JP2020162446A - Transplanting machine - Google Patents

Transplanting machine Download PDF

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JP2020162446A
JP2020162446A JP2019064452A JP2019064452A JP2020162446A JP 2020162446 A JP2020162446 A JP 2020162446A JP 2019064452 A JP2019064452 A JP 2019064452A JP 2019064452 A JP2019064452 A JP 2019064452A JP 2020162446 A JP2020162446 A JP 2020162446A
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detection sensor
rotating member
leveling rotor
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JP7142596B2 (en
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都田　洋三
Yozo Tsuda
洋三 都田
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Mitsubishi Mahindra Agricultural Machinery Co Ltd
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Abstract

To provide a transplanting machine in which a height position of a leveling rotor can properly be set according to field conditions.SOLUTION: This transplanting machine includes: a planting work machine connected to the rearward of a traveling machine body in a lifting/lowering manner; a leveling rotor 13 arranged in front of the planting work machine, rotating centering on a rotor shaft 12 extending in the left and right directions, and leveling the land of a field; a lifting/lowering device 15 for lifting and lowering the leveling rotor 13; a turning member 18 turned by receiving water flow generated by the muddy water being pushed aside to the left or right by the leveling rotor 13 when leveling the land of the field; a detection sensor 21 for detecting strength of the water flow received by the turning member 18; and a control unit for controlling the lifting/lowering device 15 on the basis of a detection value of the detection sensor 21.SELECTED DRAWING: Figure 3

Description

本発明は、圃場を整地するための整地ロータを備えた移植機に関する。 The present invention relates to a transplanter provided with a leveling rotor for leveling a field.

従来、走行機体の後部に植付部を昇降可能に連結し、この植付部の前方に整地装置を配置した乗用型田植機が知られている（例えば、特許文献１参照）。整地装置は、左右方向に延びる軸を中心に回転する整地ロータを有しており、特許文献１に記載された田植機においては、電動モータの駆動力を用いて整地ロータの高さ位置を調節可能としている。そして、運転操作部に乗込んだ作業者が昇降操作ダイヤルを操作して整地ロータの高さ位置を設定すると、電動モータの作動により整地ロータが設定された高さ位置になるまで昇降するように構成されている。 Conventionally, there is known a passenger-type rice transplanter in which a planting portion is vertically connected to the rear portion of a traveling machine body and a ground leveling device is arranged in front of the planting portion (see, for example, Patent Document 1). The ground leveling device has a ground leveling rotor that rotates around an axis extending in the left-right direction, and in the rice transplanter described in Patent Document 1, the height position of the ground leveling rotor is adjusted by using the driving force of an electric motor. It is possible. Then, when the operator who got into the operation operation unit operates the elevating operation dial to set the height position of the leveling rotor, the electric motor operates so that the leveling rotor moves up and down until it reaches the set height position. It is configured.

特開２０１０−２５２７２９号公報JP-A-2010-252729

しかし、特許文献１に記載の田植機では、作業者が昇降操作ダイヤルを操作することにより、整地ロータの高さを植付け深さに合わせた位置に調節するようになっており、圃場の条件、例えば、田面上に張られている水の深さや圃場の土質等は一様でないため、圃場の条件毎に作業者が目視で確認しながら整地ロータの高さ位置を調節する必要がある。また、整地ロータを田面に深く入れ過ぎてしまった場合、整地ロータの回転に伴って発生する水流が強くなるため、水流が既に隣接条に植付けられた苗を倒してしまう虞がある。 However, in the rice transplanter described in Patent Document 1, the operator operates the elevating operation dial to adjust the height of the leveling rotor to a position according to the planting depth. For example, since the depth of water stretched on the surface of the rice field and the soil quality of the field are not uniform, it is necessary for the operator to visually check the height position of the leveling rotor for each field condition. In addition, if the ground leveling rotor is inserted too deeply into the field surface, the water flow generated by the rotation of the ground leveling rotor becomes strong, and the water flow may overthrow the seedlings already planted in the adjacent strip.

そこで本発明は、整地ロータによって発生する水流を回動部材及び検知センサによって検知し、上述した課題を解決した移植機を提供することを目的とする。 Therefore, an object of the present invention is to provide a transplanter that solves the above-mentioned problems by detecting a water flow generated by a ground leveling rotor by a rotating member and a detection sensor.

本発明に係る移植機（１）は、圃場を走行する走行機体（４）と、該走行機体（４）の後部に昇降可能に連結された植付部（６）と、該植付部（６）の前方に配置され、左右方向に延びる軸（１２）を中心に回転して圃場を整地する整地ロータ（１３）と、を備えた移植機（１）において、
前記整地ロータ（１３）を昇降させる昇降装置（１５）と、
圃場を整地する際に前記走行機体（４）の走行に伴って前記整地ロータ（１３）が泥水を左右に押し分けることにより発生する水流を受けて回動する回動部材（１８）と、
前記回動部材（１８）が受ける水流の強さを検出する検知センサ（２１）と、
前記検知センサ（２１）の検出値に基づいて前記昇降装置（１５）を制御する制御部（２３）と、を備えてなる、
ことを特徴とする。 The transplanter (1) according to the present invention includes a traveling machine (4) traveling in a field, a planting portion (6) movably connected to the rear portion of the traveling machine (4), and the planting portion (6). In a transplanter (1) provided with a ground leveling rotor (13) arranged in front of 6) and rotating around an axis (12) extending in the left-right direction to level the field.
An elevating device (15) for raising and lowering the leveling rotor (13) and
A rotating member (18) that rotates in response to a water flow generated by the ground leveling rotor (13) pushing muddy water to the left and right as the traveling machine (4) travels when leveling the field.
A detection sensor (21) that detects the strength of the water flow received by the rotating member (18), and
A control unit (23) that controls the elevating device (15) based on the detection value of the detection sensor (21) is provided.
It is characterized by that.

例えば図５を参照して、前記制御部（２３）は、
前記検知センサ（２１）の検出値が第１の閾値（Ｆ１，Ｔ１）を超えている場合に、前記整地ロータ（１３）が上昇するように前記昇降装置（１５）を制御し、
前記検知センサ（２１）の検出値が前記第１の閾値（Ｆ１，Ｔ１）よりも低い第２の閾値（Ｆ２，Ｔ２）を下回っている場合に、前記整地ロータ（１３）が下降するように前記昇降装置（１５）を制御し、
前記検知センサ（２１）の検出値が前記第１の閾値（Ｆ１，Ｔ１）と前記第２の閾値（Ｆ２，Ｔ２）との間の値である場合に、前記整地ロータ（１３）の昇降位置を変化させないように前記昇降装置（１５）を制御する第１のモードを実行可能である。 For example, with reference to FIG. 5, the control unit (23)
When the detection value of the detection sensor (21) exceeds the first threshold value (F1, T1), the lifting device (15) is controlled so that the leveling rotor (13) rises.
When the detection value of the detection sensor (21) is lower than the second threshold value (F2, T2) lower than the first threshold value (F1, T1), the leveling rotor (13) is lowered. By controlling the elevating device (15),
When the detection value of the detection sensor (21) is a value between the first threshold value (F1, T1) and the second threshold value (F2, T2), the elevating position of the leveling rotor (13). It is possible to execute a first mode in which the elevating device (15) is controlled so as not to change.

例えば図５を参照して、前記制御部（２３）は、
前記検知センサ（２１）の検出値が前記第１の閾値（Ｆ１，Ｔ１）よりも低い第３の閾値（Ｆ３，Ｔ３）を超えている場合に、前記整地ロータ（１３）が上昇するように前記昇降装置（１５）を制御し、
前記検知センサ（２１）の検出値が前記第２の閾値（Ｆ２，Ｔ２）よりも低い第４の閾値（Ｆ４，Ｔ４）を下回っている場合に、前記整地ロータ（１３）が下降するように前記昇降装置（１５）を制御し、
前記検知センサ（２１）の検出値が前記第３の閾値（Ｆ３，Ｔ３）と前記第４の閾値（Ｆ４，Ｔ４）との間の値である場合に、前記整地ロータ（１３）の昇降位置を変化させないように前記昇降装置（１５）を制御する第２のモードを実行可能である。 For example, with reference to FIG. 5, the control unit (23)
When the detection value of the detection sensor (21) exceeds a third threshold value (F3, T3) lower than the first threshold value (F1, T1), the leveling rotor (13) is increased. By controlling the elevating device (15),
When the detection value of the detection sensor (21) is lower than the fourth threshold value (F4, T4) lower than the second threshold value (F2, T2), the leveling rotor (13) is lowered. By controlling the elevating device (15),
When the detection value of the detection sensor (21) is a value between the third threshold value (F3, T3) and the fourth threshold value (F4, T4), the elevating position of the leveling rotor (13). It is possible to execute a second mode in which the elevating device (15) is controlled so as not to change.

