JP3356943B2 - Riding 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 method for connecting a seedling planting device to a traveling machine so as to be able to move up and down, and a method in which a center float urged to ground by urging means is vertically moved around a rear fulcrum. A float sensor that is swingably mounted and detects a vertical swing angle of the center float that is displaced with traveling during planting work; and a vertical swing angle of the center float based on the detection from the float sensor. The present invention relates to a riding type rice transplanter having automatic raising and lowering control means for controlling the raising and lowering of the seedling planting apparatus so as to return to a preset target angle.

[0002]

2. Description of the Related Art In a riding type rice transplanter as described above, an automatic elevation control means returns the vertical swing angle of a center float to a preset target angle based on a detection value from a float sensor. By controlling the raising and lowering of the seedling planting apparatus as described above, the seedling planting apparatus can be maintained at a predetermined ground height regardless of changes in the ups and downs of the field. Seedlings can be stably planted at a preset planting depth. The setting of the planting depth is performed by changing the height position of each leveling float (including the center float) with respect to the planting mechanism provided in the planting transmission case, which is a fixed portion of the planting planting device, and at the time of planting operation. By adjusting the amount of intrusion of the planting mechanism into the field in the above. In addition, the target angle of the center float is appropriately changed according to the hardness of the field mud, and the setting change is performed by the worker while determining the hardness of the field mud and based on the determination. The operation can be performed by operating a manual setting device.

[0003] However, depending on the field, the hardness of the field mud frequently changes in one of the fields, and in such a case, the field mud hardness that changes with running during the planting operation is changed. Since it is necessary to perform the judgment and the operation of changing the setting of the target angle of the center float based on the judgment promptly and frequently, the worker is forced to work considerably during the planting operation. Also,
If the setting of the target angle of the center float is neglected in a situation where the hardness of the field mud changes along with the traveling during the planting operation, for example, if the hardness of the field mud becomes hard, Due to the change in hardness, the center float rises and swings around the rear fulcrum (the posture changes in the forward ascending direction), and the float swing angle is detected by the float sensor, and based on the detection value from the float sensor. Since the automatic raising and lowering control means raises the seedling planting device so that the vertical swing angle of the center float returns to the preset target angle, the ground height of the seedling planting device is set to a predetermined height. The ground pressure is higher than the ground height, and the contact pressure of each leveling float decreases even though the hardness of the field mud is hard. As a result, the leveling by each leveling float becomes insufficient, and the planting of the seedlings by the seedling planting device becomes shallower than the preset planting depth, so that the disadvantage that the seedlings fall or the floating seedlings easily occur is caused. become. Conversely, when the hardness of the field mud softens, the center float descends and oscillates around the rear fulcrum (changes its posture in the forward descending direction) due to the change in the mud hardness, and moves downward. The swing angle is detected by the float sensor, and based on the detection value from the float sensor, the automatic lifting / lowering control means sets the seedling planting device so that the vertical swing angle of the center float returns to the preset target angle. Since the seedling is lowered, the ground height of the seedling planting device is lower than a predetermined ground height, and the ground pressure of each leveling float is increased despite the softness of the field mud. As a result, since the mud pushing by each leveling float becomes strong, there is a problem that the seedlings easily fall. In other words, there arises a problem that the seedling planting apparatus does not plant appropriate seedlings.

Therefore, conventionally, for example, Japanese Patent Application Laid-Open No. 8-130
As disclosed in Japanese Unexamined Patent Publication No. 941 and Japanese Unexamined Patent Publication No. Hei 8-103129, a groove mark depth detecting sensor for detecting a groove mark depth formed after a side float passes through a mud surface, and a groove mark depth sensor By judging the hardness of the mud in the field based on the detection value from the detection sensor, and by equipping the correcting means for correcting the target angle of the center float based on the judgment, the labor of the worker at the time of planting work is reduced. In some cases, appropriate seedlings can be planted by the seedling planting apparatus while reducing the amount.

By the way, the depth of the groove trace formed after the side float has passed through the mud surface becomes shallower by the control operation of the above-mentioned automatic raising and lowering control means, as the seedling planting device rises as the field mud becomes harder. On the contrary, the lower the hardness of the field mud becomes, the deeper the seedling-planting device goes down. On the other hand, as the target angle of the center float is changed to the forward rising side, the seedling planting device is lowered by the control operation of the above-described automatic raising and lowering control means, and conversely, the more the angle is changed to the front falling side. The seedling planting equipment will rise. From these points, the correction means determines that the deeper the groove mark depth detected by the groove mark depth detection sensor is, the softer the mud in the field is, and based on the determination, the target angle of the leveling float is lowered forward. This makes it possible to maintain the groove mark depth detected by the groove mark depth detection sensor at a predetermined depth, regardless of the hardness of the field, The height can be maintained at a predetermined height above the ground, so that appropriate seedlings can be planted by the seedling planting apparatus.

[0006]

However, according to the above-mentioned prior art, in configuring the groove mark depth detecting sensor, the surface of the field mud is followed by ground contact as disclosed in the two publications exemplified above. It is necessary to provide a grounding body for detecting the mud surface level and a grounding body for detecting the groove mark bottom level by following the ground on the groove mark bottom formed after passing through the side float. In addition, since the bottom of the groove trace after passing the side float follows the ground contact, the seedling is generally disposed behind the side float as disclosed in Japanese Patent Application Laid-Open No. 8-130941 exemplified above. The ground contact for detecting the groove bottom surface level that protrudes from the rear of the device (the ground contact for detecting the mud surface level is also arranged to protrude from the rear of the seedling planting device in the same publication) Configuration for avoiding contact with other objects (such as ridges) during running or turning (see Japanese Patent Application Laid-Open
Japanese Patent No. 130941 discloses a configuration in which a backup function is provided to raise a seedling planting device in conjunction with switching to reverse running, and Japanese Patent Application Laid-Open No. 8-103129 discloses a notch at the rear of a leveling float. It is necessary to provide a grounding member for detecting the level of the bottom of the groove so as not to protrude from the rear part of the seedling planting device). In other words, the configuration becomes complicated.

