JP3245440B2 - Rice transplanter lifting control - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a seedling planting apparatus which is connected to a traveling machine body so as to be able to move up and down by driving an actuator. Further, the present invention relates to a rice transplanter lifting and lowering control device including a lifting and lowering control means for driving and controlling the actuator.

[0002]

2. Description of the Related Art Conventionally, in a raising and lowering control device for a rice transplanter, as disclosed in, for example, Japanese Utility Model Laid-Open Publication No. Sho 62-74508, a grounding float as a grounding sensor is swingable up and down around a rear lateral fulcrum. In addition to supporting it, the hydraulic control valve of the hydraulic cylinder as an actuator is operated in conjunction with the hydraulic control valve as an actuator based on the vertical swing amount of the front part of the ground float to always maintain a predetermined level above the ground, and the reference posture of the front part of the ground float is set. The control sensitivity is adjusted by changing the control sensitivity by an operation lever via a spring.

[0003]

However, in the above conventional structure, the control dead zone width in the elevating control operation, that is, the hydraulic control valve is switched from the neutral state to either the ascending operation position or the descending operation position. vertical movement amount in the range of ground float need is Ru always constant der even before and after the adjustment of the control sensitivity. Therefore, for example, in order to improve the accuracy of the elevation control , if the dead zone width is set to a narrow, if the field is soft,
Since it responds sensitively to the unevenness of the mud surface, it is advantageous because it can effectively prevent the occurrence of adverse effects such as pushing down existing seedlings caused by mud pushing, but it is advantageous when the field is hard, the ground float is hard There is a drawback that the switching operation of the control valve is frequently performed by moving up and down in response to the surface sensitively, causing a pitching phenomenon in which the seedling planting apparatus vibrates up and down, and there is room for improvement. So
Suitable for both hard and soft mud surfaces as described above
In order to obtain optimal control sensitivity, a wide
Need to be For this purpose, for example, a ground sensor
To obtain the required sensitivity adjustment width only by changing the posture
Then, the posture change of the grounding sensor against the mud surface becomes too large
There is a problem that the detection accuracy varies greatly.
Also, simply change the dead zone width to obtain the required wide sensitivity adjustment range.
When trying, the dead zone width becomes too narrow and the control hunting
Or response delay due to too wide
Such a problem may be caused. An object of the present invention is to eliminate the above disadvantages.

[0004]

Means for Solving the Problems] characterizing feature of the present invention, run
Seedlings can be moved up and down freely by driving actuators on the aircraft
Connect the equipment and connect the mud surface
Equipped with a ground float, contact with mud surface in the center in the left and right direction
Planting device equipped with a ground contact sensor that detects the ground pressure by using
The actuator based on the ground pressure fluctuation of the ground sensor.
Lifting control means for raising and lowering by driving and controlling the
A lifting and lowering control device for a rice transplanter , comprising:
The means is a change angle of the ground contact sensor from the horizontal attitude with respect to the body.
So that the degree becomes the preset control target level.
While configured to control the actuator,
Setting to be input as a control target level to the elevation control means
The signal is adjusted vertically at the front of the grounding sensor.
Change the setting so that it changes
The sensitivity adjustment means for adjusting the degree is provided, and the higher the control target level by the sensitivity adjustment means, the more insensitive the control of the ground sensor
The point is that a dead band width changing means for increasing the band width is provided.

[0005]

[Action] control target level a high level of ground sensor when mud surface is hard, i.e., to set change in a state of controlled to be relatively high position with respect to the mud surface. Set up like this
When constant, kills with suppressed to frequently moved up and down by irregularities in the hard mud surface control sensitivity ground pressure is decreased it becomes dull from mud surface to ground sensor. Moreover, at this time, the dead zone width is automatically set to a large value. Therefore, even if there are irregularities in the protruding portion on the mud surface, the grounding sensor is caused by the irregularities due to such irregularities. The actuator does not operate even if it moves up and down. In addition, in the case where the mud surface soft, your clauses to set the control target level of the ground sensor to a low level. With this setting , the ground contact sensor relatively sinks in the mud surface, the ground pressure from the mud surface increases, the control sensitivity becomes sensitive, and the sensor follows the change in unevenness sensitively. It will move up and down . In addition, at this time, the dead zone width is set to be small, and even if there is a small protrusion of mud, the lifting operation by the actuator is performed. That is, the present invention
Then, change the attitude with the change of the control target level of the grounding sensor.
The sensitivity adjustment by changing the dead zone width
Extreme sensitivity can be adjusted by summation,
Avoid changing the posture of the sensor and changing the extreme dead zone width.
Can adjust the sensitivity of the lifting control over a wide range.
You. Moreover, the control target level by changing the attitude of the grounding sensor
The higher the control side, the greater the control dead zone width.
Automatically adjust the two sensitivity adjustments to the appropriate settings.
You can select and set the status.

