JP3295528B2 - Rice transplanter planting section planting depth control device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a planting depth control device for a planting portion of a rice transplanter.

[0002]

2. Description of the Related Art Conventionally, there is a rice transplanter in which a planting section is connected to a traveling body so as to be able to move up and down via an elevating mechanism. A planting section planting depth control device is provided, and the controller controls the planting section by interposing a rice field sensor between a center float pivotally supporting the rear part back and forth and the planting section main body. By detecting the interval between the main body and the front of the center float, to detect the front and rear inclination angle of the center float, the front and rear inclination detection value of this field sensor value, that is,
Feedback control of the elevating device is performed so that the front-to-back tilt angle of the center float is constant, and the planting depth is set by moving the pivot point at the rear of the center float above and below the planting unit body. The operation is performed by the driver manually operating the planting portion elevating lever provided on the planting portion to change the amount of downward extension of the center and the left and right side floats from the planting portion main body to three stages. I have.

[0003]

However, in the above-mentioned control device, when the setting of the planting depth of the seedling is changed, the pivot point of the center float moves up and down. Even if the distance is constant, the distance between the planting portion main body and the front portion of the center float changes, so that the output voltage of the paddle surface sensor changes, for example, as indicated by V2 in FIG. The control of the applied depth will be out of order.

Therefore, the change in the interval is corrected by using a link mechanism so that the pivot point and the field sensor are moved substantially in parallel. However, the mechanical structure is complicated, and the link mechanism is complicated. Errors and malfunctions occurred due to backlash and frictional resistance of the mechanism, and complete correction could not be made.

[0005] In addition, in the three-stage setting of the planting depth, it is not possible to set the planting depth in a fine manner, and the setting is performed manually. There is a problem that requires strength because it must be.

[0006]

According to the present invention, a planting section is connected to a traveling machine body via a lifting mechanism so as to be able to move up and down, and a planting depth potentiometer for detecting a set value of a planting depth of a seedling, and a center float. And a rice field sensor that detects the front-back inclination angle of the rice plant. The planting depth detected by the planting depth potentiometer is set as a target value, and feedback control of the planting depth is performed with reference to the angle detection value of the rice field sensor. In the planting section planting depth control device for a rice transplanter, the angle detection value of the rice field sensor is corrected with a planting depth setting value of a planting depth potentiometer, wherein the planting section planting depth of the rice transplanter is characterized. No control device is to be provided.

In addition, by correcting the angle detection value of the above-mentioned rice field sensor based on the setting value of the planting depth of the planting depth potentiometer, the result of the correction is obtained regardless of the planting depth. An angle corresponding to the angle, and a planting depth setting motor for setting a downward extension amount of the center float in the planting portion, and a planting depth setting device, wherein the planting depth setting device is provided. It is also characterized in that the planting depth set value set in the above step is targeted, and the feedback control of the downward extension amount is performed with reference to the detection value of the planting depth potentiometer.

[0008]

An embodiment of the present invention will be described with reference to the drawings.

FIG. 1 shows a rice transplanter A equipped with a planting section planting depth control device according to the present invention, wherein 1 is a traveling machine body, an engine 2 is mounted on a body frame 3, and a transmission case 4 is provided. , A front wheel 6 is pivotally supported through a front axle case 5, a rear axle case 7 is connected to a rear portion of the transmission case 4, and a rear wheel 8 is pivotally supported by the rear axle case 7. On the both sides of the bonnet 9 covering the engine 2, spare seedling mounts 10 are attached, the transmission case 4 and the like are covered by a body cover 12 via a floor 11, and a driver's seat 13 is placed on the upper part of the body cover 12. A steering handle 14 is provided in front of the seat 13 and behind the hood 9.

