JP2002360020A - Transplanter - Google Patents

Abstract

PROBLEM TO BE SOLVED: To control the posture of a float of a transplanter to nearly horizontal state by lifting or lowering the front part of the float according to the tilting angle of the float. SOLUTION: A hydraulic control valve 30 for controlling a hydraulic cylinder device 14 is connected to a float 24 through a sensitivity adjusting mechanism 32 and controlled according to the tilting angle of the float 24 caused by the buoyancy acting on the float 24. The tilting angle of the float 24 is detected by a tilt sensor 80 of the float 24 and an electric motor 63 is energized by the detection signal. The front part of the float 24 is lifted or lowered by the motor 63 through a float sensitivity adjusting wire 45 to keep the posture of the float to a nearly horizontal state.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a transplanter, and more particularly, to a transplanter having an actuator that controls the front of a float to be able to move up and down based on a signal from a contact angle detection sensor.

[0002]

2. Description of the Related Art A transplanting machine such as a riding rice transplanter is provided with an elevation control lever which can be operated manually and automatically. The operation of the lever makes it possible to control the elevation of the planting section and to control the elevation of the lever. At the automatic position, the vertical movement of the planting unit is controlled by hydraulic pressure so that the planting unit is at the proper planting position by sensing the earth pressure acting on the float of the planting unit.

[0003] When the mud in the field is soft, the front part of the float generally falls down and penetrates into the soil to cause mud pushing. On the other hand, when the mud in the field scene is hard, the front part of the float rises and the planting part floats up and the planting depth becomes shallow, and the rock tends to be frequently swung up and down due to the soil mass and the like.

[0004] As described above, due to the softness of the field scene, automatic detection of hydraulic pressure becomes insufficient or over-exposed, and the float sinks or floats. For example, the hydraulic sensitivity adjustment lever or the hydraulic sensitivity adjustment dial is operated. To correct the amount of settlement of the float.

In other words, when the mud is soft, the urging force for urging the float in the direction of the field is weakened so that the float can move upward even with a slight earth pressure so that the vertical movement of the float can be controlled with sharp sensitivity. In addition, when the mud is hard, the urging force is increased to increase the float's upward movement resistance so that the float can be controlled with a low sensitivity so that the float does not move unless a large earth pressure is applied. In some cases, the sensing load of the float is changed by changing the size.

[0006]

However, according to the prior art, the float's perceived load is changed each time by manually operating the hydraulic sensitivity adjustment lever or dial operation according to the hardness of the field scene. For this reason, during the planting operation, it is necessary to frequently check and adjust the posture of the float, and there is a problem that the operation is troublesome for the operator.

SUMMARY OF THE INVENTION The present invention has been made to solve such a problem. An object of the present invention is to make it possible to control the front part of the float up and down based on the inclination angle of the float.
An object of the present invention is to provide a transplanter that can adjust a posture of a float that varies according to field conditions substantially horizontally.

[0008]

In order to achieve the above object, according to the present invention, a traveling unit (15) is provided with a working unit (24) provided with a ground contact body (24) that moves while being grounded on a field scene. And a hydraulic control valve (30) for controlling the hydraulic cylinder device (14) is provided, and the grounding body (24) is provided at a rear portion thereof. The front part is suspended vertically around a fulcrum (33), and the front part is connected to the grounding body (2).
4) In conjunction with the hydraulic control valve (30) via a sensing plate (37) and a link mechanism (32) connected to the grounding body (24) based on buoyancy acting on the grounding body (24). The hydraulic control valve (3
In the transplanter (11) capable of controlling 0), a contact angle detecting means (80) for detecting a contact angle of the contact body (24) with respect to a field scene, and a signal from the contact angle detecting means (80). An actuator (63) for controlling the front part of the grounding body (24) so as to be movable up and down, so that the posture of the grounding body (24) that fluctuates according to field conditions can be adjusted substantially horizontally. , Characterized in that.