[0006]

Therefore, when the field is hard, the vertical vibration of the seedling planting device is suppressed without the actuator being driven up and down by the vertical movement of the grounding sensor due to the small unevenness, and at this time, In addition, there is an advantage that the action of leveling the field scene by the grounding sensor works to improve the planting state. When the field is soft, the ground sensor moves up and down sensitively according to the unevenness of the field scene, and the actuator is driven up and down based on a small vertical movement. Thus, adverse effects such as pushing down the already planted seedlings are reduced. As a result, an appropriate raising and lowering operation state can be brought out according to the condition of the field, the pushing down of the seedlings and the frequent vertical movements of the seedling planting apparatus can be suppressed as much as possible, and it is possible to provide a plant capable of performing a smooth planting operation. Was. In addition, the control state setting change
Posture change and dead zone width change due to control target level change
And the orientation change direction of the grounding sensor
Make the change direction of the sensation zone width and the sensitivity increase and decrease
So that extreme changes in attitude of the grounding sensor,
Variations in detection sensitivity regardless of extreme changes in the dead band width
Suitable sensitivity with little risk of causing key or control response delay
There is an advantage that adjustment can be easily performed.

[0007]

Embodiments will be described below with reference to the drawings. FIG.
Shows a riding rice transplanter. The rice transplanter can be raised and lowered at the rear of the riding type traveling body via a parallel four-link mechanism 1 and can freely roll left and right around the longitudinal axis.
Are connected.

The seedling planting apparatus 2 pivotally supports a planting transmission case 4 which is also used as a frame so as to be rotatable around a longitudinal axis Y on a pivot boss 3 provided on a rear link 1a of the link mechanism 1.
In the planting transmission case 4, a seedling rest 5 that reciprocates sideways with a constant stroke, a plurality of planting mechanisms 6 that take out seedlings for planting one by one from the lower end of the seedling rest 5 and plant the seedlings in a field.
The left and right grounding floats 7b, 7b and the left and right
It is provided with three grounding floats 7 and the like arranged in parallel on the left and right sides of a funnel 7a (an example of a grounding sensor), and is connected via a suspension spring 9 between the middle part of the link mechanism 1 and the body frame 8. And an electric motor M1 provided between the rear link 1a and the back side of the seedling rest 5 so as to be moved up and down by the expansion and contraction drive of the hydraulic cylinder 10.
A rolling operation is performed by a rolling operation mechanism 12 composed of a screw feed mechanism 11 and a screw feed mechanism 11.

The hydraulic control valve V for the hydraulic cylinder 10 is of an electromagnetic type.
The drive is controlled by a control device 13 having a microcomputer. That is, as shown in FIG. 1, the potentiometer PM based on the swinging operation of the elevating lever 16 disposed on the side of the driver's seat 15 of the aircraft control unit 14.
2, the push-up / down switch SW1 provided on the control panel 17 is constructed so that the ascending operation, the descending operation, the neutral stop state, and the planting operation state can be artificially exhibited by the output of 2.
Thus, the ascending operation and the descending operation can alternately appear. Further, when the reverse detection switch SW2 detects that the shift operation lever 19 of the gear type main transmission 18 of the traveling machine body has been operated to the reverse position, the operation is automatically set to the ascending operation state.

In the planting operation state, the elevation control means A for maintaining the height of the seedling plant 2 above the ground at a predetermined value is controlled by the control device 1.
3 is provided in the form of a control program. That is, the left and right center ground floats 7a [an example of a ground sensor] are supported so as to be able to swing up and down around the rear fulcrum, and the front part of the center ground float 7a in accordance with a change in the ground height of the seedling planting device 2. Link up / down relative movement based on ground pressure fluctuation
The control device 13 controls the electromagnetic control valve V of the hydraulic cylinder 10 so that the output value of the potentiometer PM1 is within a predetermined setting range, and the seedling planting device 2 is detected by the potentiometer PM1. Maintain the height and keep the planting depth of the planted seedlings almost constant. When the raising and lowering switch SW1 and the reverse detection switch SW2 are actuated to raise the seedling planting device 2 to the maximum rising position, a limit for detecting that the seedling planting device 2 has risen to near the maximum rising position. A switch SW3 is attached to the rear wheel fender portion 21 of the traveling body, and a middle portion of the link mechanism 1 is brought into contact with the ascending operation to perform a detection operation. Electromagnetic control is performed based on the detection operation of the limit switch SW3. The valve V is returned to the neutral position, and the ascending-side drive of the hydraulic cylinder 10 is automatically stopped.