例えば図３及び図４を参照して、前記回動部材（１８）は前記整地ロータ（１３）の左側方に配置される第１の回動部材（１８Ｌ）であり、
前記検知センサ（２１）は前記第１の回動部材（１８Ｌ）の回動角度を検出する第１の検知センサ（２１Ｌ）であり、
前記整地ロータ（１３）の右側方に配置される第２の回動部材（１８Ｒ）と、
前記第２の回動部材（１８Ｒ）の回動角度を検出する第２の検知センサ（２１Ｒ）と、を備え、
前記制御部（２３）は、前記第１の検知センサ（２１Ｌ）から検出される前記第１の回動部材（１８Ｌ）の回動角度と前記第２の検知センサ（２１Ｒ）から検出される前記第２の回動部材（１８Ｒ）の回動角度との平均値を算出し、該平均値に基づいて前記昇降装置（１５）を制御する。 For example, referring to FIGS. 3 and 4, the rotating member (18) is a first rotating member (18L) arranged on the left side of the leveling rotor (13).
The detection sensor (21) is a first detection sensor (21L) that detects the rotation angle of the first rotation member (18L).
A second rotating member (18R) arranged on the right side of the leveling rotor (13) and
A second detection sensor (21R) for detecting the rotation angle of the second rotating member (18R) is provided.
The control unit (23) detects the rotation angle of the first rotating member (18L) detected by the first detection sensor (21L) and the second detection sensor (21R). An average value with the rotation angle of the second rotating member (18R) is calculated, and the elevating device (15) is controlled based on the average value.

例えば図３及び図６を参照して、前記回動部材（１８）は前記整地ロータ（１３）の左側方に配置される第１の回動部材（１８Ｌ）であり、
前記検知センサ（２１）は前記第１の回動部材（１８Ｌ）の回動角度を検出する第１の検知センサ（２１Ｌ）であり、
前記整地ロータ（１３）の右側方に配置される第２の回動部材（１８Ｒ）と、
前記第２の回動部材（１８Ｒ）の回動角度を検出する第２の検知センサ（２１Ｒ）と、
前記植付部（６）の左側方及び右側方にそれぞれ配置されて格納状態と作動状態に変位可能な第１の線引きマーカー（１１Ｌ）及び第２の線引きマーカー（１１Ｒ）と、を備え、
前記制御部（２３）は、前記第１の線引きマーカー（１１Ｌ）が前記作動状態にあるときに、前記第２の回動部材（１８Ｒ）の回動角度を検出する前記第２の検知センサ（２１Ｒ）の検出値に基づいて前記昇降装置（１５）を制御し、前記第２の線引きマーカー（１１Ｒ）が前記作動状態にあるときに、前記第１の回動部材（１８Ｌ）の回動角度を検出する前記第１の検知センサ（２１Ｌ）の検出値に基づいて前記昇降装置（１５）を制御する。 For example, referring to FIGS. 3 and 6, the rotating member (18) is a first rotating member (18L) arranged on the left side of the leveling rotor (13).
The detection sensor (21) is a first detection sensor (21L) that detects the rotation angle of the first rotation member (18L).
A second rotating member (18R) arranged on the right side of the leveling rotor (13) and
A second detection sensor (21R) that detects the rotation angle of the second rotating member (18R), and
A first line drawing marker (11L) and a second line drawing marker (11R), which are arranged on the left side and the right side of the planting portion (6) and can be displaced to the retracted state and the operating state, respectively, are provided.
The control unit (23) detects the rotation angle of the second rotating member (18R) when the first line drawing marker (11L) is in the operating state. The elevating device (15) is controlled based on the detected value of 21R), and when the second line drawing marker (11R) is in the operating state, the rotation angle of the first rotating member (18L). The elevating device (15) is controlled based on the detection value of the first detection sensor (21L) for detecting.

なお、上述カッコ内の符号は、図面と対照するためのものであるが、何ら本発明の構成を限定するものではない。 The reference numerals in the parentheses are for comparison with the drawings, but do not limit the configuration of the present invention.

請求項１に係る本発明によると、整地ロータが泥水を左右に押し分けることにより発生する水流を受けて回動する回動部材を備え、検知センサの検出値に基づいて整地ロータの高さ位置を制御するようにしたので、実際の水流の強さを反映した制御が可能となり、整地ロータの高さ位置を圃場状況に応じて適切に設定することができる。これにより、整地ロータによって発生した水流が既に隣接条に植え付けられた苗を倒してしまうことを低減し、植付作業性を向上できる。 According to the first aspect of the present invention, the leveling rotor includes a rotating member that rotates in response to a water flow generated by pushing muddy water to the left and right, and the height position of the leveling rotor based on the detection value of the detection sensor. Since the control is performed, the control that reflects the actual strength of the water flow becomes possible, and the height position of the leveling rotor can be appropriately set according to the field conditions. As a result, it is possible to reduce the water flow generated by the leveling rotor from overthrowing the seedlings that have already been planted in the adjacent row, and improve the planting workability.

請求項２に係る本発明によれば、検知センサの検出値を無効とする不感帯域を設定し、検知センサの検出値が不感帯域の上限値である第１の閾値を超えたときには整地ロータを上昇させ、検知センサの検出値が不感帯域の下限値である第２の閾値を下回ったときには整地ロータを下降させるようにしたので、整地ロータが不所望に昇降動作を繰り返してうねり状の水流が発生してしまうことを低減できる。 According to the second aspect of the present invention, a dead band for invalidating the detection value of the detection sensor is set, and when the detection value of the detection sensor exceeds the first threshold value which is the upper limit value of the dead band, the leveling rotor is set. The leveling rotor is raised and lowered when the detection value of the detection sensor falls below the second threshold value, which is the lower limit of the dead band. Therefore, the leveling rotor undesirably repeats the raising and lowering operation to generate a swell-like water flow. It is possible to reduce the occurrence.

請求項３に係る本発明によれば、上記不感帯域の上限値と下限値を下降側にずらした別の不感帯域を設定し、検知センサの検出値が該不感帯域の上限値である第３の閾値を超えたときには整地ロータを上昇させ、検知センサの検出値が該不感帯域の下限値である第４の閾値を下回ったときには整地ロータを下降させるようにしたので、圃場面の荒れや走行速度等の圃場条件を考慮して、整地性能よりも水流の緩和を優先させた整地ロータの高さ調整や、水流の緩和よりも整地性能を優先させた整地ロータの高さ調整を行うことができる。 According to the third aspect of the present invention, the upper limit value and the lower limit value of the dead band are set to another dead band, and the detection value of the detection sensor is the upper limit value of the dead band. When the threshold of is exceeded, the leveling rotor is raised, and when the detection value of the detection sensor falls below the fourth threshold value which is the lower limit of the dead zone, the leveling rotor is lowered. In consideration of field conditions such as speed, it is possible to adjust the height of the leveling rotor that prioritizes the relaxation of water flow over the relaxation of water flow, and adjust the height of the leveling rotor that prioritizes the relaxation of water flow over the relaxation of water flow. it can.

請求項４に係る本発明によれば、回動部材と検知センサの組を整地ロータの左右両側にそれぞれ配置し、これら両検知センサから検出される回動角度の平均値に基づいて整地ロータの高さ位置が調整されるので、圃場の荒れに起因する検出値のばらつきを抑えることができる。 According to the fourth aspect of the present invention, the pair of the rotating member and the detection sensor is arranged on the left and right sides of the leveling rotor, respectively, and the leveling rotor is based on the average value of the rotation angles detected by both detection sensors. Since the height position is adjusted, it is possible to suppress variations in the detected values due to the roughness of the field.

請求項５に係る本発明によれば、左右いずれか一方の線引きマーカーが作動状態にあってマーカーラインを線引きしているとき、この線引きマーカーと反対側に配置された検知センサの検出値に基づいて整地ロータの高さ位置が調整されるので、整地ロータから発生する水流を既に苗が植付けられている隣接条に対して確実に緩和することができる。 According to the fifth aspect of the present invention, when either the left or right drawing marker is in the operating state and the marker line is drawn, it is based on the detection value of the detection sensor arranged on the opposite side of the drawing marker. Since the height position of the ground leveling rotor is adjusted, the water flow generated from the ground leveling rotor can be reliably relaxed with respect to the adjacent row where the seedlings have already been planted.

本発明の実施形態に係る移植機を示す平面図。The plan view which shows the transplanter which concerns on embodiment of this invention. 移植機を示す側面図。Side view showing a transplanter. ポテンショメータを用いた高さ調整装置の構成図。The block diagram of the height adjustment device using a potentiometer. 制御部の入出力を示すブロック図。A block diagram showing the input / output of the control unit. ポテンショ角度と整地ローラ変位量との関係を示す説明図。Explanatory drawing which shows the relationship between the potentiometer angle and the displacement amount of a ground leveling roller. 圃場での線引き作業を示す説明図。Explanatory drawing which shows the delineation work in a field. ロードセルを用いた高さ調整装置の構成図。The block diagram of the height adjustment device using a load cell. ロードセル荷重と整地ローラ変位量との関係を示す説明図。Explanatory drawing which shows the relationship between a load cell load and a ground leveling roller displacement amount.

以下、本発明の実施の形態に係る移植機について、図面に基づいて説明する。なお、以下の説明において、移植機の前進方向を「前方」として、その反対側を「後方」とする。また、移植機に搭乗した作業者が正面（前方）を向いた視点を基準にして、上下左右の方向を表すものとする。 Hereinafter, the transplanter according to the embodiment of the present invention will be described with reference to the drawings. In the following description, the forward direction of the transplanter is referred to as "forward" and the opposite side is referred to as "rear". In addition, the direction of up, down, left, and right is represented with reference to the viewpoint in which the worker on the transplanter faces the front (front).

