JPH0310607A - Planting control device for rice transplanter - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

Detailed Description of the Invention "Industrial Application Field" The present invention measures the water depth of a planted field surface using, for example, the amount of vertical rise and fall of a float-type water level sensor, and measures the surface hardness of a planting circle using, for example, the hardness of a ground rotary wheel. The present invention relates to a planting control device for a rice transplanter that detects the amount of subsidence of a sensor and adjusts seedling planting depth and planting sensitivity based on these detected values.

"Prior Art" When installing this type of water level sensor or hardness sensor, there are some that are installed on the left and right sides of a float due to the problem of installation space.

``Problems to be Solved by the Invention'' However, in the case where these sensors are installed on the left and right sides of the float, if there are foreign substances such as clods of soil, pieces of straw, and weeds on the field surface, , or when there is mounding of soil due to wheels, etc., the detection is not only unstable due to these influences, but also has drawbacks such as damage to the sensor if foreign matter gets caught in the sensor.

``Means for Solving the Problems'' Therefore, the present invention provides a water level sensor for detecting the water depth in the field and a hardness sensor for detecting the surface hardness of the field for leveling at the rear of the float for circular leveling in the planting area. It is placed within the width.

Further, the sensor stand on which each of these sensors is attached is supported by the rear fulcrum shaft of the field leveling float via a horizontal maintenance mechanism.

``Function'' According to the present invention, even if there is a mound of soil on the surface of the field due to clods or wheels, each sensor detects the leveled surface after leveling the ground with the float, so it is always stable. Not only is detection possible, but foreign matter such as straw and weeds can flow on the left and right sides of the float or sink into the soil due to the ground pressure of the float, preventing them from getting caught in the sensor. Its safety can be ensured. In addition, the mounting base of each sensor is supported by the rear fulcrum shaft of the field leveling float via a horizontal maintenance mechanism, and this mounting base is always maintained at a constant height from the field surface and in a horizontal state. The detection accuracy can be improved.

``Example'' An example of the present invention will be described in detail below based on the drawings. 1st
The figure is an explanatory plan view of the float part, Figure 2 is a side view of the riding rice transplanter, and Figure 3 is a plan view of the same. The rear end of the vehicle body frame (3) to be mounted is connected to the transmission case (4), and the front wheels (6) for driving in paddy fields are attached to both front sides of the transmission case (4) via the front axle case (5).
At the same time, rear wheels (8) for running in paddy fields are supported on both rear sides of the transmission case (4) via a rear axle case (7). Then, a spare seedling stand (10) is appropriately attached to the outside of both sides of the bonnet (9) that covers the engine (2), and the axle case (51f7) is attached to the body cover +121 forming the step (11).
), etc., and a driver's seat (1) on the top of the vehicle body cover (12).
3), and a steering handle (14) is provided at the rear of the bonnet (9) in front of the driver's seat (13).

Furthermore, (15) in the figure is a planting section equipped with a seedling stand (1G) for multi-row planting, multiple planting claws (17), etc. A rotary case (21) is provided which supports the seedling platform (X6) via guide rails (18) and guide rails (19) in a planting case (20) so as to be able to slide back and forth from side to side, and rotates at a constant speed in the direction. A pair of claw cases (22) +22 supported by the planting case (20) and located symmetrically about the rotational axis of the case (21).
), and a planted nail (17) is placed at the tip of the nail case (22).
) (171 is attached. Also, a support frame (24
), top link (25) and lower link (2
The traveling vehicle (1
) A support frame (24) is connected to the rear side, and an elevating cylinder (28) is provided for elevating and lowering the planting part (15) via the link mechanism (27), and the front and rear wheels (61 (8) are driven to travel). 1 of the rotary case (21) from the seedling stand (16), which moves at a substantially constant speed and slides back and forth from side to side.
Two planting claws (171) are constructed so that two seedlings are taken out in January and the seedling planting work is carried out continuously.

In the figure, (29) is a travel gear shift lever, (30) is a planting lever, (31) is a planting sensitivity adjustment lever, (32) is a latch pedal for driving, and (331+331 are left and right brake pedals).

