JP2001231318A - Seedling transplanter - Google Patents

Abstract

PROBLEM TO BE SOLVED: To precisely carry out the lifting and lowering control of a seedling planting part in a seedling transplanter. SOLUTION: This seedling transplanter is composed so that a control target value is changed to the front lowering side of a ground contact unit 43 as the control sensitivity of a lifting and lowering control means is changed to the sensitive side and the ground contact pressure of the ground contact unit 43 is lightened without changing the control target value to the front lowering side of the ground contact unit 43 when the control sensitivity is further changed from a prescribed sensitivity to the sensitive side in the seedling transplanter equipped with the lifting and lowering control means for controlling the lifting and lowering of the seedling planting part so that the angle of the ground contact unit 43 provide in the seedling planting part is maintained at a prescribed control target value and capable of changing the control sensitivity of the lifting and lowering control means. The seedling transplanter is composed so that a planting depth regulating means 54 for regulating the planting depth of seedlings is coupled so as to be operated to the deep planting side when the control sensitivity of the lifting and lowering control means is changed to the sensitive side. Furthermore, the seedling transplanter is composed so that the dead zone width relatively to the control target value is reduced when the control sensitivity of the lifting and lowering control means is changed to the sensitive side and the lifting and lowering speed of the seedling planting part is reduced according to a reduction in the dead zone width.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control for raising and lowering a seedling placement part in a seedling transplanter.

[0002]

2. Description of the Related Art A seedling transplanting machine in which a seedling planting section is mounted on a traveling vehicle body so as to be able to move up and down is adapted to move up and down the seedling planting section appropriately in order to keep the planting depth of seedlings constant. The most common method of raising and lowering control is to sense the unevenness of the topsoil surface of the field by a grounded body provided in the seedling planting section, and to maintain the height of the seedling planting section constant based on the result. The planting section is moved up and down.

[0003] The ground contact body is rotatably mounted on the body frame of the seedling planting section around a left-right axis as a fulcrum, and is biased by a spring or the like so as to press the front end side against the top soil surface of the field. The angle of attack changes according to the unevenness of the topsoil surface. In such a grounded body, there is a tendency that the lower the grounded body is in the forward lowered posture, the more sensitive it is to react to small irregularities on the surface of the field. Therefore, the control sensitivity is adjusted by changing the control target value of the angle of attack of the grounding body.

[0004] In addition to the above control sensitivity adjustment method,
There is also a method of adjusting the control sensitivity by changing the dead zone width with respect to the control target value.

[0005]

In the case where a float for leveling is used as a grounding body, if the float as the grounding body is lowered too far forward to make the control sensitivity more sensitive,
There is a problem in that the ground contact area of the float is reduced, and the front part of the float sinks deeply into the mud, thereby deteriorating the leveling ability. It is a first object of the present invention to solve this.

[0006] Also, the more the float descends forward, the larger the float rises at the front of the float at the convex part of the soil surface of the field, and the smaller the planting depth of the seedling tends to be. Therefore, it is a second object of the present invention to keep the planting depth of the seedlings constant even when the control sensitivity is changed by changing the angle of the float.

Further, when the control sensitivity is adjusted by changing the dead zone width with respect to the control target value, if the dead zone width is reduced in order to increase the control sensitivity, the seedling planting section is output to the ascending or descending side. The hunting was apt to occur soon after the output became easier in the opposite direction. Solving this is the third problem of the present invention.

[0008]

In order to solve the first problem, the present invention is configured as follows. That is, the seedling transplanter according to the first aspect of the present invention provides a seedling transplanter such that the angle of the ground contacting body provided on the seedling placement portion so as to be rotatable about the left-right axis is maintained at a predetermined control target value. In a seedling transplanter, which comprises raising and lowering control means for controlling the raising and lowering of the planting portion, and wherein the control sensitivity of the raising and lowering control means can be changed, the control target value is set in front of the grounding body as the control sensitivity of the raising and lowering control means is made more sensitive. When the control sensitivity is changed to a lower side than the predetermined sensitivity, the control target value does not change to the lower side in front of the grounding body, and the ground pressure of the grounding body is reduced. And

Further, in order to solve the second problem, the present invention is configured as follows. That is, the seedling transplanter according to the second aspect of the present invention provides a seedling transplanter such that an angle of a ground contacting body provided at a seedling mounting portion so as to be rotatable about a left-right axis is maintained at a predetermined control target value. In a seedling transplanter that includes raising and lowering control means for controlling the raising and lowering of the planting unit, the control sensitivity of the raising and lowering control means can be changed. It is characterized in that the planting depth adjusting means is linked so as to be operated toward the deep planting side.