図１及び図２に示すように、本実施形態に係る移植機１は、前輪２及び後輪３に支持される走行機体４と、走行機体４の後部に昇降リンク５を介して昇降自在に支持される植付作業機６と、を備えた乗用型移植機である。走行機体４の前部には、ボンネット４ａにて覆われる不図示のエンジンが配置され、該エンジンは不図示の変速機構を介して前輪２及び後輪３を駆動すると共に、植付ＰＴＯ軸Ｐ１及び整地ＰＴＯ軸Ｐ２を介して植付作業機６及び整地装置７に駆動力を供給している。ボンネット４ａの後方には、運転席及びステアリングホイール等を有する運転操作部８が配置されている。作業者は、運転操作部８に搭乗してステアリングホイールを始めとする各種操作具を操作することで、走行機体４を前進させながら植付作業機６によって植付作業を行う。 As shown in FIGS. 1 and 2, the transplanter 1 according to the present embodiment can be raised and lowered by means of a traveling machine 4 supported by front wheels 2 and rear wheels 3 and a rear portion of the traveling machine 4 via an elevating link 5. It is a riding-type transplanter equipped with a supported planting work machine 6. An engine (not shown) covered with a bonnet 4a is arranged at the front portion of the traveling machine body 4, and the engine drives the front wheels 2 and the rear wheels 3 via a transmission mechanism (not shown), and the planted PTO shaft P1. And the driving force is supplied to the planting work machine 6 and the ground leveling device 7 via the ground leveling PTO shaft P2. Behind the bonnet 4a, a driving operation unit 8 having a driver's seat, a steering wheel, and the like is arranged. By boarding the driving operation unit 8 and operating various operating tools such as the steering wheel, the operator performs the planting work by the planting work machine 6 while advancing the traveling machine body 4.

植付作業機６は、昇降リンク５を介して走行機体４の後部に接続された作業機フレーム６ａと、作業機フレーム６ａに取付けられる複数の植付装置９（植付部）と、植付装置９の上方に配置される苗載せ台１０とを備えている。昇降リンク５は、不図示の油圧シリンダを伸縮させることにより、機体幅方向に横設される作業機フレーム６ａを昇降させるようになっている。 The planting work machine 6 includes a work machine frame 6a connected to the rear part of the traveling machine body 4 via an elevating link 5, a plurality of planting devices 9 (planting parts) attached to the work machine frame 6a, and planting. It is provided with a seedling stand 10 arranged above the device 9. The elevating link 5 expands and contracts a hydraulic cylinder (not shown) to elevate and elevate the work machine frame 6a horizontally installed in the width direction of the machine body.

植付作業機６の左右両側部には、作業機フレーム６ａに支持された一対の線引きマーカー１１が配設されており、以下の説明では、植付作業機６の左側部に配置された線引きマーカーを第１の線引きマーカー１１Ｌ、植付作業機６の右側部に配置された線引きマーカーを第２の線引きマーカー１１Ｒと呼称する。これら第１及び第２の線引きマーカー１１Ｌ，１１Ｒは、不図示の油圧シリンダにより駆動される操作ワイヤの先端側に連結されており、該油圧シリンダの作動により、ほぼ水平方向に倒伏する作動状態とほぼ垂直方向に起立する格納状態とに変位可能となっている。 A pair of line drawing markers 11 supported by the work machine frame 6a are arranged on both the left and right sides of the planting work machine 6, and in the following description, the line drawing arranged on the left side of the planting work machine 6 The marker is referred to as a first line drawing marker 11L, and the line drawing marker arranged on the right side of the planting work machine 6 is referred to as a second line drawing marker 11R. The first and second line drawing markers 11L and 11R are connected to the tip end side of an operation wire driven by a hydraulic cylinder (not shown), and the operation of the hydraulic cylinder causes the marker to lie down in a substantially horizontal direction. It can be displaced to a retracted state that stands up almost vertically.

整地装置７は植付作業機６の前方に配置されており、図３に示すように、この整地装置７は、機体幅方向（左右方向）に延びるロータ軸１２と、ロータ軸１２に取り付けられたカゴ状の整地ロータ１３と、整地ロータ１３を覆うカバーフレーム１４と、ロータ軸１２を上下動させる昇降装置１５等を備えて構成されている。ロータ軸１２は整地ＰＴＯ軸Ｐ２からの駆動力により回転し、整地ロータ１３はロータ軸１２の外周に同芯的に取り付けられている。昇降装置１５は、駆動モータ１６と、駆動モータ１６の回転を上下方向の直線運動に変換する動力変換機構１７（例えばギアとラック）とを備えており、整地装置７を圃場の田面に対して接地及び離隔可能に構成されている。 The ground leveling device 7 is arranged in front of the planting work machine 6, and as shown in FIG. 3, the ground leveling device 7 is attached to a rotor shaft 12 extending in the machine width direction (left-right direction) and a rotor shaft 12. It is configured to include a basket-shaped ground leveling rotor 13, a cover frame 14 for covering the ground leveling rotor 13, an elevating device 15 for moving the rotor shaft 12 up and down, and the like. The rotor shaft 12 is rotated by a driving force from the ground leveling PTO shaft P2, and the ground leveling rotor 13 is concentrically attached to the outer periphery of the rotor shaft 12. The elevating device 15 includes a drive motor 16 and a power conversion mechanism 17 (for example, a gear and a rack) that converts the rotation of the drive motor 16 into a linear motion in the vertical direction, and the ground leveling device 7 is mounted on the field surface of the field. It is configured so that it can be grounded and separated.

カバーフレーム１４の左右両側部には、板状の回動部材１８が軸１９を中心に回動（揺動）可能に支持されており、これら回動部材１８は整地ロータ１３の側方に配置されている。回動部材１８の上端部には作動レバー２０の一端側が連結されており、カバーフレーム１４上には作動レバー２０の他端側と対向する検知センサ２１が設置されている。検知センサ２１は回動部材１８の回動角度を検出するデバイスであり、本実施形態では、検知センサ２１としてロータリー型のポテンショメータが用いられている。作動レバー２０には与圧スプリング２２が装着されており、回動部材１８は与圧スプリング２２のばね力を受けて初期状態（起立姿勢）となる方向に付勢されている。なお、図３にはカバーフレーム１４の左側部に設けられた回動部材１８や検知センサ２１等が示されているが、同様の構成がカバーフレーム１４の右側部にも設けられている。以下の説明では、整地ロータ１３の左側方に配置される回動部材を第１の回動部材１８Ｌ、該第１の回動部材１８Ｌの回動角度を検出する検知センサを第１の検知センサ２１Ｌと呼称し、整地ロータ１３の右側方に配置される回動部材を第２の回動部材１８Ｒ、第２の回動部材１８Ｒの回動角度を検出する検知センサを第２の検知センサ２１Ｒと呼称する。 Plate-shaped rotating members 18 are supported on the left and right sides of the cover frame 14 so as to be rotatable (swinging) about the shaft 19, and these rotating members 18 are arranged on the side of the leveling rotor 13. Has been done. One end side of the operating lever 20 is connected to the upper end portion of the rotating member 18, and a detection sensor 21 facing the other end side of the operating lever 20 is installed on the cover frame 14. The detection sensor 21 is a device that detects the rotation angle of the rotating member 18, and in the present embodiment, a rotary potentiometer is used as the detection sensor 21. A pressurizing spring 22 is mounted on the operating lever 20, and the rotating member 18 is urged in a direction of being in the initial state (standing posture) by receiving the spring force of the pressurizing spring 22. Although FIG. 3 shows a rotating member 18 and a detection sensor 21 provided on the left side of the cover frame 14, the same configuration is also provided on the right side of the cover frame 14. In the following description, the rotating member arranged on the left side of the leveling rotor 13 is the first rotating member 18L, and the detection sensor for detecting the rotation angle of the first rotating member 18L is the first detection sensor. The second detection sensor 21R is called 21L, and the rotating member arranged on the right side of the leveling rotor 13 is the second rotating member 18R, and the detection sensor for detecting the rotation angle of the second rotating member 18R is the second detection sensor 21R. Is called.

図４に示すように、走行機体４には、ＣＰＵやＲＯＭやＲＡＭ等を含むマイクロコンピュータにより構成される制御部２３が設けられている。制御部２３の入力側には、前述した第１の検知センサ２１Ｌと第２の検知センサ２１Ｒに加えて、第１の線引きマーカー１１Ｌと第２の線引きマーカー１１Ｒの切替え操作を検出する切替え検出センサ２４、走行機体４の車速を検出する車速センサ２５が接続される一方、制御部２３の出力側には、昇降装置１５の駆動源である駆動モータ１６が接続されている。 As shown in FIG. 4, the traveling machine body 4 is provided with a control unit 23 composed of a microcomputer including a CPU, a ROM, a RAM, and the like. On the input side of the control unit 23, in addition to the above-mentioned first detection sensor 21L and second detection sensor 21R, a switching detection sensor that detects a switching operation between the first line drawing marker 11L and the second line drawing marker 11R. 24. A vehicle speed sensor 25 that detects the vehicle speed of the traveling machine body 4 is connected, while a drive motor 16 that is a drive source of the elevating device 15 is connected to the output side of the control unit 23.