[Operation] As described above, according to the present invention, the grounding body (24) is connected to the hydraulic control valve (30) through the sensing plate (37) and the link mechanism (32). The posture of the working unit (20) is controlled based on the buoyancy acting on the body (24). In the present invention, the contact angle detecting means (24) detects the inclination angle of the contact body (24) that varies according to the field conditions. 80), and a control unit (7) based on a signal from the contact angle detecting means (80).
The actuator (63) is driven via 3), and the front part of the grounding body (24) is automatically controlled to be vertically movable.

That is, the working portion (2) is generated by the buoyancy acting on the grounding body (24) by the grounding angle detecting means (80).
0) can be sensed, and the actuator (63) automatically and substantially horizontally adjusts the attitude of the grounding body (24) that fluctuates according to field conditions. Thereby, when the transplanting operation is performed by the working unit (20), deep planting or shallow planting of the transplanted seedlings is prevented even with fluctuations in field conditions.

Note that the reference numerals in parentheses described above are for reference to the drawings, and do not limit the present invention in any way.

[0012]

Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 is an overall side view of a riding rice transplanter as a transplanter according to the present invention. As shown in the figure, the riding rice transplanter 11 has a traveling machine body 15 supported by a front wheel 12 and a rear wheel 13, and the traveling machine body 15 has an engine 16 mounted on a front portion thereof and a rear portion thereof. A transmission 26 is integrally mounted. A driver's seat 19 having a seat 17 is disposed substantially at an intermediate position between the front wheel 12 and the rear wheel 13. In the driver's seat 19, an engine throttle lever 27 for controlling the vehicle running speed is provided at a front portion, and a planting clutch lever (hydraulic / planting lever) 28 for engaging and disengaging a planting clutch at the side of the seat 17 and the like. Are arranged.

Behind the traveling machine body 15, a planting section 20 as a working section includes an upper link 18a and a lower link 1a.
8b, is supported by a lifting link mechanism 18 having a lifting mechanism 8b. The planting section 20 has a large number of planting rods 21, a float 24 as a grounding body, and a seedling mounting table 22 on which mat seedlings can be placed. Is provided. In addition, this planting part 20
Can be rolled freely by a rolling shaft (not shown) installed on a link support frame 23 at the rear end of the lifting link mechanism 18.

A hydraulic cylinder device 14 is disposed between a rear portion of a front axle (not shown) for supporting the front wheels 12 and the elevating link mechanism 18. The hydraulic cylinder device 14 is The planting portion 20 is controlled to move up and down by expanding and contracting based on the operation of a hydraulic control valve 30 disposed below the driver's seat 19. For example, in FIG. 2, the hydraulic cam 29 is manually operated by moving the planting clutch lever 28 to each of “up”, “fixed”, “down”, and “planting” positions along a guide groove (not shown). Is the camshaft 29a
, And the hydraulic control valve 30 composed of a rotary pool valve is rotationally controlled so that the planting section 20 is controlled to move up and down.

Further, the hydraulic control valve 30 has an arm 31 mounted on a shaft 30a integral with the spool. The arm 31 is connected to the float 24 via a sensitivity adjusting mechanism 32, The hydraulic control valve 30 is automatically controlled based on the buoyancy (earth pressure fluctuation) acting on the plant 24, and the hydraulic cylinder device 14 expands and contracts, and
0 is automatically controlled.

As shown in FIG. 2 described above, the float 24 is provided with an arm 36 connected to a lower portion of a transmission case 34.
a and 36b are rotatably mounted on a shaft through a rear fulcrum 33, and a sensing plate 37 is pivotally connected to a front portion thereof. Further, a fulcrum shaft 3 provided on the transmission case 34
8 includes a planting depth adjusting lever 39 and a bracket 40.
The bracket 40 and the arm 36a are pin-connected, and by manually operating the planting depth adjusting lever 39, the vertical position of the float 24 can be adjusted. I have.

