JP2000060240A - Rice transplanter - Google Patents

Abstract

PROBLEM TO BE SOLVED: To make a planting part keep a constant planting depth by lifting and lowering the planting part with good stability. SOLUTION: This rice transplanter is obtained by installing a hunting detecting means for detecting the occurrence of hunting when controlling the lifting and lowering and a hunting suppressing means for suppressing the occurrence of the hunting in the rice transplanter designed to drive a solenoid valve based on an output of a lifting and lowering sensor for detecting a change in distance between a planting part and a paddy field surface and control the lifting and lowering of the planting part.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention detects a change in the distance between a planting part and a paddy field based on a change in the inclination angle of a center float and controls the planting part to move up and down to control the planting depth. The rice transplanter was designed to maintain a certain level.

[0002]

Conventionally, a change in the inclination angle of the center float is transmitted to a solenoid valve of a lifting control mechanism by a mechanical means such as a wire to perform lifting control. Due to factors such as the weight change of the part, hydraulic sensitivity (target value of lifting control), ascent and descent speed of the planting part, shock absorbing spring of the lifting cylinder, hunting occurs in the lifting operation to increase the planting depth. However, there were inconveniences such as floating seedlings and deep planting in some cases.

[0003]

Therefore, according to the present invention, the solenoid valve is driven based on the output of the elevation sensor for detecting the change in the distance between the planting section and the rice field to control the planting section up and down. In the rice transplanter, hunting detection means for detecting the occurrence of hunting during lifting control and hunting suppressing means for suppressing the occurrence of hunting are provided, and a very simple control means for electrically transmitting the output of the lifting sensor to the solenoid valve. This stabilizes the lifting control and improves the planting depth accuracy.

Further, the occurrence of hunting is detected on the basis of the fluctuation cycle of the detection output of the lift sensor, and the occurrence of hunting is accurately detected by an extremely simple and economical detecting means using the lift sensor. is there.

Further, the occurrence of hunting is detected on the basis of the fluctuation cycle of the drive output of the solenoid valve, and the occurrence of hunting is accurately detected by an extremely simple and economical detecting means utilizing the solenoid valve. is there.

Furthermore, the control is unstable (hunting) by an extremely simple and economical means of expanding the dead band width of the target value in the elevation control to suppress the occurrence of hunting and expanding the dead band width. ) Is maintained and the planting depth is stably maintained.

Further, the control speed in the ascending / descending control is slowed down, the occurrence of hunting is suppressed, and the control speed is slowed down by an extremely simple and economical means. It prevents stable (hunting) and maintains stable planting depth.

Furthermore, the sensitivity of the control in the elevation control is corrected to the insensitive side, and the control is prevented from becoming unstable (hunting) by an extremely simple and economical means of making the sensitivity insensitive. , It keeps the planting depth stable.

[0009]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described in detail below with reference to the drawings. FIG. 1 is a side view of a passenger rice transplanter, and FIG. 2 is a plan view of the same. In FIG. 1, (1) is a traveling vehicle on which an operator mounts an engine (2) mounted on a vehicle body frame (3), and a mission A front wheel (6) for traveling paddy fields is supported in front of the case (4) through a front axle case (5), and a rear axle case (7) is connected to a rear portion of the mission case (4) so that the rear axle case ( 7) Support the rear wheel (8) for traveling in the paddy field. Then, the spare seedling mounts (10) are attached to both sides of the hood (9) that covers the engine (2) and the like, and the step (1)
1) The mission case (4) and the like are covered by a vehicle body cover (12) on which an operator rides, a driver's seat (13) is attached to the upper portion of the vehicle body cover (12), and the front of the driver's seat (13) is attached. The steering handle (14) is provided at the rear of the bonnet (9).