In addition, as disclosed in the two publications, the groove mark depth detecting sensor is configured to detect the groove mark depth of the side floats provided at the left and right ends of the seedling planting apparatus. Therefore, when detecting the depth of the groove trace, it is easy to be affected by the vertical swing displacement of the left and right both sides around the connection part with the traveling machine of the seedling planting equipment accompanying traveling However, it has been difficult to improve the detection accuracy.

[0008] It is an object of the present invention to reduce the labor of the worker and to maintain the height of the seedling plant above the ground at the time of planting operation at a predetermined height with higher accuracy. It is an object of the present invention to ensure that seedlings can be planted with an appropriate seedling planting device, and that the configuration required for that can be simplified.

[0009]

In order to achieve the above object, according to the first aspect of the present invention, a seedling planting device is connected to a traveling body so as to be able to move up and down, and the seedling planting device is connected to the traveling machine body. A center float biased by the biasing means is vertically swingable around the rear fulcrum, and a float sensor for detecting the vertical swing angle of the center float displaced with traveling during planting work; An automatic lifting control means for controlling the raising and lowering of the seedling planting apparatus so that the vertical swing angle of the center float returns to a preset target angle based on the detection from the float sensor. In the rice transplanter, a pair of left and right mud surface height detection sensors arranged to detect a displacement of a mud surface height on the right and left near sides of the center float with respect to the seedling planting device. While attached to the fixed part of the location,
The target angle of the center float is corrected based on the detection value from the left and right mud surface height detection sensors so that the target angle of the center float is changed to the forward downward side as the mud surface height increases. , The right and left mud surface height
The difference between the detection values from the sensor (S3) exceeds a predetermined value.
Then, the target angle of the center float (16A) is set forward.
Equipped with target angle correction means that changes to the upward side .

According to the first aspect of the invention, when the center float swings up and down around the rear fulcrum due to the ups and downs of the field, the float sensor detects the vertical swing angle of the center float and detects the swing angle. Based on the value, the automatic raising and lowering control means controls the raising and lowering of the seedling planting apparatus so that the vertical swinging angle of the center float returns to the preset target angle, so that the seedling planting apparatus moves up and down the field. It goes up and down along with it. In this state, since the mud surface height detecting sensor does not detect the displacement of the mud surface height with respect to the seedling planting device, the target angle correcting means maintains the target angle of the center float without correcting it. As a result, since the raising and lowering of the seedling planting device is not performed by the control operation of the automatic raising and lowering control means based on the correction of the target angle, the seedling planting device is maintained at a predetermined ground height irrespective of changes in the undulations of the field. become able to.

On the other hand, when the center float swings up and down around the rear fulcrum due to a change in the hardness of the mud in the field, the float sensor detects the vertical swing angle of the center float and based on the detected value. Automatic raising and lowering control means controls the raising and lowering of the seedling planting apparatus so that the vertical swing angle of the center float returns to the preset target angle, so that the seedling planting apparatus does not change in the ups and downs of the field. Nevertheless, it is in a state of ascending and descending and deviates from the predetermined ground height. Thereby, the mud surface height detecting sensor detects the displacement of the mud surface height with respect to the seedling planting device, and based on the detected value, the target angle correcting means sets a correction value corresponding to the detected value. As the height of the mud surface with respect to the seedling planting device is increased (increased), the target angle of the center float is corrected to be lowered forward, so that the automatic elevation control means based on this correction is performed. By the control operation described above, the seedling planting apparatus can be returned to the predetermined ground height.

More specifically, for example, when the center float descends and swings (sets down) around the rear fulcrum due to softness of the mud in the field, the float sensor detects the descending swing angle of the center float. And, based on the detected value, the automatic raising and lowering control means by lowering the seedling planting device so that the vertical swing angle of the center float returns to the preset target angle,
The seedling planting device comes off the descending side from the predetermined ground height. As a result, the mud surface height detection sensor provided at the fixed portion of the seedling planting device detects that the mud surface height has been displaced to a side where the mud surface height is large (high) with respect to the seedling planting device. At the same time, based on the detected value, the target angle correcting means corrects the target angle of the center float toward the front lowering side with a correction value corresponding to the detected value. When this correction is performed, the automatic raising and lowering control means raises the seedling planting device so that the vertical swing angle of the center float detected by the float sensor becomes the target angle corrected forward and downward. Thus, the seedling planting apparatus can be returned to a predetermined ground height. Conversely, if the center float rises and swings (floats) around the rear fulcrum due to the hardness of the field mud, the float sensor detects the rising swing angle of the center float and the detection is performed. Based on the value, the automatic raising and lowering control means raises the seedling planting device so that the vertical swinging angle of the center float returns to the preset target angle, so that the seedling planting device moves from the predetermined ground height. It comes off the ascending side. As a result, the mud surface height detection sensor provided at the fixed part of the seedling planting device detects that the mud surface height has been displaced to the side where the mud surface height becomes smaller (lower) with respect to the seedling planting device. At the same time, based on the detected value, the target angle correcting means corrects the target angle of the center float to the forward rising side with a correction value corresponding to the detected value. When this correction is performed, the automatic raising and lowering control means lowers the seedling planting device so that the vertical swing angle of the center float detected by the float sensor becomes the target angle corrected to the front upward side. Thus, the seedling planting apparatus can be returned to a predetermined ground height.

