JP3808024B2 - Rice planting lift control device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a rice transplanter in which a grounding float is connected to a seedling planting apparatus connected to a traveling machine body so as to be movable up and down so as to swing up and down around a rear fulcrum.
[0002]
[Prior art]
In the rice planting operation, at the end of planting the seedlings, the rice planting is carried out while riding on the ridge and traveling. At the end of planting, which is the rice transplanting work while the front part of the traveling machine body is lifted, the seedling planting device, i.e., the grounding float, also rises forward by tilting the traveling machine body forward, so that a predetermined contact pressure is obtained. The rear part of the float sinks deeply into the field and can be deeply planted.
[0003]
Therefore, when the forward float inclination posture of the grounding float becomes larger than a predetermined angle, the grounding float is kept horizontal even if the traveling body is inclined forward by correcting the lifting control sensitivity of the seedling planting device to the sensitive side. There is known a control technique (see, for example, Patent Document 1) configured to maintain a predetermined posture close to, so that seedlings can be satisfactorily planted without deep planting even at the end of planting.
[0004]
[Patent Document 1]
JP-A-10-108515 [0005]
[Problems to be solved by the invention]
As in the prior art, the means for correcting the attitude of the grounding float using the elevation control sensitivity has an advantage that it can be dealt with by a change (modification) on the control software. However, there is a limit to deal with a large change in tilt posture, and the deep planting tendency at the end of planting has been improved so that it can be reduced, leaving room for further improvement. there were.
[0006]
An object of the present invention is to improve the tendency of deep planting at a higher level at the end of planting in the rice planting work where the front wheel rides on the ridge.
[0007]
[Means for Solving the Problems]
〔Constitution〕
According to the first aspect of the present invention, a grounding float is connected to a seedling planting device connected to a traveling machine body so as to be movable up and down so that the grounding float can swing up and down around a rear fulcrum facing left and right, and the swinging posture of the grounding float is based on the target posture. When the planting device is lowered to the front, the planting device is lowered, and when the swinging posture of the grounding float is raised to the front posture, the raising and lowering control means for raising the planting device is provided. In the control device,
After the grounding float, the auxiliary grounding body that is floating on the planting planting field is supported by the seedling planting device so that it can swing up and down around the left and right fulcrum regardless of the grounding float, and the grounding float and auxiliary grounding are supported. An angle detecting means for detecting a relative angle with the body is provided,
Auxiliary elevating control means for performing elevating control of the seedling planting device based on the detection information of the angle detecting means so as to raise the seedling planting device when the forward rising angle of the ground float with respect to the auxiliary grounding body exceeds a predetermined value Is provided.
[0008]
[Action and effect]
The structure of claim 1 will be described in detail in the section of the embodiment, and is a means for providing an auxiliary grounding body that can swing back and forth independently around the left and right fulcrum and controlling the raising and lowering from both postures. . That is, by providing an angle detecting means for detecting the relative angle between the ground float and the auxiliary grounding body, the angle so as to raise the seedling planting device when the forward rising angle of the grounding float with respect to the auxiliary grounding body exceeds a predetermined value. Since the auxiliary lift control means for performing the lift control of the seedling planting device based on the detection information of the detection means is provided, the following operation is obtained.
[0009]
At the end of planting, where the front wheel rides on the heel and the traveling body rises significantly forward and tilts, both the seedling planting device and the grounding float tilt forward and steep at a steep angle. Although the seedling planting device is controlled to be lowered to maintain the ground pressure, the deep planting tendency is strengthened. In the configuration of claim 1, in such a case, the auxiliary grounding body that can swing independently is substantially provided. Since it is maintained in a horizontal posture (to be defined as a standard buoyancy posture that maintains the draft line state in the horizontal posture because there is a slight angle change) [see FIG. 6 (a)], the angle with the grounded float Exceeds the predetermined value, and the seedling planting device is controlled to rise based on the information. Then, the grounding float rises, so that the tendency of deep planting due to the steeply rising slope of this grounding float is offset, and seedling planting in which the predetermined planting depth is maintained even at the end of planting Can be performed.
