JP2947242B2 - Rice transplanter - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a rice transplanter
The present invention relates to a rice transplanter configured to be controllable and to be able to control the left and right postures .

[0002]

2. Description of the Related Art Conventionally, rice planting mounted on a riding type traveling body.
The industrial machine is configured to be able to raise and lower and control the left and right attitude.
In the rice transplanter, the rice transplanter
Left and right figure during work to control the work machine so that it is parallel to the topsoil surface
The rice transplanter is controlled along the horizontal plane from the power control state
Switch to the left / right attitude control state when not working
There was

[0003]

SUMMARY OF THE INVENTION According to the above prior art,
Then, when turning the aircraft on a headland with many irregularities, the aircraft
There is an advantage that it is hard to stabilize and is stable. But when working left
Switch from right attitude control state to left / right attitude control state when not working
Then, the left and right posture of the rice transplanting machine is changed,
When it is done by raising the industrial machine, the rice transplanter
Right and left posture of rice transplanting machine changed before ascending from topsoil surface
Will be done. Therefore, one of the left and right sides of the rice transplanting machine
Of seedlings planted in the topsoil just before ascent operation
Had a problem disturbing.

[0004] Therefore, the present invention provides a rice planting machine which is used for work.
Switch from left / right attitude control state to left / right attitude control state when not working
Be careful not to disturb the posture of the seedlings when planting
As an issue.

[0005]

SUMMARY OF THE INVENTION In order to solve the above-mentioned problems , the present invention relates to a rice transplanter having a rice transplanter 10 mounted on a ride-type traveling vehicle body 1 capable of raising and lowering control and left-right attitude control . Rice transplanting by raising rice transplanting machine 10
The leveling floats 15, 16 of the industrial machine 10 rise from the topsoil surface
When the right and left posture control of the rice transplanting machine 10
Switch from left / right attitude control state to left / right attitude control state when not working
Is obtained by the planting machine is characterized in that the Waru configuration.

[0006]

Since the present invention has the above-described structure, it is possible to turn the body on a headland having many irregularities.
Rice planting machine 10
Can be switched to a state that controls the left and right posture of
Raise the work machine 10 and adjust the leveling float of the rice transplanting machine 10
Rice planting work when 15 and 16 rise to the height above the topsoil surface
Right and left attitude control of the machine 10
The configuration switches to the left / right attitude control state during work.
Unlikely to disturb the posture of the planted seedlings
It will be.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Reference numeral 1 denotes a riding-type traveling vehicle which travels on a tillage basis. Reference numeral 2 denotes a rear wheel of the traveling vehicle body 1. Reference numeral 3 denotes a rear projection frame. Reference numeral 4 denotes an elevating link device, in which the bases of an upper link 5 and a lower link 6 are pivotally connected to the projecting frame 3, and the distal ends of both links are pivotally connected by a vertical link 7. The upper link 5 and the vehicle body 1 are connected by a first hydraulic cylinder device 8 so that the link is operated so as to move up and down. The first hydraulic cylinder device 8 is configured to be controlled by an electromagnetic valve 9 that is switched by solenoids 9a and 9b.

Reference numeral 10 denotes a rice transplanting machine, and a planting transmission case 11
A seedling table 12 which reciprocates laterally to the left and right is provided at the top of the case, and a transplanting tool 13 is provided at the rear end of the case 11 so that seedlings are planted one by one on the paddy surface. . In the example shown in the figure, six seedling mounting tables 12 are connected to the left and right sides, and a transplanting device 13 is also configured as a six-row rice planting device corresponding to the six seedling mounting tables 12.

Reference numerals 14, 15, and 16 denote land leveling floats, each of which is a transmission case 11 which forms the body of the rice transplanting machine 10.
And attached to the case 11 by expansion and contraction links 17, 17, 17 which are operated in parallel and have a cross shape in a side view. Reference numeral 18 denotes an elongated hole for attaching an expansion / contraction link, and 19 denotes a spring that repels a float. The leveling floats 15 and 16 correspond to the topsoil detector of the embodiment of the present invention, and the vertical movement of the floats 15 and 16 determines the distance between the tillage surface (a) and the paddy rice topsoil surface (b). It is designed to detect
It is connected to the detection signal generators 15a and 16a.

