JP2985401B2 - Automatic lifting control device for paddy field farm work machine - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic raising and lowering control device for an agricultural working machine for paddy fields such as a rice transplanter and a paddy field direct sowing machine.

[0002]

2. Description of the Related Art Conventionally, as a paddy field farming machine such as a rice transplanter or a paddy field direct sowing machine, a walking type and a riding type are known, each of which has a fixed seedling depth or seeding depth. From where it is necessary, measures have been taken for that. That is, in the case of the walking type, the propulsion wheel is raised and lowered according to the depth of the cultivator to raise and lower the machine frame of the work machine, and in the case of the riding type, the lifting and lowering link mechanism etc. The work machine is mounted so as to be able to move up and down, and a detector for detecting the depth of the plow is provided on the work machine, and the work machine is automatically moved up and down by a lifting link mechanism or the like.
Japanese Patent Application Laid-Open No. S59-17909 discloses an apparatus in which the detection sensitivity of a detector for detecting the depth of a tillage is adjusted by a water depth detector.

[0003]

As described above, if the working machine frame or the working machine is controlled up and down only by the depth of the cultivator, the influence of the depth of the paddy field or the hardness of the paddy soil, etc.
There has been a problem in that the switching sensitivity for detecting the depth of the tillage is shifted, and erroneous detection is not performed, and accurate automatic lifting control cannot be performed. In addition, even when the detection sensitivity of the detector for detecting the depth of the tillage is adjusted by the water depth detector, there is a problem in that the switching sensitivity due to the hardness of the paddy soil is shifted and erroneous detection cannot be avoided. . The present invention has been made to solve the above problems.

[0004]

In order to achieve the above object, according to the present invention, a potentiometer for detecting the depth of a cultivator is provided on a frame of an agricultural working machine for paddy fields, and a detection value of the potentiometer is used. The machine frame is lifted and lowered so as to be maintained at a substantially constant height relative to the paddy field surface, and the potentiometer is connected to a hard / soft sensor for detecting the hardness of the paddy soil and a water depth sensor for detecting the water depth of the paddy field. The operation of the hard / soft sensor is corrected by the water depth sensor to adjust the switching sensitivity of the potentiometer.

[0005]

According to the above construction, the automatic raising and lowering control device of the agricultural machine for paddy field of the present invention adjusts the switching sensitivity of the potentiometer by correcting the operation of the hard / soft sensor by the water depth sensor. The accuracy of detecting the depth of the paddy field has become extremely high, and the automatic raising and lowering control of the machine frame of the paddy field agricultural work machine is performed accurately, the machine frame is maintained at a substantially constant height with respect to the paddy field surface, the seeding depth and seeding The depth can be made constant. Further, the structure is simple, and the hard / soft sensor and the water depth sensor can be used together.

[0006]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be specifically described below with reference to the accompanying drawings. In FIG. 4, the riding rice transplanter 1
Is equipped with a pair of left and right front wheels 4 and a rear wheel 5 that are respectively driven at front and rear portions of a vehicle body frame 3 of the passenger traveling vehicle body 2, and has an engine 6 mounted at a substantially intermediate position in the front-rear direction of the vehicle body frame 3. . The engine 6 is covered by a cover 7, and a driver seat 8 is provided on the engine cover 7. A steering frame 9 is provided on the front side of the driver's seat 8, and the support frame 1 is provided upright at the rear end of the body frame 3.
0, the base end of a lifting link 12 that pivots due to the expansion and contraction of the hydraulic vertical cylinder 11 for the planting portion and moves up and down at the rear end side is pivotally supported, and a plurality of plants are planted at the rear end of the lifting link 12. The part 13 is connected to the left and right so as to be rollable. A fertilizer application device 14 is provided at a rear position of the planting section 13. The fertilizer applicator 14 extends the fertilizer hose 14a to near the field scene on the side of the floats 18 and 19, is attached to the groove forming plate 14b, and fertilizes the fertilizing groove formed by the groove forming plate 14b. ing.

