JP3372453B2 - Rice transplanter - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention is provided with a seedling planting device that can move up and down with respect to a traveling body, and the height of the seedling planting device measured by a height sensor provided in the seedling planting device is high against the field. TECHNICAL FIELD The present invention relates to a rice transplanter equipped with a control device that raises and lowers the seedling planting device so as to maintain the height at a target height, and more particularly, to a technique for allowing the seedling planting device to properly follow a field scene regardless of the state of the field.

[0002]

2. Description of the Related Art As a rice transplanter constructed as described above,
There is one disclosed in JP-A-6-62630,
In this conventional example, a grounding float is provided so as to be swingable with respect to the seedling planting device connected to the rear end of the traveling body so as to be able to move up and down,
A first sensor that includes a spring that biases the front portion of the grounding float to the descending side, and that detects the height of the seedling planting device against the field from the posture of the grounding float, and the seedling planting device A detection system is configured to include a second sensor that detects the amount of swing of a sled-like grounding sensor that is swingable, and the signal value set by the sensitivity setting switch is detected by the measurement result of the first sensor. A raising and lowering control system for raising and lowering the seedling planting device is formed, and when the second sensor detects that there are many irregularities in the field scene, the target posture of the grounding float is changed to the front lowering side to raise and lower. A sensitivity setting system whose characteristics are set so as to reduce the control sensitivity is formed.

[0003]

In the configuration of the conventional example, the vertical movement of the seedling planting device is unnecessarily caused due to the vertical vibration of the seedling planting device, such as when working in a field where there are many irregularities. The occurrence of so-called hunting, which occurs repeatedly, can be suppressed by lowering the sensitivity of the elevation control. However, considering the cause of vertically vibrating the seedling planting device, not only the unevenness of the field scene but also the vertical vibration of the machine body due to the unevenness of the tiller where the wheels contact the ground exists. In particular, in conventional rice transplanters, since the seedling planting device is supported in a suspended state via the link mechanism etc. to the traveling machine body, the grounding load of the grounding float of this seedling planting device is also set small , Large depressions on the plow
If there is a convex part and the front wheel falls into the concave part,
In a short time, like when the rear wheels get up
If the phenomenon of raising the seedling planting device to a large degree occurs
Is easy to lead to the inconvenience of producing shallowly planted seedlings
There is room for

An object of the present invention is to reasonably construct a rice transplanter that does not cause shallow planting of seedlings by appropriately causing the seedling planting device to follow the field scene regardless of the field conditions.

[0005]

The first characteristic of the present invention (contract)
As stated in the beginning, the requirement 1) is equipped with a seedling planting device that can be moved up and down with respect to the traveling machine body, and the height of the seedling planting device measures the height of the seedling planting device against the field. In a rice transplanter equipped with a control device that moves the seedling planting device up and down so as to maintain the target height, when a displacement of a predetermined amount or more in the unit time in the lifting direction of the seedling planting device is detected. ,
It is provided with a forced lowering means for lowering the seedling planting device in preference to the elevation control of the control device, and its action and effect are as follows.

A second feature of the present invention (claim 2) is the claim.
In No. 1 , the forced lowering means is set to control operation so as to lower the actuator for raising and lowering the seedling planting device for a set time, and its action and effect are as follows.

[Operation] According to the first feature, when it is detected that the seedling planting device is displaced in the lifting direction by a predetermined amount or more within a unit time, the descending control of the control device is prioritized and the forced descending is performed. Since the means lowers the seedling planting device, the displacement of the seedling planting device in the uplifting direction can be reduced and the occurrence of shallow planting can be suppressed.

According to the second feature, when it is detected that the seedling planting device is displaced in the lifting direction by a predetermined amount or more within a unit time, the actuation is given priority over the elevation control of the control device. Since the user moves the seedling down for the set time, the displacement of the seedling planting device in the upward direction is reduced to suppress the occurrence of shallow planting, and the descending operation of the seedling planting device stops after the set time elapses. Therefore, even after this, even if the seedling planting apparatus descends and is restored to the original height, it is possible to return to appropriate control without difficulty.

