JP2651064B2 - Lift control device for paddy field machine - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a lift control device for a paddy field working machine such as a rice transplanter, and more particularly, to a ground working device connected to a traveling machine so as to be able to drive up and down. The present invention relates to a lift control device for a paddy field working machine, comprising lift control means for controlling the height of a mud surface to be maintained at a predetermined value.

[0002]

2. Description of the Related Art Conventionally, as disclosed in Japanese Patent Application Laid-Open No. 3-83502, a pair of right and left ground-following-type anti-sludge devices are used in a seedling planting device as a ground working device. There has been a configuration in which a surface height detection sensor is provided, and a hydraulic cylinder for raising and lowering the seedling planting device is controlled to move up and down based on a detection result of the detection sensor.

[0003]

In the above-mentioned conventional structure, since the working device driven up and down is provided with the ground height detecting sensor, the set height set by the setting device and the detected height are compared with each other. By controlling the hydraulic cylinder so that the working device can be maintained at a predetermined height above the ground, there is an advantage that the control system can have a relatively simple configuration. Since a sensor is provided, for example, if the surface of the mud surface has many irregularities and the detection sensor frequently moves up and down, a hunting phenomenon occurs,
This hunting phenomenon does not converge, and the planting work depth may not be stable. In actual work, there is a disadvantage that the control tends to be unstable, and there is room for improvement.
An object of the present invention is to eliminate the above disadvantages.

[0004]

The feature of the present invention is that in the lifting and lowering control device for a paddy field working machine described at the beginning, the moving body moves up and down while following the ground on the mud surface on the traveling machine side. A mud surface detecting sensor for detecting the height is provided, and a mud depth calculating means for calculating the depth of the mud layer from the detection result of the mud surface detecting sensor is provided, and a relative height of the ground working device with respect to the traveling machine body. A height detecting means for detecting the height of the ground working device from a detection result of the height detecting means and a calculation result of the mud depth calculating means. At one point.

[0005]

[Function] The mud surface detection sensor provided on the traveling
The traveling wheel of the traveling aircraft travels along a hard plow under the mud layer due to the weight of the aircraft due to the weight of the fuselage. The depth of the layer can be calculated. Then, since the relative height between the traveling machine and the working device is detected by the height detecting means, it is possible to control the lifting and lowering of the working device so as to maintain the mud surface height at the set value from the detection results. Becomes

[0006]

As a result, while the height control of the mud surface can be performed in the same manner as in the prior art, the ground working device that moves up and down and the mud surface height detection sensor can be individually moved up and down without any interference. Therefore, the hunting phenomenon due to the feedback control by the closed loop does not occur, so that the smooth lifting control can be performed.

[0007]

Embodiments will be described below with reference to the drawings. FIG.
2 shows a riding type rice transplanter as an example of a paddy field working machine. In this rice transplanter, a seedling planting device 2 [an example of a ground working device] is connected to a rear portion of a riding type traveling machine body via a parallel link mechanism 1 so as to be capable of driving up and down and driving rolling freely around a longitudinal axis. It is configured so that the seedlings can be planted while doing so.

The seedling planting apparatus 2 is supported so as to be reciprocally movable in a reciprocating and lateral manner with respect to a planting transmission case 3 which also serves as a frame. A planting mechanism 5 and the like for taking out seedlings one by one from the lower end of the mounting table 4 and planting the seedlings in a field scene are provided. The front end of the planting transmission case 3 is attached to the rear link 1a of the link mechanism 1 around the longitudinal axis. , And is rotatably supported by a pivot, and is configured to be driven and rolled by a rolling cylinder 6 interposed between the rear link 1a and the lateral side of the rear surface of the seedling rest 4. Further, the seedling planting apparatus 2 is configured to move up and down via the link mechanism 1 which is swung up and down by the lift cylinder 7.