Further, (15) in the figure is a planting section provided with a seedling table (16) for planting 6 rows, a plurality of planting claws (17), etc. Forward tilting seedling stand (1
6) is supported on the planting case (20) through the lower rail (18) and the guide rail (19) so as to be slidable left and right, and at the same time, the rotary case (21) is rotated at a constant speed in one direction. The pair of claw cases (22) and (22) are supported at the case (20), and a pair of claw cases (22) and (22) are arranged symmetrically around the rotation axis of the case (21).
(22) Attach the planting claws (17) (17) to the tip. Further, a hitch bracket (24) is provided on the front side of the planting case (20) via a rolling fulcrum shaft (23), and a lift link mechanism (27) including a top link (25) and a lower link (26) is provided. A hitch bracket (24) is connected to the rear side of the traveling vehicle (1), and the link mechanism (2
A lifting cylinder (28) for lifting and lowering the planting part (15) through the lower part (7) is connected to the lower link (26) to drive and move the front and rear wheels (6) and (8), and at the same time reciprocate left and right. One seedling worth of seedlings is taken out from the sliding seedling placing table (16) by the planting claws (17), and the seedling planting operation is continuously performed.

Further, in the figure, (29) is the main transmission lever, (3
(0) is a planting lever that is also a sub-shift lever, (32) is a main clutch pedal, (33) and (33) are left and right brake pedals, (34) is a center float for two-way leveling, and (3)
5) is a side float for leveling two lines, and (36) is a side line fertilizer applicator for six lines.

Further, as shown in FIGS. 3 and 4, the vehicle body frame (3) is tilted to a front low rear height (inclination angle of about 4 degrees).
The pedestal (37) is integrally fixed to the upper surface of the front part, and the pedestal (3
7) ... on the upper surface of the anti-vibration rubber (38) and the engine base (3)
9) via which the engine (2) is mounted, a fuel tank (40) is mounted on the left side of the engine (2), and a muffler (41) is mounted on the right side of the engine (2).
A battery (43) is attached substantially at the center of the front end side of the vehicle body frame (3).

Further, a case base (44) is integrally fixed to the body frame (3), a steering case (45) is attached to the case base (44), and a handle cylinder (4) is attached.
The steering shaft (14a) of the steering handle (14) to be inserted into the steering wheel (6) is erected on the upper surface of the steering case (45) substantially at the center between the left and right vehicle body frames (3) and (3). ) The output shaft (4
The output shaft (47) is provided with a steering arm (48) for projecting 7) and for changing the direction of the left and right front wheels (6, 6).

A cylindrical bearing body (49) which is substantially horizontal in the front-rear direction is welded and fixed to the lower side of the engine base (39) below the engine (2), and the counter shaft (49) is fixed to the bearing body (49). 50) is inserted and supported, and the counter pulley (5) is attached to the front end of the counter shaft (50) that projects forward from the bearing body (49).
1) Install the left and right body frames (3) (3)
An engine output shaft (52) is provided so as to project in front of the engine (2) approximately above the center between them, an output pulley (53) is attached to the output shaft (52), and the output pulley (53) is connected to the counter pulley (53). 51) via a V-belt (54).

Further, a rear axle case (7) is bolted and fixed to a rear end portion of the vehicle body frame (3), a rear surface of the mission case (4) is connected and fixed to a front surface of the rear axle case (7), and a transmission case (4) is provided. ) Is integrally formed with a clutch case (55), the front side of the clutch case (55) is fitted and fixed to the rear side of the right side of the continuously variable belt transmission case (56), and the hydraulic pump (28) is operated. 57) is fixed to the left rear surface of the belt shift case (56), and the case (4) (55) is located between the left and right rectangular pipe-shaped body frames (3) (3) at a position lower than the upper surface. (56) and the hydraulic pump (57) are suspended and fixed, and the transmission shaft (58) with a universal joint is connected to the counter shaft (5).
0) It is provided between the rear end and the belt shift case (56) to transmit the output of the engine (2) to the belt shift case (56), and between the front axle case (5) and the mission case (4). ) Is provided and the shift output of the transmission case (4) is transmitted to the front and rear wheels (6) and (8) through the axle cases (5) and (7).