A transmission 15 and a differential device (not shown) for a front wheel 4 and a rear wheel 5 are provided below the front portion of the body frame 3 and receive power from the engine 6 to receive power from the front wheel 4 and the rear wheel 5. The vehicle is driven by four-wheel drive by transmitting power through a differential device. Also, power is transmitted from the transmission 15 to a transmission box provided at the rear end of the body frame 3,
From here, power is transmitted to the planting section 13 via the planting section transmission shaft 13a, and power is transmitted from the planting section 13 to the fertilizer application device 14. The planting section 13 has a main frame 16 on which seedlings for transplantation are placed on the upper side, and a seedling mounting table 17 that reciprocates right and left at a predetermined stroke is obliquely provided. Located on the sensor float 1
8. A side float 19 is provided on each of the left and right sides thereof, and a seedling outlet (not shown) provided at the inclined lower end of the seedling mounting base 17 while rotating in the rearward direction in the traveling direction of the body.
A seedling plant 20 is provided for extracting seedlings one by one from a plant and planting them in a field.

As shown in FIGS. 1 and 2, the sensor float 18 is provided at the rear fulcrum 2 with respect to the main body frame 16.
1 is supported as a fulcrum so that the front link mechanism 22 can swing up and down, and on the upper end of the front link mechanism 22, a potting meter 23 for adjusting the planting depth of the seedling, which is rotated and switched by the vertical movement of the float 18. Is provided. The sensor float 18 and the side float 19 are provided on a float support rod 24 rotatably supported by the main body frame 16.
, The rear fulcrum 21 is supported via a rotating arm 25,
The float supporting rod 24 is rotated by the planting depth adjusting lever 26 connected to the float supporting rod 24, and the floats 18, 19 are moved up and down to adjust and set the planting depth of the seedlings. Furthermore, the link rod 2 is attached to the float support rod 24.
7 is connected, the other end of the link rod 27 is connected to a pin 28 pivotally supported by the main body frame 16, and the potentiometer 23 is fixed to the tip of a support arm 29 connected to the pin 28. Have been.

When the traveling vehicle body 2 is traveling on the cultivator H as shown in FIG.
If there is unevenness, the vehicle body moves up and down, the planting section 13 and the fertilizer applicator 14 move up and down via the lifting link 12, and the sensor float 18 swings the front link mechanism 22 up and down with the rear fulcrum 21 as a fulcrum. Let me know, potentiometer 2
3 operates and its output fluctuates. The detection value (output) of the potentiometer 23 is input to the controller 30 for controlling the planting depth shown in the flowchart of FIG. 5, and the solenoid valve 31 is operated to extend and contract the vertical cylinder 11 of the planting portion. The planting section 13 and the fertilizer applicator 14 are moved up and down via the elevating link 12 to keep the ground pressure of the floats 18 and 19 almost constant, and keep the space between the floats 18 and 19 almost constant to plant seedlings. Planting depth of the seedlings planted by the body 20, and the fertilizer application device 14
The fertilizer application depth is set to be approximately constant.

In the middle of the support arm 29, there is provided a support arm 32 which is once lowered from a position where it is attached to the support arm 29, and is bent so as to extend to the side. The potentiometer 33 is fixed. A warped soil hardness sensor 34 is connected to the soil hardness soft potentiometer 33, and a plate-shaped water depth sensor 35 is attached to an intermediate portion of the soil hardness sensor 34. The water depth sensor 35 may be a spherical float 35a as shown in FIG. The soil hardness sensor 34 functions to detect the hardness of the paddy soil S, and the water depth sensor 35 functions to detect the water depth W of the paddy field. The soil hardness sensor 34 is corrected and output to the soil hardness soft potentiometer 33. The pot 30 is connected to the potting depth adjusting potentiometer 23 and the controller 30. And the soil hardening potentiometer 33
Is corrected by correcting the output of the planting depth adjusting potentiometer 23 to operate the solenoid valve 31 to expand and contract the hydraulic cylinder 11, and to move the planting section 13 and the fertilizer applicator 14 up and down via the lifting link 12. Let it.

