JP2001169620A - Rice transplanter - Google Patents

Abstract

PROBLEM TO BE SOLVED: To keep an upper and lower controlling speed constant regardless of an oil temperature in a rice transplanter for upper and lower controlling a transplanting part by using a hydraulic upper and lower controlling structure. SOLUTION: This rice transplanter regulated so that the transplanting depth may be kept constant by driving and controlling the hydraulic upwardly and downwardly controlling structure (28) for lifting and lowering a transplanting part (15) by a solenoid valve (106) has an oil-temperature sensor (116) for detecting the oil temperature of the hydraulic oil for operating the hydraulic upwardly and downwardly controlling structure (106), and the upper and lower controlling speed of the transplanting part (15) is kept stable by controlling an operational current supplied to the solenoid valve (106) based on the change of the oil temperature detected by the oil temperature sensor (116).

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to, for example, operating a solenoid valve based on a change in the inclination angle of a float supported by a planting portion, and controlling the planting portion to move up and down through a hydraulic elevation control mechanism, thereby setting the planting depth. The present invention relates to a rice transplanter that maintains a constant height.

[0002]

In the case of a construction in which a hydraulic pressure is supplied to a hydraulic elevating cylinder of a hydraulic elevating control mechanism by this type of electromagnetic valve to raise and lower the planting portion, the coil of the electromagnetic valve is controlled by a change in the oil temperature of the supplied hydraulic pressure. The resistance value changes (the resistance increases as the oil temperature increases), and the supply flow rate of the hydraulic pressure changes under the same driving conditions, so that there is a disadvantage that a stable elevation control speed of the planting section cannot be obtained. Also, when the supply voltage to the solenoid valve changes (battery deterioration, electric load fluctuation, power generation voltage, engine speed, etc.), the current value to be energized changes and the hydraulic supply flow rate changes, which is proportional to the solenoid valve. If a valve is used, a stable control speed for raising and lowering the planted section cannot be obtained.
There was a disadvantage that high-accuracy planting depth control could not be performed.

[0003]

SUMMARY OF THE INVENTION Accordingly, the present invention relates to a rice transplanter in which a hydraulic raising / lowering control mechanism for raising / lowering a planting portion is controlled by an electromagnetic valve to maintain a constant planting depth. An oil temperature sensor for detecting the oil temperature of the oil pressure for operating the mechanism is provided, and the operating current supplied to the solenoid valve is constantly controlled based on a change in the oil temperature detected by the oil temperature sensor, so as to raise and lower the planting portion. The control speed is maintained stably, and during planting work, even if the oil temperature of the hydraulic pressure supplied to the hydraulic elevating control mechanism changes, the planting section is controlled to rise and fall at a stable control speed regardless of the oil temperature. Thus, the planting depth is maintained constant and the float mark is neatly arranged to improve the workability.

Further, an oil temperature sensor is provided in the tank port line of the solenoid valve, and the oil temperature sensor is mounted at a position where the change in hydraulic pressure is small, thereby suppressing variation in the detection value of the oil temperature sensor and improving detection accuracy. Things.

Further, the control signal of the solenoid valve after the temperature correction is corrected in accordance with the power supply voltage, and the same current value is maintained under the same driving condition even if the power supply voltage changes, so that the control speed is kept constant. It is intended to perform high-precision elevation control of the planting section.

Further, before the control signal is output after the voltage correction, the control signal is restricted so as not to exceed the rating of the coil of the solenoid valve, thereby preventing inconvenience such as burning of the coil of the solenoid valve. The purpose is to improve the durability of the valve and maintain stable accuracy.

