JP2001054303A - Controller for lifting and lowering of seedling planting for seedling planter - Google Patents

Abstract

PROBLEM TO BE SOLVED: To prevent the control over the lifting and lowering of seedling planting from causing hunting when suddenly accelerating and traveling a seedling planter just after starting the seedling planter. SOLUTION: This controller 3 for lifting and lowering of seedling planting for a seedling planter is composed by setting the extent of sensitivity correction at the time of sudden acceleration within a prescribed time just after starting the car body in a region with a lower sensitivity than the extent of sensitivity correction at the time of the sudden acceleration after a prescribed time in the lifting and lowering control sensitivity of the controller 3 for the lifting and lowering capable of detecting the rise and fall of a seedling planting device, lifting and lowering the seedling planting device relatively to the car body and maintaining and controlling the seedling planting device at a constant seedling planting depth.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a seedling raising and lowering control device for a seedling planting machine. The purpose of the present invention is to prevent the hunting of the raising and lowering control when the seedling planter starts moving by switching the control sensitivity in the raising and lowering control of the seedling plant mounted on the rear part of the four-wheel running tractor body.

[0002]

In the raising and lowering control of the seedling transplanter, a floating float in the form of a ground that slides on the soil surface is used as a sensor, and the vertical movement of the float is used to detect the ups and downs of the seedling transplanter. In general, the seedling plant is moved up and down to control the seedling planting depth of the seedling plant to be kept constant.

[0003] However, when the aircraft suddenly starts or accelerates, it is susceptible to the driving reaction force, and the forward movement of the submerged seedling plant causes the float to rise steeply at an angle to push the mud. Makes it easier to push down the next planting seedling. In order to solve such a defect, a configuration is known in which the sensitivity of elevation control during acceleration is switched (Japanese Patent Laid-Open No. 9-9 / 1990).
However, when the aircraft suddenly starts, the hunting phenomenon is likely to occur when the sensitivity is suddenly corrected according to such a sudden acceleration.

On the other hand, if the elevation control sensitivity is too low, the float will be strongly pressed against the soil surface for a long time, and the float mark will be formed deeply on the soil surface, so that the mud pushing action will be remarkable.

[0005]

According to the present invention, a seedling plant 1 is provided.
In the elevating control sensitivity of the elevating control device 3 which raises and lowers the vehicle body 2 to maintain a constant seedling planting depth, the sensitivity correction amount at the time of rapid acceleration within a predetermined time t immediately after the vehicle body 2 starts moving is represented by
A seedling raising / lowering control device of the seedling planter is set in a sensitivity region lower than the sensitivity correction amount at the time of rapid acceleration after a predetermined time t.

[0006]

When the seedling plant 1 is suddenly started or suddenly accelerated, the sensitivity of the elevation control device 3 which moves the seedling plant 1 up and down over a predetermined time t is sensitive. However, when the vehicle is suddenly accelerated within a predetermined time t immediately after the vehicle body 2 starts moving, the seedling is corrected in a sensitivity region lower than the sensitivity correction amount at the time of the rapid acceleration after the predetermined time t. The rapid rise of the device 1 and the subsequent fall are alleviated, the hunting phenomenon of the elevation control can be reduced, the transition to the elevation control after the predetermined time t can be smoothly performed, and the stable The seedling planting depth can be maintained.

[0007]

DESCRIPTION OF THE PREFERRED EMBODIMENTS A seedling plant is provided with a lift link 5 comprising a four-point link mechanism which is vertically turned by a hydraulic lift cylinder 4 on the rear side of a riding tractor body 2 in a four-wheel running mode.
, The seedling planting apparatus 1 is connected. Reference numeral 6 denotes a front wheel driven by a steering handle 7, and 8 denotes a rear wheel disposed behind a cockpit 9. The front and rear wheels 6 and 8, and an engine 10 and a transmission mechanism mounted below the cockpit 9. Driven.