Further, in order to solve the third problem, the present invention is configured as follows. That is, the seedling transplanter according to the third aspect of the present invention provides a seedling transplanter such that an angle of a ground contacting body provided at a seedling mounting portion so as to be rotatable around a left-right axis is maintained at a predetermined control target value. In the seedling transplanter, which is provided with elevating control means for elevating and lowering the planting unit, and in which the control sensitivity of the elevating control means can be changed, when the control sensitivity of the elevating control means is on the sensitive side, the dead zone width with respect to the control target value is increased. It is characterized in that the speed of raising and lowering the seedling planting portion is reduced in accordance with the decrease in the dead zone width.

[0011]

DESCRIPTION OF THE PREFERRED EMBODIMENTS A preferred embodiment of a seedling transplanter according to the present invention will be described below with reference to a riding rice transplanter shown in the drawings. In the riding type rice transplanter 1 shown in FIGS. 1 to 5, a seedling planting section 4 is mounted on the rear side of a traveling vehicle body 2 via a lifting link device 3 so as to be able to move up and down.

The traveling vehicle body 2 is a four-wheel drive vehicle, and a pair of left and right front wheels 10, 10 and rear wheels 11, 1, which are driving wheels.
1 is provided. The rotational power of an engine 12 mounted on the front and rear central portions of the fuselage is transmitted to a transmission case 14 via a transmission belt device 13 and then transmitted to the front wheels 10 and 1.
0, the rear wheels 11, 11 and the seedling planting section 4 are transmitted to the respective driving sections. A cockpit 16 is provided above the engine 12, and a steering wheel 17 for steering the front wheels 10, 10 is provided in front of the cockpit 16.
And various operating tools.

The elevating link device 3 has a parallel link configuration, and includes a pair of left and right upper links 20 and 20 and a lower link 2.
1 and 21 are provided. These links have a front end rotatably supported by a link support frame 22 provided on the traveling vehicle body 2, and a connecting frame 23 is pivotally connected to the rear end.
The connecting frame 23 is provided with a rolling shaft 24 for connecting the seedling planting section 4 in a freely rolling manner. By extending and retracting the hydraulic lifting cylinder 25, each link rotates up and down, and the seedling placement part 4 connected to the rolling shaft 24 moves up and down with a substantially constant posture.

The seedling planting section 4 is supported in a freely rolling manner with a rolling shaft 24 as a fulcrum. The rolling arm 30 provided on the connection frame 23 and the left and right support frames 41a, 41a of the seedling mounting table 41 described later
The seedling planting section 4 is elastically held at the left and right neutral positions. A sector gear 3 is provided below the rolling arm 30.
2 is formed and the rolling motor 33
And the pinion 34 to be rotated is engaged. Thus, when the pinion 34 is rotated by the rolling motor 33, the rolling arm 30 is rotated, and the right and left inclination of the seedling placement unit 4 is changed via the rolling springs 31, 31. The left-right inclination amount of the seedling planting section 4 is detected by the left-right inclination sensor 35.

The seedling planting section 4 has a four-row planting structure. A transmission case 40 also serving as a seedling planting frame has a seedling table 41, four sets of seedling planting apparatuses 42,..., A center float 43 and a side float 44. , 44, etc. are attached, and during planting work, the floats 43, 44, 44 slide while leveling the muddy surface of the field, and are supplied to the seedling removal outlets 41b,. The seedlings to be planted are planted on the mud surface where the seedling planting devices 42,.

