JP2764215B2 - Rice transplanter horizontal controller - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a horizontal control device for a rice transplanter that keeps a planting part horizontal.

Conventional technology Conventionally, as shown in Japanese Utility Model Application Laid-open No. 63-86714, left and right switches are provided at both ends of a rail for reciprocating a seedling table left and right, and when the left and right switches are off, the left and right inclination of the seedling table is adjusted. There is a technique in which the rotation time of the correction motor is set based on the measured value, the correction motor is rotated, the correction spring force is adjusted, and the inclination of the seedling mounting table is corrected.

"Problems to be Solved by the Invention" In the conventional technique, an inertial force is generated by an operation in which the seedling mounting table reaches the left and right ends and turns back, and the planting portion is turned in a direction opposite to the turning direction by the inertial force. By tilting temporarily,
There is a malfunction that the compensation motor malfunctions.To prevent this malfunction of the compensation motor, increase the on-time of the left and right switches and adjust the on / off timing of the left and right switches freely according to the change in seedling weight of the seedling mounting table. However, there is a problem that it is not easy to improve the reliability of the motor control and to simplify the control structure.

Means for Solving the Problems According to the present invention, a seedling mounting method is provided in a rice transplanter in which a planting portion is provided so as to be capable of swinging left and right and a horizontal adjusting member for changing a lateral inclination of the planting portion is provided. A seedling amount sensor for detecting a change in the seedling amount of the stand, and a traverse sensor for detecting the left-right reciprocating position of the seedling stand are provided. In addition to automatically controlling the horizontal adjustment member based on the result, a left and right prohibition switch is provided which is alternately operated at the left and right movement ends of the seedling mounting table. The horizontal control operation is prohibited.

[Operation] Therefore, in addition to the change in the amount of seedlings on the seedling table, the reciprocating movement of the right and left is detected at the same time. Detected, it is possible to perform the right and left inclination correction operation of the seedling mounting table extremely functionally, and it is possible to perform horizontal control with high accuracy and stability compared to the past, and
Since the automatic control of the horizontal adjustment member is prohibited for a certain period of time by the operation of the left and right prohibition switch, the planting part is temporarily tilted in the direction opposite to the folding direction due to the inertia force generated when the seedling table is turned back and forth This can easily prevent the horizontal adjustment member from malfunctioning, and can easily improve the reliability of the horizontal adjustment member control and simplify the control structure.

Embodiment An embodiment of the present invention will be described below in detail with reference to the drawings. FIG. 1 is a horizontal control circuit diagram, FIG. 2 is a side view of a riding rice transplanter,
FIG. 3 shows a plan view of the vehicle, in which (1) is a traveling vehicle on which an operator rides, and a rear end of a body frame (3) on which an engine (2) is mounted is connected to a transmission case (4). Front paddle traveling front wheels (6) are supported on both front sides of the transmission case (4) via front axle cases (5), and paddy fields are provided on both rear sides of the transmission case (4) via rear axle cases (7). Rear wheel for running (8)
To support. Spare seedling mounts (10) are appropriately mounted on both sides of the hood (9) covering the engine (2), and the axle cases (5) and (7) are provided by a body cover (12) forming a step (11). And a driver's seat (13) is mounted above the vehicle body cover (12), and an operation handle (14) is provided in front of the driver's seat (13) and at the rear of the hood (9).

Further, (15) in the figure is a planting section having a seedling mounting table (16) for multiple planting and a plurality of planting claws (17).
The back-tilt type seedling table (16) is supported by the planting case (20) via the guide rail (18) and the guide rail (19) so as to be reciprocally slidable left and right. A rotary case (21) that rotates at a constant speed is supported by the planting case (20), and a pair of claw cases (22) and (22) are disposed at symmetrical positions about the rotation axis of the case (21). Attach the planting nails (17) and (17) to the tip of the nail case (22). A support frame (24) is provided on the front side of the planting case (20) via a rotation fulcrum shaft (23), and a three-point link mechanism (27) including a top link (25) and a lower link (26) is provided. A supporting frame (24) connected to the rear side of the traveling vehicle (1) via the link mechanism (27), and a lifting cylinder (28) for lifting and lowering the planting portion (15) via the link mechanism (27); ) (8) is driven and moved at a substantially constant speed, and at the same time, two seedling claws (17) (17) (17) (17) (17) are rotated from the seedling mounting table (16), which reciprocates right and left, from one rotation of the rotary case (21). ) To remove two seedlings,
It is configured to perform seedling planting work continuously.