Although the detailed description is omitted, if the float 24 is adjusted upward or downward by operating the planting depth adjusting lever 39 up and down, the fulcrum shaft 38 rotates and the connecting rod 41 moves. Thus, the pivot 43 of the swing arm 42 moves up and down about the connecting shaft 44 of the lifting link mechanism 18 (see FIG. 3 for details).

As shown in FIGS. 2 and 3, the lower end of the sensing plate 37 is connected to the float 24 by a connecting pin 37.
a, and a long hole 37b near the upper end thereof.
Are formed. A float sensitivity adjusting wire 45 is fixed to an upper end portion of the sensing plate 37, and a pin 46 fixed to a distal end of an inner wire 45a of the wire 45 is fitted into the long hole 37b.

The sensitivity adjusting mechanism 32 includes the sensing plate 3
7, a sensing rod 47 connected to the sensing plate 37 via a swing arm 42, and a continuous traction link 49 connected to the sensing rod 47 via a link ratio adjusting unit 48. A return spring 62 that constantly urges the spring in a downward direction, and an electric motor (actuator) 63 that can adjust the urging pressure of the return spring 62.

As shown in FIG. 3, the swing arm 42 comprises forked arms 42a and 42b which can swing integrally about a pivot point 43.
a and 42b are connecting shafts 44 connecting the lower links 18b and 18b on the left and right sides of the body at the rear of the lifting link mechanism 18.
Are arranged close to the connection shaft 44 by a connection plate 50 mounted on the connection shaft 44. Therefore, the rotation fulcrum 43
It is rotatable with a radius equal to the distance between the rotation fulcrum 43 and the connection shaft 44.

The sensing plate 37 and one arm 42a are connected via a pin 46 fitted in a long hole 37b of the sensing plate 37. The arm 42a is connected to the connection shaft 44. It is curved and formed in an arc shape so as not to abut. The sensing rod 47 is connected to the tip of the other arm 42b via a pin 51.

As described above, the distal end of one arm 42a of the swing arm 42 is connected to the sensing plate 37 via the pin 46, and the distal end of the other arm 42b is connected to the sensing rod via the pin 51. The two connecting portions 46 and 51 are arranged substantially vertically apart from the connecting shaft 44.

On the other hand, the above-mentioned float sensitivity adjusting wire 45 is connected to the pin 46 connecting the swing arm 42a and the sensing plate 37, and the wire connecting pin 46
A spring 52 is stretched between the float connecting pin 37a and the inner wire 45.
The working length of the sensing plate 37, which is the length between the wire connecting pin 46 and the float connecting pin 37a, is set by positioning a.

Next, referring to FIG.
Reference numeral 7 denotes an elongated rod member at the center in the longitudinal direction, a link fitting 53 is integrally attached to a rear portion of the rod member, and a pin joint 54 is attached to a front portion. The link fitting 53 has a pin 53a planted near the center on one side and an elongated hole 53b formed at the other end. A pin 51 fixed to the tip of the swing arm 42b is fitted into the elongated hole 53b, and a spring 55 is stretched between the pin 51 and the pin 53a.

The link ratio adjusting section 48 includes the sensing rod 4
And a conversion lever 56 for connecting the pulling link 7 to the continuous traction link 49. The swinging end of the conversion lever 56 and the pin joint 54 of the sensing rod 47 are rotatably mounted on a pin 57. . The base end of the conversion lever 56 is pivotally connected to the lower link 18b by a pivot connection 58. A plurality of holes are formed in the conversion lever 56 along the longitudinal direction thereof.
9, one end of the continuous traction link 49 is attached. The insertion position of the pin 59 can be freely changed by insertion and extraction.

The other end of the link 49 is connected to the arm 31 of the hydraulic control valve 30 via the pin 60 as described above. Further, a pin 61 is implanted at an intermediate portion of the continuous traction link 49, and a return spring 62 as an urging member is stretched on the pin 61, and the continuous traction link 49 is formed by the return spring 62. Always float 24
Is urged in the downward direction.

