を示す培土ディスク部の背面図と、側面図、スクレパー部の正面図と、断面図。The rear view, side view, front view of a scraper part, and sectional drawing of the soil disc part which show some other examples. 一部別例を示す苗植機の側面図。The side view of the seedling transplanter which shows a part another example. 車輪伝動ケース部の側面図と、平面図。The side view and top view of a wheel transmission case part. 一部別例を示す車輪伝動ケース部の斜視図と、一部平断面図。The perspective view of the wheel transmission case part which shows another example, and a partial plane sectional view.

符号の説明Explanation of symbols

１ 主センサ
２ 副センサ
３ 車体
４ 車輪
５ 車輪 1 Main sensor 2 Sub sensor 3 Car body 4 Wheel 5 Wheel

Claims (2)

左右各苗植付条位置の土壌面高さを検出する一対の主センサ（１）と副センサ（２）を配置して、この主センサ（１）の検出に基づいて車体（３）に対して左右両車輪（４）、（５）を昇降するピッチング制御を行い、副センサ（２）の検出に基づいてこの側の車輪（５）を昇降して車体（１）のローリング制御を行うことを特徴とする苗植機の姿勢制御装置。   A pair of main sensors (1) and sub-sensors (2) for detecting the soil surface height at the positions of the left and right seedling planting strips are arranged, and the vehicle body (3) is detected based on the detection of the main sensors (1). Pitching control for raising and lowering the left and right wheels (4) and (5) is performed, and rolling control of the vehicle body (1) is performed by raising and lowering the wheel (5) on this side based on the detection of the sub sensor (2). A posture control device for a seedling transplanter characterized by 前記ピッチング制御をローリング制御に対して優先的に作動することを特徴とする請求項１に記載の苗植機の姿勢制御装置。   The posture control apparatus for a seedling transplanter according to claim 1, wherein the pitching control is preferentially operated over the rolling control.
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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2016220606A (en) * 2015-05-29 2016-12-28 株式会社クボタ Transplanter

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JPH04281705A (en) * 1991-03-11 1992-10-07 Iseki & Co Ltd Traveling device of seedling-transplanter or the like
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JP2005295898A (en) * 2004-04-12 2005-10-27 Iseki & Co Ltd Seedling transplanter
JP2005304343A (en) * 2004-04-19 2005-11-04 Iseki & Co Ltd Vegetable seedling transplanter

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Publication number Priority date Publication date Assignee Title
JPS63269916A (en) * 1987-04-28 1988-11-08 Iseki & Co Ltd Traveling device for agricultural working machine
JPH01277416A (en) * 1988-04-27 1989-11-07 Iseki & Co Ltd Hydraulic unit in farm working machine
JPH0231606A (en) * 1988-07-19 1990-02-01 Kubota Ltd Riding rice transplanter
JPH04281705A (en) * 1991-03-11 1992-10-07 Iseki & Co Ltd Traveling device of seedling-transplanter or the like
JP2002046661A (en) * 2000-08-03 2002-02-12 Iseki & Co Ltd Hand farm machinery and hand seedling planting machine
JP2005295898A (en) * 2004-04-12 2005-10-27 Iseki & Co Ltd Seedling transplanter
JP2005304343A (en) * 2004-04-19 2005-11-04 Iseki & Co Ltd Vegetable seedling transplanter

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2016220606A (en) * 2015-05-29 2016-12-28 株式会社クボタ Transplanter

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