In short, a mud surface height detecting sensor for detecting a displacement of a mud surface height with respect to a seedling planting device, and a target angle for correcting a target angle of a center float based on a detection value from the mud surface height detecting sensor. By equipping with correction means, while reducing the labor of the workers during planting work, the ground height of the seedling planting device is maintained at a predetermined ground height regardless of the ups and downs of the field and the hardness of mud. The seedlings can be planted by the seedling planting device at a predetermined planting depth at which seedling collapse or floating seedling hardly occurs due to poor leveling, mud pushing or shallow planting by each leveling float. Become like

Naturally, the target angle correcting means is provided with the mud surface height detecting sensors on the left and right sides of the center float, so that the average value of the detected values from the right and left mud surface height detecting sensors is obtained. Is calculated and the target angle of the center float is corrected with a correction value corresponding to the average value, so that it is based on a detection value from a mud surface height detection sensor arranged on one of the left and right sides of the center float. As compared with the case where the correction value is selected and the target angle of the center float is corrected, more appropriate correction of the target angle of the center float can be performed.

Also, as described above, when the hardness of the mud in the field becomes soft, the target angle correcting means sets the target angle of the center float forward and downward on the basis of the detection value from the mud surface height detection sensor. By raising the seedling planting device by the control operation of the automatic raising and lowering control means based on the correction, the seedling planting device is returned to a predetermined ground height. Even when the pressure is lowered and the soft mud is undulated, the vertical swaying is sensitively performed, and the float sensor detects the vertical swaying angle. Conversely, when the soil of the field mud becomes hard, the target angle correction means corrects the target angle of the center float to the forward rising side based on the detection value from the mud surface height detection sensor, and the correction is performed. By lowering the seedling planting device by the control operation of the automatic raising and lowering control means based on the above, the seedling planting device is returned to a predetermined ground height. In the ups and downs of the field mud,
The float sensor does not detect much fluctuation in the vertical swing angle. In other words, the sensitivity of the float sensor is automatically adjusted to the sensitive side as the field mud becomes softer, and conversely, the sensitivity of the float sensor is automatically adjusted to the insensitive side as the field mud becomes harder. This allows the float sensor to sensitively detect local irregularities in the hard muddy field as undulations, and the seedling planting apparatus moves up and down frequently, so that seedlings can be planted by the seedling planting apparatus. It is possible to avoid adverse effects, and also because the float sensor does not detect undulations in soft muddy fields, the seedling planting equipment does not move up and down despite the undulations. It is possible to avoid adversely affecting planting of seedlings by the device.

In short, the sensing sensitivity of the float sensor can be automatically adjusted to the sensing sensitivity according to the hardness of the mud in the field, so that the seedling can be planted with the seedling planting device more satisfactorily. Become.

Moreover, since the mud surface height detecting sensor merely detects the displacement of the mud surface height with respect to the seedling planting apparatus, the mud surface height detecting sensor is compared with the groove mark depth detecting sensor exemplified as the prior art. There is no need to provide a ground contact body for detecting the bottom of the groove trace, and thereby avoid contact with other objects (such as ridges) during backward traveling or turning traveling of the ground contact for detecting the bottom of the groove trace level. Since it is not necessary to provide a configuration for the configuration, the configuration can be simplified.

In addition, for example, when a mud surface height detection sensor is provided at the swinging end of the center float, which is a movable portion of the seedling planting apparatus, the center float is changed with the change in the hardness of the field mud. When the reference attitude of the center float is changed by correcting the target angle (the sensitivity of the float sensor), the height and attitude of the mud surface height detection sensor with respect to the ground change, and the mud surface height is detected. Since the reference value of the sensor is the same as the changed state, in order to accurately detect the displacement of the mud surface height with respect to the seedling planting apparatus, the correction of the center float target angle requires It is necessary to provide a control means for correcting the reference value of the mud surface detection sensor with a correction value corresponding to the correction value of the target angle. Seedling planting By disposing it on the fixed part of the device, the height of the mud surface height detection sensor with respect to the rear fulcrum of the center float can be kept constant regardless of the correction of the target angle of the center float. Without providing control means for correcting the reference value of the mud surface height detection sensor in accordance with the correction of the float target angle,
The displacement of the mud surface height relative to the seedling planting device can be accurately detected by the mud surface height detection sensor.

Further, left and right mud surface height detection sensors for detecting displacement of the mud surface height at the left and right near sides of the center float are provided at the groove trace depths of the side floats provided at the left and right ends of the seedling planting apparatus. Is located closer to the center float side than the groove mark depth detection sensor that detects the depth of the seedlings. It becomes less susceptible to the influence of the vertical swing displacement at the left and right ends on the connecting portion of the attachment device with the traveling body. That is, the detection accuracy can be improved by arranging the left and right mud surface height detection sensors so as to detect the displacement of the mud surface height on the left and right near sides of the center float.

In short, the displacement of the mud surface height with respect to the seedling planting apparatus by the mud surface height detection sensor at the target angle of each center float (the sensitivity of the float sensor) at each target angle while suppressing the complexity of the control configuration. This makes it possible to correct the target angle of the center float more appropriately, and to control the seedlings more accurately by the control operation of the automatic elevating control means based on the corrected target angle. The planting device can be maintained at a predetermined ground height.

Therefore, while reducing the labor of the operator during the planting operation and simplifying the configuration,
The height of the seedling plant at the time of planting operation can be more accurately maintained at a predetermined height above the ground, so that the seedling can be properly planted by the seedling plant.

Furthermore, in the present invention , when the difference between the detection values from the left and right mud surface height detection sensors exceeds a predetermined value, the target angle of the center float is changed to the forward rising side. The target angle correcting means is constituted.