[0007]

Embodiments of the present invention will be described below in detail with reference to the drawings. FIG. 1 is a side view of a riding rice transplanter, and FIG. 2 is a plan view of the same. In FIG. 1, (1) is a traveling vehicle on which an operator rides, and an engine (2) is mounted on a body frame (3). A front axle case (5) is supported in front of a case (4) via a front axle case (5), and a rear axle case (7) is connected to a rear portion of the transmission case (4). 7) Support the paddy field rear wheel (8). Then, a spare seedling mounting table (10) is mounted on both sides of the hood (9) covering the engine (2) and the like, and the step of getting on and off (1) is performed.
The transmission case (4) and the like are covered by a body cover (12) on which an operator rides via 1), and a driver's seat (13) is mounted on the upper part of the body cover (12), and the driver's seat (13) is located in front of the driver's seat (13). Then, a steering handle (14) is provided at the rear of the hood (9).

[0008] In the figure, (15) is a planting section provided with a seedling mounting table (16) for six-row planting and a plurality of planting claws (17). Forward tilting seedling platform (1
6) is supported on a planting case (20) via a lower rail (18) and a guide rail (19) so as to be reciprocally slidable right and left, and a rotary case (21) is rotated at a constant speed in one direction. A pair of claw cases (22) and (22) are supported at the case (20) and symmetrically positioned around the rotation axis of the case (21), and the claw case (22) is provided.
(22) Attach the planting claws (17) and (17) to the tip. A hitch bracket (24) is provided on the front side of the planting case (20) via a rolling fulcrum shaft (23), and a hitch bracket (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)
7) A piston rod (28a) of a hydraulic elevating cylinder (28), which is a hydraulic elevating control mechanism for elevating and lowering the planting section (15), is connected to a lower link (26), and the front and rear wheels (6) and (8) are connected. ) Is driven and moved, and at the same time, the seedlings for one plant are taken out from the seedling mounting table (16), which is reciprocally slid left and right, with the planting claws (17), and the seedlings are continuously planted. .

In the drawing, (29) is the main speed change lever, (3)
0) is a planting lever which is also a sub-transmission lever, (31) is a sensitivity setting device, (32) is a main clutch pedal, (33) (3)
3) is a left and right brake pedal, (34) is a two-floor leveling center float, (35) is a two-floor leveling side float, and (36) is a six-floor side fertilizer.

Further, as shown in FIGS. 3 and 4, the vehicle body frame (3) is tilted to a front low and rear high (inclination angle of about 4 degrees).
The gantry (37) is fixed integrally on the front upper surface, and the gantry (3)
7) On the upper surface of the anti-vibration rubber (38) and the engine stand (3)
9) The engine (2) is mounted on the engine, and 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 mounted substantially at the center on the front end side of the body frame (3).

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

A cylindrical bearing (49), which is substantially horizontal in the front-rear direction, is welded and fixed to the lower side of the engine stand (39) below the engine (2), and a counter shaft (49) is attached to the bearing (49). The counter pulley (5) is provided at the front end of the counter shaft (50) for inserting and supporting the bearing body (49) forward.
1) Attach, and right and left body frames (3) (3)
An engine output shaft (52) protrudes in front of the engine (2) at substantially the upper center therebetween, and an output pulley (53) is attached to the output shaft (52). 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 the rear end of the vehicle body frame (3), and a transmission case (4) rear surface is connected and fixed to a front surface of the rear axle case (7). ), A clutch case (55) is integrally formed on the right front surface, a continuously variable belt transmission case (56) right rear surface is fitted and fixed to the front surface of the clutch case (55), and a hydraulic pump (actuated by a lifting cylinder (28)). 57) is fixed to the left rear surface of the belt transmission case (56), and the respective cases (4), (55) are located lower than the upper surface between the left and right body frames (3) (3) in the form of a square pipe. (56) and the hydraulic pump (57) are suspended and fixed, and the transmission shaft (58) with universal joint is connected to the counter shaft (5).
0) It is provided between the rear end and the belt transmission case (56) to transmit the output of the engine (2) to the belt transmission case (56), and between the front axle case (5) and the transmission case (4). ) Is provided to transmit the shift output of the transmission case (4) to the front and rear wheels (6) and (8) via the respective axle cases (5) and (7).