As shown in FIGS. 5 to 7, a pitching fulcrum shaft (60) for supporting the front part of the center float (34) in a vertically swingable manner is provided on a bracket (61) on the upper rear part of the float (34). The base end of the planting depth adjusting link (63) is fixed to the planting depth adjusting fulcrum shaft (62) pivotally supported by the planting case (20), and the link (63) is fixed. ) Is connected to the pitching fulcrum shaft (60).

Then, the middle of the output link (66) is rotatably supported by a support shaft (65) supported by a fixed arm (64a) on the planting case (20) side, and the adjustment fulcrum shaft (62). ), The rear end of the output link (66) is connected to the front end of the swing arm (67) whose base end is fixedly attached to the shaft (69) at the front end of the output link (66). A bracket (71) fixed to the front upper surface of the center float (34) by connecting the lifting link (70) to the
Shaft (72) and the shaft (7) on one end side of the lifting link (70)
3) are connected to each other via a swing link (74).

Further, an intermediate portion of the sensor link (75) is rotatably supported by the support shaft (65) so that the sensor link (7) can be rotated.
5) The shaft (76) on one end side and the shaft (77) on the other end side of the elevating link (70) are connected by the interlocking link (78), and the fixed arm (64b) is attached to the planting case (20) side. The detection shaft (82) on the other end side of the sensor link (75) is engaged and connected to the elongated hole (81) of the detection arm (80) of the potentiometer type elevation sensor (79) which is also a hunting detection means supported through When the planting depth changes due to unevenness of the tiller or changes in the depth, a lift sensor (79)
Is configured to detect this.

As shown in FIGS. 8 to 10, a planting depth adjusting lever (83) for setting a standard planting depth, which has a base end fixed to the fulcrum shaft (62), is appropriately used by a planting depth motor (84). It is designed to be driven and controlled, and has a central planting case (20).
The motor mounting base (88) is fixed to the transmission pipe (85) on the right side through the mounting plate (86) and the side plate (87), and the rotary screw shaft (89) of the motor (84) of the motor mounting base (88) is fixed. ) Is engaged with one end of an L-shaped engagement shaft (92) provided on the adjustment lever (83) to engage the U-shaped engagement fitting (91) of the mover (90) to drive the motor (84). When the mover (90) moves up and down along the screw shaft (89), the adjustment lever (83) is vertically swung to rotate the fulcrum shaft (62), and the reference planting depth is increased. It is configured to adjust.

The adjusting lever (83) is divided into a base frame portion (83a) fixed to the fulcrum shaft (62) and a tip operating portion (83b) fixed to the engaging shaft (92). The operation portion (83b) is connected to the tip of the frame portion (83a) via the rotation shaft (93) so as to be swingable left and right, and the engagement shaft (92) and the operation portion of these frame portions (83a) are connected. A fulcrum crossing spring (95) centering on the rotating shaft (93) is stretched between the shafts (94) of (83b), and the operating portion (83b) is moved rightward about the rotating shaft (93). Swing to engage the engaging shaft (92) from the engaging fitting (91)
When the control lever is released, it is possible to manually operate the adjustment lever (83). A lever positioning notch (88b) is formed on one side of the lever guide hole (88a) of the mounting base (88) to adjust the adjustment lever (8).
At the time of manual operation 3), the positioning plate (83c) fixed to the operation portion (83b) is engaged with the notch (88b) to fix the position of the adjusting lever (83).

Further, the operating portion (83b) of the adjusting lever (83) is formed in a short size and is compactly arranged in the cover (96) which is detachably fixed to the motor mount (88) and the motor is The mount (88) has a potentiometer-type feedback sensor (98) for detecting the moving position of the sensor pin (97) of the frame (83a).
Is provided to detect the planting depth position. A guide roller (90a) to be inserted into the movement guide hole (88c) of the mounting base (88) is provided on the mover (90).
Is provided to prevent co-rotation of the mover (90) when the screw shaft (89) rotates.