[Advantages of the Invention] Therefore, even if the traveling body sways in the direction of lifting the seedling planting device within a short time, the seedling planting device can be set to an appropriate depth without being lifted from the field scene. The transplantable rice transplanter was reasonably constructed ( Claim 1). Also bill
In addition to the effect of item 1 , even when the posture of the traveling machine body is restored, it is possible to continuously perform lifting control that follows the field scene ( claim 2 ).

[0010]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings. As shown in FIG. 1, a steering type driven front wheel 1 and a driven rear wheel 2 are operated.
An engine 4 is mounted on the front part of a traveling machine body 3 including a vehicle, and a hydrostatic stepless transmission 5 for transmitting power from the engine 4 and a mission case 6 are arranged on the rear part of the traveling machine body 3. Further, a driver's seat 7 is arranged in the center of the traveling machine body 3, and the seedling planting device A is connected to the rear end of the traveling machine body 3 via a link mechanism 9 driven and moved up and down by a hydraulic cylinder 8 as an actuator. To construct a riding type rice transplanter.

On the right side of the driver's seat 7, there is provided an elevating lever 10 for controlling the raising and lowering of the seedling planting device A and turning on and off a planting clutch (not shown). A gear shift lever 11 for performing a gear shift operation of the gear shift device 5 is provided. The planting clutch is built in the mission case 6, and the disengaging operation is allowed only when the transmission shaft 12 that transmits power from the mission case 6 to the seedling planting device A is in a predetermined rotation phase. Seedling planting device A
The planting arm (described later) is configured to cut off the power in a posture that avoids contact with the field.

The seedling planting apparatus A comprises a seedling stand 13 on which a mat-shaped seedling W is placed, a transmission case 14 to which power from the transmission shaft 12 is transmitted, and a transmission case 14 to a chain case 1.
Rotary case 1 that rotates with the power transmitted via
6. The rotary case 16 is provided with a pair of planting arms 17 provided one by one, and each of a plurality of ground leveling floats 18 as grounding floats is configured for eight-row planting and the rear end position of the seedling planting apparatus A. Is equipped with a fertilizer application device B, and at the time of operation, the seedling arm 17 cuts out the seedlings one by one from the lower end of the mat-like seedling W placed on the seedling placing table 13, and at the same time, near the planted seedlings. The fertilizer application device B is configured to supply fertilizer under the field scene.

As shown in FIG. 2, a rear end of a support arm 22 extending rearward from a planting depth adjusting shaft 21 which is rotatably supported by the seedling planting apparatus A about an axis in a horizontal posture. One of the ground leveling floats 18 arranged at the center in the left-right direction with respect to the position (hereinafter, referred to as a sensor float 18, which is an example of a grounding float) is swingably supported around an axis P in a horizontal posture. , The sensor float 1 with respect to the link member 23 formed from the planting depth adjustment shaft 21 toward the front
By supporting the front portion of the sensor float 8, the sensor float 18 is configured to be swingable around the axis P in the lateral posture so that the front portion can be displaced in the vertical direction.

A fixed arm which supports a potentiometer type float sensor 25 swingably around an operation shaft 24 in a lateral position with respect to the support arm 22 and is fixed to an operation arm 24A and a sensor float 18 provided on the operation shaft 24. Two
6 is provided with an operation rod 27, and the planting depth adjusting shaft 21
By providing the rod 29 over the member 28 fixed to the member and the member supporting the float sensor 25, the posture of the float sensor 25 around the operation shaft 24 is changed when the planting depth adjusting shaft 21 is rotated. As long as the swinging posture of the sensor float 18 with respect to the seedling planting device A is kept constant, the posture of the operation arm 24A with respect to the float sensor 25 main body is maintained. In addition, a compression coil type as a biasing means is provided between the member 31 that is vertically rocked through the adjusting arm 30 fixed to the planting depth adjusting shaft 21 and the front portion of the sensor float 18. By interposing the spring 32,
The sensor float 1 even when the planting depth adjusting shaft 21 is rotated.
The urging force of the spring 32 is not changed as long as the rocking posture of the seedling planting device A of 8 is maintained constant.