制御部２３は、第１及び第２の検知センサ２１Ｌ，２１Ｒにより検出された第１及び第２の回動部材１８Ｌ，１８Ｒの回動角度に基づいて、昇降装置１５の駆動モータ１６の回転方向と回転量を制御し、整地ロータ１３の高さ位置が適正位置となるように整地装置７を昇降動作する。すなわち、整地装置７で圃場を整地しながら植付作業を行う際に、カバーフレーム１４の左右両側部に配置された第１及び第２の回動部材１８Ｌ，１８Ｒは、走行機体４の走行に伴って整地ロータ１３が泥水を左右に押し分けることにより発生する水流を受けて回動する。整地ロータ１３の回動量は圃場の田面に対する整地ロータ１３の高さ位置に応じて変動し、整地ロータ１３が田面に深く入り込んでいると、整地ロータ１３の回転に伴って発生する水流が強くなるため、第１及び第２の回動部材１８Ｌ，１８Ｒは強い水流に押圧されて外側に大きく回動する。このようにして第１及び第２の回動部材１８Ｌ，１８Ｒが回動すると、その回動量に応じて作動レバー２０が軸線方向に変位して検知センサ２１（２１Ｌ，２１Ｒ）に近接／離間するため、検知センサ２１であるポテンショメータにより第１及び第２の回動部材１８Ｌ，１８Ｒの回動角度が検出される。すなわち、検知センサ２１Ｌ，２１Ｒは、回動部材１８Ｌ，１８Ｒが受ける水流の強さを検出する。制御部２３は、第１及び第２の検知センサ２１Ｌ，２１Ｒにより検出された第１及び第２の回動部材１８Ｌ，１８Ｒの回動角度に基づいて、整地ロータ１３の高さ位置が適正位置よりも高い場合は、駆動モータ１６を一方向へ回転して整地装置７を下降させ、整地ロータ１３の高さ位置が適正位置よりも低い場合は、駆動モータ１６を逆方向へ回転して整地装置７を上昇させる。 The control unit 23 rotates the drive motor 16 of the elevating device 15 based on the rotation angles of the first and second rotating members 18L and 18R detected by the first and second detection sensors 21L and 21R. And the amount of rotation is controlled, and the leveling device 7 is moved up and down so that the height position of the leveling rotor 13 becomes an appropriate position. That is, when the planting work is performed while leveling the field with the ground leveling device 7, the first and second rotating members 18L and 18R arranged on the left and right side portions of the cover frame 14 are used for traveling the traveling machine body 4. Along with this, the leveling rotor 13 rotates in response to the water flow generated by pushing the muddy water to the left and right. The amount of rotation of the ground leveling rotor 13 fluctuates according to the height position of the ground leveling rotor 13 with respect to the field surface of the field, and when the ground leveling rotor 13 penetrates deeply into the field surface, the water flow generated by the rotation of the ground leveling rotor 13 becomes strong. Therefore, the first and second rotating members 18L and 18R are pressed by a strong water flow and rotate largely outward. When the first and second rotating members 18L and 18R rotate in this way, the operating lever 20 is displaced in the axial direction according to the amount of rotation and approaches / separates from the detection sensor 21 (21L, 21R). Therefore, the potentiometer, which is the detection sensor 21, detects the rotation angles of the first and second rotating members 18L and 18R. That is, the detection sensors 21L and 21R detect the strength of the water flow received by the rotating members 18L and 18R. The control unit 23 sets the height position of the leveling rotor 13 to an appropriate position based on the rotation angles of the first and second rotating members 18L and 18R detected by the first and second detection sensors 21L and 21R. If it is higher than, the drive motor 16 is rotated in one direction to lower the leveling device 7, and if the height position of the ground leveling rotor 13 is lower than the proper position, the drive motor 16 is rotated in the opposite direction to level the ground. Raise the device 7.

その際、第１及び第２の回動部材１８Ｌ，１８Ｒは、田面を走行する走行機体４の揺れ等の影響を受けて、初期位置に比較的近い角度範囲内で外側と内側に回動を繰り返すことがあり、当該範囲でも検知センサ２１の検出値に基づいて整地装置７の高さ位置をリニアに補正してしまうと、整地装置７が小刻みに上下動を繰り返してうねり状の水流が発生し、該水流によって整地装置７の高さ位置を適正に補正することができなくなる。そこで、本実施形態では、検知センサ２１の検出値を無効とする不感帯域を設定し、上記したようなうねり水流の発生を抑制するようにしている。以下、この不感帯域について、図５を参照しつつ詳細に説明する。 At that time, the first and second rotating members 18L and 18R are affected by the shaking of the traveling machine body 4 traveling on the field surface and rotate outward and inward within an angle range relatively close to the initial position. If the height position of the ground leveling device 7 is linearly corrected based on the detection value of the detection sensor 21 even in this range, the ground leveling device 7 repeats vertical movement in small steps to generate a swell-like water flow. However, the water flow makes it impossible to properly correct the height position of the ground leveling device 7. Therefore, in the present embodiment, a dead band that invalidates the detection value of the detection sensor 21 is set to suppress the occurrence of the swelling water flow as described above. Hereinafter, this dead band will be described in detail with reference to FIG.

本実施形態に係る移植機１において、制御部２３は、車速センサ２５より検出される走行機体４の走行速度に応じて、昇降装置１５の駆動モータ１６を第１のモード（図５（ａ）参照）と第２のモード（図５（ｂ）参照）のいずれかで選択的に制御可能となっている。すなわち、制御部２３に備えられる記憶部には、図５（ａ）に示す第１の不感帯域Ｓ１と図５（ｂ）に示す第２の不感帯域Ｓ２とが記憶されており、制御部２３は、第１の不感帯域Ｓ１が選択された場合に第１のモードで実行し、第２の不感帯域Ｓ２が選択された場合に第２のモードが実行される。 In the transplanter 1 according to the present embodiment, the control unit 23 sets the drive motor 16 of the elevating device 15 in the first mode (FIG. 5A) according to the traveling speed of the traveling machine 4 detected by the vehicle speed sensor 25. (See) and the second mode (see FIG. 5B) can be selectively controlled. That is, the storage unit provided in the control unit 23 stores the first dead band S1 shown in FIG. 5 (a) and the second dead band S2 shown in FIG. 5 (b). Is executed in the first mode when the first dead band S1 is selected, and the second mode is executed when the second dead band S2 is selected.

図５において、縦軸は整地ロータ１３の高さ変位ｄｈ（ｍｍ）、横軸は検知センサ２１であるポテンショメータから検出されるポテンショ角度θ（°）を示しており、回動部材１８の回動角度が初期角度θ０から大きくなるのに伴ってポテンショ角度θは大きくなる。図５（ａ）に示す第１の不感帯域Ｓ１は、第１の閾値Ｔ１（例えば２０°）を上限値とすると共に第２の閾値Ｔ２（例えば１０°）を下限値とする領域θｗであり、制御部２３は、このような第１の不感帯域Ｓ１に基づいて第１のモードを実行可能となっている。また、図５（ｂ）に示す第２の不感帯域Ｓ２は、第３の閾値Ｔ３（例えば１５°）を上限値とすると共に第４の閾値Ｔ４（例えば５°）を下限値とする領域θｗであり、第１の不感帯域Ｓ１の上限値（第１の閾値Ｔ１）と下限値（第２の閾値Ｔ２）を下降側にずらした領域に相当する。そして、制御部２３は、このような第２の不感帯域Ｓ２に基づいて第２のモードを実行可能となっている。 In FIG. 5, the vertical axis represents the height displacement dh (mm) of the ground leveling rotor 13, and the horizontal axis represents the potentiometer θ (°) detected by the potentiometer, which is the detection sensor 21, and the rotation of the rotating member 18. The potentiometer angle θ increases as the angle increases from the initial angle θ 0 . The first dead band S1 shown in FIG. 5A is a region θw having a first threshold value T1 (for example, 20 °) as an upper limit value and a second threshold value T2 (for example, 10 °) as a lower limit value. The control unit 23 can execute the first mode based on such a first dead band S1. Further, the second dead band S2 shown in FIG. 5B has a region θw having a third threshold value T3 (for example, 15 °) as an upper limit value and a fourth threshold value T4 (for example, 5 °) as a lower limit value. This corresponds to a region in which the upper limit value (first threshold value T1) and the lower limit value (second threshold value T2) of the first dead band S1 are shifted downward. Then, the control unit 23 can execute the second mode based on such a second dead band S2.