As shown in FIGS. 5 to 7, a pitching fulcrum shaft (60) for swingably supporting the front portion of the center float (34) up and down is provided on a bracket (61) on the rear upper surface of the float (34). The base of a planting depth adjusting link (63) is fixedly mounted on a planting depth adjusting fulcrum shaft (62) rotatably supporting the planting case (20). ) Is connected to the pitching fulcrum shaft (60).

A support shaft (6) supported on the planting case (20) side through fixed arms (64a) (64b).
5) A swing arm (6) rotatably supporting an intermediate portion of the output link (66) and a base end fixed to the adjusting fulcrum shaft (62).
The rear end of the output link (66) is connected to the front end of the output link (6) via a coupling pin (68), and the output link (6) is connected to the rear end of the output link (6).
6) The lifting link (70) is connected to the front end shaft (69), and the shaft (72) of the bracket (71) fixed to the front upper surface of the center float (34) and the lifting link (70).
One end of the shaft (73) is connected via a swing link (74).

Further, the middle of the sensor link (75) is rotatably supported on the support shaft (65), and the sensor link (7) is pivotally supported.
5) The shaft (76) at one end and the shaft (77) at the other end of the elevating link (70) are connected by an interlocking link (78), and the fixed arm (64b) is connected to the planting case (20). Potentiometer type float sensor (7
The detection shaft (82) at the other end of the sensor link (75) is engaged and connected to the long hole (81) of the detection arm (80) of 9), and is planted by unevenness of the tillage or a change in depth. When the depth changes, the float sensor (79) is configured to detect the change.

As shown in FIGS. 6 and 8, the fulcrum shaft (6
In 2), a planting depth adjusting lever (83) for setting a standard planting depth for fixing a base end is connected to a planting motor (8) as an actuator.
4) The motor mounting base (8) is mounted on the transmission pipe (85) on the right side of the central planting case (20) via the mounting plate (86) and the side plate (87).
8) is fixed, and the motor (8) of the motor mount (88) is fixed.
The moving element (90) to be connected to the rotating screw shaft (89) of 4).
Then, the adjusting lever (83) is engaged and connected to the motor (8).
When the moving element (90) moves vertically along the screw shaft (89) by the driving of 4), the adjusting lever (83) is swung up and down to rotate the fulcrum shaft (62), and The planting depth is adjusted.

The adjusting lever (83) is disposed in a cover (91) which is fixed to the motor mount (88) so as to be openable and closable, and the adjusting lever (83) is mounted on the motor mount (88).
A potentiometer type planting depth sensor (93) for detecting the moving position of the fixing pin (92) is provided to detect the planting depth position.

When the planting depth is changed about the fulcrum shaft (62) by the planting depth motor (84) or the adjusting lever (83), the vertical position of the pitching fulcrum shaft (60) and the front end of the output link (66) are changed. The vertical change position of the axis (69) is substantially the same, so that the output of the float sensor (79) is not changed even if the planting depth is changed.

On the other hand, the input shaft of the transmission case (56) is provided with an engine sensor (94), which is an engine rotation sensor for detecting the number of rotations from the engine (2) transmitted through a transmission shaft (58). A vehicle speed sensor (95) is provided on the input shaft of the front axle case (5). The vehicle speed sensor (95) is a work detecting means for detecting the traveling output from the transmission case (4) transmitted through the transmission shaft (59). A link sensor (98) for detecting a moving position of a lift arm (97) connected to the lower link (26) is provided on a sensor mounting plate (96) of the left body frame (3), and the planting section (15) is moved up and down. It is configured to sense the position.

As shown in FIG. 11, a supply hydraulic circuit of a hydraulic pump (99) driven by the engine (2) is branched into a high-pressure oil path (100) and a low-pressure oil path (101), and the steering handle (14) is turned on. ) To operate a steering cylinder (102), and an elevation valve (1) which is an electromagnetic valve that drives an elevation cylinder (28) by operating a solenoid type up / down valve (104) (105).
06) is provided in the high-pressure oil passage (100), and the horizontal cylinder (10) for controlling the laterally inclined posture of the planting portion (15) is provided.
7) The horizontal operation solenoid valve (108) is provided in the low pressure oil passage (101), and the raising and lowering control of the planting portion (15) is performed by raising and lowering the valves (104) and (105). ).