As shown in FIG. 6, the output of potentiometer 23 for adjusting the planting depth (sensor float) is VF,
The output of the soil hardening potentiometer 33 is VK, the output of the controller 30 is Vc (V), the output of the solenoid valve 31 is v (Vc ′), and the output of the hydraulic cylinder 11 is P.
(V), and is raised when P> 0, and lowered when P <0. At this time, a routine for outputting to the soil hardness softening potentiometer 33 by the soil hardness sensor 34 and the water depth sensor 35 to perform the planting depth control automatic sensitivity adjustment control includes:
This is shown in FIG. Here, when VK> 0, the soil S
Is hard, and when VK <0, the soil S is soft, and the output VK of the potentiometer 33 for soil hardening is added as a zero-point correction of the output VF of the potentiometer 23 for sensor float. As shown in FIGS. 8 and 9, in the sensor float potentiometer 23, the solenoid valve 31 does not operate when the detection range is within the N (neutral) range, and moves within the upper and lower limits of the operation range. The solenoid valve 31 is operated according to the amount.

During the above-described planting depth control automatic sensitivity control, the soil hardness sensor 34 detects the hardness of the paddy soil S, the water depth sensor 35 detects the water depth W of the paddy field, and corrects the soil hardness sensor 34 to correct the soil. FIGS. 10 and 11 show the state of output to the hard / soft potentiometer 33. FIG.
As is clear from these figures, when the paddy soil S is hard and the water depth W is standard, the soil hardening potentiometer 33 is used.
The sensitivity adjustment in the controller 30 based on the output of the above is "insensitive", and when the water depth W becomes deeper, the sensitivity adjustment is further shifted to the "insensitive" side. That is, when the water depth W becomes deeper, buoyancy acts on the water depth sensor 35, so that the soil hardness sensor 34 rotates to the hard side of the soil and is shifted to the “insensitive” side. If the paddy soil S is soft and the water depth W is standard,
The sensitivity adjustment in the controller 30 by the output of the soil hardness softening potentiometer 33 is “sensitive”, and as the water depth W increases, the sensitivity adjustment is further shifted to the “sensitive” side.

The sensing sensitivity of the sensor float 18 during the above-described planting depth control automatic sensitivity adjustment control,
The angle of attack, the leveling properties, etc. are shown in FIGS. Sensing sensitivity is more sensitive when the soil hardness is harder than when it is standard than when it is soft.Therefore, when the soil hardness is harder than the standard, the sensitivity adjustment must be “insensitive” as described above. On the contrary, when the soil hardness is lower than the standard, the sensitivity adjustment must be made “sensitive”. The angle of attack of the sensor float 18 increases when the soil hardness is harder than the standard, and decreases when the soil hardness is softer than the standard. The leveling property is large (good) when the soil hardness is softer than the standard, and small (deteriorated) when the soil hardness is harder than the standard.

The movement of the sensor float 18 during the above-described planting depth control automatic sensitivity adjustment control is shown in FIGS.
FIG. FIG. 14 shows a case where the soil hardness is standard, and the sensor float 18 comes into contact with the paddy soil S at a contact angle θ and the seedling A
Is planted at a standard depth. FIG. 15 shows a case where the soil hardness is high. At this time, the seedling A is planted in a shallow planting state. Therefore, as shown in FIG. 16, the water depth sensor 35 and the soil hardness sensor 34 output to the soil hardness softening potentiometer 33, and the output 30 of the planting depth adjusting potentiometer 23 is adjusted by the controller 30 from the zero point. The sensor float 18 is shifted upward from the virtual line position to the solid line position. As a result, the contact angle θ ″ of the float 18 becomes close to the contact angle θ at the standard time as θ ″ <θ, and the seedling A is planted almost in the standard state.

