JPH02234604A - Lift-controlling apparatus - Google Patents

Abstract

PURPOSE:To prevent the contact of a grounding member of a paddy field working apparatus with a protrusion such as levee by providing a housing mechanism to forcedly lift a grounding member of a ground sensor in connection with the lifting operation to raise a paddy field working apparatus above a prescribed level. CONSTITUTION:The housing mechanism C is composed of an operation wire 17 and a coil spring 18. The operation wire 17 is provided with an outer part 17a between a lower link 9 and the front part of a chain case 4 and with an inner part 17b between a vertical link 10 and an operation piece 12b opposite to the grounding end of a grounding member 12 and the coil spring 18 is fixed to the operation piece 12b. The housing mechanism C forcedly pulls the grounding member 12 upward by the operation force of the operation wire 17 caused by the change in posture of a link mechanism A. In the case of lifting a paddy field working apparatus, the contact of the grounding member with a protrusion such as levee can be avoided by this mechanism without raising the level of the paddy field working apparatus.

Description

【発明の詳細な説明】 〔産業上の利用分野〕 本発明は、水田作業装置の対泥面レベルを検出する接地
センサが水田作業装置に備えられると共に、この接地セ
ンサからの検出結果に基づき、水田作業装置を、泥面を
基準とした設定レベルに維持するよう該水田作業装置の
昇降を行う昇降制御装置の改良に関するものである。DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention is characterized in that a paddy field working device is equipped with a ground sensor that detects the mud level of the paddy field working device, and based on the detection result from this ground sensor, The present invention relates to an improvement in a lifting control device for raising and lowering a paddy field working device so as to maintain the paddy field working device at a set level based on the mud surface.

〔従来の技術〕[Conventional technology]

従来、上記の如く構成された昇降制御装置としては、特
開昭６２−１５８４２０号公報に示されるものが存在し
、この引例では、水田作業装置の底面より更に下方に突
出する形態の接地体が接地センサとして水田作業装置に
設けられている。Conventionally, there is a lifting control device configured as described above, as shown in Japanese Patent Application Laid-Open No. 158420/1982. It is installed in paddy field work equipment as a ground sensor.

〔発明が解決しようとする課題〕[Problem to be solved by the invention]

しかし、前記引例のように水田作業装置の底面より更に
下方に突出する形態の接地体では、例えば、枕地で機体
を反転させる際等、水田作業装置を上昇させた場合にお
いて、接地体を畦等の突出物に接触させ、破損させるこ
ともある。However, with a grounding body that protrudes further downward from the bottom of the paddy field work equipment as in the above reference, when the paddy field work equipment is raised, for example when inverting the aircraft on a headland, the grounding body can be moved to the ridge. It may come into contact with other protruding objects and cause damage.

特に前記引例のように、接地体が一方の端部を支持され
る形態のものでは、水田作業装置を上昇させた場合に、
接地体の端部が垂れ下った姿勢に陥りやすく、又、この
ような姿勢に陥ると畦等の突出物に対し接地体を接触さ
せやすく改善の余地かある。In particular, as in the above cited example, when the grounding body is supported at one end, when the rice field working equipment is raised,
The ends of the grounding body tend to hang down, and in such a position, the grounding body tends to come into contact with protrusions such as ridges, so there is room for improvement.

そこで、水田作業装置の上昇限界をより高く設定するこ
とも考えられるが、このように上昇限界を高めようとす
ると機体の昇降系の大幅な改造を必要とするばかりで無
く、水田作業装置を限界まで上昇させた場合に機体の重
心が高まる結果、安定性を損うこともある。Therefore, it is possible to set the ascent limit of the paddy field working equipment higher, but if you try to raise the ascent limit in this way, not only will it be necessary to make a major modification of the lifting system of the aircraft, but also the paddy field working equipment will be set at a higher limit. If the aircraft's center of gravity is raised, the stability of the aircraft may be compromised.

本発明の目的は合理的な改良により、水田作業装置の上
昇時には、水田作業装置のレベルを高めずとも、接地体
と畦等の突出物との接触を回避できる装置を構成する点
にある。An object of the present invention is to construct a device that can avoid contact between a grounding body and a protruding object such as a ridge when the paddy field working device is raised, without raising the level of the paddy field working device, through rational improvements.

〔課題を解決するための手段〕[Means to solve the problem]

本発明の特徴は上記のように接地センサを有する昇降制
御装置において、水田作業装置を所定レベルより高める
上昇操作に連係して、前記接地センサの接地体を強制的
に上方に引き上げる格納機構が備えられて成る点にあり
、その作用、及び、効果は次の通りである。A feature of the present invention is that the lift control device having a ground sensor as described above includes a storage mechanism that forcibly pulls up the ground body of the ground sensor in conjunction with the lifting operation to raise the paddy field working device above a predetermined level. The functions and effects are as follows.