As shown in FIG. 4, the seedling planting device 42 attaches a crank 42b to a crankshaft 42a pivotally supported at the rear end of the planting transmission portion 40a of the transmission case 40, and connects the crank to the planting transmission. The implantation rod 42e is supported by a link 42d rotatably provided on a support 42c fixed to the portion 40a. When the crankshaft 42a is rotated, the planting rod 42e operates so that the seedling separation claw 42f provided at the distal end of the planting rod 42e moves up and down along a predetermined tip trajectory A, and the planting outlets 41b,. Is separated and taken out by the seedling separation claw 42f, and is planted in the field.

The hole 42h of the support 42c into which the shaft 42g serving as the pivot of the link 42d is inserted is an elongated hole, so that the position of the pivot of the link 42d can be adjusted. As shown by the solid line in FIG. 4, when the pivot point is located at one end of the elongated hole 42h, the seedling separation claw 42
f becomes a planting state in which the tip trace A is drawn. Also, as shown by the two-dot chain line, when the pivot point is located at the other end of the elongated hole 42h, the seedling separation claw 42f draws the tip trajectory B,
The seedling separation claw 42f is in a planting stop state in which the seedling separation claw 42f does not pass through the seedling removal outlet 41b. With this configuration, it is possible to stop planting of an arbitrary number of seedlings without providing a clutch in the transmission system to the seedling planting devices 42,. Therefore, cost can be reduced.

The switching between the planting state and the planting stopped state is performed individually for each seedling planting device 42 by a switching lever 46 provided on the upper rear surface of the seedling mounting table 41. The switching lever 46 and the shaft 42g are linked by a cable 47. The operation of the switching levers 46 of each section can be performed while the operator is sitting on the cockpit 16.

As shown in FIG. 5, each of the floats 43, 4
Reference numerals 4 and 44 denote float support pipes 5 arranged in the horizontal direction.
Are attached to the rear end portions of the float support arms 51,..., Which are integrated with the base plate 0, so that the front end side can move up and down in accordance with irregularities on the surface of the field. The float support pipe 50 is rotatably supported by the transmission case 40 and is rotated by a planting depth adjusting motor 54 on a sector gear 53 fixed to a planting depth adjusting arm 52 which rotates integrally with the pipe. By engaging the pinion 55 and driving the planting depth adjusting motor 54, which is a planting depth adjusting means, to rotate the float support pipe 50, the mounting height of each float with respect to the seedling planting apparatus 42,. To adjust the planting depth of the seedlings. The angle of the planting depth adjusting arm 52 is detected by a planting depth sensor 56.

The center float 43 is a grounding body for sensing irregularities on the surface of the field, and the angle of attack α of the center float is detected by the float angle sensor 60. The float attack angle sensor 60 is attached to a vertical link 63 connected to the front ends of an upper link 61 and a lower link 62 rotatably supported by the transmission case 40. The rear end of the sensing arm 65 rotatably attached to the connecting shaft 64 of the upper link 61 and the vertical link 63 is connected to the front of the center float 43 via a sensing rod 66. The front end and the input arm 60 a of the float angle sensor 60 are connected via a connecting rod 67.

Further, one end of a pressing spring 70 is attached to the front end of the sensing arm 65, thereby pressing the front of the center float 43 against the surface of the field. For this reason, the center float 43 has a state in which the front end side is slightly sunk in the mud. A pinion 73 rotated by a ground pressure adjusting motor 72 meshes with a rack 71 provided on the other end side of the pressing spring 70. The center float 43 is driven by driving the ground pressure adjusting motor 72 to expand and contract the pressing spring 70. The ground pressure is adjusted.

Since the float angle sensor 60 is supported by the parallel link mechanism, it is always kept in the same position with respect to the transmission case 40. Then, the arm 75 that rotates integrally with the upper link 61 and the planting depth adjusting arm 52 are connected by a link rod 76, and when the planting depth is changed, only the height corresponding to the change amount is obtained. Since the float attack angle sensor 60 is configured to move up and down, the float attack angle can always be accurately detected.

FIG. 6 is a block diagram showing the structure of a lifting control device for controlling the height of the seedling plant to the ground. The float receiving angle sensor 60, the planting depth sensor 56, and the sensitivity adjusting dial 81 for setting the control sensitivity are connected to the input side of the control unit 80, and the elevation hydraulic cylinder 25 is controlled to the output side of the control unit 80. The hydraulic switching valve 82, the planting depth adjusting motor 54, and the ground pressure adjusting motor 72 are connected. The hydraulic pressure switching valve 82 is a solenoid valve, and is driven by a pulse output signal.