According to the present invention, the target angle correcting means comprises:
One of the mud surface height detection sensors detects that the height of the mud surface relative to the seedling planting device has become significantly smaller (lower), and the other mud surface height detection sensor has a seedling planting device. If the difference between the detection values from the left and right mud surface height detection sensors exceeds a predetermined value by detecting that the height of the mud surface with respect to And corrects the target angle of the center float so that the target angle of the center float is changed to the forward ascending side with a correction value corresponding to the excess amount of the difference between the detected values from a predetermined value. The control operation of the automatic raising and lowering control means based on the corrected target angle lowers the seedling planting device. Thereby, the contact pressure of each leveling float can be increased, and the leveling action by each leveling float can be increased, for example,
Even in the case where planting is performed on a field part damaged by turning or the like as in headland planting, the roughened field part can be sufficiently leveled, and appropriate seedlings can be planted. Become like In other words, if the average value of the detection values from the left and right mud surface height detection sensors is simply calculated and the target angle of the center float is corrected with a correction value corresponding to the average value, the field becomes rough. As a result, one of the mud surface height detection sensors detects that the height of the mud surface has become significantly smaller than the seedling planting device, and the other mud surface height detection sensor has Even if it is detected that the height of the mud surface is greatly increased with respect to the planting device, the detected values are offset, and the degree of roughening of the field is not detected, and the target angle correcting means is not detected. Since the normal correction is performed, there is a problem that the leveling is insufficient and the planting of suitable seedlings cannot be performed, but in the invention according to claim 2, such a problem is caused. Avoid what happens So that it is.

Accordingly, the headland which is in a state where the seedling is appropriately planted by the seedling planting device while reducing the labor of the worker at the time of the planting operation and simplifying the structure is turned by turning or the like. And so on.

[0025]

Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 shows an overall side view of a riding type rice transplanter. The riding type rice transplanter includes a riding type traveling machine 1 and
A seedling connected to the rear of the traveling machine body 1 via a lifting link mechanism 2 so as to be able to move up and down by the operation of a hydraulic lift cylinder 3 and to be tiltable around the longitudinal axis P1 by the operation of an electric rolling motor 4. It is constituted by the planting device 5. An engine 6 is mounted on a front portion of the traveling body 1, and power from the engine 6 is transmitted to a front wheel 9 and a rear wheel 1 via a belt-type continuously variable transmission 7 and a gear-type transmission 8.
0 and to the seedling planting apparatus 5.

As shown in FIGS. 1 and 2, the seedling planting apparatus 5 includes a feed case 11 to which power from an engine 6 is input, and a square pipe-shaped support extending from the feed case 11 to the left and right. The frame 12, a planting transmission case 13 extending in three rows from the support frame 12 to the rear, and a rotary planting rotatably connected to the rear left and right sides of each planting transmission case 13. Attachment mechanism 14,
Seedling platform 15 that reciprocates and moves laterally with a constant stroke with respect to each planting mechanism 14, and three leveling floats 1 that preliminarily perform a leveling action on a seedling planting location by each planting mechanism 14.
6 and the like are used for six-row planting.

As shown in FIGS. 2 and 3, a float fulcrum pipe 17 laid across the right and left plantation transmission cases 13 is provided at a lower front portion of each planting transmission case 13 in the seedling planting apparatus 5. , And is rotatably mounted around a horizontal axis P2 as its axis. From the left and right central portions and the left and right ends of the float fulcrum pipe 17, the float fulcrum pipe 17
A pair of right and left swing arms 18 that swing up and down around the horizontal axis P2 with the rotation around the horizontal axis P2 are extended rearward, and at the free ends of the respective swing arms 18. Is the horizontal axis center (rear fulcrum) of the rear of the corresponding leveling float 16
3 are connected so as to be able to swing up and down. An operation lever 19 extending toward the traveling machine body 1 is connected and fixed to a substantially right and left central portion of the float fulcrum pipe 17 so as to be integrally rotatable. A locking plate 12A for engaging and holding the operation lever 19 at an arbitrary operation position by engaging with the operation lever 19 is connected and fixed to the support frame 12 via a support bracket 12B. That is, the operation lever 19 is operated around the axis P2 of the float fulcrum pipe 17, and is engaged and held at an arbitrary operation position by engagement with the locking plate 12A, thereby allowing the support frame 12 of the seedling planting apparatus 5 Each planting mechanism 1 attached to the fixed portion 5A including the planting transmission case 13 and the like
The height position of each leveling float 16 with respect to 4 can be integrally changed, and the amount of each planting mechanism 14 intruding into the field at the time of planting operation can be integrally adjusted, so that the planting depth by the seedling planting apparatus 5 Can be adjusted. In addition, the horizontal axis P3 which is a swing fulcrum of the leveling float 16
Is set so as to substantially coincide with the planting position by the planting mechanism 14 in the longitudinal direction of the machine.

As shown in FIG. 1 and FIG.
Is equipped with a control device 20 composed of a microcomputer. In addition, a neutral return type operation lever 23 is provided at a lower left portion of a steering handle 22 mounted on the control section 1A of the traveling body 1. This operation lever 23
Is pivotally operated upward, the first switch 24 is depressed, and when the operation lever 23 is pivoted downward, the second switch 25 is depressed. Each of the first switch 24 and the second switch 25 outputs an ON signal to the control device 20 in response to being pressed. The control device 20 includes the first switch 2
When the ON signal from the planting clutch 26 is inputted, the operation of the clutch motor 27 for switching the transmission state of the planting clutch 26 is controlled to show the disengaged state of the planting clutch 26, thereby planting the seedling planting device 5. Immediately after the operation is stopped, the operation of the electromagnetic control valve 28 for switching the flow state of the hydraulic oil to the lift cylinder 3 is controlled to extend the lift cylinder 3, thereby setting the seedling planting apparatus 5 to a predetermined upper limit. It is designed to be raised to the position. When an ON signal is input from the second switch 25 after raising the seedling planting device 5 to the predetermined upper limit position, the operation of the electromagnetic control valve 28 is controlled to control the lift cylinder 3
Is shortened to lower the seedling planting device 5 to a predetermined planting height position. When the ON signal is again input from the second switch 25 after lowering the seedling planting device 5 to the predetermined planting height position, the operation of the clutch motor 27 is controlled to display the engaged state of the planting clutch 26. By putting out, the seedling planting device 5
Planting operation is resumed. That is, the control device 20 is provided with a manual control means 20A for controlling the planting operation and the elevating of the seedling planting device 5 based on the operation of the operation lever 23 as a control program.