制御部２３は、第１のモードにおいて、検知センサ２１から検出されるポテンショ角度θｄが領域θｗ内であった場合に、検知センサ２１の検出値を無効にして整地装置７の高さ位置（昇降位置）の調整を行わず、検知センサ２１の検出値が第１の不感帯域Ｓ１の上限値（第１の閾値Ｔ１）を超えた場合に、整地ロータ１３の高さを＋ｄｈだけ上方に変位させ、検知センサ２１の検出値が第１の不感帯域Ｓ１の下限値（第２の閾値Ｔ２）を下回っている場合に、整地ロータ１３の高さを−ｄｈだけ下方に変位させる。また、制御部２３は、第２のモードにおいて、検知センサ２１から検出されるポテンショ角度θｄが領域θｗ内であった場合に、検知センサ２１の検出値を無効にして整地装置７の高さ位置調整を行わず、検知センサ２１の検出値が第２の不感帯域Ｓ２の上限値（第３の閾値Ｔ３）を超えた場合に、整地ロータ１３の高さを＋ｄｈだけ上方に変位させ、検知センサ２１の検出値が第２の不感帯域Ｓ２の下限値（第４の閾値Ｔ４）を下回っている場合に、整地ロータ１３の高さを−ｄｈだけ下方に変位させる。 In the first mode, when the potentiometer angle θd detected by the detection sensor 21 is within the region θw, the control unit 23 invalidates the detection value of the detection sensor 21 and raises or lowers the height position of the ground leveling device 7. When the detection value of the detection sensor 21 exceeds the upper limit value (first threshold value T1) of the first dead zone S1 without adjusting the position), the height of the leveling rotor 13 is displaced upward by + dh. When the detection value of the detection sensor 21 is lower than the lower limit value (second threshold value T2) of the first dead zone S1, the height of the ground leveling rotor 13 is displaced downward by −dh. Further, in the second mode, when the potentiometer angle θd detected by the detection sensor 21 is within the region θw, the control unit 23 invalidates the detection value of the detection sensor 21 and disables the detection value of the detection sensor 21 to position the height of the ground leveling device 7. When the detection value of the detection sensor 21 exceeds the upper limit value (third threshold value T3) of the second dead zone S2 without adjustment, the height of the ground leveling rotor 13 is displaced upward by + dh, and the detection sensor When the detected value of 21 is lower than the lower limit value (fourth threshold value T4) of the second dead zone S2, the height of the leveling rotor 13 is displaced downward by −dh.

圃場の中央付近は圃場面の荒れが少なく比較的高速で走行するエリアであり、車速センサ２５から検出される走行速度が所定値を超えた高速走行の場合、制御部２３は、第２の不感帯域Ｓ２に基づいて昇降装置１５の駆動モータ１６を制御する第２のモードを実行する。前述したように、第２の不感帯域Ｓ２の上限値（第３の閾値Ｔ３）は第１の不感帯域Ｓ１の上限値（第１の閾値Ｔ１）よりも下降側にずれており、第２のモードでは、回動部材１８の回動角度が比較的低い第３の閾値Ｔ３（例えば１５°）を超えると、整地ロータ１３の高さ位置を＋ｄｈだけ上昇させる補正制御が行われる。また、第２の不感帯域Ｓ２の下限値（第４の閾値Ｔ４）も第１の不感帯域Ｓ１の下限値（第２の閾値Ｔ２）よりも下降側にずれており、第２のモードでは、回動部材１８の回動角度が第４の閾値Ｔ４（例えば５°）を下回っていると、整地ロータ１３の高さ位置を−ｄｈだけ下降させる補正制御が行われる。このように、第２のモードでは、整地性能よりも水流の緩和を優先させた制御が実行される。移植機１が高速走行している際には、整地ロータ１３によって発生する水流も強くなりがちである。このため、高速走行の際には第２のモードを実行することで、整地ロータ１３によって発生する水流をなるべく緩和させ、既に植付が終了した隣接条の苗の倒伏を低減できる。 The vicinity of the center of the field is an area where the field is less rough and travels at a relatively high speed, and when the traveling speed detected by the vehicle speed sensor 25 exceeds a predetermined value, the control unit 23 feels a second feeling. A second mode of controlling the drive motor 16 of the elevating device 15 based on the band S2 is executed. As described above, the upper limit value of the second dead band S2 (third threshold value T3) is shifted downward from the upper limit value of the first dead band S1 (first threshold value T1), and the second In the mode, when the rotation angle of the rotating member 18 exceeds a relatively low third threshold value T3 (for example, 15 °), correction control is performed to raise the height position of the leveling rotor 13 by + dh. Further, the lower limit value of the second dead band S2 (fourth threshold value T4) is also deviated from the lower limit value of the first dead band S1 (second threshold value T2), and in the second mode, the lower limit value is shifted to the lower side. When the rotation angle of the rotating member 18 is less than the fourth threshold value T4 (for example, 5 °), correction control is performed to lower the height position of the leveling rotor 13 by −dh. As described above, in the second mode, the control that prioritizes the relaxation of the water flow over the leveling performance is executed. When the transplanter 1 is traveling at high speed, the water flow generated by the leveling rotor 13 tends to be strong. Therefore, by executing the second mode during high-speed traveling, the water flow generated by the leveling rotor 13 can be alleviated as much as possible, and the lodging of the seedlings of the adjacent strips that have already been planted can be reduced.

一方、圃場面の荒れが多く低速で走行する畦際では、制御部２３は、第１の不感帯域Ｓ１に基づいて昇降装置１５の駆動モータ１６を制御する第１のモードを実行する。第１の不感帯域Ｓ１の上限値（第１の閾値Ｔ１）は第２の不感帯域Ｓ２の上限値（第３の閾値Ｔ３）よりも上昇側にずれており、第１のモードでは、回動部材１８の回動角度が比較的高い第１の閾値Ｔ１（例えば２０°）を超えると、整地ロータ１３の高さ位置を＋ｄｈだけ上昇させる補正制御が行われる。また、第１の不感帯域Ｓ１の下限値（第２の閾値Ｔ２）も第２の不感帯域Ｓ２の下限値（第４の閾値Ｔ４）よりも上昇側にずれており、第１のモードでは、回動部材１８の回動角度が第２の閾値（例えば１０°）を下回っていると、整地ロータ１３の高さ位置を−ｄｈだけ下降させる補正制御が行われる。このように、第１のモードでは、水流の緩和よりも整地性能を優先させた制御が実行される。移植機１が低速走行している際には、整地ロータ１３によって発生する水流は弱くなる傾向がある。このため、低速走行の際には第１のモードを実行することで、整地ロータ１３によって発生する水流による苗倒伏の影響は最小限に抑えつつ、作業性を向上できる。 On the other hand, in the ridge where the field scene is rough and travels at a low speed, the control unit 23 executes the first mode of controlling the drive motor 16 of the elevating device 15 based on the first dead band S1. The upper limit value of the first dead band S1 (first threshold value T1) is shifted to the rising side from the upper limit value of the second dead band S2 (third threshold value T3), and in the first mode, rotation. When the rotation angle of the member 18 exceeds the first threshold value T1 (for example, 20 °), which is relatively high, correction control is performed to raise the height position of the leveling rotor 13 by + dh. Further, the lower limit value (second threshold value T2) of the first dead band S1 is also shifted to the rising side from the lower limit value (fourth threshold value T4) of the second dead band S2, and in the first mode, When the rotation angle of the rotating member 18 is less than the second threshold value (for example, 10 °), the correction control for lowering the height position of the leveling rotor 13 by −dh is performed. As described above, in the first mode, the control that prioritizes the leveling performance over the relaxation of the water flow is executed. When the transplanter 1 is traveling at a low speed, the water flow generated by the leveling rotor 13 tends to be weak. Therefore, by executing the first mode during low-speed traveling, workability can be improved while minimizing the influence of seedling lodging due to the water flow generated by the leveling rotor 13.

なお、回動部材１８（１８Ｌ，１８Ｒ）はカバーフレーム１４の左右両側部に配置されており、これら第１及び第２の回動部材１８Ｌ，１８Ｒは独立に動作する個別部材であるため、第１の回動部材１８Ｌの回動角度を検出する第１の検知センサ２１Ｌと第２の回動部材１８Ｒの回動角度を検出する第２の検知センサ２１Ｒの検出値は必ずしも左右で同じになるとは限らない。このような点を考慮して、制御部２３が、第１の検知センサ２１Ｌと第２の回動部材１８Ｒから検出される回動角度の平均値を算出し、該平均値に基づいて整地ロータ１３の高さ位置を補正制御するようにすれば、圃場の荒れに起因する検出値のばらつきを抑えることができる。また、以下に説明するように、第１の検知センサ２１Ｌと第２の検知センサ２１Ｒのいずれか一方の検出値に基づいて、制御部２３が整地ロータ１３の高さ位置を補正制御するようにしてもよい。 The rotating members 18 (18L, 18R) are arranged on the left and right side portions of the cover frame 14, and the first and second rotating members 18L, 18R are individual members that operate independently. When the detection values of the first detection sensor 21L for detecting the rotation angle of the rotation member 18L of 1 and the second detection sensor 21R for detecting the rotation angle of the second rotation member 18R are not necessarily the same on the left and right sides. Is not always. In consideration of such a point, the control unit 23 calculates the average value of the rotation angles detected from the first detection sensor 21L and the second rotating member 18R, and the ground leveling rotor is based on the average value. If the height position of 13 is corrected and controlled, it is possible to suppress variations in the detected values due to the roughness of the field. Further, as described below, the control unit 23 corrects and controls the height position of the leveling rotor 13 based on the detection value of either the first detection sensor 21L or the second detection sensor 21R. You may.