The left and right central portions of the transmission case 11 of the rice transplanting machine 10 are rotatably connected to the lower side of the vertical link 7 by a longitudinal shaft 20 so that the vertical link 7 and the transmission case can be connected. A second hydraulic cylinder device 21 is interposed between the first hydraulic cylinder 11 and the roller 11 so that rolling control can be performed. The switching valve 22 of this cylinder device also has solenoids 22a and 22a.
2b.

Reference numeral 23 denotes a height detector for detecting a link angle, which detects a rotation angle of the upper link 5. The control electric circuit will be described. Reference numeral 24 denotes a controller of a microcomputer. The controller 24 detects an operation signal of the planting clutch lever 29 and a detector 23 which detects the height of the rice transplanting machine 10. , A signal from the detection signal generators 15a and 16a from the floats 15 and 16, a signal from a manual dial 25 for inputting a manual planting depth reference signal,
Signals from the left and right hardness correction dials 26 and 27 and a signal from a left and right horizontal detector 28 mounted on the body of the rice transplanting machine 10 are input. On the other hand, from the controller 24, output commands for energizing and de-energizing the solenoids 9a and 9b and output commands for energizing and de-energizing the solenoids 22a and 22b are sent.
The controller 24 is provided with a reference oscillator. The controller 24 measures the number of vertical vibrations of the floats 15 and 16 during a predetermined period of time to determine a predetermined frequency. A control signal is transmitted.
For example, a reference program is stored that can be measured once, twice, three times,... Every three seconds, and discriminated as a hard field for three or more times, a standard for two times, and a soft field for one time. In the case of a hard field signal, the insensitive control is performed so that the switching control time to the first hydraulic cylinder device 8 and the second hydraulic cylinder device 21 is shortened. Is configured to be sensitive and lengthened. In other words,
For hard field signals, the solenoids 9a, 9b, 22a, 22
The excitation time of b is shortened, and in contrast, an output signal having a longer excitation time is generated in a soft field signal.

It should be noted that, apart from the above-described method in which the hardness is determined by the number of vibrations of the floats 15 and 16 within a predetermined time, the determination may be made based on the upper and lower operating speeds. For example, when the upward movement speed is rapid, it is determined as a hard field, and when the upward movement is at a slow speed, it is determined as a soft field, and the planting apparatus 10 may be vertically and rotationally controlled to be sensitive and insensitive. The operation of the above example will be described. A riding type rice transplanter is put into a paddy field, and the rice transplanting machine 10 is lowered by a planting operation lever / planting device elevating operation lever 29. Then, the leveling floats 14, 15, 16 contact the topsoil surface of the paddy field and move upward against the spring 19. The paddy field depth signals from the detection signal generators 15a, 16a linked to the left and right floats 15, 16 are controlled.
The control signal is sent from the controller 24 to the solenoids 9a, 9b, 22a, 22b of the switching valves 9, 22, and the hydraulic cylinder devices 8, 21 are operated to operate the rice transplanting machine 10. The control is stopped when the right and left sides are at an appropriate height along the topsoil surface. That is, this state is a standard planting depth setting state.

The manual dial 25 for changing the planting depth
Can adjust the standard planting depth appropriately. Further, the planting depths on the left and right sides are corrected by the hardness correction dials 26 and 27 on the left and right sides, and adjusted in advance so that the left and right sides have the same depth. In this state, the planting operation is started. That is, the traveling vehicle 1
Of the rice transplanting machine 10 while driving.

Then, each leveling float 14, 15, 16
Is slid on the topsoil of the paddy field, and the ground is leveled. The seedlings mounted on the seedling mounting table 12 are divided by the transplant tool 13 for each plant and transplanted to the ground. When the paddy field becomes deeper or shallower due to cultivation fluctuations, the leveling floats 14, 15, 16 are pushed upward or downward. Signals are sent from the signal generators 15a and 16a to the controller 24 by the up and down movement of the left and right floats 15 and 16, and control signals are sent from the controller 24 to the solenoid valves 9a, 9b, and 9b as described above. The control valves 9 and 22 are switched by being sent to 22a and 22b, and the rice transplanting machine 10 is automatically moved up and down by the hydraulic cylinder devices 8 and 21 to an appropriate height. The control signal from the controller 24 is used by an arithmetic circuit in the controller 24 to determine whether the field is a hard field or a soft field based on the number of vibrations of the floats 15 and 16 within a predetermined time. Then, the automatic control signal is corrected to make the control insensitive or sensitive. That is, when the number of vibrations is frequent, it is determined that the surface is a hard topsoil surface, and the switching time of the valve 9 and the valve 22 is reduced to make the control time shorter than the reference control, so that the vertical movement width
When the number of vibrations is small, the rotation width is made small. On the contrary, it is recognized that the surface is a soft topsoil surface, and the switching time is increased so that the vertical movement width and the rotation width are made large. Therefore, a special top and bottom surface hardness sensor is not required, and the control is corrected by determining the top and bottom surface hardness from the movement state of the leveling float. -Control is performed with less risk.