FIG. 17 shows the case where the soil hardness is soft,
In this case, the seedling A is planted in a deeply planted state. Therefore, as shown in FIG. 18, the water depth sensor 35 and the soil hardness sensor 34 output to the soil hardness softness potentiometer 33, and the output 0 of the planting depth adjustment potentiometer 23 is adjusted by the controller 30 from the zero point. On the lower side, the sensor float 18 is shifted from the virtual line position to the solid line position. As a result, the float 18
Is closer to the standard contact angle θ, where θ ′> θ, so that the seedling A is planted almost in the standard state.

The riding type rice transplanter 1 according to one embodiment of the present invention thus constructed is introduced into a paddy field, and the planting section 13 is lowered by the lifting link 12 while the riding vehicle body 2 travels. Floats 18 and 1 provided below planting section 13
9 is slid on the planting part 13 in contact with the paddy soil S,
The planting unit 13 and the fertilizer applicator 14 are driven by the power transmitted from the passenger traveling vehicle body 2, and a plurality of seedlings are planted at predetermined intervals in the field at the planting unit 13, and between the seedlings of the planted seedlings. The fertilizer fed out by the fertilizer 14 is fertilized.

During the seedling planting operation, if the riding traveling vehicle body 2 is traveling on the cultivator H, if the cultivator H has irregularities, the vehicle body moves up and down, and is planted via the lifting link 12. The part 13 and the fertilizer applicator 14 are moved up and down, and the sensor float 18
Is swung up and down, and the potentiometer 23 operates to change its output. The detection value (output) of the potentiometer 23 is input to a controller 30 for controlling the planting depth, and the solenoid valve 31 is operated to extend and contract the vertical cylinder 11 of the planting portion. The planting unit 13 and the fertilizer applicator 14 are moved up and down to keep the contact pressure of the floats 18 and 19 almost constant,
With the distance from the main body frame 16 kept substantially constant, the planting depth of the seedlings planted by the planting plant 20 and the fertilization depth applied by the fertilizer 14 become substantially constant.

At the time of seedling planting and fertilization by the planting section 13 and the fertilizer application device 14 as described above, the soil hardness sensor 34 detects the hardness of the paddy soil S, and the water depth sensor 35 detects the water depth W of the paddy field. Soil softness sensor 34
Is corrected and output to the soil hardness softening potentiometer 33. The output value is controlled by the controller 30 with respect to the output value of the potting depth adjusting potentiometer 23. The output of the soil hardness softening potentiometer 33 corrects the output of the planting depth adjusting potentiometer 23 to operate the solenoid valve 31 to expand and contract the hydraulic cylinder 11, and the planting section via the lifting link 12. The seedling 13 and the fertilizer applicator 14 are moved up and down to perform almost appropriate seedling planting and fertilizing work.

In the second embodiment of the present invention shown in FIGS. 19 to 21, the potentiometer 33 for hardening and softening the soil in the first embodiment is fixed to one side of the bracket 18a of the sensor float 18 by laterally connecting the two. Is fixed to the other end of the support rod 36 projecting to the soil hardening and softening potentiometer 33 and approaching the float 18 to the soil hardening and softening sensor 3.
It has the same configuration as that of the first embodiment except that a water depth sensor 4 and a water depth sensor 35 are provided. Further, in the third embodiment of the present invention shown in FIGS. 22 and 23, the potentiometer 33 for soil hardening is attached to the bracket 1 of the sensor float 18.
8a, the coaxial rotating shafts 37, 37 are projected right and left from the soil hardening potentiometer 33, and the soil hardening sensor 34 is mounted on one of the rotating shafts 37, 37, and the water depth sensor 38 is mounted on the other rotating shaft 37. Is attached.

In both of these embodiments, the same operations as those in the first embodiment can be performed, and effects can be obtained. In the above-described embodiment, the case where the present invention is applied to a riding type rice transplanter has been described. Applicable.