As shown in FIGS. 1 and 3, the lifting lever 10
At the base end of the, a potentiometer type lift lever sensor 3
4, and a potentiometer-type shift lever sensor 35 is provided at the base end of the shift lever 11. Further, a potentiometer-type sensitivity setting device 38 operated by a dial 37 is arranged on the panel at the front position of the driver's seat 7,
This sensitivity setting device 38 is set to “sensitivity” by the dial 37.
It is configured to be able to operate steplessly in the operation range indicated by the numbers "1" to "7" between "blunt", and the automatic raising and lowering control of the seedling planting device A is performed as the dial is moved to the "sensitive" side. The sensitivity of the automatic raising / lowering control of the seedling planting apparatus A is lowered as the dial 37 is operated to the “blunt” side.

The lift lever 10 is operated rearward to raise the seedling planting apparatus A, and is operated forward to control the solenoid valve 39 for the lift cylinder 8 so as to lower the seedling planting apparatus A. When the elevating lever 10 is operated to the front end, the sensor float 18 is grounded and the sensor float 18 sets the sensitivity setting device 38. By raising and lowering the seedling planting device A so as to maintain a preset target posture based on the value, the seedling planting device A performs an automatic raising / lowering control for raising and lowering following the field scene S. .
Further, as shown in FIG. 3, when the speed change lever 11 is operated forward with respect to the neutral position, an electric speed change motor 4 for driving and operating a trunnion shaft (not shown) of the continuously variable transmission 5 is provided.
0 is controlled to increase the forward speed of the traveling machine body 3, and when the speed change lever 11 is operated rearward with respect to the neutral position, similarly, the shift motor 40 is controlled to increase the reverse speed of the traveling machine body 3. , The control operation is set to stop traveling at the neutral position.

Further, when traveling in the field, the traveling machine body 3
An acceleration sensor 41 for measuring the vertical acceleration transmitted to the machine body 3 through the front and rear wheels 1 and 2 due to the unevenness of the cultivator G in the field is provided.

As shown in FIG. 3, a control system of the rice transplanter is constructed. In this control system, a signal from the lifting lever sensor 34 and a gear change are sent to a control device 42 equipped with a microprocessor (not shown). Signal from the lever sensor 35,
Signal from the sensitivity setter 38, the float sensor 2
5 and a signal from the acceleration sensor 41 are input, and an output system for controlling each of the solenoid valve 39 and the speed change motor 40 is formed.
Further, an input system is formed from a signal from a potentiometer type shift sensor 43 for detecting the shift position of the continuously variable transmission 5. The solenoid valve 39 has a characteristic that the opening degree of the solenoid valve 39 is increased as the value of the current supplied to the solenoid is increased.

As shown in the flow charts of FIGS. 4 and 5, the raising / lowering control operation of the seedling planting apparatus A is set, and in this control, when the acceleration sensor 41 detects a posture change in the direction in which the rear part of the body 3 is lifted. In addition, the target opening degree of the solenoid valve 39 is set to the maximum only when the acceleration is equal to or more than a preset predetermined value (when it swings by a predetermined amount or more in a unit time), and the solenoid valve 39 is set to the maximum value. Set time (0.1 to
It is operated only for about 0.2 seconds (steps # 101 to # 103).

In this process, as shown in FIG. 6, the rear wheel 2 is greatly lifted within a short time due to a phenomenon such as the rear wheel 2 riding on a large convex portion existing on the tiller G. When the posture changes to the side, the acceleration sensor 41 detects the occurrence of the inclination of the traveling body with an extremely short time lag, and the seedling planting apparatus A is forcibly lowered so that the seedling planting apparatus A is removed from the field scene S. By preventing this phenomenon from rising, this control eliminates shallow planting of seedlings and enables transplanting of seedlings to an appropriate depth. Of these controls, # 103 constitutes the forced lowering means D of claim 1 .