[0010]
As a result, it is based on two types of detection information by the grounding float and the auxiliary grounding body by newly providing the above-mentioned auxiliary lifting control means comprising an auxiliary grounding body that can swing independently and behind the grounding float. In contrast, when the grounding float is in a steeply rising and inclined posture, it is possible to control the raising of the seedling planting device, contrary to the case of the conventional lifting control means. Now, we were able to provide a rice transplanter that can perform seedling planting work well.
[0011]
〔Constitution〕
The configuration of claim 2 is the configuration of claim 1, wherein the angle detection means detects a front / rear inclination angle of the ground float with respect to the seedling planting device, and a front / rear tilt angle of the grounding body with respect to the seedling planting device It is comprised from the 2nd angle sensor which detects this.
[0012]
[Action and effect]
According to the configuration of the second aspect, the angle detection means detects the first and second tilt angles of the ground float with respect to the seedling planting device and the first and second tilt angles of the auxiliary grounding body with respect to the seedling planting device. It is composed of two angle sensors, and both the angle attitude of the grounding float and the angle attitude of the auxiliary grounding body can be detected independently of each other, and the relative result between the grounding float and the auxiliary grounding body can be determined from both detection results. The angle can be determined.
[0013]
As a result, the auxiliary lifting control means can utilize the absolute posture of the auxiliary grounding body as a control input.For example, when the posture of the auxiliary grounding body changes due to undulations or unevenness in the field, the auxiliary grounding body It becomes possible to treat only the relative angle with the grounded float when in a horizontal posture as input information in the auxiliary lifting control, and the action and effect of the configuration of claim 1 can be further strengthened. It was possible to improve the reliability of lifting control.
[0014]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
As shown in FIG. 1 and FIG. 2, a driving unit 4 including an engine is provided at the front of a traveling machine body 3 including a driving type front wheel 1 and a driving type rear wheel 2 that are steered. A rear transmission 6 to which power from the front mission 5 is transmitted is disposed at the rear of the traveling machine body 3, and a driving unit 10 including a steering handle 7, a driver seat 8, a floor 9, and the like is disposed at the center of the traveling machine body 3. The seedling planting apparatus A is connected to a rear end portion of the traveling machine body 3 via a four-link mechanism 12 that is driven up and down by a hydraulic lifting cylinder 11 to constitute a riding type rice transplanter.
[0015]
The seedling planting apparatus A is an operation for planting a mat-like seedling n placed on the seedling platform 13 on a field scene while cutting it by a planting arm 16 provided in a rotary case 15 that rotates in synchronization with the traveling speed of the aircraft. A seedling planting mechanism is provided, and a plurality of grounding floats 17 are provided in the lower part and configured for 8-row planting. Further, a fertilizer application device 14 is mounted on the traveling machine body 3 on the rear side of the driver seat 8 to send the fertilizer to the grooving device 18 supported by the grounding float 17.
[0016]
As shown in FIG. 1, an elevating lever 35 that performs elevating control of the seedling planting device A and turning on / off operation of a planting clutch (not shown) built in the mission case 6 is provided on the right side portion of the driver seat 7. Yes. As shown in FIG. 5, the lifting lever 35 is set to a “down” position in the path formed in the guide 36 to lower the seedling planting apparatus A and set to a “up” position. When the attaching device A is raised and set to the “neutral” position, it is linked to the control device 38 so that the seedling planting device A is maintained at that level.