In this way, the work is performed while the automatic planting depth control is being performed. After the completion of one row of planting, the planting is stopped by the operation lever 29 and the rice transplanting machine 10 is raised. Then, the height detector 23 for detecting the link angle detects this, and when the leveling floats 15 and 16 reach the height at which they rise above the topsoil surface, the switching signal of the switching valve 22 is transmitted from the left and right horizontal detector 28. The rice transplanting machine 10 is switched to the control based on the received signal, and is lifted in the horizontal state. Then, when the rice transplanting machine 10 is lowered to start the work again after the turning, the leveling floats 15, 16 contact the topsoil surface. Then, the control signal from the float side has priority and the planting depth control is performed again.

The operation area (C) on the operation panel 30 of the planting and hydraulic operation lever 29 and the height detector 23 for detecting the link angle are matched to correspond to the operation set position of the operation lever 29. It is convenient to construct the rice transplanting machine 10 so that it can be controlled at a desired height, and to set up a control mechanism so that automatic control takes precedence when the ground leveling floats 15 and 16 touch the ground. Due to leakage of the hydraulic device or the like, the setting position of the operation lever 29 and the height of the rice transplanting machine 10 may be inconsistent while the work is stopped. At this time,
Start the engine and turn on the control circuit without noticing this
In this case, the rice transplanting machine 10 suddenly moves upward, which is dangerous. To prevent this, a height detector 23 that detects the output value (signal voltage) from the operation lever 29 and the link angle
Until the output value (signal voltage) from
It is safe to adopt a configuration in which the up-and-down control by 9 cannot be performed.

The control requires that the rice transplanting machine 10 be parallel to the traveling vehicle body 1 when the rice transplanting machine 10 is being raised and output, that is, while the rice transplanting machine 10 is being lifted or raised by operating the lever 29. In this case, it must be parallel-returned. At this time, the left and right leveling floats 15,
It is necessary to perform the rolling control so that the heights of 16 are the same, and it is desirable to perform the control disclosed in the flowchart of FIG .

As described above, this rice transplanter is a headland with many irregularities.
When turning the aircraft with the
To control the left and right posture of rice transplanter 10
Gills are, moreover, raises the planting machine 10 rice planting work
Leveling floats 15, 16 of machine 10 rise from topsoil surface
At the height, the left and right attitude control of the rice transplanting machine 10
Switch from right attitude control state to left / right attitude control state when not working
So that the posture of the planted seedlings is
Disturbance is less likely to occur.

[Brief description of the drawings]

FIG. 1 is a side view of a main part.

FIG. 2 is a simplified plan view of a main part.

FIG. 3 is a simplified side view of a main part.

FIG. 4 is a hydraulic circuit diagram

FIG. 5 is a control block diagram.

FIG. 6 is a flowchart.

FIG. 7 is a flowchart showing another example.

FIG. 8 is a flowchart of another example.

[Explanation of symbols]

 1: Riding type traveling body 10: Rice transplanter 29: Operation lever

──────────────────────────────────────────────────続 き Continued on front page (58) Field surveyed (Int.Cl. ⁶ , DB name) A01C 11/02

Claims (1)

(57) [Claims] 1. A riding traveling planting machine 10 mounted on the vehicle body 1 elevator controllably and right attitude capable of controlling the rice transplanter, by increasing the planting machine 10 rice planting work
Leveling floats 15, 16 of machine 10 rise from topsoil surface
At the height, the left and right attitude control of the rice transplanting machine 10
Switch from right attitude control state to left / right attitude control state when not working
Rice transplanter characterized by having such a configuration .