Next, as shown in FIGS. 3 and 4, a sector gear 65 is swingably mounted on a fixed frame 64 near the planting clutch lever 28 by a gear shaft 66. The gear 65 is meshed with a gear 67 fixed to an output shaft of the electric motor 63. The sector gear 6
5 includes fixing pins 68, 6 at both ends in the swinging direction.
9 are attached. One fixing pin 68 is connected to the return spring 62 via an inner wire 70a of the valve interlocking wire 70, and the other fixing pin 69
Is connected to the float 24 side via a fitting 71 by an inner wire 45a of the float sensitivity adjusting wire 45. On the other hand, a potentiometer 72 for detecting the amount and direction of rotation of the gear shaft 66 is connected to the control unit 73.

As described above, for example, when the planting clutch lever 28 is operated to the "automatic" position, the hydraulic control valve 30 is automatically operated by the sensitivity adjusting mechanism 32 through the swing arm 42 based on the buoyancy acting on the float 24. Is controlled. That is, when the planting section 20 is at the proper planting position, the hydraulic control valve 30 is held to hold the planting section 20 at that position.

From this state, the planting section 20 rises with respect to the rice field surface due to, for example, inclination of the body or vibration, and the float 2
When the buoyancy acting on the base plate 4 decreases, the front of the float 24 is lowered, and the movement is made to move the pivot fulcrum 43 to the swing arm 42a via the pin 46 positioned at a predetermined position of the sensing plate 37 and the elongated hole 37b. The rotation is transmitted as a counterclockwise rotation about the center (see FIG. 3), and the swing arm 42b also rotates in the same direction to press the sensing rod 47 to the left.

As a result, the conversion lever 56 rotates counterclockwise in FIG. 3 around the pivot connection portion 58, and moves the link 49 to the left in the drawing. The movement amount at this time is transmitted to the arm 31 via the pin 60, and the operating shaft 30a of the hydraulic control valve 30 is rotated clockwise to discharge the oil in the hydraulic cylinder device 14 from the hydraulic control valve 30. And the cylinder device 14 is contracted to lower the planting portion 20.

Conversely, if the planting part 20 is lowered for some reason and the buoyancy acting on the float 24 increases, the front of the float 24 is lifted, and the movement is detected by the sensing plate 37,
The conversion lever 56 is pivoted about the pivot connection 58 through the swing arms 42a and 42b and the sensing rod 47 in FIG.
Clockwise. The rotation of the conversion lever 56 moves the continuous traction link 49 rightward in the drawing. The movement amount at this time is transmitted to the arm 31 via the pin 60, and the operating shaft 30a of the hydraulic control valve 30 is rotated counterclockwise to feed the hydraulic control valve 30 to the hydraulic cylinder device 14 with pressure oil. The cylinder device 1
4 is extended to raise the planting section 20.

In this embodiment, the contact angle detecting means for detecting the contact angle of the float 24 with respect to the field scene, and the control means for controlling the front part of the float 24 to be vertically movable based on a signal from the contact angle detecting means. An electric motor 63,
The attitude of the float 24, which fluctuates according to the field conditions, can be adjusted substantially horizontally.

In FIG. 5, an inclination sensor (contact angle detecting means) 80 for detecting an inclination angle of the float 24 with respect to a field scene is provided substantially at the upper center of the float 24. Also, based on the signal from the tilt sensor 80,
The electric motor 63 as an actuator is driven via the control unit 73, and the front part of the float 24 is automatically controlled to be vertically movable. The inclination sensor 80 and the electric motor 63 automatically and substantially horizontally adjust the attitude of the float 24 that fluctuates according to field conditions.

FIG. 6 is a control block diagram of the present embodiment.