A planting section 15 is connected to the rear of the traveling machine body 1 via an elevating mechanism D. The planting section 15 includes a seedling mounting table 16 for six-row planting and a plurality of planting claws 17. A rotary case 21 is provided, which supports a seedling mounting table 16 having a front height and a low height on a planting case 20 via a lower rail 18 and a guide rail 19 so as to be reciprocally slidable right and left, and rotating at a constant speed in one direction. The pair of claw cases 22 are supported by the planting case 20 and symmetrically positioned around the rotation axis of the rotary case 21.
, And a planting claw 17 is attached to the tip of the claw case 22.

The lifting mechanism D is provided with a support frame 24 on the front side of the planting case 20 via a rolling fulcrum shaft 23,
The support frame 24 is connected to the top link 25 and the lower link.
26 is connected to the rear side of the traveling machine body 1 through a three-point link mechanism 27 including a lower link 26, and a lifting hydraulic cylinder 28 is connected to the lower link 26. The planting section 15 can be moved up and down via the.

In the figure, 29 is a main shift lever, 30 is a raising / lowering lever of a planted portion, 31 is a sensitivity adjustment lever for raising / lowering control, 32 is a main clutch pedal, 34 is a center float, and 35 is a left and right side float.

As shown in FIGS. 2 and 3, the planting portion
A center float 34 is provided in the lower center of the unit 15, and side floats 35 are provided on both left and right sides thereof.

The center float 34 is provided with a pitching fulcrum shaft 36 for supporting the front part so as to swing up and down, on a bracket 37 on the rear upper surface of the center float.
The base end of the planting depth adjusting link 39 is fixed to the planting depth adjusting fulcrum shaft 38 which pivotally supports the plant 20 and the link 39
Is connected to the pitching fulcrum shaft 36.

A lower end of the sensor link 45 is connected via a shaft 48 to a bracket 47 fixed to the front upper surface of the center float 34, and the upper end of the link 45 is fixed to the front surface of the planting section 15. The center float 34 is connected to a long hole 51 formed at the tip of a sensor arm 53 of a potentiometer type surface sensor 50 attached to 49 via a shaft 52.
Center float from the height difference between the front of
It detects 34 front and rear inclinations.

When the setting value of the planting depth becomes deeper, the position of the pitching fulcrum shaft 36 becomes lower when the setting value of the planting depth is deeper. , And as a result, the output becomes the same as the front-down state at the standard planting depth as shown by V2 in FIG.

As shown in FIGS. 3 and 4, a bracket 37 projects from the upper surface of substantially the center of the side floats 35, 35, and the bracket 37 extends rearward from the adjustment fulcrum shaft 38. The link 39 is pivotally connected to the rear end via a pitching fulcrum shaft 36.

The tip of the sensor link 62 supported by the bracket 61 on the front upper surface of the left and right side floats 35, 35 via the shaft 61 is attached to the sensor base 65 fixed to the horizontal pipe 75 of the planting part 15. The left and right side floats 35, 35 are engaged with the elongated holes 64 formed at the tip of the sensor arm 67 of the potentiometer type left / right hardness detection sensors 66a, 66b via the shaft 69, and the front and rear inclination angles of the left and right side floats 35, 35, The hardness of the planting surface is detected from the height difference between the main body of the planting portion 15 and the front portions of the left and right side floats 35, 35.

As shown in FIGS. 3 and 5, a planting depth adjusting lever 70 having a base end fixed to the fulcrum shaft 38 is operated by a planting depth setting motor 71. The motor 71 is fixed to the motor mounting base 72 of the planting case 20, and the engaging piece 74 fixed to the lever 70 is engaged with the feed groove of the spiral member 73 connected to the motor shaft of the motor 71, By the forward / reverse rotation of the motor 71, the height difference between the rear part of the center float 34 and the side floats 35, 35 and the main body of the planting portion 15, that is, the planting depth can be set. The set value is detected by a planting depth potentiometer 77 mounted on a horizontal pipe 75 of the planting section 15 via a sensor mounting base 76.