Then, as shown in FIG. 12, the shallow and deep side circuits (111) and (112) of the planting motor (84)
And a controller (113) for output connection to the solenoids (109) and (110), and a potentiometer-type lever sensor for detecting a position where the planting lever (30) is planted, lowered, raised, and a planting clutch is engaged. (11
4) and a planting depth switch (11) for starting planting depth control.
5), a sensitivity setting device (31) for setting the hydraulic sensitivity (target value) of the lifting cylinder (28) according to the field surface hardness, and the oil temperature of the hydraulic pressure flowing through the valves (104) (105) (106) (11) which is an oil temperature sensor for detecting
6) and a voltage sensor (119) for monitoring a change in the power supply voltage (Vcc) from the battery (118) applied to the controller (113) via the key switch (117).
And each of the sensors (79) (93) (94) (95)
(98) to a controller (113), and a fertilizer application motor (120) of a blower that supplies and conveys fertilizer in a fertilizer tank of the fertilizer applicator (36) by wind blast and a battery via a drive switch (121). (118), the planting depth motor (84) and the elevating valve (106)
And the respective fertilizer application motors (120) are driven.

As shown in FIG. 13, the thermistor (116) is a detection circuit (11) having a fixed resistance (R1).
When detecting the thermistor resistance value (R) in 6a), the oil temperature (T) is obtained from the temperature-resistance characteristics of the thermistor (116).
(T = coil temperature) is calculated, and the coil reference temperature (T
0) (for example, T0 = 20 ° C.), the coil resistance value (r) at the detected oil temperature (T) is calculated from the coil resistance value (r0) (for example, r0 = 5Ω), and the rise and fall valves (104) (105) ) Solenoid (109) (11)
0) When the drive value before correction of the coil is D, the drive value (D1) after temperature correction is calculated from the relational expression of D1 = r / r0 × D, and the ascending and descending valves (104) and (105) are set. It is driven by the drive value (D1).

As shown in FIG. 14, the voltage sensor (11
9) Divides the power supply voltage (Vcc) applied to the controller (113) to A / A in the controller (113).
The A / D conversion input value is limited by a voltage dividing resistor (R2) (R3) built in the control (113) so as not to exceed a fixed value (for example, 5 V). The change of the power supply voltage (Vcc) is accurately detected by the means.

The ascending and descending valves (104) (1)
The drive value (drive duty) before correction for the solenoids (109) and (110) of the solenoid 05) is D1, the drive value (drive duty) after correction is D2, and the reference voltage is V0 (= 14).
V) When the actual power supply voltage is V, D2 = V0 / V
The drive value (D1) is corrected based on the relational expression of × D1,
The actual drive value (D2) of the ascending and descending valves (104) (105) is calculated. As a result, even when the power supply voltage is greatly reduced (the elevating speed is reduced) when the blower fertilizing motor (120) of the fertilizer applicator (36) is driven, the elevating speed is maintained constant without being affected by this. Can be done.

Before the output of the drive value (D2) after such voltage and temperature correction, the drive value (D2) is limited so as not to exceed the rated current (I).
≦ I × r / Vcc to raise and lower the valve (1
04) It is intended to prevent the solenoid coil of (105) from burning out.

As shown in FIGS. 9 and 10, the elevation valve (106) is provided with an ascending and descending valve (104) (10).
5) integrally comprising an ascending and descending valve (104)
The solenoid coils (122) and (123) of the solenoids (109) and (110) of (105), the tank port (124), the cylinder port (125) for the lift cylinder (28), and the pilot port (126) , A drain port (127), a pump port (128), etc., and a mounting adapter (12) for attaching the drain port (127) to the drain port (127a) of the elevating valve (106).
9) Attach the thermistor (116) to the drain port (127) of the elevating valve (106) close to the coil part (123) and compactly mount the thermistor (116). In addition to performing accurate detection, variations in the detection value of the thermistor (116) due to a change in hydraulic pressure are eliminated, and the detection accuracy is improved.