In the figure, a control unit 73 includes an inclination sensor 80, a potentiometer 81 for detecting the rotation angle of the hydraulic cam 29, and a lift angle of the planting unit 20 by detecting the lift angle of the lifting link mechanism 18. Is input from the potentiometer 82 for detecting the signal. In the control unit 73, these inclination sensor 80, hydraulic cam potentiometer 81,
The electric motor 63 is controlled based on a signal from the lift angle potentiometer 82.

As described above, for example, in the case of a soft field, when the tilt angle of the float 24 is lowered forward, this is detected by the tilt sensor 80, and the electric motor 63 is driven via the control unit 73 according to the detected value. , The sector gear 65 swings in the direction B in FIG. 4, the inner wire 45a of the float sensitivity adjusting wire 45 is pulled, and the tension of the spring 52 on the sensing plate 37 side increases, and the float 2
The lifting force of the front of 4 increases.

At the same time, since the valve interlocking wire 70 is loosened, the urging force of the return spring 62 is weakened, the pressing force on the surface of the float 24 is reduced, and the operating shaft 30a of the hydraulic control valve 30 is moved counterclockwise in FIG. , The cylinder device 14 extends, and the planting section 20 rises.
Thus, the movement of the float 24 is restricted by the change in the posture of the float 24 and the change in the pressing force against the rice paddle surface, and the hydraulic sensitivity is adjusted.

On the other hand, in the case of a hard field, when the tilt angle of the float 24 is in a forward ascending state, this is detected by the tilt sensor 80, and the electric motor 63 is driven via the control unit 73 in accordance with the detected value. 4, the sector gear 65 swings in the direction A in FIG. 4, the inner wire 45a of the float sensitivity adjusting wire 45 is loosened, the tension of the spring 52 on the sensing plate 37 side decreases, and the force for lifting the front part of the float 24 decreases. I do.

At the same time, since the valve interlocking wire 70 is pulled, the urging force of the return spring 62 is increased, the pressing force of the float 24 is increased, and the operating shaft 30a of the hydraulic control valve 30 is moved clockwise in FIG. , The cylinder device 14 contracts, and the planting portion 20 is lowered.

FIG. 7 shows a control flowchart of the present embodiment.

That is, in S1, a difference between a preset target value of the tilt angle of the float 24 and the detection value of the tilt sensor 80 is calculated, and if the difference is smaller than α (<α), S
Then, the process proceeds to S2, where the driving of the electric motor 63 is stopped. If it is larger than α (≧ α), the process proceeds to S3. In step S3, the inclination value of the inclination sensor 80 is compared with the target value. If the inclination sensor value is larger than the target value (≧ target value), in step S4, the electric motor 63 is moved in a direction to raise the front part of the float 24. Drive. If the inclination value of the inclination sensor 80 is smaller than the target value (<target value), the electric motor 63 is driven in the direction of descending the front part of the float 24 in S5.

FIGS. 8 (a) and 8 (b) show a control flowchart relating to the automatic adjustment of the float posture. In this flow, when the landing of the planting section 20 is detected, the float 24 is adjusted.
Is activated, and when the rise of the planting section 20 is detected, the operation of the automatic control is stopped.

That is, for example, the planting clutch lever 2
8, when the automatic control is activated by the lowering operation, the float control does not need to be automatically adjusted until the planting section 20 lands after the lever operation, but the automatic control is activated. Therefore, useless movement is eliminated.

FIG. 8 (a) is a flow relating to the setting of the automatic mode. In step S11, the cam position (hydraulic state) of the hydraulic cam 29 is determined. If the hydraulic cam 29 is "up" or "fixed", step S12 is performed. To turn off the automatic mode, and if the hydraulic cam 29 is "down" or "planting", the process proceeds to S13, where it is determined whether the planting section 20 is in contact with the ground. If No (not grounded), the process proceeds to S12, and if Yes (grounded), the automatic mode is turned on in S14.