[0017]
When the elevating lever 35 is set to the “ON” position, the planting clutch is engaged and operated, and the grounding float 17 (sensing float 17A) provided in the seedling planting device A is brought into contact with the predetermined height with respect to the field. The controller 38 is equipped with a lift control means 37 for performing automatic lift control to be maintained. When the elevating lever 35 is set to the “cut” position, the planting clutch is turned off, and when the elevating lever 35 is set to the “automatic” position, the seedling planting apparatus is operated according to the operation of the forced elevating lever 39 provided near the steering handle 7. At the same time as allowing the raising and lowering of A, the planting clutch can be automatically turned off when the seedling planting device A is raised. As shown in FIG. 2, a potentiometer-type lever sensor 40 that measures the operation position of the lift lever 35 is provided at the base end portion of the lift lever 35.
[0018]
Further, a potentiometer type sensitivity adjustment dial 41 is connected to the control device 38, and the seedling planting device A is lifted based on detection information of a float sensor 24 (described later) that detects the forward / backward tilt posture of the sensing float 17A. Sensitivity adjustment to make it a shallow planting tendency or to lower the seedling planting device A to make a deep planting tendency can be performed as usual.
[0019]
Next, auxiliary lifting control that demonstrates its power at the end of seedling planting will be described. Auxiliary lifting control is a deep planting tendency by controlling the lifting and lowering operation of the seedling planting device A from the back and forth swinging posture information of both the sensing float 17A and the auxiliary grounding body 27 disposed thereafter. This is a technology that allows a good seedling planting condition to be obtained with a specified planting depth even at the end of planting.
[0020]
As shown in FIG. 3, among the plurality of grounding floats 17, the grounding float at the center position in the left-right direction (hereinafter referred to as sensing float 17 </ b> A) is integrated with the planting depth adjusting shaft 20 supported by the planting frame 19. With respect to the rocking | fluctuation front end of the formed support arm 21, it supports so that it can rock | fluctuate around the rocking | fluctuation fulcrum X of the left-right direction provided in the support bracket 23 of the float rear part. A sensing pressure setting spring 22 that biases the front part of the sensing float 17A downward is provided, and the front part of the sensing float 17A and an arm mechanism 25 mounted on the operation shaft 24a of the float sensor 24 are provided. The first operation wire 26 is interlocked and connected, and the swing posture of the sensing float 17A can be measured by the float sensor 24.
[0021]
Then, after the sensing float 17A, the support ground 21 (seedling planting device) is configured so that the auxiliary grounding body 27 floating in the planting planting field can swing up and down around the swinging fulcrum X regardless of the sensing float 17A. A example of A). That is, the auxiliary grounding body 27 is attached to the rear end of the balance arm 28 pivotally supported by the support shaft 29 having the swinging fulcrum X (in FIG. 3, although it is fixedly attached integrally, The support arm 28a for the outer wire 30b of the second operation wire 30 is formed at the front end of the balance arm 28. One end (rear end) of the inner wire 30 a of the second operation wire 30 is pivotally connected to the upper protruding portion 23 a of the support bracket 23, and the other end (front end) is interlocked to the arm mechanism 25.
[0022]
The arm mechanism 25 includes a short second arm 32 directly connected to the operation shaft 24a of the float sensor 24, a long first arm 31 that is externally fitted to the operation shaft 24a so as to be relatively rotatable, A tension spring 33 that biases one arm 31 counterclockwise in FIG. 3 and a tension spring 34 that biases the second arm 32 clockwise in FIG. The front end of the inner wire 26a of the first operation wire 26 is pivotally connected to the upper end portion of the first arm 31, and the front end of the inner wire 30a of the second operation wire 30 is pivotally connected to the lower end portion of the second arm 32, respectively. .
[0023]
The second arm 32 is rotated counterclockwise in FIG. 3 below the operation shaft 24a in the first arm 31, and protrudes 31a that does not interfere with the second arm 32 in the clockwise direction. Are integrally formed. The outer receiving portion at the other end of the second operation wire 30 and both outer receiving portions of the first operation wire 26 are provided on the fixing member of the seedling planting device, and are opposite to the arm mechanism of both return springs 33 and 34. Is also connected to the fixing member of the seedling planting apparatus. That is, the angle detection means K is comprised from the arm mechanism 25, the float sensor 24, etc. FIG.