図６に示すように、本実施形態に係る移植機１では、植付作業を行う際に、その植付けの基準となるように圃場面にマーカーラインを線引きするようになっている。このマーカーラインは、枕地で旋回して往復走行して植付作業を行う際に、第１の線引きマーカー１１Ｌと第２の線引きマーカー１１Ｒの一方を次工程の走路側へ倒伏させて作動状態とすることによって形成される。第１の線引きマーカー１１Ｌと第２の線引きマーカー１１Ｒは、往路から復路、或いは復路から次の往路に替わるときに、交互に作動状態と格納状態に切替え操作され、どちらが作動状態であるかは切替え検出センサ２４によって検出可能となっている。 As shown in FIG. 6, in the transplanter 1 according to the present embodiment, when the planting work is performed, a marker line is drawn in the field scene so as to serve as a reference for the planting. This marker line is in an operating state in which one of the first line drawing marker 11L and the second line drawing marker 11R is laid down toward the runway side of the next process when the marker line is swiveled on the headland and reciprocated to perform the planting work. It is formed by The first line drawing marker 11L and the second line drawing marker 11R are alternately switched between the operating state and the retracted state when switching from the outward path to the return path or from the return path to the next outward path, and which is the operating state is switched. It can be detected by the detection sensor 24.

例えば、移植機１の左側に設けられた第１の線引きマーカー１１Ｌが作動状態にあってマーカーラインを線引きしているとき、移植機１の右側の隣接条には既に苗が植付けられているため、切替え検出センサ２４により第１の線引きマーカー１１Ｌの作動状態が検出されると、制御部２３は、作動状態にある第１の線引きマーカー１１Ｌと反対側（右側）に配置された第２の検知センサ２１Ｒの検出値に基づいて、整地ロータ１３の高さ位置を補正制御する。また、移植機１の右側に設けられた第２の線引きマーカー１１Ｒが作動状態にあってマーカーラインを線引きしているとき、移植機１の左側の隣接条には既に苗が植付けられているため、切替え検出センサ２４により第２の線引きマーカー１１Ｒの作動状態が検出されると、制御部２３は、作動状態にある第２の線引きマーカー１１Ｒと反対側（左側）に配置された第１の検知センサ２１Ｌの検出値に基づいて、整地ロータ１３の高さ位置を補正制御する。このように、左右いずれか一方の線引きマーカーが作動状態にあってマーカーラインを線引きしているとき、この線引きマーカーと反対側に配置された第１の検知センサ２１Ｌまたは第２の検知センサ２１Ｒの検出値に基づいて整地ロータ１３の高さ位置を調整するようにすると、整地ロータ１３から発生する水流を既に苗が植付けられている隣接条に対して確実に緩和することができる。 For example, when the first line drawing marker 11L provided on the left side of the transplanter 1 is in the operating state and the marker line is drawn, the seedlings have already been planted in the adjacent row on the right side of the transplanter 1. When the switching detection sensor 24 detects the operating state of the first drawing marker 11L, the control unit 23 performs the second detection arranged on the opposite side (right side) of the operating state of the first drawing marker 11L. The height position of the leveling rotor 13 is corrected and controlled based on the detected value of the sensor 21R. Further, when the second line drawing marker 11R provided on the right side of the transplanter 1 is in the operating state and the marker line is drawn, the seedlings have already been planted in the adjacent row on the left side of the transplanter 1. When the switching detection sensor 24 detects the operating state of the second line drawing marker 11R, the control unit 23 performs the first detection arranged on the opposite side (left side) of the operating state of the second line drawing marker 11R. The height position of the leveling rotor 13 is corrected and controlled based on the detected value of the sensor 21L. In this way, when either the left or right drawing marker is in the operating state and the marker line is drawn, the first detection sensor 21L or the second detection sensor 21R arranged on the opposite side of the drawing marker By adjusting the height position of the ground leveling rotor 13 based on the detected value, the water flow generated from the ground leveling rotor 13 can be surely relaxed with respect to the adjacent row where the seedlings have already been planted.

図７は、検知センサ２１としてポテンショメータの代わりにロードセルを用いた高さ調整装置の構成図であり、図３に対応する部分に同一符号を付すことにより重複説明は省略する。 FIG. 7 is a configuration diagram of a height adjusting device using a load cell instead of a potentiometer as the detection sensor 21, and duplicate description will be omitted by assigning the same reference numerals to the parts corresponding to FIG.

図７に示すように、回動部材１８に連結された作動レバー２０と検知センサ２１との間に与圧スプリング２２が介設されており、回動部材１８の回動に伴って作動レバー２０が変位すると、その変位量に応じて伸縮する与圧スプリング２２の荷重変化が検知センサ２１に作用し、検知センサ２１から回動部材１８の回動角度に比例したロードセル荷重Ｆが検出される。 As shown in FIG. 7, a pressurization spring 22 is interposed between the operating lever 20 connected to the rotating member 18 and the detection sensor 21, and the operating lever 20 is rotated with the rotation of the rotating member 18. When is displaced, the load change of the pressurization spring 22 that expands and contracts according to the displacement amount acts on the detection sensor 21, and the load cell load F proportional to the rotation angle of the rotating member 18 is detected from the detection sensor 21.

このように検知センサ２１としてロードセルを用いた場合、制御部２３は、図８（ａ）に示す第１の不感帯域Ｓ１に基づいて第１のモードを実行し、図８（ｂ）に示す第２の不感帯域Ｓ２に基づいて第２のモードを実行する。図８において、縦軸は整地ロータ１３の高さ変位ｄｈ（ｍｍ）、横軸は検知センサ２１であるロードセルから検出されるロードセル荷重Ｆ（Ｎ）を示しており、回動部材１８の回動角度が初期角度Ｆ０から大きくなるのに伴ってロードセル荷重Ｆは大きくなる。図８（ａ）に示す第１の不感帯域Ｓ１は、第１の閾値Ｆ１（例えば２０°）を上限値とすると共に第２の閾値Ｆ２（例えば１０°）を下限値とする領域Ｆｗであり、制御部２３は、このような第１の不感帯域Ｓ１に基づいて第１のモードを実行可能となっている。また、図８（ｂ）に示す第２の不感帯域Ｓ２は、第３の閾値Ｆ３（例えば１５°）を上限値とすると共に第４の閾値Ｆ４（例えば５°）を下限値とする領域Ｆｗであり、第１の不感帯域Ｓ１の上限値（第１の閾値Ｆ１）と下限値（第２の閾値Ｆ２）を下降側にずらした領域に相当する。そして、制御部２３は、このような第２の不感帯域Ｓ２に基づいて第２のモードを実行可能となっている。 When the load cell is used as the detection sensor 21 in this way, the control unit 23 executes the first mode based on the first dead band S1 shown in FIG. 8A, and the first mode shown in FIG. 8B is shown. The second mode is executed based on the dead band S2 of 2. In FIG. 8, the vertical axis represents the height displacement dh (mm) of the ground leveling rotor 13, and the horizontal axis represents the load cell load F (N) detected from the load cell which is the detection sensor 21, and the rotation of the rotating member 18 The load cell load F increases as the angle increases from the initial angle F 0 . The first dead band S1 shown in FIG. 8A is a region Fw having a first threshold value F1 (for example, 20 °) as an upper limit value and a second threshold value F2 (for example, 10 °) as a lower limit value. The control unit 23 can execute the first mode based on the first dead band S1. Further, the second dead band S2 shown in FIG. 8B has a region Fw having a third threshold value F3 (for example, 15 °) as an upper limit value and a fourth threshold value F4 (for example, 5 °) as a lower limit value. This corresponds to a region in which the upper limit value (first threshold value F1) and the lower limit value (second threshold value F2) of the first dead band S1 are shifted downward. Then, the control unit 23 can execute the second mode based on such a second dead band S2.

制御部２３は、第１のモードにおいて、検知センサ２１から検出されるロードセル荷重Ｆが領域Ｆｗ内であった場合に、検知センサ２１の検出値を無効にして整地装置７の高さ位置調整を行わず、検知センサ２１の検出値が第１の不感帯域Ｓ１の上限値（第１の閾値Ｆ１）を超えた場合に、整地ロータ１３の高さを＋ｄｈだけ上方に変位させ、検知センサ２１の検出値が第１の不感帯域Ｓ１の下限値（第２の閾値Ｆ２）を下回っている場合に、整地ロータ１３の高さを−ｄｈだけ下方に変位させる。また、制御部２３は、第２のモードにおいて、検知センサ２１から検出されるロードセル荷重Ｆが領域Ｆｗ内であった場合に、検知センサ２１の検出値を無効にして整地装置７の高さ位置調整を行わず、検知センサ２１の検出値が第２の不感帯域Ｓ２の上限値（第３の閾値Ｆ３）を超えた場合に、整地ロータ１３の高さを＋ｄｈだけ上方に変位させ、検知センサ２１の検出値が第２の不感帯域Ｓ２の下限値（第４の閾値Ｆ４）を下回っている場合に、整地ロータ１３の高さを−ｄｈだけ下方に変位させる。このように検知センサ２１としてロードセルを用いた場合も、制御部２３は、検知センサ２１としてポテンショメータを用いた場合と同様に整地装置７の高さ位置を補正制御するようになっている。 In the first mode, when the load cell load F detected by the detection sensor 21 is within the region Fw, the control unit 23 invalidates the detection value of the detection sensor 21 and adjusts the height position of the ground leveling device 7. If the detection value of the detection sensor 21 exceeds the upper limit value (first threshold value F1) of the first dead zone S1, the height of the ground leveling rotor 13 is displaced upward by + dh, and the detection sensor 21 When the detected value is lower than the lower limit value (second threshold value F2) of the first dead zone S1, the height of the leveling rotor 13 is displaced downward by −dh. Further, in the second mode, when the load cell load F detected by the detection sensor 21 is within the region Fw, the control unit 23 invalidates the detection value of the detection sensor 21 and makes the height position of the ground leveling device 7. When the detection value of the detection sensor 21 exceeds the upper limit value (third threshold value F3) of the second dead zone S2 without adjustment, the height of the leveling rotor 13 is displaced upward by + dh, and the detection sensor When the detected value of 21 is below the lower limit value (fourth threshold value F4) of the second dead zone S2, the height of the leveling rotor 13 is displaced downward by −dh. Even when the load cell is used as the detection sensor 21, the control unit 23 corrects and controls the height position of the ground leveling device 7 as in the case where the potentiometer is used as the detection sensor 21.