FIG. 8B is a flow relating to the automatic float adjustment. In S15, it is determined whether or not the automatic mode in the above flow is ON. If NO, the flow proceeds to S16 to drive the electric motor 63. Is stopped, and if Yes, S1
Go to 7. In addition, since the flow of S17 to S20 is the same as that of FIG. 7 described above, the description is omitted.

FIGS. 9 (a) and 9 (b) show another control flowchart relating to the automatic adjustment of the float posture. In this flow, after a predetermined time has passed after the landing of the planting section 20 has been detected, the automatic operation of the float 24 is performed. Activate the control and start planting
When the rise of 0 is detected, the operation of the automatic control is stopped.

Also in this case, when the automatic control is operated by the "lower" operation of the hydraulic operating lever, it is necessary to automatically adjust the float posture after the lever operation until the planting section 20 lands. This is because, although there is no automatic control, the automatic control is activated, and there is a possibility that useless movement may occur.

FIG. 9A is a flow relating to the setting of the automatic mode. In S21, the cam position (hydraulic state) of the hydraulic cam 29 is determined. If the hydraulic cam 29 is "up" or "fixed", If the automatic mode is turned off in S22 and the hydraulic cam 29 is "down" or "planting", the process proceeds to S23, where it is determined whether the planting section 20 is in contact with the ground. If No (not grounded), the process proceeds to S22, and if Yes (grounded), the process proceeds to S24. In S24, it is determined whether or not the previous planting unit 20 is in contact with the ground. If No, the timer is started in S25, and Y
If es, go to S26. In S26, it is determined whether the timer has expired. If the timer has not ended, the process proceeds to S22. If the timer has ended, the automatic mode is turned on in S27.

FIG. 9B is a flow relating to the automatic float adjustment. In S30, it is determined whether or not the automatic mode in the above flow is ON. If NO, the flow proceeds to S31 to drive the electric motor 63. Is stopped, and if Yes, S3
Proceed to 2. In addition, since the flow of S32 to S35 is the same as that of FIG. 7 described above, the description is omitted.

FIGS. 10A and 10B show another control flowchart relating to the automatic adjustment of the float posture. In this flow, when the landing of the planting section 20 is detected, the automatic control of the float 24 is activated. When the planting clutch changes from "ON" to "OFF", the operation of the automatic control is stopped.

Also in this case, when the automatic control is operated by the "lower" operation of the hydraulic operation lever, it is necessary to automatically adjust the float posture until the planting section 20 lands after the lever operation. This is because, although there is no automatic control, the automatic control is activated, and there is a possibility that useless movement may occur.

FIG. 10 (a) is a flow relating to the setting of the automatic mode. In S40, the cam position (hydraulic state) of the hydraulic cam 29 is determined, and the hydraulic cam 29 is raised or fixed.
If so, the planting clutch flag is cleared in S41, then the automatic mode is turned off in S42, and if the hydraulic cam 29 is "down" or "planting", the process proceeds to S43, where planting is performed. It is determined whether the attachment unit 20 is on the ground. If No (not grounded), the process proceeds to S42, and if Yes (grounded), the process proceeds to S44. In S44, it is determined whether the cam position (hydraulic state) of the hydraulic cam 29 is "lower" or "planting". If "lower", the process proceeds to S45, and if "planting", the process proceeds to S46. In S46, the planting clutch flag is set, and the automatic mode is turned ON in S47. In S45, it is determined whether the planting clutch flag is set or cleared, and if it is set, the process proceeds to S42.
If “cleared”, the process proceeds to S47.

FIG. 10B is a flow relating to the automatic float adjustment. In S50, it is determined whether or not the automatic mode in the above-described flow is ON. If NO, the flow proceeds to S51 to drive the electric motor 63. Is stopped, and if Yes, S
Go to 52. Since the flow of S52 to S55 is the same as that of FIG. 7 described above, the description is omitted.