Incidentally, the control operation of the manual control means 20A based on the operation of the operation lever 23 is performed in a state where the planting clutch lever 30 disposed on the right side of the driver's seat 29 in the traveling body 1 is located at the "automatic" position. Only to be executed. And the manual control means 20A
In the state where the planting clutch lever 30 is not located at the “automatic” position, the planting operation and the raising and lowering of the seedling planting apparatus 5 are controlled based on the operating position of the planting clutch lever 30. . The symbol S1 in FIG. 4 indicates “automatic” or “up” of the planting clutch lever 30.
It is a lever sensor constituted by a rotary potentiometer that detects an operation to each of the operation positions of “neutral”, “down”, “in (planting)”, and “off (planting)” and outputs the operation to the control device 20.

As shown in FIGS. 3 to 5, the seedling planting device 5 has a tip end which is a swing end of a center float 16 A of the leveling float 16, which is disposed at the left and right center of the seedling planting device 5. A coil spring 32 as an urging means for urging the ground through a waist-break type link mechanism 31 and a vertical swing angle θ of a center float 16A displaced about a horizontal axis P3 as a fulcrum with traveling during planting work are detected. Control device 2
A float sensor S2 composed of a rotary potentiometer that outputs 0 is provided. One end of the coil spring 32 and the float sensor S2 are fixed to the fixing portion 5A of the seedling planting device 5.
A fixed portion 5A pivotally connected to the free ends of a pair of upper and lower swing links 34 supported to be vertically swingable by a support bracket 12B extending upward from the support frame 12 that is
Is supported by the movable bracket 35 on the side. The upper swing link 34 of the pair of upper and lower swing links 34
The other end has an operating lever 19 for adjusting the planting depth.
As the height position of the leveling float 16 with respect to the planting mechanism 14 is changed by operating the operation lever 19, the height position of the float sensor S2 is also leveled. The displacement is changed with the same displacement as the float 16. That is, the height position of the float sensor S2 with respect to the rear fulcrum P3 of the leveling float 16 is maintained constant regardless of the planting depth adjustment.

As shown in FIG. 4, when the vertical swing angle θ of the center float 16A is input as a value detected by the float sensor S2, the control device 20 controls the vertical movement of the center float 16A based on the detected value. The raising and lowering of the seedling planting apparatus 5 is controlled so that the swing angle θ returns to the preset target angle θo. The float sensor S2 detects 0 degree when the center float 16A is in the horizontal position, and detects a plus angle when the center float 16A is in the forward raised position.
When A is in the forward lowered posture, a setting is made so that a negative angle is detected. The control operation of the control device 20 based on the detection value from the float sensor S2 will be described in detail. The control device 20 includes a preset target angle θo of the center float 16A (hereinafter simply referred to as a target angle θo) and a float sensor Center float 1 detected by S2
6A is compared with the vertical swing angle θ (hereinafter simply referred to as detection angle θ), and from the comparison result, for example, the detection angle θ is larger than the target angle θo (center float 1).
6A is located in the forward rising direction from the target angle θo), the seedling planting device 5 is raised by the extension operation of the lift cylinder 3 to set the swing fulcrum (horizontal axis) P3 of the center float 16A. By performing the upward displacement, the vertical swing angle θ of the center float 16A is returned to the target angle θo. Conversely, the target angle θo
Detection angle θ is small (center float 16A
Is lower than the target angle θo), the shortening operation of the lift cylinder 3 lowers the seedling planting device 5 to lower the swing support point P of the center float 16A.
3 is displaced downward, so that the center float 1
The vertical swing angle θ of 6A is returned to the target angle θo. That is, the control device 20 includes, as a control program, an automatic elevating control unit 20B that controls the elevating of the seedling planting device 5 based on the detection value from the float sensor S2. By operation, the seedling planting apparatus 5 can be maintained at a predetermined ground height regardless of the ups and downs of the field, so that the seedlings can be planted by the seedling planting apparatus 5 at a predetermined desired planting depth. It has become.

Incidentally, the target angle θo of the center float 16A is appropriately set and changed in accordance with the hardness of the field mud. Based on the judgment, the operation can be performed artificially by operating the manual first setting device 37 provided in the control section 1A of the traveling body 1. The control device 20 includes a mud surface height detection sensor S3.
The target angle correction means 20C for correcting the target angle θo of the center float 16A based on the detection value from the control unit is provided as a control program.
By executing the control operation of 0C, the target angle θo of the center float 16A can be automatically changed to the target angle θo according to the hardness of the mud in the field.

A configuration for automatically setting and changing the target angle θo of the center float 16A by the control operation of the target angle correction means 20C will be described below in detail.