[0008] The lift link 5 is a parallel link form,
The pair of upper and lower lift links 5 has a front end connected to a connection frame 11 at a rear portion of the vehicle body 2 so as to be vertically rotatable, and a rear end portion to which a hitch bracket 12 is rotatably connected. The lift link 5 is turned up and down by expansion and contraction by hydraulic pressure of the lift cylinder 4 on the vehicle body 2 side. Reference numeral 13 denotes a power take-off shaft on the side of the vehicle body 2, which works with the seedling plant 1 connected to the lift link 5.

The seedling planting apparatus 1 mounted on the hitch bracket 12 has a plurality of seedling tanks 14 arranged at the upper portion thereof for receiving mat-shaped seedlings and reciprocating at regular intervals in the left and right directions. A planting device 15 for separating the seedlings drawn from each seedling tank 14 and planting them on the soil surface is arranged. or,
A center float 17 is arranged below the seedling planting frame 16 at the center of the width of the seedling planting device 1, and side floats 18 are arranged on both left and right sides of the planting plant 1, and the entire seedling planting device 1 is slidably supported on the soil surface. I do.

Each of the floats 17 and 18 has a front part pivoted up and down around a rear float shaft 19 and is repelled downward by a spring. One weight can float and be supported on the soil surface. Among them, the center float 17 serves as a sensor for raising and lowering control. The center float 17 is connected to an attack angle sensor 20 composed of a potentiometer attached to the front of the seedling frame 16 by a link 21 so that the angle of attack of the center float 17 can be adjusted. Can be detected.

An elevating control device 3 for raising and lowering the seedling planting device 1
In response to the detection value input of the angle-of-attack sensor 20, the lift valve 22 and the lower valve 23 of the hydraulic circuit of the lift cylinder 4 are solenoid-outputted, the center float 17 is maintained at a fixed position, and the seedling transplanter 15 Float 17,1 by
No. 8 is designed to keep the seedling planting depth on the level soil surface constant.

An acceleration sensor 2 for detecting the acceleration of the seedling planter is provided on the input side of the controller having the elevation control device 3.
4 and a sensitivity setting device 25 for setting the control sensitivity of the elevation control device 3. The acceleration sensor 24 is connected to the engine 1
Calculated based on the input of the number of rotations of 0, the interlocking rotation of the front and rear wheels 6, 8, and the like, to detect states such as acceleration, deceleration, rapid acceleration, and rapid deceleration. The sensitivity setting unit 25 can change and adjust the detection sensitivity range of the angle-of-attack sensor 20 by the center float 17 to set the reference sensitivity range Kn. 2
Reference numeral 6 denotes a timer for calculating a predetermined time t and the like.

The set sensitivity is determined by setting the set position as a reference sensitivity area Kn in an area where the swing angle of the fixed angle-of-attack sensor 20 set in advance in the controller is reduced.
When the lowering valve 23 is electromagnetically operated, the sensitivity range Km
When the output operation is performed in a region where the deflection angle is large, a low sensitivity region Kl is obtained. Switching of the sensitivities immediately after the start, acceleration, and deceleration is automatically executed in accordance with the set program of the controller.

In the forward running of the seedling transplanter, the selection and setting, etc., from the stop position r to the start position s, and a predetermined time t (several seconds to several tens seconds) immediately after start, etc., are expressed over time T. The relationship between the sensitivity K and the traveling speed v is shown as a graph in FIG. In the automatic raising and lowering control mode of the seedling plant,
When the traveling is stopped or started, the sensitivity range of the elevation control is automatically switched from the set reference sensitivity range Kn to the sensitivity range Km, and the sensitivity of the sensitivity range Km is also controlled. At the same time, the raising / lowering control of the seedling planting apparatus 1 is performed.