When the planting depth motor (84) or the adjusting lever (83) is used to change the planting depth around the fulcrum shaft (62), the pitching fulcrum shaft (36) is vertically displaced and the front end of the output link (66). The vertical position of the shaft (69) is substantially the same so that the output of the elevation sensor (79) does not change even if the planting depth is changed.

On the other hand, an engine rotation sensor (99) for detecting the number of rotations from the engine (2) transmitted via a transmission shaft (58) is provided on the input shaft portion of the transmission case (56).
Further, a vehicle speed sensor (100) for detecting a traveling output from the mission case (4) which is transmitted to the input shaft portion of the front axle case (5) through a transmission shaft (59).
In addition to the above, a tilt sensor (101) of a pendulum type or a capacitance type, which detects the forward / backward tilt of the traveling vehicle (1), is provided substantially in the center of the rear part of the vehicle body cover (12).

As shown in FIGS. 5 and 11, the potentiometer type elevation position sensor (103) is installed on the left body frame (3) via the sensor mounting plate (102).
Piston rod (28a) of the lifting cylinder (28)
A detection plate (105) is fixed to the lift arm (104) connecting the tip and the lower link (26), and the detection shaft (106a) at the tip of the detection arm (106) of the position sensor (103) is attached to the detection plate. Engage with the long hole of (105),
When the planting part (15) is moved up and down by the elevating cylinder (28), the elevating position is detected by the sensor (103).

As shown in FIG. 12, the supply hydraulic circuit of the hydraulic pump (107) driven by the engine (2) is branched into a high pressure oil passage (109) and a low pressure oil passage (110) by a flow control valve (108). Steering valve unit (11) for switching the steering valve (112) of the steering cylinder (111) by the steering handle (14).
3) and solenoid type up / down valve (114)
(115) The lift valve unit (116) for driving the lift cylinder (28) by operation is connected to the high pressure oil passage (10).
A horizontal valve unit (11) having a solenoid valve (118) for horizontal operation of a horizontal cylinder (117) that controls the horizontal tilting posture of the planting part (15) while being provided in the (9).
9) is provided in the low pressure oil passage (110), and the planting part (15)
The ascending and descending control of the ascending and descending solenoids (12
0) (121) The excitation operation is performed.

As shown in FIG. 13, a controller (123) which is a hunting suppressing means for making output connection to the relay circuit (122) of the implantation depth motor (84) and the solenoids (120) (121) is provided. so,
Down and up switches (124) (12) for detecting the down and up positions of the planting lever (30), respectively.
5) and the sensors (79) (98) (99) (10)
0) (101) (103), a planting depth setting device (126) that sets the reference planting depth, and a sensitivity setting that sets the hydraulic lifting sensitivity (target value) of the lifting cylinder (28) according to the field surface hardness. The device (127) is connected to the controller (123) by input, and the elevation control for maintaining the planting depth constant is performed. The sensitivity setting device (127)
Is provided at a rear position between the driver's seat (13) and the planting lever (30).

This embodiment is constructed as described above, and as shown in the flow charts of FIGS. 14, 15 and 16, the planting lever (30) is operated to the planting lowering position and the lowering switch (124) is operated. When turned on, as shown in FIG. 17, the sensor value (V) flown into the lift sensor (79).
Until the target value (V1) set by the sensitivity setting device (127) matches (the tilt angle of the center float (34) is constant), the raising and lowering cylinder (28) controls the planting part (15) to descend. After that, the target planting depth is maintained constant (V = V1), and the raising / lowering control of the planting part is performed. If hunting occurs in the control during this control, the hydraulic sensitivity (target value (V1) 1), the dead band width is changed, or the ascending / descending speed is changed, thereby suppressing the occurrence of hunting.