As shown in FIGS. 2 to 4, the mud surface height detecting sensor S3 is adapted to detect the displacement of the mud surface height relative to the seedling planting device 5 on the right and left near sides of the center float 16A. It is arranged in the state located between each leveling float 16 on the left and right of the attachment device 5. Each mud surface height detection sensor S3 is a fixed part 5A that moves up and down in conjunction with height adjustment (adjustment of planting depth) of the leveling float 16 with respect to the fixed part 5A of the seedling planting apparatus 5 having the planting mechanism 14. A rotary potentiometer 38 supported and fixed to the movable bracket 35 on the side, and a grounding body 39 extending vertically swingably rearward from an operation shaft 38a of the potentiometer 38, and the grounding body 39 is The seedling planting is carried out by detecting the vertical swing angle of the grounding body 39 which is displaced with the traveling during the planting work, and the potentiometer 38 follows the ground surface on the mud surface of the field with the traveling during the planting work. The displacement of the mud surface height with respect to the device 5 is detected, and the detected value is used as the target angle correction means 2 of the control device 20.
Output to 0C. The grounding body 39 of the mud surface height detection sensor S3 is formed such that the grounding point substantially coincides with the planting position by the planting mechanism 14 in the longitudinal direction of the machine. On the other hand, the target angle correction means 20C
Calculates the average value based on the detection values from the left and right mud surface height detection sensors S3, detects the mud surface height for the seedling planting apparatus 5 based on the average value, and responds to the detection. In order to obtain the correction value, the target angle θo of the center float 16A is lowered forward (the detection reference value of the float sensor S2) as the mud surface height with respect to the seedling planting device 5 is increased (the ground contact body 39 is displaced upward). To the minus angle detection direction).

From the above configuration, for example, when the center float 16A descends (sets down) around the rear fulcrum P3 due to the softness of the field mud, the descending swing angle θ of the center float 16A Is detected by the float sensor S2, and based on the detected value, the automatic lifting / lowering control means 20B sets the center float 16A
By lowering the seedling planting apparatus 5 so that the vertical swing angle θ of the seedlings returns to the preset target angle θo, the seedling planting apparatus 5 comes off the predetermined ground height on the descending side. Accordingly, the mud surface height detection sensor S
3 detects that the mud surface height has shifted (increased) with respect to the seedling planting apparatus 5, and based on the detected value, the target angle correction means 20C responds to the detected value. The target angle θ of the center float 16A is corrected forward and downward with the corrected value, and based on the corrected target angle θ, the automatic elevation control means 20B sets the float sensor S
Since the seedling planting apparatus 5 is raised so that the detected angle θ from 2 becomes the target angle θo corrected forward, the seedling planting apparatus 5 can be returned to a predetermined ground height. I can do it. Conversely, when the center float 16A rises and swings (floats) around the rear fulcrum P3 due to the hardness of the field mud, the float sensor S2 detects the rise swing angle θ of the center float 16A. At the same time, based on the detected value, the automatic raising and lowering control means 20B raises the seedling planting device 5 so that the vertical swing angle θ of the center float 16A returns to the preset target angle θo, so Even if the planting device 5 comes off the predetermined ground height on the ascending side, the mud surface height detection sensor S3 is accordingly
It detects that the mud surface height has shifted to the side where the mud surface height becomes small (lower) with respect to the seedling planting apparatus 5, and based on the detected value, the target angle correcting means 20C sets a correction value corresponding to the detected value. Then, the target angle θ of the center float 16A is corrected to the forward rising side, and based on the corrected target angle θ, the automatic elevation control means 20B corrects the detection angle θ from the float sensor S2 to the forward rising side. Target angle θo
The seedling planting apparatus 5 is lowered so as to satisfy the condition described above, so that the seedling planting apparatus 5 can be returned to a predetermined ground height.

That is, the mud surface height detecting sensor S3 for detecting the displacement of the mud surface height with respect to the seedling planting apparatus 5, and the target angle θo of the center float 16A based on the detection value from the mud surface height detecting sensor S3. Is equipped with the target angle correcting means 20C for correcting the target angle, the setting of the target angle θo according to the hardness of the mud in the field can be automatically performed, whereby the height of the seedling planting apparatus 5 with respect to the ground can be reduced. It is possible to maintain a predetermined ground height irrespective of the ups and downs of the field and the hardness of the field mud so that the seedlings can be stably planted by the seedling planting apparatus 5 at a predetermined desired planting depth. Has become.

Further, when the hardness of the field mud softens as described above, the target angle correction means 20C sets the target angle θo of the center float 16A based on the detection value from the mud surface height detection sensor S3. Since the seedling planting device 5 is corrected by the control operation of the automatic elevating and lowering control means 20B based on the correction, the seedling planting device 5 rises and returns to a predetermined ground height. And the vertical field oscillates sensitively even in the undulation of soft field mud, and the vertical sensor oscillating angle θ is detected by the float sensor S2. Conversely, when the soil of the field mud becomes hard, the target angle correction means 20C corrects the target angle θo of the center float 16A to the forward rising side based on the detection value from the mud surface height detection sensor S3. And
Since the seedling planting apparatus 5 descends and returns to the predetermined ground height by the control operation of the automatic elevation control means 20B based on the correction, the center float 16A raises the ground pressure and increases The up and down movement of the mud is prevented, and the float sensor S2 does not detect the fluctuation of the up and down swing angle θ. In other words, as the hardness of the field mud softens, the float sensor S
2 is adjusted to the sensitive side, and conversely, as the hardness of the field mud becomes harder, the sensing sensitivity of the float sensor S2 is automatically adjusted to the insensitive side.
Float sensor S2 for undulation in soft muddy field
Is not detected, it is possible to avoid that the seedling planting apparatus 5 does not move up and down in spite of the undulation, which adversely affects the planting of the seedlings by the seedling planting apparatus 5, The float sensor S2 sensitively detects local irregularities caused by mud clumps and the like in a hard field as undulations, and the seedling planting apparatus 5 moves up and down frequently, which adversely affects planting of seedlings by the seedling planting apparatus 5. Can be avoided.