When the control for forcibly lowering the seedling planting device A is not performed, the acceleration sensor 41 detects a vibration (for example, pitching) that vibrates the seedling planting device A vertically. In this case, instead of the sensitivity setting value input from the sensitivity setting unit 38 only when the acceleration is equal to or greater than a predetermined value set in advance, only a value proportional to the absolute value of the acceleration based on this setting value is used. The corrected sensitivity setting value is set on the sensitivity reducing side (insensitive side) (steps # 104 to # 106). Note that compensation means C in # 106 performing the correction processing is configured.

In addition, in this flowchart, FIG.
4a, b in FIG. 4 is connected to b in FIG. Next, while setting the control target corresponding to the sensitivity setting value, inputting the signal from the float sensor 25,
The dead zone formed on the basis of the control target is compared with the float sensor 25. As a result of this comparison, when the signal value from the float sensor 25 exists within the dead zone, the elevation control is not performed and the dead zone Float sensor 25 in the area
If there is no signal value from the solenoid valve 38, the opening degree of the solenoid valve 38 is set to a value proportional to the deviation between the control target and the signal value from the float sensor 25. One of the solenoids is driven to raise and lower the seedling planting apparatus A (steps # 107 to # 111).

The seedling planting device A is supported at the rear end position of the traveling machine body 3 in a form of being suspended via the link mechanism 9, and the ground load is small even when the sensor float 18 is grounded. G is in a rough state, and the seedling planting apparatus A may be vibrated due to the rough state. When this vibration is large, this vertical vibration is detected by the float sensor 2
5, control for raising and lowering the seedling planting device A unnecessarily,
This leads to so-called hunting. Therefore,
As described above, when a large vibration in the up-down direction occurs with respect to the traveling vehicle body 3, the sensor float 18 is changed by changing the target attitude of the sensor float 18 to the front upward direction.
The leveling float 1 with the spring 32 acting on
8 suppresses the vertical vibration of the seedling planting device A by increasing the weight that supports the weight of the seedling planting device A, and at the same time, compressing the spring 32 substantially lowers the control sensitivity, As a result, the attitude of the sensor float 18 is less likely to change, and hunting is effectively suppressed.

As described above, according to the present invention, by providing the acceleration sensor 41 on the side of the traveling machine body 3, the seedling planting apparatus A is forcibly lowered in response to the longitudinal inclination of the traveling machine body 3 or vibration. By lowering the raising / lowering control sensitivity of the planting device A, the planting device A can be made to properly follow the field scene to enable work in a state where shallow planting of seedlings does not occur.

[Other Embodiments] In addition to the above-described embodiments, the present invention can use, for example, an inclination sensor to detect the longitudinal inclination of the traveling machine body 3, and the acceleration sensor 41 can be used as a seedling plant. It is also possible to equip the attachment device A. It is also possible to set the operation of the correction means so as to increase the dead zone width in order to reduce the control sensitivity.

[Brief description of drawings]

[Figure 1] Overall side view of rice transplanter

FIG. 2 is a side view of the sensor float.

FIG. 3 is a block circuit diagram of a control system.

FIG. 4 is the first half of a flowchart for lifting control.

[FIG. 5] The latter half of the flowchart of the lifting control

FIG. 6 is a side view showing the rice transplanter in an inclined state.

[Explanation of symbols]

3 traveling aircraft 8 actuators 41 Accelerometer 42 Control device A seedling planting equipment D Forced descending means

Continuation of the front page (56) References JP-A-7-274629 (JP, A) JP-A-6-62630 (JP, A) JP-A-7-155021 (JP, A) (58) Fields investigated (Int .Cl. ⁷ , DB name) A01C 11/02 A01B 63/10

Claims (2)

(57) [Claims] 1. A target plant height of a seedling planting device, which is equipped with a seedling planting device that can move up and down relative to a traveling machine body and is measured by a height sensor provided in the seedling planting device. A rice transplanter equipped with a control device for raising and lowering the seedling planting device so as to maintain the displacement of a predetermined amount or more within a unit time in the lifting direction of the seedling planting device, and the control device A rice transplanter equipped with forced lowering means for lowering the seedling planting device in preference to the lifting control. 2. The rice transplanter according to claim 1 , wherein the forcible lowering means is set to control the actuator for raising and lowering the seedling planting device so as to lower the actuator for a set time.