FIGS. 11 (a) and 11 (b) show another control flowchart relating to the automatic adjustment of the float posture. In this flow, after a predetermined time has elapsed after the landing of the planting section 20 has been detected, the automatic operation of the float 24 is performed. When the control is activated and the planting clutch changes from "on" to "off", the operation of the automatic control is stopped.

Also in this case, when the automatic control is operated by the "lower" operation of the hydraulic operation lever, it is necessary to automatically adjust the float posture until the planting section 20 lands after the lever operation. This is because, although there is no automatic control, the automatic control is activated, and there is a possibility that useless movement may occur.

FIG. 11A is a flow relating to the setting of the automatic mode. In S60, the cam position (hydraulic state) of the hydraulic cam 29 is determined, and the hydraulic cam 29 is raised or fixed.
If so, the planting clutch flag is cleared in S61, then the automatic mode is turned off in S62, and if the hydraulic cam 29 is "down" or "planting", the process proceeds to S63, where planting is performed. It is determined whether the attachment unit 20 is on the ground. If No (not grounded), the process proceeds to S62, and if Yes (grounded), the process proceeds to S64. In S64, it is determined whether or not the previous planting unit 20 is in contact with the ground. If No, the timer is started in S65,
Proceed to S62, and if Yes, proceed to S67. This S67
Then, the cam position (hydraulic state) of the hydraulic cam 29 is "down".
Or “planting”, and if “down”, proceed to S68,
If "planting", the process proceeds to S69. In S69, the planting clutch flag is set, and in S70, the automatic mode is turned ON. In S68, it is determined whether the planting clutch flag is "set" or "clear". If "set", the process proceeds to S62, and if "clear", the process proceeds to S70.

FIG. 11B is a flow relating to automatic float adjustment. In S71, it is determined whether or not the automatic mode in the above-described flow is ON. If NO, the process proceeds to S72 to drive the electric motor 63. Is stopped, and if Yes, S
Go to 73. In addition, since the flow of S73 to S76 is the same as that of FIG. 7 described above, the description is omitted.

FIG. 12 shows a lift angle potentiometer 82.
A control flowchart for detecting the contact of the planting section 20 with the detected value (see FIG. 6) is shown.

When the grounding of the planting section 20 is detected, usually, a dedicated sensor is attached and the planting section 2 is detected based on the detected value.
It is determined whether 0 is touched or not. According to this,
This causes an increase in the number of parts and an increase in cost. Therefore, in the present embodiment, the lift angle potentiometer 82
When the displacement amount of the lift angle potentiometer 82 within a predetermined time is equal to or less than a predetermined value or when the lift angle potentiometer 82 is displaced in a direction opposite to the descending direction of the planting portion 20 (upward), Judge that it has touched down.

That is, in S80, the cam position (hydraulic state) of the hydraulic cam 29 is determined and the hydraulic cam 29 is raised
If r is "fixed", the ground contact flag is reset in S81 and the process returns to the first step. If the hydraulic cam 29 is "down" or "planting", the process proceeds to S82. This S
At 82, the previous cam position of the hydraulic cam 29 (hydraulic state)
And the previous hydraulic cam 29 is “raised” or “fixed”
If so, the sampling timer is started in S83, and the current value of the lift angle is stored as the previous value in S84 and returns to the beginning, and the previous cam position (hydraulic state) of the hydraulic cam 29 is set to "lower". If it is “planting”, the process proceeds to S85. In step S85, the state of the ground flag is determined. If the ground flag is set, the process returns to the beginning. If the ground flag is reset, the process proceeds to step S86. In S86, it is determined whether the sampling timer is 0 or not.
If 0 (= 0), the sampling timer is started in S87, and the process proceeds to S88. In S88, the current value of the lift angle is compared with the previous value. If the current value is smaller than the previous value (<previous value), the contact flag is set in S89. If the current value is larger than the previous value, the process proceeds to S90. . This S9
At 0, the difference between the current value and the previous value of the lift angle is compared. If the difference is smaller than α (<α), the process proceeds to S89, and α
If it is larger, the current value of the lift angle is stored as the previous value in S91.