In short, the sensing sensitivity (target angle θo) of the float sensor S2 can be automatically adjusted to the sensing sensitivity according to the hardness of the mud in the field, whereby the planting of the seedling by the seedling planting apparatus 5 can be performed. It can be performed even better.

Further, as described above, the movable bracket 35 on the side of the fixed part 5A which moves up and down in conjunction with the adjustment of the height of the center float 16A with respect to the fixed part 5A of the seedling planting device 5 as described above.
Supports the mud surface height detection sensors S3, so that the mud surface height detection sensors S3 with respect to the rear fulcrum P3 of the center float 16A regardless of the planting depth adjustment.
Height can be kept constant. That is,
For example, when the mud surface height detection sensor S3 is fixedly mounted on the fixing portion 5A such as the support frame 12 or the planting transmission case 13 in the planting device 5, the planting depth is adjusted (the planting device 5 is fixed). When the leveling float 16 is adjusted with respect to the planting mechanism 14 provided in the section 5A), the ground height of the mud surface height detection sensor S3 changes accordingly, and the mud surface with respect to the seedling planting apparatus 5 is changed. Since the reference value of the mud surface height detection sensor S3, which is a reference in detecting the displacement of the height, also changes, the mud surface is adjusted with a correction value corresponding to the adjustment amount according to the adjustment of the planting depth. Height detection sensor S
If it is necessary to provide control means for correcting the reference value of No. 3, and if the mud surface height detection sensor S3 is provided at the swinging end of the center float 16A which is a movable portion in the seedling planting apparatus 5, the When the reference attitude of the center float 16A is changed by correcting the target angle θo (the sensitivity of the float sensor S2) of the center float 16A with the change of the mud hardness, the mud surface height detecting sensor is accordingly changed. The ground height of S3 changes, and the mud surface detection sensor S3
Is changed, the mud surface height detection sensor S is set to a correction value corresponding to the correction value of the target angle θo in accordance with the correction of the target angle θo of the center float 16A.
It is necessary to provide control means for correcting the reference value of No. 3, but in the present embodiment, as described above, the mud surface height detection sensor S is provided on the movable bracket 35 on the fixed portion 5A side.
3 allows the height of the mud surface height detection sensor S3 with respect to the rear fulcrum P3 of the center float 16A to be kept constant regardless of the planting depth adjustment and the correction of the target angle θo of the center float 16A. ,
Adjusting the planting depth and center float 16 as described below
Mud surface height detection sensor S with correction of target angle θo of A
There is no need to provide control means for correcting the reference value of No. 3.

Further, by disposing the mud surface height detecting sensor S3 on the left and right sides of the center float 16A, the mud surface height detecting sensor S3 detects the displacement of the mud surface height with respect to the seedling planting device 5. When connecting, the connecting portion of the seedling planting device 5 with the traveling machine body 1 during traveling (front-rear axis P1)
Since it is hard to be affected by the vertical swing displacement (rolling swing) on both left and right sides centering on the center, the detection accuracy when detecting the displacement of the mud surface height with respect to the seedling planting apparatus 5 can be improved. It has become.

In short, each planting depth and the center float 16A can be controlled while suppressing the complexity of the control configuration.
At the target angle θo (the sensitivity of the float sensor S2), the displacement of the mud surface height relative to the seedling planting apparatus 5 can be detected with higher accuracy by the mud surface height detection sensor S3. Float 16A
Can be corrected, and the control operation of the automatic elevating and lowering control means 20B based on the corrected target angle θo allows the seedling planting apparatus 5 to be more accurately maintained at a predetermined ground height. I have.

As shown in FIG. 4, the control device 20 is provided with arithmetic means 20D for calculating the difference between the detection values from the left and right mud surface height detection sensors S3. The sensor S3 detects that the mud surface height with respect to the seedling planting device 5 is significantly reduced (low), and the other mud surface height detection sensor detects that the mud surface height with respect to the seedling planting device 5 is small. When the calculated value from the calculating means 20D exceeds a predetermined value as shown in FIG. 6 by detecting that the value of the field has greatly increased (increased), the target angle correcting means 20C causes the field portion to be rough. Is determined, and the target angle θo of the center float 16A is corrected so that the target angle θo of the center float 16A is changed to the forward ascending side with a correction value corresponding to the excess amount of the calculated value from a predetermined value. , The corrected eye The seedling planting apparatus 5 is configured to be lowered by the control operation of the automatic raising and lowering control means 20B based on the target angle θo. By this, each leveling float 1
6 can increase the contact pressure of each leveling float 16
Can increase the leveling effect of
Even in the case of planting on a field part damaged by turning or the like as in the headland planting, the roughened field part can be sufficiently leveled, and the seedling planting apparatus 5 can appropriately plant seedlings. Planting can be done reliably.

When the sensitivity of the float sensor S2 is manually set by operating the first setting device 37 of the manual type, the dial type changeover switch 40 provided on the control section 1A is operated to the "manual" position. In the case where the sensitivity of the float sensor S2 is automatically set by the control operation of the target angle correction means 20C, the method of setting the sensitivity of the float sensor S2 is performed by operating the changeover switch 40 to the "auto" position. It can be switched.