Next, the control operation of the elevation control means A will be described. With the seedling planting work of the traveling machine,
Due to a change in the relative height between the plow and the mud surface where the wheels of the traveling body touch the ground , the central ground float 7a swings up and down around the rear fulcrum based on a change in the ground pressure on the mud surface,
The vertical swing amount is detected by the potentiometer PM1, and the electromagnetic control valve V is switched and driven to move the hydraulic cylinder 10 up and down so that the output value of the potentiometer PM1 falls within the dead zone of the control target level.

The control target level of the center ground float 7a is changed and set, and sensitivity adjusting means for adjusting the detection sensitivity in the elevation control is provided. The higher the control target level by the sensitivity adjusting means, the lower the control dead zone width. Is increased. That is,
A sensitivity adjuster 22 is provided on a control panel 17 that is easily visible to a driver on the front side of the body control unit 14 during work, and a potentiometer PM3 that is changed in accordance with the turning operation of the sensitivity adjuster 22 is operated. [Example of sensitivity adjustment means] is provided, and the output of the potentiometer PM3 is
, And based on the output of the potentiometer PM3, the ascending-side control target level for ascending and driving the hydraulic cylinder from the neutral position at the time of relative ascent based on the variation of the ground pressure of the central ground float 7a is set. It is composed. Specifically, the central ground float 7
the relationship between the adjustment position between the sensitivity adjusting means 22 [output value of the potentiometer PM1] change angle from machine body horizontal position of a shown in FIG. In the adjustment position 1, the control target level for switching the electromagnetic control valve V to the ascending position is such that the attitude of the ground float is set to −1 °, and thereafter, −0.25 °,
It is configured to be set to switch between 0.5 °, 1.25 °, and 2 °. This sensitivity adjustment is changed and adjusted according to the hardness of the mud in the field, for example, in a very soft field,
The setting position is set to the adjustment position 1, and if the field is very hard, the setting operation is performed to the adjustment position 5, and the operator arbitrarily sets the position to an appropriate position according to the situation.

The dead zone width changing means B is provided in the control device 13 in the form of a control program in advance, and controls the dead zone width to be automatically changed in accordance with the above-mentioned adjustment operation. That is, at the adjustment position 1, the dead zone width is set to a change width of 1 °, and at the intermediate adjustment position 3, 2 mm.
In the adjustment position 5, a change width of 3 ° is set with a change width of °. With this configuration, in a soft field, the hydraulic cylinder 10 responds sensitively to small irregularities in the field scene, and the hydraulic cylinder 10 moves up and down based on a slight vertical movement of the central ground float 7a. Will be less. In a hard field, it does not react very much to small irregularities in the field scene, and the lifting operation is performed only when the vertical movement is large, so that the smooth lifting operation can be performed.

In the claims, the reference numerals are used 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 is a control block diagram

FIG. 2 is a control characteristic diagram

FIG. 3 is an overall side view of the rice transplanter.

[Explanation of symbols]

2 Seedling planting device 7a Central grounding float 7b Left and right grounding floats 10 Actuator A Elevation control device B Dead band width changing means PM3 Sensitivity adjusting means

──────────────────────────────────────────────────続 き Continued on the front page (58) Field surveyed (Int. Cl. ⁷ , DB name) A01C 11/02 313-332 A01C 11/02 342 A01B 63/10

Claims (1)

(57) [Claims] 1. A vertically movable and connected with NaeUe device (2) by driving the actuator (10) to the vehicle body, body left
On both sides in the right direction, ground floats (7b) for mud slides,
(7b), in the center in the left and right direction, for contact with mud surface
Seedling plant provided with a contact sensor (7a) for detecting contact pressure more
The attachment device (2) is connected to the ground pressure fluctuation of the ground sensor (7a).
Drive control of the actuator (10) based on
A lifting and lowering control device for a rice transplanter, comprising: a lifting and lowering control means (A) for adjusting the lifting and lowering of the grounding sensor (7a).
The angle of change from the horizontal attitude of the aircraft is controlled in advance.
The actuator (10) is moved to the target level.
And a control target level input to the elevation control means (A).
The setting signal to the front side of the ground sensor (7a).
Change setting so that the lower position changes to high and low
Sensitivity adjustment means (PM3) for adjusting the detection sensitivity in
And the control target level by the sensitivity adjusting means (PM3) is high.
A raising and lowering control device for a rice transplanter, comprising: a dead zone width changing means (B) for increasing a control dead zone width of the grounding sensor (7a) on a side of the rice planting machine.