Therefore, within the predetermined time t immediately after the start s and after the predetermined time t, the lift control is performed in the sensitivity range Km in the slow acceleration v1 and v5 states. Also, within the predetermined time t, the elevating control is performed in the sensitivity range Km even if the vehicle is running in the rapid acceleration v2 state, but in the rapid acceleration v4 after the predetermined time t, the traveling is in the high sensitivity region Kh. Will be done. For this reason, at the time of the rapid acceleration v2 running immediately after the start of the seedling transplanter, the raising / lowering control of the seedling transplanter 1 is maintained in the sensitivity range Km, and the mud by the floats 17 and 18 as in the reference sensitivity range Kn. The pressing can be reduced, and the occurrence of the hunting phenomenon of the elevation control as in the high sensitivity range Kh can be reduced.

Further, in the state of rapid acceleration v4 after a predetermined time t has elapsed after the start s, the seedling plant 1 and the floats 17 and 18 are quickly raised by automatically switching to the high sensitivity range Kh. The control in the high sensitivity range Kh according to the rapid acceleration v4 during the high-speed traveling can be smoothly performed with little hunting. Also, rapid deceleration v7, v11
During traveling, the sensitivity of the elevating control is automatically switched from the reference sensitivity range Kn to the insensitive sensitivity range Kl so that it can correspond to the actual state of the aircraft. The switching to the insensitive region Kl during the rapid deceleration traveling is also performed within a predetermined time t after the start.

An auxiliary shift lever 27 for shifting the speed of the seedling plant is provided at the steering post on the steering handle 7 side. In the seedling plant 1, when the sub transmission lever 27 is suddenly operated to the high speed side even while the vehicle is traveling, the traveling portion tends to rise forward and tend to be deeply planted as in the start of traveling. For this reason, even if a predetermined time t has elapsed since the start of traveling, when the sub-transmission lever 27 is operated to the high speed side at a speed equal to or higher than the specified speed, the sensitivity setting device 25 such as a sensitivity adjusting dial or the like is used similarly to the start of traveling. Alternatively, the sensitivity of the elevation control may be corrected to the sensitive side by a sensitivity switching program or the like in the controller.

At this time, the sub-shift lever 2 within a certain time t
When the operation amount of 7 is detected and the vehicle is rapidly accelerating, the occurrence of deep planting can be prevented by correcting to the sensitive side. Also, if the sub transmission lever 27 is suddenly operated to the low speed side during traveling,
The running part tends to fall down in front and be shallowly planted. For this reason, when the sub-transmission lever 27 is operated to a low speed side at a speed higher than a specified speed, the sensitivity of the elevation control such as the sensitivity setting device 25 and the sensitivity switching program is detected by detecting the operation amount of the sub-transmission lever 27. By correcting to the insensitive side, the occurrence of shallow planting can be prevented.

When the rotation of the engine 10 during running is greatly reduced, the running load may be large in wet fields or the like. In such a case, even if the sub-shift lever 27 is suddenly operated to the high speed side, the running portion Does not accelerate as fast as it rises. For this reason, when the rotation decrease of the engine 10 during the running is equal to or more than the specified value, even when the sub-transmission lever 27 is operated to the high speed side at the specified speed or more, it is not possible to accelerate the running unit to the front. Therefore, a configuration may be adopted in which the correction by the sensitivity setting device 25 or the like is not performed.

When the rotation of the engine 10 during running is equal to or greater than the specified value, it is determined that the acceleration will not be abrupt and the correction of the sensitivity adjustment is prevented from being performed.

[Brief description of the drawings]

FIG. 1 is a block diagram of elevating control.

FIG. 2 is a graph for switching the elevation control sensitivity.

FIG. 3 is a side view of the seedling planter.

FIG. 4 is a plan view thereof.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Seedling plant 2 Vehicle body 3 Elevation control device t Predetermined time

Claims (1)

[Claims] An elevation control sensitivity of an elevation control device for elevating and lowering a seedling plant with respect to a vehicle body to maintain a constant seedling planting depth. A seedling raising and lowering control device for a seedling plant, wherein the sensitivity correction amount at the time is set to a sensitivity region lower than the sensitivity correction amount at the time of sudden acceleration after a predetermined time t.