[0021]

As described above, according to the automatic raising and lowering control device of the agricultural machine for paddy fields, the potentiometer for detecting the depth of the cultivator, the hard / soft sensor for detecting the hardness of the paddy soil, and the water depth of the paddy field are used. Connect the detected depth sensor,
Since the operation of the hard and soft sensors was corrected by the water depth sensor and the switching sensitivity of the potentiometer was adjusted,
The accuracy of detecting the depth of the cultivator of the potentiometer is extremely high, automatic control of raising and lowering the machine frame of the paddy farming machine is performed accurately, and the machine frame is maintained at a substantially constant height with respect to the paddy field surface. Planting depth and sowing depth can be made constant. Further, the configuration of the hard / soft sensor and the water depth sensor is simple, and the hard / soft sensor and the water depth sensor can be integrally configured and used in common, and can be configured at low cost.

[Brief description of the drawings]

FIG. 1 is a plan view of a main part of the present invention.

FIG. 2 is a side view of the same.

FIG. 3 is a side view of another embodiment of the water depth sensor.

FIG. 4 is a side view of the entire riding type rice transplanter to which the present invention is applied.

FIG. 5 is a flowchart of the automatic lifting control device.

FIG. 6 is a flowchart for explaining the operation of the automatic lifting control device.

FIG. 7 is a control routine of the automatic lift control device.

FIG. 8 is an explanatory diagram of an operation of the sensor float.

FIG. 9 is a graph showing an automatic sensitivity adjustment state by a soil hardness sensor.

FIG. 10 is a graph showing a correction state of a soil hardness sensor by a water depth sensor.

FIG. 11 is an explanatory diagram of the same.

FIG. 12 is an explanatory diagram of a change in the angle of attack of the sensor float due to the hardness of the paddy soil.

FIG. 13 is an explanatory diagram of a change in the angle of attack of the sensor float due to the hardness of the paddy field soil.

FIG. 14 is a side view of the sensor float in a standard state.

FIG. 15 is a side view of the sensor float when the paddy soil is hard.

FIG. 16 is a side view of the sensor float whose sensitivity is adjusted when the paddy soil is hard.

FIG. 17 is a side view of the sensor float when the paddy field soil is soft.

FIG. 18 is a side view of a sensor float whose sensitivity is adjusted when paddy soil is soft.

FIG. 19 is a plan view of a second embodiment of the present invention.

FIG. 20 is a side view of the same.

FIG. 21 is a side view of another embodiment of the water depth sensor.

FIG. 22 is a plan view of a third embodiment of the present invention.

FIG. 23 is a side view of the same.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Riding type rice transplanter 2 Riding vehicle body 3 Body frame 4 Front wheel 5 Rear wheel 6 Engine 7 Engine cover 8 Driving seat 9 Steering handle 10 Supporting frame 11 Planting part vertical cylinder 12 Elevating link 13 Planting part 14 Fertilizing device 15 Transmission Reference Signs List 16 Body frame 17 Seedling mount 18 Sensor float 19 Side float 20 Seedling plant 21 Rear fulcrum 22 Front link mechanism 23 Potentiometer for adjusting planting depth 24 Float support rod 25 Rotating arm 26 Planting depth adjusting lever 27 Link rod 28 Pin 29,32 Support Arm 30 Controller 31 Solenoid Valve 33 Soil Hardness Potentiometer 34 Soil Hardness Sensor 35,38 Water Depth Sensor 36 Connecting Rod 37 Rotating Shaft

Claims (1)

(57) [Claims] A pot for detecting the depth of a cultivator is provided on a machine frame of a paddy field agricultural work machine, and the machine frame is controlled to move up and down by a value detected by the potentiometer so as to have a substantially constant height relative to the paddy field surface. The potentiometer is connected to a hard / soft sensor for detecting the hardness of the paddy field soil and a water depth sensor for detecting the water depth of the paddy field, and the operation of the hard / soft sensor is corrected by the water depth sensor to switch the potentiometer. Automatic raising and lowering control device for paddy field agricultural work machine that adjusts sensitivity.