〔作　用〕 上記特徴を例えば第１図に示すように構成すると、水田
作業装置（Ｂ）の上昇操作時には、水田作業装置（Ｂ）
を支持するリンク機構（Ａ）の変形が格納機構としての
ワイヤ（１７）で取出されると共に、リンク機構（Ａ）
の変形が所定量以上に達すると、ワイヤ（１７）の引き
操作力で接地体（１２）が第２図に示す姿勢まで上方に
引上げられることになる。[Function] When the above characteristics are configured as shown in FIG. 1, for example, when the paddy field working device (B) is raised, the paddy field working device (B)
The deformation of the link mechanism (A) supporting the is taken out by the wire (17) as a storage mechanism, and the link mechanism (A)
When the deformation reaches a predetermined amount or more, the grounding body (12) is pulled upward to the attitude shown in FIG. 2 by the pulling force of the wire (17).

〔発明の効果〕〔Effect of the invention〕

従って、格納機構を設けるという改良により、水田作業
装置の上昇時には、水田作業装置のレベルを高めること
無く、接地体と畦等の突出物との接触を回避できる装置
が合理的に構成されたのである。Therefore, with the improvement of providing a storage mechanism, a device has been rationally constructed that can avoid contact between the grounding body and protruding objects such as ridges, without raising the level of the paddy field working device when it is raised. be.

〔実施例〕〔Example〕

以下、本発明の実施例を図面に基いて説明する。 Embodiments of the present invention will be described below with reference to the drawings.

第１図に示すように、走行機体（１）の後端に、油圧シ
リンダ（２）の作動で昇降するリンク機構（Ａ）を介し
、水田作業装置としての苗植付装置（Ｂ）を連結して田
植機を構成する。As shown in Fig. 1, a seedling planting device (B) as a paddy field working device is connected to the rear end of the traveling machine (1) via a link mechanism (A) that moves up and down by the operation of a hydraulic cylinder (2). and configure the rice transplanter.

同図に示すように、苗植付装置（Ｂ）は走行機体（１）
から動力が伝えられる伝動ケース（３）と、この伝動ケ
ース（３）からの動力が伝えられる複数のチェーンケー
ス（４）・・と、チェーンケース（４）・・夫々の後端
部位置の回転ケース（５）に設けられる一対の植付アー
ム（６），（６）と、マット状苗（ｗ）を載置する苗の
せ台（８）とを有して成り、又、前記リンク機構（Ａ）
は左右一対のトップリンク（８）と、左右一対のロアー
リンク（９）と、これらのリンクの後端に枢支連結する
縦リンク（１０）とで成り、苗植付装置（Ｂ）は縦リン
ク（１０）の一端部のボス部材（ＩＩ）に対してローリ
ング自在に連結されている。As shown in the figure, the seedling planting device (B) is connected to the traveling machine (1).
A transmission case (3) to which power is transmitted, a plurality of chain cases (4) to which power is transmitted from this transmission case (3), and rotation of the rear end position of each chain case (4). It has a pair of planting arms (6), (6) provided in the case (5) and a seedling stand (8) on which the mat-like seedlings (w) are placed, and the link mechanism ( A)
consists of a pair of left and right top links (8), a pair of left and right lower links (9), and a vertical link (10) pivotally connected to the rear ends of these links. It is connected to a boss member (II) at one end of the link (10) so as to be able to roll freely.

又、この田植機では苗植付装置（Ｂ）の左右両側部位置
に、横向き軸芯周りで揺動自在な接地体（■２）と、こ
の接地体（１２）の揺動角を検出するポテンショメータ
（１３）とで成る接地センサ（Ｓ）が備えられ、これら
左右の接地センサ（Ｓ）からの検出結果に基づき、苗植
付装置（Ｂ）を泥面（ｌ４）を基準として設定レベルに
維持するまよう、前記油圧シリンダ（２）を駆動し、更
に、苗植付装置（Ｂ）のローリング姿勢を泥面（ｌ４）
に沿う水平状態に維持するよう、苗植付装置（Ｂ）の左
右のステー（１５）と前記縦リンク（１０）との間のロ
ーリングシリンダ（１６）を駆動する制御系を有してい
る。In addition, in this rice transplanter, there is a grounding body (■2) that can swing freely around the horizontal axis at the left and right sides of the seedling planting device (B), and the swing angle of this grounding body (12) is detected. A ground sensor (S) consisting of a potentiometer (13) is provided, and based on the detection results from these left and right ground sensors (S), the seedling planting device (B) is set at a set level with respect to the mud surface (l4). To maintain the rolling posture of the seedling planting device (B), drive the hydraulic cylinder (2) to maintain the rolling posture of the seedling planting device (B) on the mud surface (14).
It has a control system that drives a rolling cylinder (16) between the left and right stays (15) of the seedling planting device (B) and the vertical link (10) so as to maintain the seedling planting device (B) in a horizontal state along the horizontal direction.