This embodiment is constructed as described above, and the engine sensor (94) detects the proper rotation state of the engine (2), and the sensitivity setting device (31) / vehicle speed sensor (95) / link sensor (98) ・ Lever sensor (11
4) When the values of the float sensor (79) are input to the controller (113) and the planting section (15) is lowered and the center float (34) is in the planting operation condition with the ground contacted, the mode shifts to the elevation control mode. I do. And sensitivity setting device (31)
The target value (V1) (the target inclination angle of the center float (34)) of the elevation control is calculated based on the set value of the vehicle speed and the correction value of the vehicle speed sensor (95) based on the vehicle speed, and then the detection of the float sensor (79) Value (V2) (center float (3
4) The deviation (V3) (V3 = V2−V1) between the target value (V1) and the target value (V1), and the ascending and descending valve (104) based on the engine speed detected by the engine sensor (94). ) (105), and the valve (104) (1) is calculated by increasing the engine speed.
When the input flow rate from the hydraulic pump (99) increases with respect to (05), the ascending drive value of the ascending valve (104) is reduced so that the ascending / descending speed of the planting section (15) is substantially constant regardless of the engine speed. Let it be maintained.

The above-mentioned raising and lowering valve (104)
The temperature / voltage correction for stabilizing the current supplied to the coils of the solenoids (109) and (110) of (105) is performed immediately before output to the solenoids (109) and (110). When detecting the oil temperature (T) (T ≒ coil temperature), the drive before temperature correction is performed based on the coil resistance value (r0) at the reference temperature and the coil resistance value (r) at the oil temperature (T). For the value (D), a drive value (D1) after temperature correction is calculated from the relational expression of D1 = r / r0 × D.

The drive value (D1) after the temperature correction is changed by the change of the power supply voltage (V) to obtain D2 = V0 / V ×
The drive value (D2) after voltage correction is calculated from the relational expression of D1 (V0: reference voltage), and the oil temperature (T) and the power supply voltage (V) are calculated.
And a stable control speed irrespective of the change in

When the planting lever (30) is raised, the lifting valve (104) is driven until the input value of the link sensor (98) reaches the upper limit regulation value, while when the lever (30) is lowered, The descending valve (105) is driven until the float sensor (79) receives an input of a certain value or more (float grounding).

As shown in FIG. 14, planting depth control is performed by the planting depth switch (115), and a sensitivity setting device (31), a vehicle speed sensor (95), and a planting depth sensor (9)
When the value of 3) is read and the value within a certain range of the planting depth sensor (93) is set as the set value (V5) by the planting depth switch (115), correction by vehicle speed (V6), hydraulic sensitivity (sensitivity) The target planting depth V8 (V8 = V5 + V6 + V7) is calculated by performing the correction (V7) using the setting unit (31), and the detection value (V9) of the working planting depth sensor (93) is calculated.
(84) when the deviation (| V9-V8 |) is larger than a fixed (dead zone) and V9> V8.
Is controlled to the deep planting side, and when V8> V9, the planting depth motor (84) is controlled to the shallow planting side to keep the planting depth constant.

As described above, in the control of raising and lowering the planting portion (15) by the planting lever (30) and the control of raising and lowering the planting portion (15) by the float sensor (79), each solenoid (109) ( Immediately before the drive value of (110) is output as a pulse signal to the solenoids (109) and (110), the temperature of the oil temperature and the voltage of the power supply voltage are corrected to be affected by changes in the oil temperature and the power supply voltage. The raising and lowering control of the planting section (15) is performed at a constantly stable raising and lowering speed without the need to improve the planting accuracy.