[0024]
As shown in FIG. 4, the control device 38 raises the seedling planting device A when the forward rising angle of the sensing float 17 </ b> A with respect to the auxiliary grounding body 27 exceeds a predetermined value, separately from the above-described lifting control means 37. As described above, the auxiliary lifting control means 42 for performing the lifting control of the seedling planting device A based on the detection information of the angle detection means K is also provided. The operation of these lift control means 37 and auxiliary lift control means 42 is as follows. Reference numeral 43 denotes a control valve for the elevating cylinder 11.
[0025]
As shown in FIG. 3, when the sensing float 17A and the auxiliary grounding body 27 are both in a horizontal posture, the first arm 31 is in the reference angular posture (r0) and the second operation is performed. The length is set so that the inner wire 30a of the wire 30 is just tense or slightly loosened. Therefore, the second arm 32 that is rotationally biased by the second tension spring 34 is maintained in a posture in contact with the projecting piece 31 a and parallel to the first arm 31. At this time, a line segment connecting the rear end pivot point Y of the second inner wire 30a (the front end pivot point of the support bracket 23) and the swing support point X and the second outer receiving point Z of the receiving support portion 28a swings. The depression angle θ formed by the line connecting the fulcrum X is defined as a reference depression angle θ0, and the interval d between the rear end pivot fulcrum Y and the second outer receiving point Z is defined as the reference interval d0. Further, the reference angle posture of both arms 31 and 32 at this time is defined as r0.
[0026]
First, when the seedling planting apparatus A falls below the reference height range, the sensing float 17A that sinks into the field tends to move up by its buoyancy, and as shown in FIG. Then, the swinging fulcrum X changes to a forward rising inclination posture. Then, the first inner wire 26a is loosened, and the first arm 31 is rotated together with the second arm 32 in the counterclockwise direction in the figure by the urging force of the first tension spring 33, and the detection information of the float sensor 24 due to this. The lift control means 37 performs automatic lift control in which the raising / lowering cylinder 11 is shortened and the seedling planting apparatus A is raised until the sensing float 17A reaches the target posture.
[0027]
At this time, since the auxiliary grounding body 27 that can swing independently is maintained in an appropriate floating state (the above-mentioned reference buoyancy posture), the depression angle θ opens from the reference depression angle θ0 to θ1, and the interval d is also the reference interval. Since the second inner wire 30a is slightly pulled because it spreads from d0 to d1, the swing direction of the second arm 32 is the same as the swing direction of the first arm 31, and the swing angle is Since it is less than that of the first arm 31, the second arm 32 is maintained in a posture in contact with the projecting piece 31 a and parallel to the first arm 31. Therefore, automatic elevation control by the automatic elevation control means 37 is performed without any trouble.
[0028]
Next, when the seedling planting device A rises above the reference height range, the sensing float 17A that has risen from the field tends to move downward due to its gravity and the biasing force of the sensing spring 22. As shown in FIG. 5 (b), it changes to a forward downward inclined posture around the swing fulcrum X. Then, since the first inner wire 26a is pulled, the first arm 31 rotates in the clockwise direction in the drawing to the angular position r2 against the urging force of the first tension spring 33, and the float sensor 24 thereby Based on the detected information, the lift control means 37 performs automatic lift control in which the lift cylinder 11 freely expands and the seedling planting device A descends until the sensing float 17A reaches the target posture.
[0029]
At this time, since the auxiliary grounding body 27 that can swing independently is maintained in an appropriate floating state (the above-mentioned reference buoyancy posture), the depression angle θ is reduced from the reference depression angle θ0 to θ2, and the interval d is also the reference interval. Since the second inner wire 30a is slightly slackened because it is narrowed from d0 to d2, the second arm 32 that is urged to rotate by the second tension spring 34 comes into contact with the projecting piece 31a and becomes parallel to the first arm 31. Maintained posture. Therefore, automatic elevation control by the automatic elevation control means 37 is performed without any trouble.