FIG. 6 shows a control unit 80. On the input side of a microcomputer as a controller 81, a planting switch 82, a rice field sensor 50, a planting depth potentiometer 77, a sensitivity setting volume 83, left and right The hardness detecting sensors 66a, 66b and the planting depth setting device 85 are connected, and the electromagnetic valve 63 of the lifting hydraulic cylinder 28 of the lifting mechanism D and the output to the planting depth setting motor 71 are connected to the output side. relay
71a is connected to a planting depth indicator 84 provided on a panel of the operation unit.

The controller 81 has the following basic control functions.

The controller 81 is made operable based on the ON / OFF signal of the planting switch 82.

Referring to the detection value of the planting depth potentiometer 77, the height of each of the floats 34, 35, 35 is set to the planting depth setting device 85.
The feedback control of the planting depth setting motor 71 is performed so that the value set in the above step is obtained.

The set value of the planting depth setting device 85 is targeted, and a rise or fall signal is sent to the electromagnetic control valve 63 with reference to the height detection value from the rice field G of the planting part 15 detected by the rice field sensor 50. Is output, feedback control of the height of the planting section 15 is performed.

The sensitivity in the feedback control is adjusted based on the output from the sensitivity setting volume 83 or the left and right hardness detection sensors 66a and 66b.

In the above sensitivity adjustment, when the feedback control is ON / OFF control, the width of the dead zone of the elevation control of the planting section 15 is narrowed (widened) to make the control operation sensitive (insensitive). If the target voltage is shifted upward (lower), the lowering (raising) operation is made sensitive and the raising (lowering) operation is made insensitive, or if the feedback control is proportional control, the proportional gain multiplied by the deviation is increased. It is done by adjusting.

In particular, in the present invention, the fluctuation of the detection value of the rice field sensor 50 due to the vertical movement of the pivot point of the center float 34 due to the change of the planting depth is corrected by the detection value of the planting depth potentiometer 77. This will be described below.

FIG. 7 shows the output voltage V1 of the planting depth potentiometer 77, in which the setting value of the planting depth is deep (shallow).
Then, the output voltage V1 increases (decreases).

FIG. 8 shows the output voltage V2 of the field sensor 50. The field sensor 50 outputs a voltage of 2.5 V when the standard planting depth is set and the center float 34 is in the horizontal state. If the planting depth is deeper (shallower) than this, the output voltage will not increase even if the center float 34 is horizontal.
V2 increases (decreases).

Therefore, as shown in FIG. 8, the output voltage V2 of the rice field sensor 50 is corrected by the output voltage V1 of the planting depth potentiometer 77 to obtain a correction voltage Va.

That is, a correction voltage Va is calculated by using the equation: correction voltage Va = 2.5 + α (field sensor output voltage V2−plant depth potentiometer output voltage V1).

Here, α is a proportionality constant.

With the above correction, as shown in FIG.
The correction voltage Va accurately indicates the front-back inclination angle of the center float 34.

V3 and V4 indicate the output voltage of the field sensor 50 when the above-mentioned correction is not performed when the set planting depth is deep and shallow, respectively. Not showing the angle.

As described above, the center float 34
By comparing the correction voltage Va corresponding to the front-back inclination angle with the output voltage 2.5 V when the center float 34 is in the horizontal state, by performing feedback control of the planting depth,
Even if the setting of the planting depth is changed, accurate control of the planting depth can be performed.

[0036]

According to the present invention, the planting section is connected to the traveling body so as to be able to move up and down through the elevating mechanism, and the planting depth potentiometer for detecting the set value of the planting depth of the seedlings is provided. A rice transplanter that includes a rice field sensor that detects an inclination angle, sets a planting depth detected by a planting depth potentiometer as a target value, and performs feedback control of the planting depth with reference to the angle detection value of the rice field sensor. In the planting section planting depth control device, the angle detection value of the rice field sensor is corrected by the planting depth setting value of the vegetable depth potentiometer, and the angle detection value of the rice field sensor is planted by the vegetable depth potentiometer. By correcting based on the setting depth, regardless of the planting depth, by making the correction result correspond to the actual front-back tilt angle of the center float, Changing the settings of the e with depth, it is possible to control the exact planting depth.