In the figure, (29) is a traveling speed change lever, (30) is a planting lever, (31) is a planting sensitivity adjusting lever, (32) is a traveling clutch pedal, and (33) and (33) are left and right brake pedals.

As shown in FIGS. 4 and 5, a center float (34) is provided at the lower center of the planting portion (15), and side floats (35) and (35) are provided on both left and right sides. The rear part of the left and right side floats (35) and (35) is supported on the planting depth adjusting fulcrum shaft (37) below the planting case (20) via the planting depth adjusting link (36) and the front part. The buffer link (3
The planting case (20) is supported under the planting case (8). The center float (34) supports the rear side with a planting depth adjusting link (36), and the front side has a center link (39).
And a pitching fulcrum shaft (41) that supports the front part of the center float (34) so that it can swing up and down with a bracket (42) on the rear upper surface of the float (34). ing. And the planting case (2
At 0), the planting depth adjustment fulcrum shaft (37) is rotatably supported,
The tip of the planting depth adjustment link (36) (36) having a base fixed to the adjustment fulcrum shaft (37) is connected to the pitching fulcrum shaft (4).
Connect to 1).

As shown in FIGS. 5 to 7, the support frame (2
4) A central vertical frame (43) integrally connected to the upper end of the seedlings, and a seedling support (44) (44) that supports the left and right sides of the seedling mounting (16).
The left and right rolling regulating springs (45) and (45) are interposed between the upper and lower fixed boxes (4) of the vertical frame (43).
A transverse feed screw shaft (47) is installed in 6), a rolling motor (48) as a horizontal adjustment member is interlockedly connected to the screw shaft (47), and a moving body (49) connected to the screw shaft (47). ) To the spring pressure adjusting plate (51) via the fixing plate (50),
The adjusting plate (51) and the upper mounting bracket (5
2) A regulating spring (45) is stretched between the springs so that the spring pressure can be adjusted to regulate the rolling caused by the lateral movement of the seedling mounting table (16) during work, while the planting part (15) tilts left and right. At times, the planting portion (15) is maintained horizontal by driving the rolling motor (48) forward and reverse to control the spring force of the left and right regulating springs (45) and (45) in an unbalanced state. Make up.

Further, (53) is a rolling-regulating auxiliary spring extending between the left and right sides of the box (46) and the seedling mounting table (16).
4) is a horizontal sensor for detecting rolling provided at the upper center of the planting case (20). (55) and (56) are left and right prohibition switches for stopping horizontal control fixedly supported on the box (46) so as to be adjustable in position. Reference numerals (57) and (57) denote left and right prohibiting operation pieces fixed on the rear surface of the seedling mounting table (16). The rolling motor (48) is operated based on the output of the horizontal sensor (54) to level the planting section (15). While performing control, one of the switches (55) and (56) is alternately operated by the operation piece (57) at the left and right moving ends of the seedling mounting table (16), and any of the switches (55) and (56) is operated. , The horizontal control operation of the rolling motor (48) is prohibited for a certain period of time, and the planting part (15) is temporarily tilted in the direction opposite to the turning direction due to inertia when the seedling mounting table (16) is turned back and forth. However, even if the horizontal sensor (54) detects and outputs this inclination, the rolling mode (48) are configured to prevent blocking to erroneous control operation.