[0030]
Then, at the end of planting when the front wheel 1 rides on the ridge and the traveling machine body 3 rises greatly forward and tilts, as shown in FIG. 6 (a), the seedling planting device A, that is, the sensing float 17A is also large, as in the traveling machine body 3. Since the first arm 31 tilts forward, the first arm 31 swings clockwise (for example, angle r2) in the drawing, and the sensing float 17A swings forward to the state indicated by the phantom line, as in FIG. Even if it is going to move [from the forward ascending posture shown by the solid line to the position shown by the imaginary line in FIG. Automatic raising / lowering control is performed so as to further descend in the posture indicated by the line.
[0031]
However, the depression angle θ, which is a relative angle between the auxiliary grounding body 27 and the sensing float 17A maintained in an appropriate floating state (the above-described reference buoyancy posture) is a value larger than the reference depression angle θ0 and θ1. Since it opens at θ3, the interval d also extends greatly from the reference interval d0 to d3, so that the first operation wire 26 is loosened, whereas the second operation wire 30 is pulled in the opposite direction, and FIG. As shown, the second arm 32 swings and moves at an angle r3 in the counterclockwise direction from r0.
[0032]
Accordingly, the float sensor 24 in which the operation shaft 24a is directly connected to the second arm 32 outputs an ascending signal in the same manner as in FIG. 5 (a), and the relative angle between the sensing float 17A and the auxiliary grounding body 27. Automatic raising / lowering control for lowering the seedling planting apparatus A is performed by the auxiliary raising / lowering control means 42 until is within a predetermined angle range.
[0033]
As a result, as shown in FIG. 6 (b), the first arm 31 is operated at the angle r2 by the function of the auxiliary lifting control means 42 that compensates the control by the lifting control means 37, while the second arm 32 is the reference Since the sensing float 17A, that is, the seedling planting device A is lifted so as to be maintained in the posture r0, the conventional tendency to deep planting and, in some cases, the inability to plant is corrected, and the front wheel 1 is trapped. Even at the end of planting when the traveling machine body 2 rides up and tilts forward greatly, seedlings can be planted at an appropriate depth. In order to make the operation easy to understand on the drawing, the sensing float 17A drawn with a one-dot broken line in FIG. 6 (b) shows the position drawn with a virtual line in FIG. 6 (b), and FIG. The sensing float 17A drawn in phantom lines indicates the position to be lowered by the control of only the conventional lift control means.
[0034]
That is, the “predetermined value θs” in “when the forward rising angle of the sensing (grounding) float 17A with respect to the auxiliary grounding body 27 exceeds a predetermined value” by the auxiliary lifting control means 42 is as follows.
θ3>θs> θ1
The relationship is set.
[0035]
As shown in FIG. 7, when the HST main shift lever 46 is returned to the neutral position and is continuously set to the neutral position for a predetermined time (eg, several seconds), the setting position of the accelerator operating tool 47 is Regardless of whether the engine E is stopped and the main transmission lever 46 is moved from the neutral position to any other position, the engine E is started, and an engine control mechanism 48 that is automatically set to the rotation speed by the accelerator operating tool 47 is provided. It is provided. The engine control mechanism 48 operates when the key switch (main key) 49 is turned on. In addition, the engine control mechanism 48 is configured not to operate only when the key switch 49 is first turned on. Also good. (At first, the engine E is started only by the key switch 49.)