尚、この制御系は、接地体（１２）が泥面（１４）との
接触による揺動角が左右の接地共、略一定になる方向に
向けて作動が行われるよう、その動作が設定されている
。The operation of this control system is set so that the swing angle of the grounding body (12) due to contact with the mud surface (14) is approximately constant for both left and right ground contact. ing.

更に、この田植機では苗植付装置（Ｂ）を下降させた状
態では、第１図に示すように接地体（ｌ２）の接地端部
（１２ａ）が泥面（１４）に接触し得る下方突出姿勢に
設定し、苗植付装置（Ｂ）を所定レベルより上昇させた
状態では、第２図に示すように接地体（１２）の接地端
部（１２ａ）の側を引き上げ格納姿勢に設定するよう構
成されている。Furthermore, in this rice transplanter, when the seedling planting device (B) is lowered, the grounding end (12a) of the grounding body (l2) is lowered so that it can come into contact with the mud surface (14), as shown in FIG. When the seedling planting device (B) is set in the protruding position and raised above a predetermined level, the grounding end (12a) side of the grounding body (12) is pulled up and set in the retracted position as shown in Fig. 2. is configured to do so.

即ち、格納姿勢に設定するための構造を格納機構（Ｃ）
と称し、この格納機構（Ｃ）は前記ロアーリンク（９）
と前記チェーンケース（４）の前部との間にアウタ部（
１７ａ）を設け、前記縦リンク（ＩＯ）と接地体（１２
）の反接地端部側の操作片（１２ｂ）との間にインナ部
（１７ｂ）を設けて成る操作ワイヤ（１７）、及び、操
作片（］．２ｂ）に係止されたコイルバネ（１８）で成
り、この格納機構（Ｃ）はリンク機構（Ａ）の姿勢変化
に伴う操作ワイヤ（■７）の弓き操作力で接地体（１２
）を強制的に上方に引き上けるようになっている。In other words, the structure for setting the storage position is the storage mechanism (C).
This storage mechanism (C) is called the lower link (9).
and the front part of the chain case (4).
17a) is provided, and the vertical link (IO) and the grounding body (12
) and the operating piece (12b) on the opposite-to-ground end side of the operating wire (17), which has an inner portion (17b) between the operating wire (17) and the operating piece (12b), and a coil spring (18) that is engaged with the operating piece (].2b). This retracting mechanism (C) is operated by the operating force of the operating wire (■7) as the posture of the link mechanism (A) changes.
) can be forcibly pulled upward.

尚、この格納機構（Ｃ）では、苗植付装置（Ｂ）が所定
レベルより上昇した状態でのみ接地体（１２）の格納を
行うよう、前記インカ部（１７ｂ）の縦リンク側の端部
に接当片（１９）を設けると共に、このインカ部が連通
ずるブラケット（２０）を縦リンク（１０）に設け、苗
植付装置（Ｂ）を下降させた状態で接当片（１９）とブ
ラケット輯０）との間に充分な距離の離間を図っている
。In addition, in this storage mechanism (C), the end of the vertical link side of the inca part (17b) is designed so that the grounding body (12) is stored only when the seedling planting device (B) is elevated above a predetermined level. A contact piece (19) is provided on the vertical link (10), and a bracket (20) with which this inker part communicates is provided on the vertical link (10). A sufficient distance is provided between the bracket and the bracket.

第３図に示すように、前記苗のせ台（７）は電動モータ
（２１）で駆動されるネジ軸（２２）に螺合させたナッ
ト（２３）の移動によって、その横送りを行うよう移動
系が構成され、この横移動を、前記植付アーム（６）の
植付爪（６ａ）がマット状苗（ｗ）から苗を切り出すタ
イミングにおいて停止させると共に、その苗取り量も調
節できるよう制御系が構成されている。As shown in FIG. 3, the seedling stand (7) is moved horizontally by movement of a nut (23) screwed onto a screw shaft (22) driven by an electric motor (21). The system is configured such that this lateral movement is stopped at the timing when the planting claw (6a) of the planting arm (6) cuts out the seedlings from the mat-like seedling (w), and the amount of seedlings removed is also controlled. system is configured.