Further, as shown in FIG. 1, a plurality of solar cells (59) are provided on each seedling mounting surface (58) of the seedling mounting table (16) and continuously detect the remaining amount of seedlings of each planting strip. Seedling quantity sensor (60)…
And a sensor (60) for the remaining seedling quantity of each planting strip on the seedling mounting table (16)
A display plate (62) having a display (61) for displaying based on the output; a left and right lateral feed sensor (63) (64) for detecting the amount of left and right movement of the seedling mounting table (16); 15) A planting sensor (65) that detects the engagement of a planting clutch that drives and controls the screw shaft (47) that is rotated by a rolling motor (48).
A moving body (49), a feedback sensor (66) for detecting a displacement amount, the horizontal sensor (54), and the horizontal sensor (5).
The dead zone setting device (67) for initial setting of the dead zone of (4) and the left and right prohibition switches (55) and (56) are connected to a horizontal control circuit (68) composed of a microcomputer.

In addition, the rolling motor (48) is connected to the horizontal control circuit (68) via left and right tilt circuits (69) and (70).

Then, the horizontal sensor (54) detects the left-right inclination of the planting section (15), and the right-left prohibition switches (55) (56) detects the left-right movement and turn-back operation of the seedling mounting table (16). The seedling amount of the seedling table (16) is detected for each planting line by 60), and the seedling table (16) is detected by the left and right lateral feed sensors (63) (64).
The amount of left and right movement is detected, the planting sensor (65) detects the engagement of the planting clutch, the feedback sensor (66) detects the control amount of the rolling motor (48), and the rolling motor (48 ) Is operated so as to rotate forward or reverse, and the horizontal control of the planting portion (15) is automatically performed. As is apparent from the above description, the rolling motor (48) is a horizontal adjusting member that horizontally mounts the planting portion (15) and that changes the horizontal inclination of the planting portion (15).
A rice transplanter provided with a seedling amount sensor (60) for detecting a change in the seedling amount of the seedling table (16), and a lateral feed sensor (63) (64) for detecting the reciprocating position of the seedling table on the left and right. The rolling motor (48) is automatically controlled based on the result of calculating the position of the center of gravity of the seedling mounting table (16) based on the outputs of the seedling quantity sensor (60) and the lateral feed sensors (63) (64), Left and right prohibition switches (55) and (56) are provided, which are alternately operated at the left and right moving ends of the seedling mounting table (16).
The horizontal control operation of the rolling motor (48) is prohibited for a certain period of time by either of the operations of (56). Movement of the center of gravity of the seedling mounting table (16) is detected based on both the difference in the amount of left and right seedlings and the balance of the right and left seedling mounting bases (16).
The right and left inclination correction operation of the seedling table (16) is performed extremely functionally, and horizontal control can be performed with higher accuracy and stability than before, and rolling for a certain period of time by operating the left and right prohibition switches (55) and (56). Prohibit automatic control of motor (48),
The rolling motor (48) is prevented from malfunctioning due to the operation in which the planting part (15) temporarily tilts in the direction opposite to the turning direction due to the inertial force generated when the seedling mounting table (16) turns back and forth. , The control of the rolling motor (48) is improved and the control structure is simplified.

The present embodiment is configured as described above, and the horizontal control operation is performed as shown in the flowchart of FIG. 8. When the planting clutch is engaged by operating the planting lever (30) to start the planting operation, The planting sensor (65) turns on,
The lateral movement of the seedling table (16) is input from the lateral feed sensors (63) and (64), and the seedling table (1) is input from the seedling amount sensor (60).
Enter the remaining amount of seedlings in 6) for each planting line,
The center of gravity (G) in the horizontal direction is calculated, and a horizontal reference value (VO) is calculated from the horizontal output value (VE) of the horizontal sensor (54) and the center of gravity.

Then, the detection value (V) of the horizontal sensor (54) and the horizontal dead zone (VC) of the setting device (67) are input, and the detection value (V)
When the difference between the reference value (VO) and the reference value (VO) is greater than the positive value of the dead zone (VC), the feedback sensor (66) is used to control the seedling platform (16), except for prohibiting control by turning on the left prohibition switch (55) The left and right inclination (with respect to the machine) is input, the left raising amount (support angle correction amount) is calculated, the rolling motor (48) is operated, the left raising control is performed, and the supporting angle of the planting section (15) is adjusted. Correct to the rightward direction to support the planting part (15) horizontally on the rice field.