本実施形態に係る移植機１は上述した構成からなり、整地ロータ１３の回転により発生する水流を受けて回動する回動部材１８を備え、ポテンショメータやロードセル等の検知センサ２１を用いて検出した回動部材１８の回動角度に基づいて整地ロータ１３の高さ位置を補正制御するようにしたので、実際の水流の強さを直接的に検知した検出値を用いた制御が可能となり、整地ロータ１３の高さ位置を圃場状況に応じて適切に設定することができる。このため、整地ロータによって発生した水流が既に隣接条に植え付けられた苗を倒してしまうことを低減し、植付作業性を向上できる。 The transplanting machine 1 according to the present embodiment has the above-described configuration, includes a rotating member 18 that rotates in response to a water flow generated by the rotation of the leveling rotor 13, and detects using a detection sensor 21 such as a potentiometer or a load cell. Since the height position of the ground leveling rotor 13 is corrected and controlled based on the rotation angle of the rotating member 18, control using the detected value that directly detects the actual strength of the water flow becomes possible, and the ground leveling becomes possible. The height position of the rotor 13 can be appropriately set according to the field conditions. Therefore, it is possible to reduce the water flow generated by the leveling rotor from overthrowing the seedlings that have already been planted in the adjacent row, and improve the planting workability.

また、検知センサ２１の検出値を無効とする第１の不感帯域Ｓ１を設定し、検知センサ２１の検出値が第１の不感帯域Ｓ１の上限値である第１の閾値を超えたときには整地ロータ１３を上昇させ、検知センサ２１の検出値が第１の不感帯域Ｓ１の下限値である第２の閾値を下回ったときには整地ロータ１３を下降させるようにしたので、整地ロータ１３が不所望に昇降動作を繰り返すことが抑制され、整地ロータ１３の昇降動作に伴ううねり状の水流の発生を低減することができる。 Further, a first dead band S1 that invalidates the detection value of the detection sensor 21 is set, and when the detection value of the detection sensor 21 exceeds the first threshold value which is the upper limit value of the first dead band S1, the leveling rotor 13 is raised, and when the detection value of the detection sensor 21 falls below the second threshold value, which is the lower limit of the first dead zone S1, the ground leveling rotor 13 is lowered, so that the ground leveling rotor 13 undesirably moves up and down. It is possible to suppress the repetition of the operation and reduce the generation of the undulating water flow accompanying the raising and lowering operation of the leveling rotor 13.

また、第１の不感帯域Ｓ１の上限値と下限値を下降側にずらした第２の不感帯域Ｓ２を設定し、検知センサ２１の検出値が第２の不感帯域Ｓ２の上限値である第３の閾値を超えたときには整地ロータ１３を上昇させ、検知センサ２１の検出値が第２の不感帯域Ｓ２の下限値である第４の閾値を下回ったときには整地ロータ１３を下降させるようにしたので、圃場面の荒れや走行速度等の圃場条件を考慮して、整地性能よりも水流の緩和を優先させた整地ロータ１３の高さ調整や、水流の緩和よりも整地性能を優先させた整地ロータ１３の高さ調整を行うことができる。 Further, a second dead band S2 in which the upper limit value and the lower limit value of the first dead band S1 are shifted to the descending side is set, and the detection value of the detection sensor 21 is the upper limit value of the second dead band S2. When the threshold value of is exceeded, the leveling rotor 13 is raised, and when the detection value of the detection sensor 21 falls below the fourth threshold value which is the lower limit value of the second dead band S2, the ground leveling rotor 13 is lowered. In consideration of field conditions such as rough field conditions and running speed, the height of the leveling rotor 13 that prioritizes the relaxation of water flow over the mitigation of water flow and the leveling rotor 13 that prioritizes the mitigation of water flow over the mitigation of water flow. The height of the can be adjusted.

また、整地装置７の左側部に第１の回動部材１８Ｌと第１の検知センサ２１Ｌの組を配置すると共に、整地装置７の右側部に第２の回動部材１８Ｒと第２の検知センサ２１Ｒの組を配置し、制御部２３が、これら第１及び第２の検知センサ２１Ｌ，２１Ｒ検出される回動角度の平均値に基づいて整地ロータ１３の高さ位置を補正制御するようにしたので、圃場の荒れに起因する検出値のばらつきを抑えることができる。 Further, a set of the first rotating member 18L and the first detection sensor 21L is arranged on the left side portion of the ground leveling device 7, and the second rotating member 18R and the second detection sensor are arranged on the right side portion of the ground leveling device 7. A set of 21Rs is arranged, and the control unit 23 corrects and controls the height position of the leveling rotor 13 based on the average value of the rotation angles detected by the first and second detection sensors 21L and 21R. Therefore, it is possible to suppress the variation in the detected value due to the roughness of the field.

また、植付作業機６の左側方に配置されて格納状態と作動状態に変位可能な第１の線引きマーカー１１Ｌと、植付作業機６の右側方に配置されて格納状態と作動状態に変位可能な第２の線引きマーカー１１Ｒとを備え、これら第１の線引きマーカー１１Ｌと第２の線引きマーカー１１Ｒの一方が作動状態にあってマーカーラインを線引きしているとき、この線引きマーカーと反対側に配置された検知センサ２１の検出値に基づいて整地ロータ１３の高さ位置を補正制御するようにしたので、整地ロータ１３から発生する水流を既に苗が植付けられている隣接条に対して確実に緩和することができる。 Further, the first line drawing marker 11L which is arranged on the left side of the planting work machine 6 and can be displaced to the stored state and the operating state, and the first line drawing marker 11L which is arranged on the right side of the planting work machine 6 and is displaced to the stored state and the operating state A possible second line drawing marker 11R is provided, and when one of the first line drawing marker 11L and the second line drawing marker 11R is in the operating state and the marker line is drawn, the opposite side of the line drawing marker is drawn. Since the height position of the ground preparation rotor 13 is corrected and controlled based on the detection value of the arranged detection sensor 21, the water flow generated from the ground preparation rotor 13 is surely applied to the adjacent row where the seedlings have already been planted. It can be relaxed.

なお、本発明は、上記実施形態に限定されないことは勿論であり、特許請求の範囲を逸脱しない限り任意の変更・追加が可能であることは言うまでもない。例えば、上記実施形態では、上限値と下限値をずらした２種類の不感帯域Ｓ１，Ｓ２を設定し、これら不感帯域Ｓ１，Ｓ２に基づいて制御部２３が第１のモードと第２のモードを実行する場合について説明したが、設定する不感帯域の数はこれに限らず、１種類または３種類以上の不感帯域を設定して整地ロータ１３の高さ位置を補正制御するようにしてもよい。また、このような角度に幅のある不感帯域（θｗ，Ｆｗ）を設定せずに、回動部材１８の回動角度が所定値を超えているか否かに応じて整地ロータ１３の高さ位置を補正制御するようにしてもよい。 Needless to say, the present invention is not limited to the above-described embodiment, and it goes without saying that any modification or addition is possible as long as it does not deviate from the scope of claims. For example, in the above embodiment, two types of dead bands S1 and S2 in which the upper limit value and the lower limit value are shifted are set, and the control unit 23 sets the first mode and the second mode based on these dead bands S1 and S2. Although the case of execution has been described, the number of dead bands to be set is not limited to this, and one type or three or more types of dead bands may be set to correct and control the height position of the leveling rotor 13. Further, without setting a wide dead band (θw, Fw) at such an angle, the height position of the leveling rotor 13 depends on whether or not the rotation angle of the rotating member 18 exceeds a predetermined value. May be corrected and controlled.

また、上記実施形態では、駆動モータ１６と動力変換機構１７で構成される昇降装置１５について説明したが、昇降装置１５の構成はこれに限らず、リニアモータや油圧シリンダ等を駆動源とするものであってもよい。また、検知センサ２１は、ポテンショメータやロードセルに限らず、回動部材１８（１８Ｌ，１８Ｒ）が受ける水流の強さを検出可能なものであればどのような構成でも良い。 Further, in the above embodiment, the elevating device 15 including the drive motor 16 and the power conversion mechanism 17 has been described, but the configuration of the elevating device 15 is not limited to this, and a linear motor, a hydraulic cylinder, or the like is used as a drive source. It may be. Further, the detection sensor 21 is not limited to the potentiometer and the load cell, and may have any configuration as long as it can detect the strength of the water flow received by the rotating members 18 (18L, 18R).