つまり、苗のせ台（７）を横スライト自在に支持する摺
動レール（２４）の苗切り出し用の開口（２４ａ）の近
傍位置には、この開口（２４ａ）に露出するマット状苗
（Ｗ）の量を計測するようランプ（２５）、レンズ（２
６）、撮像素子（２７）で成る光学検出系が配置され、
前記回転ケース（５）の回転軸（５ａ）にはロークリエ
ンコーダ（２８）が設けられ、これらの信号、及び、苗
取量設定器（２９）からの信号が入力し、かつ、電動モ
ータ（２１）に対し駆動信号を出力するコントローラ（
３０）を備えて、該制御系が構成されている。That is, in the vicinity of the seedling cutting opening (24a) of the sliding rail (24) that supports the seedling stand (7) in a horizontally sliding manner, there is a mat-shaped seedling (W) exposed in this opening (24a). Lamp (25) and lens (2) to measure the amount of
6), an optical detection system consisting of an image sensor (27) is arranged,
A rotary encoder (28) is provided on the rotating shaft (5a) of the rotating case (5), and these signals and a signal from the seedling amount setting device (29) are input, and the electric motor ( controller (21) that outputs drive signals to
30), the control system is configured.

そして、作業時には苗取量設定器（２９）からの設定信
号、及び、ロークリエンコーダ（２８）からの信号に基
づき、電動モータ（２１）の駆動速度を少し高く設定す
ると共に、光学検出系で必要とする苗量が検出されたタ
イミングで苗のせ台（７）の横移動を停止させるように
動作するのである。During work, the drive speed of the electric motor (21) is set a little higher based on the setting signal from the seedling removal amount setting device (29) and the signal from the row reencoder (28), and the optical detection system It operates to stop the lateral movement of the seedling stand (7) at the timing when the required amount of seedlings is detected.

因みに、この田植機では第１図に示すように、苗植付装
置（Ｂ）の前方泥面の整地を行うため、走行機体（１）
に対しアーム（３１）を介して整地板（３２）とレーキ
（３３）とが設けられている。Incidentally, in this rice transplanter, as shown in Figure 1, in order to level the mud surface in front of the seedling planting device (B), the traveling machine (1)
A leveling plate (32) and a rake (33) are provided via an arm (31).

〔別実施例〕[Another example]

本発明は上記実施例以外に例えば、接地体が揺動型で無
く、平行リンク機構等を用いて上下に変位する構造であ
って良く、又、格納機構に電動モータを備え、上昇操作
系の上昇側への操作に伴って電動モータを駆動する等、
様々に実施可能である。In addition to the above-mentioned embodiments, the present invention may have a structure in which the grounding body is not a swinging type, but is displaced up and down using a parallel link mechanism, and the storage mechanism is equipped with an electric motor, and the lifting operation system is Driving the electric motor in response to the operation to the upward side, etc.
It can be implemented in various ways.

尚、特許請求の範囲の項に図面との対照を便利にする為
に符号を記すが、該記入により本発明は添付図面の構造
に限定されるものではない。Incidentally, although reference numerals are written in the claims section for convenient comparison with the drawings, the present invention is not limited to the structure shown in the accompanying drawings.

【図面の簡単な説明】[Brief explanation of the drawing]

図面は本発明に係る昇降制御装置の実施例を示し、第１
図は田植機後部の側面図、第２図は格納状態の接地セン
サの側面図、第３図は苗のせ台の横送り系の概略図であ
る。 （ｌ２）・・・・・・接地体、（Ｂ）・・・・・・水田
作業装置、（Ｃ）・・・・・・格納機構、（Ｓ）・・・
・・・接地センサ。The drawings show an embodiment of the elevation control device according to the present invention, and the first embodiment
The figure is a side view of the rear part of the rice transplanter, FIG. 2 is a side view of the ground sensor in the retracted state, and FIG. 3 is a schematic diagram of the transverse feed system of the seedling stand. (l2)...Grounding body, (B)...Paddy field working equipment, (C)...Retraction mechanism, (S)...
...Ground sensor.

Claims (1)

【特許請求の範囲】[Claims] 水田作業装置（Ｂ）の対泥面レベルを検出する接地セン
サ（Ｓ）が水田作業装置（Ｂ）に備えられると共に、こ
の接地センサ（Ｓ）からの検出結果に基づき、水田作業
装置（Ｂ）を、泥面を基準とした設定レベルに維持する
よう該水田作業装置（Ｂ）の昇降を行う昇降制御装置で
あって、水田作業装置（Ｂ）を所定レベルより高める上
昇操作に連係して、前記接地センサ（Ｓ）の接地体（１
２）を強制的に上方に引き上げる格納機構（Ｃ）が備え
られて成る昇降制御装置。The paddy field working device (B) is equipped with a ground sensor (S) that detects the mud level of the paddy field working device (B), and based on the detection result from the ground sensor (S), the paddy field working device (B) an elevation control device for raising and lowering the paddy field working device (B) so as to maintain the paddy field working device (B) at a set level based on the mud surface, the device being linked to a lifting operation to raise the paddy field working device (B) above a predetermined level; The ground body (1) of the ground sensor (S)
2) A lifting control device comprising a storage mechanism (C) that forcibly pulls the object upward.