[0034]

As is apparent from the above embodiments, the present invention provides a hydraulic lifting control mechanism (2) for raising and lowering the planting section (15).
8) is controlled by an electromagnetic valve (106) to maintain a constant planting depth. In a rice transplanter, an oil temperature sensor (116) for detecting a hydraulic oil temperature for operating a hydraulic lift control mechanism (106). ) To constantly control the operating current supplied to the solenoid valve (106) based on a change in the oil temperature detected by the oil temperature sensor (116) so as to stably maintain the elevation control speed of the planting portion. Therefore, even if the oil temperature of the hydraulic pressure supplied to the hydraulic elevating control mechanism (106) changes during the planting operation, the planting section (1) is always controlled at a stable control speed regardless of the oil temperature.
5) The lifting and lowering control can be performed to maintain the planting depth at a constant level and to make the float traces neat and clean, thereby improving workability.

The oil temperature sensor (116) is connected to the solenoid valve (1).
06) is provided in the tank port (124) line, so that the oil temperature sensor (116) is mounted at a position where the change in hydraulic pressure is small, and detection is performed while suppressing variation in the detection value of the oil temperature sensor (116). The accuracy can be improved.

Further, since the temperature-corrected control signal of the solenoid valve (106) is corrected in accordance with the power supply voltage, the same current value is maintained under the same driving conditions even if the power supply voltage changes. It is possible to perform high-precision elevation control of the planting section (15) with a constant control speed.

Further, since the control signal is limited so as not to exceed the rating of the coil of the solenoid valve (106) before outputting the control signal after the voltage correction, the solenoid valve (10
It is possible to prevent inconvenience such as burning out of the coil of 6) and to improve durability of the solenoid valve (106) and maintain stable accuracy.

[Brief description of the drawings]

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

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

FIG. 3 is an explanatory side view of the traveling vehicle body.

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

FIG. 5 is an explanatory side view of the planting section.

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

FIG. 7 is an explanatory side view of a center float portion.

FIG. 8 is an explanatory side view of a planting depth adjusting unit.

FIG. 9 is an explanatory side view of the elevating valve.

FIG. 10 is an explanatory plan view of a lift valve.

FIG. 11 is a hydraulic circuit diagram.

FIG. 12 is a control circuit diagram.

FIG. 13 is a diagram illustrating a detection circuit of a thermistor.

FIG. 14 is an explanatory diagram of a voltage detection circuit.

FIG. 15 is a flowchart of elevating control.

FIG. 16 is a flowchart of planting depth control.

[Explanation of symbols]

 (15) Planting part (28) Lift cylinder (lift control mechanism) (106) Lift valve (solenoid valve) (116) Thermistor (oil temperature sensor) (124) Tank port

Continued on the front page F term (reference) 2B062 AA05 AA12 AB01 AB07 BA63 BA65 CA03 CA05 CB04 CB07 2B304 KA04 KA13 LA02 LA09 LB05 LB16 MA02 MB02 MC08 MD02 MD03 MD04 PD02 PD17 PD19 QA13 QA22 QB14 QB27 QB29 QC03 BB03 QC03 QC03 QC03 CC01 CC02 DA02 DB03 DB13 DB33 DB46 DB50 GG02 JJ17

Claims (4)

[Claims] 1. A rice transplanter in which a hydraulic raising / lowering control mechanism for raising / lowering a planting part is driven and controlled by an electromagnetic valve so as to maintain a constant planting depth. A configuration is provided in which an oil temperature sensor for detecting is provided, and the operating current supplied to the solenoid valve is controlled to be constant based on a change in the oil temperature detected by the oil temperature sensor, so that the elevation control speed of the planting portion is stably maintained. Rice transplanter characterized by doing. 2. The rice transplanter according to claim 1, wherein the oil temperature sensor is provided in a tank port line of the solenoid valve. 3. The rice transplanter according to claim 1, wherein the control signal of the solenoid valve after the temperature correction is corrected according to the power supply voltage. 4. The rice transplanter according to claim 3, wherein the control signal is restricted so as not to exceed the rating of the coil of the solenoid valve before outputting the control signal after the voltage correction.