The detection of hunting is carried out based on the variation of either the output (V) of the lift sensor (79) or the output of the solenoids (120) (121) as shown in FIG. However, since hunting repeats ascending and descending in a substantially constant cycle, and the cycle is determined by the natural frequency (measured in advance) of the components of this control system such as the lifting cylinder (28) and the link mechanism (27). When detecting from the output (V) of the lift sensor (79), the time (ta1) (ta2) between (a) maximum value of the output (V) with large fluctuation is measured as shown in FIG. , This time (ta1) (ta2) corresponds to the natural frequency, and 2
(B) when it occurs consecutively, the time (tb1) (tb2) between the minimum value and the minimum value is measured, and this time (t b
1) When (tb2) corresponds to the natural frequency and occurs twice in succession, (c) the time (tc1) (tc2) between the maximum value and the minimum value or the minimum value and the maximum value is It is measured and twice this time (tc1) (tc2) (tc1 ×
2) When (tc2 × 2) corresponds to the natural frequency and occurs twice in succession, hunting is determined by any one of the means.

As shown in FIG. 19, the lift sensor (7
9) Output (V) maximum (Va1) and minimum (Va)
Amplitude is extracted from the difference with 2), and hunting occurs when the amplitude is equal to or greater than a certain value (Va) (Va1-Va2 ≧ Va) (for example, Va is the amplitude during normal work), for example, two consecutive times. You may decide when.

Further, the solenoids (120) (121)
The occurrence of hunting may be judged from the output of the solenoids, and in this case, as shown in FIG. 20, the rising and falling outputs of the solenoids (120) (121) are output during a fixed time (t) (t is 2 to 3 seconds or less). Is alternately output twice or more (three times in FIG. 20), it is determined as hunting. Note that the time (t) is determined by the frequency of the vibration received from the ground during the work, and if the frequency is 0.8HZ, it rises from the cycle (T) = 1 / 0.8 = 1.25 (seconds). And the falling output is continuous twice, t = 1.25 × 2 = 2.
It will be 5 (seconds).

FIG. 14 is a flow chart for correcting the hydraulic pressure sensitivity when it is determined that hunting has occurred by any of the above means during control. The target value (V1) is kept constant when hunting occurs. The value is gradually corrected to the insensitive side, and the lift sensor (7) is set to the corrected target value (V2).
9) Ascending / descending control that matches the output (V),
When there is no hunting after a certain period of time, the hydraulic sensitivity is returned to the original target value (V).

Further, during such control, when the traveling is stopped (the detection of the vehicle speed sensor (100) is 0 and the lowering switch (124) is on), the lifting control is stopped with the grounding state of the float (34). The seedling mat is prevented from collapsing by preventing hunting during seedling splicing.

Further, in the structure shown in FIG. 15, the output (V) of the lift sensor (79) is normally maintained within the dead zone (Vo1), and the dead zone (Vo2) is kept constant when hunting occurs. When the hunting does not occur after a certain period of time (for example, 10 seconds), the dead zone (Vo1) is restored to the normal level by gradually expanding the graduation every time and performing the slow control to suppress the occurrence of the hunting. The up and down control is performed by the sensitivity of.

Further, in the control shown in FIG. 16, the planting part (15) is normally raised or lowered at a set speed so that the output (V) of the elevation sensor (29) and the target value (V1) coincide with each other. In addition, when hunting occurs, the speed is gradually reduced by a constant value from the set speed, and the planting part (15) is gently raised or lowered to suppress the occurrence of hunting, and after a certain period of time, hunting is performed. When there is no occurrence, the set speed is restored and the ascending / descending control is performed.

[0035]

As is apparent from the above embodiments, the present invention is based on the output (V) of the elevation sensor (79) for detecting the change in the distance between the planting part and the rice field, and the solenoid valve (114) (1).
In the rice transplanter in which the planting part (15) is controlled to be moved up and down by driving the planting part (15), hunting detection means (79), (120) (1) for detecting the occurrence of hunting during the up-down control.
21) and a hunting suppressing means (123) for suppressing the occurrence of hunting are provided, so that an extremely simple control for electrically transmitting the output of the lift sensor (79) to the solenoid valves (114) (115). By the means, the elevation control can be stabilized and the planting depth accuracy can be improved.

Further, since the occurrence of hunting is detected based on the fluctuation cycle of the detection output (V) of the lift sensor (79), an extremely simple and economical detecting means using the lift sensor (79) is provided. This makes it possible to accurately detect the occurrence of hunting.