During the planting operation, the float angle sensor 6
The actual float attack angle detected at 0 is compared with a predetermined float attack angle control target value, and when the difference is within the dead zone, the hydraulic pressure switching valve 82 is held neutral, and When the difference is out of the dead zone, an output command is issued to the hydraulic pressure switching valve 82 so that the actual float attack angle approaches the control target value. For example, where the topsoil surface is high, the front part of the center float 43 is pushed up, and the float angle of attack is detected to be small. Then, an output command is issued to the hydraulic pressure switching valve 82 so as to cause the raising / lowering hydraulic cylinder 25 to protrude, and the seedling planting section 4 is raised. Conversely, where the topsoil surface is low, the front part of the center float 43 is lowered, so that the float attack angle is detected to be large. Then, an output command is issued to the hydraulic pressure switching valve 82 so as to contract the raising and lowering hydraulic cylinder 25, and the seedling placement unit 4 is lowered. In this way, the planting depth of the seedlings is always kept constant by raising and lowering the seedling planting section 4 according to the unevenness of the topsoil surface.

The control target value of the float attack angle is determined according to the adjustment position of the sensitivity adjustment dial 81.
That is, when the sensitivity adjustment dial 81 is adjusted from the “standard” position to the “insensitive” side, the control target value changes to the upstream side before the float according to the adjustment amount (see FIG. 7). The center float 43, which is a ground contacting body, moves up and down in response to the small irregularities on the surface of the field as the posture is lowered forward. Therefore, by changing the control target value to the upstream side before the float, the control sensitivity becomes insensitive.

Conversely, when the sensitivity adjusting dial 81 is adjusted from the "standard" position to the "sensitive" side, the control target value of the float attack angle does not change, but is output to the ground pressure changing motor 73 and the center, which is the grounded body, is changed. The ground pressure of the float 43 decreases (see FIG. 7). The smaller the contact pressure of the contact body, the more easily the contact body can move freely and the better the topsoil follow-up property, and thus the more sensitive the control sensitivity.

As described above, the adjustment of the control sensitivity by changing the control target value and the adjustment of the control sensitivity by changing the ground pressure are used together. When the center float 43 is lowered forward, the front end side of the float is too deeply immersed in the mud, leaving traces of the float on the surface of the soil. In general, the control sensitivity is increased when the soil is soft. Conversely, if the control sensitivity is adjusted only with the latter, the center float 43
The ground pressure becomes too strong, and almost no topsoil tracking is performed.

When the sensitivity adjusting dial 81 is adjusted from the "insensitive" side to the "sensitive" side, the seedling is output to the planting depth adjusting motor 54 so that the planting depth is increased. When 81 is adjusted from the “sensitive” side to the “insensitive” side, the seedling is output to the planting depth adjusting motor 54 so as to restore the planting depth. As described above, when the control sensitivity is sensitive, the attitude of the center float 43 is lowered forward, and the trace of passage of the float tends to be deeper than its surroundings. By raising the vertical position of the float 43, the planting depth of the seedling is corrected so as to be kept constant.

Unlike the control sensitivity changing method described above, the control sensitivity may be changed by increasing or decreasing the dead zone width with respect to the control target value. In this case, as shown in the flowchart of FIG. 8, when the dead zone width is reduced to make the control sensitivity more sensitive, the pulse on-time or pulse cycle of the hydraulic switching valve 82 is changed to change the hydraulic lift cylinder 2
If the operating speed of the hydraulic lifting cylinder 25 is decreased and the dead zone width is increased in order to make the control sensitivity insensitive, it is preferable to increase the operating speed of the hydraulic lifting cylinder 25 in the same manner. This can prevent hunting from occurring when the control sensitivity is increased.