Further, since the correction is performed electrically, a link mechanism for the correction is not required, and the structure is simplified.
It is possible to avoid errors and malfunctions due to inevitable backlash and frictional resistance in the link mechanism.

A planting depth setting motor for setting the downward extension of the center float in the planting section and a planting depth setting device are provided, and the planting depth set by the planting depth setting device is provided. By setting the target set value and performing feedback control of the downward extension amount with reference to the detection value of the planting depth potentiometer, the planting depth can be set only by operating the planting depth setting device. , The setting of the planting depth is facilitated.

[Brief description of the drawings]

FIG. 1 is an overall side view of a rice transplanter equipped with a planting portion planting depth control device according to the present invention.

FIG. 2 is a side view of a center float and a rice field sensor.

FIG. 3 is a plan view of a center float and a side float.

FIG. 4 is a side view of a side float and a hardness sensor.

FIG. 5 is a side view of a planting depth adjusting mechanism.

FIG. 6 is an explanatory diagram illustrating a configuration of a control unit.

FIG. 7 is a graph showing an output voltage of a planting depth potentiometer.

FIG. 8 is a graph showing an output voltage and a correction voltage of a field sensor.

FIG. 9 is a graph showing an output voltage and a correction voltage of the field sensor.

[Explanation of symbols]

 A Rice transplanter D Elevating mechanism 1 Traveling machine 15 Planting part 34 Center float 50 Rice field sensor 71 Planting depth setting motor 77 Planting depth potentiometer 85 Planting depth setting device

Claims (3)

(57) [Claims] A traveling mechanism (1) is provided with a planting portion (15) and an elevating mechanism.
(D) is connected so as to be able to ascend and descend, and a planting depth potentiometer (77) that detects the set value of the planting depth of the seedling, and a rice field sensor (50) that detects the front and rear inclination angle of the center float (34). A rice transplanter (A) that performs the feedback control of the planting depth with the set planting depth detected by the planting depth potentiometer (77) as a target value and referring to the angle detection value of the rice surface sensor (50). ), Wherein the angle detection value of the rice field sensor (50) is corrected with the setting value of the planting depth of the planting depth potentiometer (77). Planting depth control device. 2. A mechanism for moving a planting portion (15) to a traveling body (1) by an elevating mechanism.
(D) is connected so as to be able to ascend and descend, and a planting depth potentiometer (77) that detects the set value of the planting depth of the seedling, and a rice field sensor (50) that detects the front and rear inclination angle of the center float (34). A rice transplanter (A) that performs the feedback control of the planting depth with the set planting depth detected by the planting depth potentiometer (77) as a target value and referring to the angle detection value of the rice surface sensor (50). ) In the planting section planting depth control device, by correcting the angle detection value of the rice field sensor (50) based on the planting depth setting value of the planting depth potentiometer (77), the planting depth Irrespective of the above, the correction result corresponds to the actual front-back tilt angle of the center float (34). 3. A mechanism for moving the planting part (15) to the traveling body (1)
(D) is connected so as to be able to ascend and descend, and a planting depth potentiometer (77) that detects the set value of the planting depth of the seedling, and a rice field sensor (50) that detects the front and rear inclination angle of the center float (34). A rice transplanter (A) that performs the feedback control of the planting depth with the set planting depth detected by the planting depth potentiometer (77) as a target value and referring to the angle detection value of the rice surface sensor (50). ), A planting depth setting motor (71) for setting the downward extension of the center float (34) in the planting section (15), and a planting depth setting device.
(85), and set the planting depth set value set by the planting depth setting device (85) as a target, and set the planting depth potentiometer (77)
And performing feedback control of the downward extension amount with reference to the detected value of the planting portion of the rice transplanter.