As shown in FIG. 4, the control device 20 sets the reference value of the mud surface height detection sensor S3 based on the operation position of the second setting device 42 mounted on the control section 1A of the traveling body 1. A reference value changing means 20E to be changed is provided as a control program. With this configuration, it is possible to change the reference value of the mud surface height detection sensor S3, that is, the reference mud surface height when the mud surface height detection sensor S3 detects the displacement of the mud surface height with respect to the seedling planting device 5. So, for example,
When the reference value of the mud surface height detection sensor S3 is changed so that the reference mud surface height with respect to the seedling planting device 5 becomes small (low), the mud surface height detection sensor S3 is changed with the change.
Detects that the mud surface height has shifted (increased) with respect to the seedling planting apparatus 5, and based on the detected value, the target angle correction means 20 C The target angle θo of the center float 16A is corrected forward and downward by the corresponding correction value. When this correction is performed, the automatic lifting / lowering control means 20B causes the vertical movement of the center float 16A detected by the float sensor S2. Since the seedling planting apparatus 5 is raised so that the moving angle θ becomes the target angle θo corrected forward, the contact pressure of the leveling float 16 can be reduced. Conversely, the mud surface height detection sensor S3 is set so that the reference mud surface height with respect to the seedling planting device 5 becomes large (high).
When the reference value is changed, the mud surface height detection sensor S3 detects that the mud surface height is displaced to the side where the mud surface height is increased (increased) with respect to the seedling planting device 5 in accordance with the change. And the target angle correction means 20C
Is the correction value corresponding to the detected value and the center float 16
The target angle θo of A is corrected to the forward rising side,
When this correction is performed, the automatic lifting and lowering control means 20B detects the center float 1 detected by the float sensor S2.
The vertical planting apparatus 5 is lowered so that the vertical swing angle θ of 6A becomes the target angle θo corrected to the front upward side, so that the contact pressure of the leveling float 16 can be increased. . That is, the ground pressure of the leveling float 16 can be set by changing the reference value of the mud surface height detection sensor S3, so that the leveling level of the leveling float 16 according to the preference of the worker can be obtained. It has become. The leveling condition is maintained by the operation of the mud surface height detection sensor S3, the automatic elevation control unit 20B, and the target angle correction unit 20C.

As shown in FIG. 4, the control device 20 controls the operation of the rolling motor 4 based on the detection value from the left and right mud surface height detection sensors S3 to thereby control the seedling planting device 5 in the field. Axial axis P1 so that it is along the mud surface
A rolling control means 20F for rotating around is provided as a control program, and the control operation of the rolling control means 20F allows the seedling planting apparatus 5 to take a predetermined shape in consideration of the right and left inclination of the mud surface of the field. It can be positioned at ground level. That is, even if the field mud surface is inclined in the left-right direction with respect to the seedling planting device 5, the control operation of the rolling control means 20F causes the seedling planting device 5 to be inclined along the field mud surface. The heights of the planting mechanisms 14 mounted on the fixing portion 5A of the seedling planting device 5 in parallel in the left-right direction can be made substantially equal to each other, and the planting depth of each strip can be made substantially the same. Therefore, good seedlings can be stably planted by the seedling planting apparatus 5.
Further, since the left and right mud surface height detection sensors S3 provided for correcting the target angle θo of the center float 16A are used for rolling control, it is compared with a case where a detection sensor dedicated to rolling control is separately provided. Thus, it is possible to suppress the complexity of the configuration and the rise in the manufacturing cost.

Another Example In the above embodiment, a riding type rice transplanter equipped with a seedling planting apparatus 5 for six-row planting was exemplified. For planting, for Hachijo planting,
It may be for ten-row planting or for twelve-row planting. The left and right mud surface height detection sensors S3 may be fixedly mounted on a fixing portion 5A such as the support frame 12 or the planting transmission case 13 in the planting and planting apparatus 5. In this case, the planting depth adjustment (the fixing portion 5 of the seedling planting device 5) is performed.
Leveling float 16 for planting mechanism 14 mounted on A
Control means for correcting the reference value of the mud surface height detection sensor S3 with a correction value corresponding to the adjustment amount.

[Brief description of the drawings]

FIG. 1 is an overall side view of a riding rice transplanter.

FIG. 2 is a schematic plan view showing the configuration of a seedling planting apparatus.

FIG. 3 is a side view of a main part of the seedling planting device, showing a configuration of a mud surface height detection sensor and a float sensor.

FIG. 4 is a block diagram showing a control configuration.

FIG. 5 is a front view of a main part of the seedling plant showing the configuration of a mud surface height detection sensor and a float sensor.

FIG. 6 is a graph showing a change in a difference between detection values from right and left mud surface height detection sensors.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Running body 5 Seedling planting apparatus 5A Fixed part 16A Center float 20B Automatic elevating control means 20C Target angle correction means 32 Energizing means P3 Rear fulcrum S2 Float sensor S3 Mud surface height detection sensor θ Vertical swing angle θo Target angle

Claims (1)

(57) [Claims] 1. A seedling planting device (5) is connected to a traveling machine body (1) so as to be able to move up and down freely.
The center float (16A) urged to ground by the urging means (32) is vertically swingably mounted around the rear fulcrum (P3), and the center float (16A) which is displaced as the plant floats during the planting operation. A float sensor (S2) for detecting a vertical swing angle, and the center float (16A) based on the detection from the float sensor (S2).
A raising / lowering control means (20B) for controlling the raising and lowering of the seedling placement device (5) so that the vertical swing angle of the seedling returns to a preset target angle. A pair of left and right mud surface height detection sensors (S) arranged to detect displacement of the mud surface height at the left and right near sides of the center float (16A) with respect to the attachment device (5).
3) is attached to the fixing portion (5A) of the seedling planting device (5), and the target angle of the center float (16A) is changed to the forward lower side as the mud surface height increases. The left and right mud surface height detection sensors (S
Based on the detected value from 3), the center float (1)
6A) is corrected, and the left and right mud surface height detection
If the difference between the detection values from the sensor (S3) exceeds a predetermined value,
Increase the target angle of the center float (16A) forward.
A riding type rice transplanter equipped with a target angle correction means (20C) for changing to.