FIG. 9 is a block diagram showing a configuration of a rolling control device for controlling the rolling of the seedling planting section. The left and right inclination sensor 35 on the input side of the control unit 80, a left and right angular velocity sensor 85 for detecting a changing speed of the left and right inclination of the traveling vehicle body,
A right-left tilt adjustment dial 86 for setting a right-left tilt reference of the seedling planting part is connected, and the rolling motor 33 is connected to an output side of the control unit 80.

At the time of planting operation, based on the detection results of the left and right inclination sensor 35 and the left and right angular velocity sensor 85, the output is output to the rolling motor 33 so that the inclination becomes the left and right inclination (normally horizontal) set by the rolling adjustment dial 86. As shown in the flowchart of FIG. 10, when both the left and right inclination sensors 35 and the left and right angular velocity sensors 85 are disconnected during the control, an output is made to the rolling motor 33 so that the seedling planting section 4 is horizontally horizontal. .

Next, FIG. 11 shows a different embodiment. This riding type rice transplanter 1 'is configured to automatically adjust the control sensitivity of the elevation control device according to the hardness of the soil, and has the following different configuration as compared with the riding type rice transplanter 1 described above. are doing.

First, similarly to the lifting link device of the riding type rice transplanter 1, the lifting link device 3 'is provided with a connecting frame 9 at the distal end side of each of the left and right upper links 90, 90 and the lower links 91, 91.
3, a pitching mechanism that allows the seedling placement section 4 to rotate around a left and right axis within a predetermined range is formed at a connection portion between the upper link 90 and the connection frame 93. . That is, the upper link connecting pin 93b provided in the connecting frame 93 is loosely fitted into the elongated hole 90a (having an arc shape centered on the lower link connecting pin 93a) formed in the upper link, and the lower link connecting pin is provided. Seedling planting part 4 with 93a as a fulcrum
Can be pitched within the range of the elongated hole 90a.
A pitching electric cylinder 9 having both ends connected to an intermediate portion of the lower links 91, 91 and an upper link connecting pin 93b.
By causing the lower link connection pin 93a to act as a fulcrum, the attitude of the seedling planting section 4 is corrected by causing the lower link connection pin 93a as a fulcrum.

The center float 43 is provided with a hard / soft sensor 97 for detecting the hardness of the soil. This hard / soft sensor 97 detects the movement of a detection plate 97a rotatable around a left and right axis inserted in the soil, using a potentiometer 97b.
Is to be detected.

The lifting control device of the riding type rice transplanter 1 '
As shown in FIG. 12, a float attack angle sensor 60, a hard / soft sensor 97, and a sensitivity adjustment dial 81 are connected to the input side of the control unit 100, and a lifting hydraulic switching valve 82 and a pitching electric cylinder 95 are connected.

The riding type rice transplanter 1 ′ is also a riding type rice transplanter 1 ′.
Similarly to the above, the raising and lowering control of the seedling planting section 4 is performed based on the detection result of the float incoming angle sensor 60. The control target value of the float attack angle is automatically corrected appropriately so as to have a control sensitivity suitable for hard and soft soil detected by the hard and soft sensor 97.

As shown in the flowchart of FIG. 13, if the detection value of the hard / soft sensor 97 changes rapidly, the operating direction of the float at that time is determined. The output is output to the pitching electric cylinder 95 on the side where the attachment section 4 descends, and is output to the pitching electric cylinder 95 on the side where the seedling attaching section 4 is raised when the float is operated upward. In this way, when the vehicle body is rapidly inclined back and forth due to, for example, a wheel dropping into a depression, the seedling planting section 4 is controlled so as to be maintained in the front and rear horizontal direction. The operating speed of the pitching electric cylinder 95 is determined by the hardness sensor 97.
Adjust according to the speed of change.

Further, by changing the operating speed of the pitching electric cylinder 95 in accordance with the control sensitivity determined based on the detection result of the hard / soft sensor 97, pitching control suitable for soil conditions can be performed.

[0039]

As described above, in the seedling transplanter according to the present invention, when the leveling float is used as a grounding body for sensing unevenness on the topsoil of a field, the control target value of the grounding body contact angle is used. By adjusting the control sensitivity of the ground elevating control by changing the grounding pressure and the control sensitivity by changing the ground pressure of the grounding body, without impairing the topsoil followability,
Even when the control sensitivity is increased, a good leveling property can be obtained.