The rice transplanter is provided with a lifting control means for controlling the lift cylinder 7 so as to maintain the height of the mud surface of the seedling planting apparatus 2 at a predetermined value. In detail, FIG.
As shown in FIG. 7, the electromagnetic hydraulic control valves V1 and V2 of the lift cylinder 7 and the rolling cylinder 6 are controlled and driven by a control device 8 having a microcomputer, and follow the ground on the mud surface on the traveling body side. A pair of right and left ground-following swing arm type mud surface detection sensors S1 and S2 that swing up and down to detect the height of the mud surface with respect to the aircraft are provided.
In addition, a first potentiometer PM1 (an example of height detecting means) for detecting the relative height of the seedling planting apparatus 2 with respect to the traveling body is provided at the body-side pivot point of the link mechanism 1, and the body and the seedling planting apparatus are located at the rolling fulcrum position. Mud depth calculating means for calculating the depth of the mud layer from the detection results of the mud surface detection sensors S1 and S2 by arranging second potentiometers PM2 for detecting a relative rolling angle with respect to the mud layer 2, respectively. A, and a lifting drive means B for maintaining the seedling planting device at a predetermined height from the calculated mud depth and the detection result of the first potentiometer PM1 are provided in the form of a control program. Further, an electric cylinder 10 is provided for driving the fulcrum position of the mud surface detection sensors S1 and S2 to move up and down with respect to the machine frame 9, and the oscillating arm 11 is brought into contact with the mud surface. It is configured to be freely switchable to a non-operating state that floats upward. Note that the raising and lowering operation of the seedling planting device 2 is configured to be freely switchable between an ascending operation, a neutral operation, a descending operation, and a planting operation state in accordance with a switching operation of the artificial operation lever 12.

The control unit 8 executes control as follows. FIG. 3 shows a control flowchart of the control device 8 when the seedling planting device 2 is in contact with the ground. When the detection switch SW that detects the setting state of the operation lever 12 detects the planting work position (step 1), the electric cylinder 10 is driven to lower the mud surface detection sensors S1 and S2 until the mud surface detection sensors S1 and S2 touch the ground. (Steps 2 and 3). First and second potentiometers PM1 and PM2, left and right mud surface detection sensors S
1 and S2 are read (step 4), the average value X of the detection values of the left and right mud surface detection sensors S1 and S2 is calculated, and the thickness D of the mud layer is calculated from the average value X (step 5, 6). Then, the height H of the seedling plant 2 with respect to the mud surface is calculated from the calculated mud depth D and the detection value of the first potentiometer PM1 (step 7). Next, if the height H of the seedling planting apparatus 2 is not within the predetermined level range, the lift cylinder 7 is driven to drive the seedling planting apparatus 2 up and down (step 9). Then, the left and right mud surface detection sensors S1,
If the absolute value of the difference between the detected values of S2 is larger than the predetermined value M, the inclination of the seedling planting apparatus 2 with respect to the mud surface is calculated from the detected values of the left and right mud surface detection sensors S1 and S2, and Correspondingly, the rolling drive control is executed (steps 10 to 12). When it is detected that the operating lever 12 has deviated from the planting position, the electric cylinder 10 is driven to raise the left and right mud surface detection sensors S1 and S2 so as to float from the mud surface (step 14). Thus, the mud surface detection sensors S1, S
2 is designed not to damage the mud surface. This is repeated until the control is reset (step 1
5). Step 6 constitutes the mud depth calculating means A, and steps 7 to 9 constitute the lifting drive means B.

The mud surface detection sensor may be provided at the center on the left and right instead of the pair provided on the left and right.

In the claims, reference numerals are provided to facilitate comparison with the drawings, but the present invention is not limited to the configuration shown in the attached drawings.

[Brief description of the drawings]

Fig. 1 Side view of rice transplanter

FIG. 2 is a control block diagram.

FIG. 3 is a control flowchart.

[Explanation of symbols]

 2 Ground work equipment A Mud depth calculating means B Elevating drive means S1, S2 Mud surface detecting sensor PM1 Height detecting means

Claims (1)

(57) [Claims] An elevation control means for connecting a ground working device (2) to a traveling body so as to be able to drive up and down freely, and controlling the ground working device (2) to maintain a mud surface height at a predetermined value. A mud surface detection sensor (S1), (S1), which moves up and down while following a ground surface on the mud surface on the traveling machine side to detect a mud surface height with respect to the machine body.
2), and the mud surface detection sensors (S1) and (S2)
And a height detecting means (PM1) for detecting a relative height of the ground working device (2) with respect to the traveling machine body. A lifting drive means (B) for maintaining the ground working device (2) at a predetermined height with respect to the mud surface from the detection result of the height detection means (PM1) and the calculation result of the mud depth calculation means (A). ) A lifting and lowering control device for paddy working machines.