Furthermore, since the occurrence of hunting is detected based on the fluctuation cycle of the drive output of the solenoid valves (114) (115), it is extremely simple and economical to use the solenoid valves (114) (115). It is possible to accurately detect the occurrence of hunting by using various detecting means.

Furthermore, the target value (V
Since the dead band width (Vo1) in 1) is expanded to suppress the occurrence of hunting, this control is unstable (hunting) by an extremely simple and economical means of expanding the dead band width (Vo1). ) Can be prevented and the planting depth can be stably maintained.

Further, since the control speed (U) in the elevation control is decelerated so as to suppress the occurrence of hunting, the control speed (U) is slowed down by an extremely simple and economical means. The slow control is performed to prevent the control from becoming unstable (hunting), and the planting depth can be stably maintained.

Further, the control sensitivity (V
Since 1) is corrected to the insensitive side, sensitivity (V1)
It is possible to prevent the control from becoming unstable (hunting) and to stably maintain the planting depth, by an extremely simple and economical means of only desensitizing.

[Brief description of drawings]

FIG. 1 is an overall side view of a rice transplanter.

FIG. 2 is an overall plan view of a rice transplanter.

FIG. 3 is a side view of a traveling vehicle body.

FIG. 4 is an explanatory plan view of a traveling vehicle body.

FIG. 5 is a side view of a planting part.

FIG. 6 is an explanatory plan view of a center float portion.

FIG. 7 is a side view of a center float section.

FIG. 8 is a side view for explaining a planting depth adjusting section.

FIG. 9 is a front explanatory view of a planting depth adjusting unit.

FIG. 10 is an explanatory plan view of a planting depth adjusting unit.

FIG. 11 is an explanatory view of attachment of a lift position sensor unit.

FIG. 12 is a hydraulic circuit diagram.

FIG. 13 is a control circuit diagram.

FIG. 14 is a flowchart of lifting control.

FIG. 15 is a flowchart of lifting control.

FIG. 16 is a flowchart of lifting control.

FIG. 17 is an output diagram of a lift sensor.

FIG. 18 is an explanatory diagram of hunting detection based on an output cycle of a lift sensor.

FIG. 19 is an explanatory diagram of hunting detection based on the output amplitude of a lift sensor.

FIG. 20 is an explanatory diagram of hunting detection based on the output of a solenoid.

[Explanation of symbols]

(15) Planting part (79) Lift sensor (hunting detection means) (114) (115) Solenoid valve (120) (121) Solenoid (hunting detection means) (123) Controller (hunting control means) (V) Output ( V1) Target value (sensitivity) (Vo1) Dead zone (U) Lifting speed

   ─────────────────────────────────────────────────── ─── Continued front page    F term (reference) 2B062 AA11 AB01 BA62 BA63 CA05                       CA10 CA14                 2B304 KA13 KA14 LA02 LA09 LB05                       LB16 MA02 MC13 MD04 MD08

Claims (6)

[Claims] 1. A rice transplanter in which an electromagnetic valve is driven based on the output of an elevation sensor that detects a change in the distance between the planting section and the paddy field to control the elevation of the planting section. A rice transplanter comprising hunting detection means for detecting occurrence of hunting and hunting suppression means for suppressing occurrence of hunting. 2. The rice transplanter according to claim 1, wherein the occurrence of hunting is detected on the basis of the fluctuation cycle of the detection output of the lift sensor. 3. The rice transplanter according to claim 1, wherein the occurrence of hunting is detected based on the fluctuation cycle of the drive output of the solenoid valve. 4. The rice transplanter according to claim 1, wherein the dead zone width of the target value in the elevation control is expanded to suppress the occurrence of hunting. 5. The rice transplanter according to claim 1, wherein the control speed in the elevation control is reduced to suppress the occurrence of hunting. 6. The rice transplanter according to claim 1, wherein the sensitivity of control in the elevation control is corrected to the insensitive side.