When the difference between the detected value (V) of the horizontal sensor (54) and the reference value (VO) is smaller than the negative value of the dead zone (VC), the right tilt state is set, except for the control inhibition by turning on the right inhibition switch (56). Then, input the right and left type inclination (to this machine) of the seedling table (16) from the feedback sensor (66), calculate the amount of raising right (the amount of support angle correction), operate the rolling motor (48), and The raising control is performed to correct the support angle of the planting portion (15) to the left tilt direction, so that the planting portion (15) is supported horizontally with respect to the rice field.

When the absolute value of the difference between the detection value (V) of the horizontal sensor (54) and the reference value (VO) is equal to or smaller than the dead zone (VC), the horizontal control is stopped and the rolling motor (48) is stopped. Is to keep stopped.

"Effects of the Invention" As is clear from the above examples, the present invention provides
5) In a rice transplanter equipped with a horizontal adjustment member (48) that changes the horizontal inclination of the planting section (15) while installing 5) so that it can swing from side to side, changes in the amount of seedlings on the seedling table (16) are detected. A seedling quantity sensor (60) and a lateral feed sensor (63) (64) for detecting the reciprocating position of the seedling mounting table in the left and right direction, and the seedling quantity sensor (60) and the lateral feed sensor (63) (64) The horizontal adjustment member (48) is automatically controlled based on the result of calculating the center of gravity of the seedling table (16) based on the output, and the left and right prohibitions that alternately operate at the left and right moving ends of the seedling table (16) Switch (55) (5
6) is provided to prohibit the horizontal control operation of the horizontal adjustment member (48) for a certain period of time by either of the left and right prohibition switches (55) and (56). In addition, since the left and right reciprocating motion is also detected at the same time, the shift of the center of gravity of the seedling mounting table (16) is detected based on both the difference in the amount of left and right seedlings and the right and left balance of the seedling mounting table (16) itself. ) Can be performed extremely functionally, and horizontal control can be performed with higher accuracy and stability than before, and the right and left prohibition switches (55) and (56) can be operated only for a certain period of time. Since the automatic control of the horizontal adjustment member (48) is prohibited, the planting part (15) is temporarily tilted in the direction opposite to the turning direction by the inertial force generated when the seedling table (16) turns back and forth. , The level adjustment member (48) can be easily prevented from malfunctioning, Member (48) in which the like simplification of reliability and control structure of the control can be easily achieved.

[Brief description of the drawings]

1 is a horizontal control circuit diagram, FIG. 2 is an overall side view of a rice transplanter, FIG. 3 is a plan view of the same, FIGS. 4 and 5 are side views of a planting section, and FIGS. 6 and 7. Is a partial explanatory diagram, and FIG. 8 is a flowchart. (15) Planting section (16) Seedling table (48) Rolling motor (horizontal adjustment member) (60) Seedling quantity sensor (63) (64) Transverse sensor

Claims (1)

(57) [Claims] In a rice transplanter having a planting part (15) swingably mounted to swing left and right and a horizontal adjusting member (48) for changing a horizontal inclination of the planting part (15), a seedling mounting table is provided. (16) A seedling quantity sensor (60) for detecting a change in seedling quantity, and a lateral feed sensor (63) (64) for detecting a reciprocating position of the seedling table in the left-right direction. The horizontal adjustment member (48) is automatically controlled based on the result of calculating the position of the center of gravity of the seedling mounting table (16) based on the outputs of the sensors (63) and (64), and
Left and right prohibition switches (55) and (56) are provided, which are alternately operated at the left and right moving ends of the seedling mounting table (16).
A horizontal control device for a rice transplanter, wherein the water control operation of the horizontal adjustment member (48) is prohibited for a certain period of time by any one of the operations (56).