[0036]
That is, as shown in FIG. 7, a neutral switch 50 is provided that operates when the shift lever 46 is operated at the complete neutral Nn in the center of the neutral zone, and the ON state after the neutral switch 50 is pushed in is continued for a predetermined time. Then, the control device 52 issues an engine stop signal to the start circuit 51 to stop the engine E. When the shift lever 46 is operated to the forward neutral position Nf or the reverse neutral position Nr and the neutral switch 50 is turned OFF, the control device 52 sends a start signal to the start circuit 51 so that the engine E is started by the OFF signal. It is to announce. Since the engine control mechanism 48 can avoid useless idling operation, there are advantages in that fuel efficiency is improved and an environment-friendly rice transplanter can be obtained by reducing exhaust gas.
[0037]
[Another embodiment]
As shown in FIG. 8, the angle detection means K includes a first angle sensor S <b> 1 that detects a front and rear inclination angle of the sensing (grounding) float 17 </ b> A with respect to the seedling planting apparatus A, and an auxiliary grounding body 27 with respect to the seedling planting apparatus A. The rice transplanter may be provided with a control device 38 that is configured by the second angle sensor S2 that detects the front / rear inclination angle and that performs automatic elevation control and auxiliary elevation control.
[0038]
That is, the support arm 44 attached to the auxiliary grounding body 27 is pivotally supported at the rearmost end portion of the support arm 21 by the second swing fulcrum W that is a left-right fulcrum fulcrum different from the swing fulcrum X, and a potentiometer is used. The second angle sensor S2 and the support arm 44 are interlocked and connected by the second operation wire 30, and the first angle sensor S1 such as a potentiometer and the front portion of the sensing float 17A are continuously connected by the first operation wire 26.
[0039]
The control device 38 is provided with calculation means 45 for obtaining the relative angle between the sensing float 17A and the auxiliary grounding body 27 from the detected angle information of each of the sensors S1 and S2. The control device 38 functions so as to perform auxiliary raising / lowering control in which a good seedling planting operation at a depth is performed from the detection results of the two sensors S1 and S2. In this case, the angle detection means K is composed of the two sensors S1 and S2 and the calculation means 45.
[Brief description of the drawings]
FIG. 1 is a side view of a rice transplanter. FIG. 2 is a plan view of the rice transplanter. FIG. 3 is a system diagram showing the structure of a float support structure and angle detecting means. 5A is an operation diagram showing an ascending control state by the elevation control means. FIG. 5B is an operation diagram showing a descending control state by the elevation control means. FIG. (B) Action diagram showing the float state at the end of planting by auxiliary lifting control means. [FIG. 7] System diagram showing engine control mechanism. [FIG. 8] Schematic lifting control system with angle detection means of another structure. Figure [Explanation of symbols]
3 traveling machine body 17 grounding float 27 auxiliary grounding body 37 lift control means 42 auxiliary lift control means A seedling planting device K angle detection means S1 first angle sensor S2 second angle sensor X rear fulcrum

Claims (2)

When the grounding float is connected to the seedling planting device that is connected to the traveling machine body so as to be able to move up and down so as to swing up and down around the rear fulcrum in the left and right direction, and the swinging posture of the grounding float is lowered forward with respect to the target posture A lifting control device for a rice transplanter provided with a lifting control means for moving up the seedling planting device when the seedling planting device is operated to descend and the swinging posture of the grounding float rises forward from a target posture. There,
After the grounding float, the auxiliary grounding body floating in the planting target field is supported by the seedling planting device so as to be swingable up and down around a left and right fulcrum regardless of the grounding float. An angle detecting means for detecting a relative swing angle between the float and the auxiliary grounding body is provided,
When the forward rising angle of the grounding float with respect to the auxiliary grounding body exceeds a predetermined value, the raising / lowering control of the seedling planting device is performed based on the detection information of the angle detection means so as to raise the seedling planting device. A lifting control device for a rice transplanter provided with auxiliary lifting control means. A first angle sensor for detecting the front and back inclination angle of the ground contact float with respect to the seedling planting device; and a second angle sensor for detecting a front and rear inclination angle of the auxiliary grounding body with respect to the seedling planting device; The raising / lowering control apparatus of the rice transplanter of Claim 1 comprised from these.

Images