１ 移植機
４ 走行機体
５ 昇降リンク
６ 植付部（植付作業機）
８ 運転操作部
１１ 線引きマーカー
１１Ｌ 第１の線引きマーカー
１１Ｒ 第２の線引きマーカー
１２ ロータ軸（軸）
１３ 整地ロータ
１４ カバーフレーム
１５ 昇降装置
１６ 駆動モータ
１７ 動力変換機構
１８ 回動部材
１８Ｌ 第１の回動部材
１８Ｒ 第２の回動部材
２０ 作動レバー
２１ 検知センサ
２１Ｌ 第１の検知センサ
２１Ｒ 第２の検知センサ
２２ 与圧スプリング
２３ 制御部
２４ 切替え検出センサ
２５ 車速センサ
Ｆ１，Ｔ１ 第１の閾値
Ｆ２，Ｔ２ 第２の閾値
Ｆ３，Ｔ３ 第３の閾値
Ｆ４，Ｔ４ 第４の閾値
Ｓ１ 第１の不感帯域
Ｓ２ 第２の不感帯域 1 Transplanter 4 Traveling machine 5 Lifting link 6 Planting part (planting work machine)
8 Operation unit 11 Draw marker 11L First draw marker 11R Second draw marker 12 Rotor shaft (axis)
13 Ground leveling rotor 14 Cover frame 15 Lifting device 16 Drive motor 17 Power conversion mechanism 18 Rotating member 18L First rotating member 18R Second rotating member 20 Actuating lever 21 Detection sensor 21L First detection sensor 21R Second Detection sensor 22 Pressurized spring 23 Control unit 24 Switching detection sensor 25 Vehicle speed sensor F1, T1 First threshold F2, T2 Second threshold F3, T3 Third threshold F4, T4 Fourth threshold S1 First dead zone S2 Second dead band

Claims (5)

圃場を走行する走行機体と、該走行機体の後部に昇降可能に連結された植付部と、該植付部の前方に配置され、左右方向に延びる軸を中心に回転して圃場を整地する整地ロータと、を備えた移植機において、
前記整地ロータを昇降させる昇降装置と、
圃場を整地する際に前記走行機体の走行に伴って前記整地ロータが泥水を左右に押し分けることにより発生する水流を受けて回動する回動部材と、
前記回動部材が受ける水流の強さを検出する検知センサと、
前記検知センサの検出値に基づいて前記昇降装置を制御する制御部と、を備えてなる、
ことを特徴とする移植機。 A traveling machine traveling in a field, a planting portion movably connected to the rear portion of the traveling machine, and a planting portion arranged in front of the planting portion and rotating around an axis extending in the left-right direction to level the field. In a transplanter equipped with a leveling rotor
An elevating device that elevates and lowers the leveling rotor,
A rotating member that rotates in response to a water flow generated by the ground leveling rotor pushing muddy water to the left and right as the traveling machine travels when the field is leveled.
A detection sensor that detects the strength of the water flow received by the rotating member, and
A control unit that controls the elevating device based on the detection value of the detection sensor is provided.
A transplanter characterized by that. 前記制御部は、
前記検知センサの検出値が第１の閾値を超えている場合に、前記整地ロータが上昇するように前記昇降装置を制御し、
前記検知センサの検出値が前記第１の閾値よりも低い第２の閾値を下回っている場合に、前記整地ロータが下降するように前記昇降装置を制御し、
前記検知センサの検出値が前記第１の閾値と前記第２の閾値との間の値である場合に、前記整地ロータの昇降位置を変化させないように前記昇降装置を制御する第１のモードを実行可能である、
請求項１に記載の移植機。 The control unit
When the detection value of the detection sensor exceeds the first threshold value, the elevating device is controlled so that the leveling rotor rises.
When the detection value of the detection sensor is lower than the second threshold value lower than the first threshold value, the elevating device is controlled so that the leveling rotor is lowered.
When the detection value of the detection sensor is a value between the first threshold value and the second threshold value, the first mode of controlling the elevating device so as not to change the elevating position of the leveling rotor is set. Feasible,
The transplanter according to claim 1. 前記制御部は、
前記検知センサの検出値が前記第１の閾値よりも低い第３の閾値を超えている場合に、前記整地ロータが上昇するように前記昇降装置を制御し、
前記検知センサの検出値が前記第２の閾値よりも低い第４の閾値を下回っている場合に、前記整地ロータが下降するように前記昇降装置を制御し、
前記検知センサの検出値が前記第３の閾値と前記第４の閾値との間の値である場合に、前記整地ロータの昇降位置を変化させないように前記昇降装置を制御する第２のモードを実行可能である、
請求項２に記載の移植機。 The control unit
When the detection value of the detection sensor exceeds a third threshold value lower than the first threshold value, the elevating device is controlled so that the leveling rotor rises.
When the detection value of the detection sensor is lower than the fourth threshold value lower than the second threshold value, the elevating device is controlled so that the leveling rotor is lowered.
When the detection value of the detection sensor is a value between the third threshold value and the fourth threshold value, a second mode for controlling the elevating device so as not to change the elevating position of the leveling rotor is set. Feasible,
The transplanter according to claim 2. 前記回動部材は前記整地ロータの左側方に配置される第１の回動部材であり、
前記検知センサは前記第１の回動部材の回動角度を検出する第１の検知センサであり、
前記整地ロータの右側方に配置される第２の回動部材と、
前記第２の回動部材の回動角度を検出する第２の検知センサと、を備え、
前記制御部は、前記第１の検知センサから検出される前記第１の回動部材の回動角度と前記第２の検知センサから検出される前記第２の回動部材の回動角度との平均値を算出し、該平均値に基づいて前記昇降装置を制御する、
請求項１乃至３のいずれか１項に記載の移植機。 The rotating member is a first rotating member arranged on the left side of the leveling rotor.
The detection sensor is a first detection sensor that detects the rotation angle of the first rotating member.
A second rotating member arranged on the right side of the leveling rotor and
A second detection sensor for detecting the rotation angle of the second rotating member is provided.
The control unit has a rotation angle of the first rotating member detected by the first detection sensor and a rotation angle of the second rotating member detected by the second detection sensor. An average value is calculated, and the elevating device is controlled based on the average value.
The transplanter according to any one of claims 1 to 3. 前記回動部材は前記整地ロータの左側方に配置される第１の回動部材であり、
前記検知センサは前記第１の回動部材の回動角度を検出する第１の検知センサであり、
前記整地ロータの右側方に配置される第２の回動部材と、
前記第２の回動部材の回動角度を検出する第２の検知センサと、
前記植付部の左側方及び右側方にそれぞれ配置されて格納状態と作動状態に変位可能な第１の線引きマーカー及び第２の線引きマーカーと、を備え、
前記制御部は、前記第１の線引きマーカーが前記作動状態にあるときに、前記第２の回動部材の回動角度を検出する前記第２の検知センサの検出値に基づいて前記昇降装置を制御し、前記第２の線引きマーカーが前記作動状態にあるときに、前記第１の回動部材の回動角度を検出する前記第１の検知センサの検出値に基づいて前記昇降装置を制御する、
請求項１乃至３のいずれか１項に記載の移植機。 The rotating member is a first rotating member arranged on the left side of the leveling rotor.
The detection sensor is a first detection sensor that detects the rotation angle of the first rotating member.
A second rotating member arranged on the right side of the leveling rotor and
A second detection sensor that detects the rotation angle of the second rotating member, and
A first line drawing marker and a second line drawing marker, which are arranged on the left side and the right side of the planting portion and can be displaced to the retracted state and the operating state, respectively, are provided.
The control unit raises and lowers the elevating device based on the detection value of the second detection sensor that detects the rotation angle of the second rotating member when the first line drawing marker is in the operating state. The elevating device is controlled based on the detection value of the first detection sensor that detects the rotation angle of the first rotating member when the second line drawing marker is in the operating state. ,
The transplanter according to any one of claims 1 to 3.
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Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0548620U (en) * 1991-12-04 1993-06-29 ヤンマー農機株式会社 Angle-switching wheel mark erasing device for rice transplanter
JPH0662629A (en) * 1992-08-21 1994-03-08 Kubota Corp Paddy field working machine
JPH09172811A (en) * 1995-12-25 1997-07-08 Yanmar Agricult Equip Co Ltd Drive control device of actuator
JP2005000137A (en) * 2003-06-16 2005-01-06 Yanmar Co Ltd Ascendance and descend-controlling device of implement
JP2012244939A (en) * 2011-05-27 2012-12-13 Iseki & Co Ltd Working vehicle
JP2013014172A (en) * 2011-06-30 2013-01-24 Iseki & Co Ltd Working vehicle
JP2014166161A (en) * 2013-02-28 2014-09-11 Kubota Corp Paddy field working machine

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0548620U (en) * 1991-12-04 1993-06-29 ヤンマー農機株式会社 Angle-switching wheel mark erasing device for rice transplanter
JPH0662629A (en) * 1992-08-21 1994-03-08 Kubota Corp Paddy field working machine
JPH09172811A (en) * 1995-12-25 1997-07-08 Yanmar Agricult Equip Co Ltd Drive control device of actuator
JP2005000137A (en) * 2003-06-16 2005-01-06 Yanmar Co Ltd Ascendance and descend-controlling device of implement
JP2012244939A (en) * 2011-05-27 2012-12-13 Iseki & Co Ltd Working vehicle
JP2013014172A (en) * 2011-06-30 2013-01-24 Iseki & Co Ltd Working vehicle
JP2014166161A (en) * 2013-02-28 2014-09-11 Kubota Corp Paddy field working machine

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