[0062]

As described above, according to the first aspect of the present invention, the ground contact angle detecting means for detecting the contact angle of the ground contact body with the field scene, and the ground contact based on the signal from the contact angle detecting means. An actuator that controls the front of the body so that it can move up and down freely, and the posture of the grounding body that fluctuates according to the field conditions can be adjusted substantially horizontally. In addition to being able to sense, deep planting and shallow planting can be prevented even with fluctuations in field conditions.

Further, in the case of manual operation, the operator can frequently check the posture of the grounding body and can eliminate the trouble of adjusting each time, so that the transplanting operation can be performed smoothly. .

[Brief description of the drawings]

FIG. 1 is a side view of a riding rice transplanter as a transplanter according to the present invention.

FIG. 2 is a side view of a state where a float and a hydraulic control valve are continuously pulled by a sensitivity adjusting mechanism.

FIG. 3 is a side view showing a main part of a sensitivity adjustment mechanism.

FIG. 4 is an enlarged perspective view of a main part of a sensitivity adjustment mechanism.

FIG. 5 is a side view of a float on which a tilt sensor is mounted.

FIG. 6 is a control block diagram of the present embodiment.

FIG. 7 is a diagram showing a control flowchart relating to automatic float adjustment.

8A is a diagram illustrating a control flowchart relating to automatic mode setting, and FIG. 8B is a diagram illustrating a control flowchart relating to automatic float adjustment.

9A is a diagram illustrating a control flowchart relating to automatic mode setting, and FIG. 9B is a diagram illustrating a control flowchart relating to automatic float adjustment.

10A is a diagram illustrating a control flowchart relating to automatic mode setting, and FIG. 10B is a diagram illustrating a control flowchart relating to automatic float adjustment.

11A is a diagram illustrating a control flowchart relating to automatic mode setting, and FIG. 11B is a diagram illustrating a control flowchart relating to automatic float adjustment.

FIG. 12 is a diagram illustrating a control flowchart relating to detection of a contact state of a planting section.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 11 Riding rice transplanter 14 Hydraulic cylinder device 15 Traveling body 18 Elevating link mechanism 20 Planting part 24 Float 28 Planting clutch lever 29 Hydraulic cam 30 Hydraulic control valve 32 Sensitivity adjusting mechanism 33 Rear fulcrum 37 Sensing plate 45 Float sensitivity adjusting wire 63 Electric Motor 70 Valve interlocking wire 73 Control unit 80 Tilt sensor 81 Hydraulic cam potentiometer 82 Lift angle potentiometer

Continued on the front page (72) Inventor Chie Mizutani 667, Iya-cho, Higashi-Izumo-cho, Yatsuka-gun, Shimane 1 F-term in Mitsubishi Agricultural Machinery Co., Ltd. (Reference) 2B063 AA02 AB01 BB04 BB12 BB18 CA04 CA07 CB02 CB11

Claims (1)

[Claims] 1. A traveling machine having a working unit provided with a grounding body which is grounded and moved on a field scene via a hydraulic cylinder device so as to be able to move up and down via a hydraulic cylinder device, and a hydraulic control valve for controlling the hydraulic cylinder device. Arranged, the grounding body is hung up and down at the front part around a rear fulcrum, and the front part is connected to the hydraulic control valve via a sensing plate and a link mechanism connected to the grounding body. In cooperation with the transplanter, the hydraulic control valve can be controlled by vertically moving the grounding body based on the buoyancy acting on the grounding body, wherein the grounding angle detecting means for detecting a grounding angle of the grounding body with respect to a field scene; An actuator for vertically controlling the front portion of the grounding body based on a signal from the grounding angle detecting means, and horizontally adjusting a posture of the grounding body that fluctuates according to field conditions. A transplanter characterized by the possibility of knotting.