Further, by adopting a structure in which the planting depth adjusting means is linked so as to appropriately operate in accordance with the control sensitivity of the ground elevation control, even if the control sensitivity is changed by changing the angle of the grounding body, The planting depth of the seedlings has been kept constant.

Furthermore, when the control sensitivity is adjusted by changing the dead zone width with respect to the control target value, hunting does not occur by changing the raising / lowering speed of the seedling planting section in accordance with the increase or decrease of the dead zone width. It became possible to do so.

[Brief description of the drawings]

FIG. 1 is a side view of a riding type rice transplanter.

FIG. 2 is a plan view of a riding type rice transplanter.

FIG. 3 is a front view in which a part of a seedling planting part is omitted.

FIG. 4 is a side view of the seedling planting apparatus.

FIG. 5 is a side view showing a support mechanism of the float.

FIG. 6 is a block diagram of a lifting control device.

FIG. 7 is a diagram showing a relationship between a control sensitivity, a control target value of a float attack angle, and a contact pressure.

FIG. 8 is a flowchart of control for changing the control sensitivity by increasing or decreasing the dead zone width.

FIG. 9 is a block diagram of a rolling control device.

FIG. 10 is a flowchart of control by the rolling control device shown in FIG. 9;

FIG. 11 is a side view of a different riding type rice transplanter.

FIG. 12 is a block diagram of a different elevation control device.

FIG. 13 is a flowchart of control of the elevation control device shown in FIG.

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 riding type rice transplanter (seedling transplanter) 2 traveling vehicle body 3 elevating link device 4 seedling planting part 25 hydraulic lifting cylinder 42 seedling planting device 43 center float (grounding body) 54 planting depth adjusting motor (planting depth) Adjustment means) 60 Floating angle sensor 80 Control unit (elevation control means)

 ────────────────────────────────────────────────── ─── Continuing from the front page (72) Inventor Hiroyuki Niiyama 1 Yachikura, Tobe-cho, Iyo-gun, Ehime Pref. 2B063 AA10 AB01 AB08 BB08 BB09 BB12 BB18 BB21 BB44 CA04 CA10 CB01 CB02 CB06 CB11 2B304 KA13 KA14 LA02 LA09 LB05 LB16 LC04 MA04 MA07 MA08 MA18 MB02 MD03 QA11 QA17 QA26 QA30 QB03 QB12 QC

Claims (3)

[Claims] 1. A lifting and lowering control for raising and lowering a seedling mounting part so that an angle of a ground contacting body provided on a seedling mounting part so as to be rotatable about a left-right axis as a fulcrum is maintained at a predetermined control target value. In a seedling transplanter having control means, wherein the control sensitivity of the elevation control means can be changed, the control target value changes to the ground contact body front lowering side as the control sensitivity of the elevation control means is made more sensitive, and further control is performed. A seedling transplanter characterized in that when the sensitivity is set to be more sensitive than a predetermined sensitivity, the control target value does not change to the side in front of the grounding body and the grounding pressure of the grounding body is reduced. 2. A raising and lowering control for raising and lowering the seedling mounting portion so that the angle of a ground contacting body provided on the seedling mounting portion so as to be rotatable about a horizontal axis as a fulcrum is maintained at a predetermined control target value. In a seedling transplanter having control means, wherein the control sensitivity of the elevation control means can be changed, when the control sensitivity of the elevation control means is on the sensitive side, the planting depth adjustment means for adjusting the planting depth of the seedling is provided. A seedling transplanter characterized in that it is linked so as to be operated to the deep planting side. 3. A raising and lowering control for raising and lowering the seedling mounting part so that the angle of a ground contacting body provided on the seedling mounting part so as to be rotatable about a left-right axis as a fulcrum is maintained at a predetermined control target value. In a seedling transplanter having a control means, wherein the control sensitivity of the elevation control means can be changed, when the control sensitivity of the elevation control means is on the sensitive side, the dead zone width for the control target value is reduced, and the dead zone width of the dead zone width is reduced. A seedling transplanter characterized in that the raising / lowering speed of a seedling planting part is reduced according to the decrease.