As shown in FIG. 4, a center float (34), which is a float sensor, is located at the lower center of the planting section (15).
), and side flows l~(351(
351 is installed, left and right side flow) +35
) [The rear of 351 is connected to the planting depth adjustment fulcrum shaft (3) on the lower side of the planting case (20) via the planting depth adjustment link (36).
7), and the front part is supported below the planting case (20) via a buffer link (38). In addition, the above-mentioned Center Flow) +341 has the rear part supported by the planting depth adjustment link (36), and the front part on both left and right sides by the sensor link (39) and the left side link (40). A pitching fulcrum shaft (41) that supports the front part of the center float (34) so as to be able to swing up and down is provided on a bracket (42) on the rear upper surface of the float (34).

Then, the planting depth adjustment fulcrum shaft (
The tip of the planting depth adjustment link (36), which has a base end fixed to the adjustment fulcrum shaft (37), is connected to the pitching fulcrum shaft (41). Attach the output link (44) to the support shaft (43) of the attachment case (20).
) The intermediate portion is rotatably supported, and the tip of a detection arm (46) is connected to the rear end of the output link (44) via a coupling pin (45), and the base end of the detection arm (46) is connected to the adjustment fulcrum. It is fixed to the shaft (37) and the output link (4
4) Connect a sensor wire (48), which is an inner wire, to the tip via a bottle (47). Further, the sensor link (39) is an outer receiving arm that detects changes in the support angle of the float (34) caused by vertical swinging of the front side of the center float (34) about the pitching fulcrum shaft (41).
is supported on the front upper surface of the float (34) via a bracket (49) and a bottle (50), and an outer wire (
51) Fix one end to the sensor link (39).

Furthermore, a hydraulic switching valve (52) is provided for supplying hydraulic pressure from a hydraulic pump to the hydraulic cylinder (28), and the switching valve (
The sensor wire (inch wire) f is attached to one end of the switching cam (54) whose intermediate portion abuts the spool (53) of the sensor wire (52).
48), the other end of the cam (54) is pivotally supported on the machine body side fixed support shaft (55), and the spool (5
Spring (56) that separates the switching cam (54) from 3)
A spring pressure adjusting member (56al) is installed between the other end extending portion of the cam (54) and the rear vertical frame (3a) of the vehicle body frame (3).
Connect via. In addition, a deep fulcrum shaft (57) is installed inside the vehicle body cover (12) in which the switching valve (52) and the like are installed.
The sensor wire (inner wire) F1 is attached to the sensitivity adjustment arm (58) which pivotally supports the base end of the sensitivity adjustment lever (31) through the fulcrum shaft (57).
a), and the adjustment arm (58) is interlocked and connected to the switching cam (54) via a link (59), so that the lever (31) is centered around the lever shaft (60).
Rotate the adjustment arm (58) while holding the switching cam (54) and link (59) in the neutral position by operation;
Sensor wire (48) from said sensor link (39)
The sensitivity is adjusted by changing the standard posture of the center float (34) according to the hardness of the rice field, etc., while the ground pressure of the float (34) changes based on changes in the planting depth. When the front part of the float (34) moves up and down, the switching valve (52) is appropriately operated via the sensor wire (48) and the switching cam (54) to control the elevation of the planting section (15). The structure is designed to maintain a constant planting depth.

Further, as shown in FIG. 8, the lever shaft (60) has a lever guide disk (62) to which a large-diameter gear (61) is fixed.
) is rotatably supported, and the gear (61) is coupled to a small diameter gear (64) rotated by a sensitivity motor (63) which is a sensitivity adjustment element, and the adjustment lever (31)
The engagement piece (65) is inserted into the sensitivity adjustment groove (6) of the disc (62).
2al is engaged with the force of a spring (66), the motor (63) is driven to rotate the disc (62) together with the disc (62), thereby adjusting the reference sensitivity position.

As shown in FIGS. 5 to 7, the support frame (24
) and a central vertical frame (67) that is integrally connected to the upper end of the seedling rack (681) that supports the left and right sides of the seedling rack (16).
68) Between the left and right rolling regulating springs (691f691
A horizontal feed screw shaft (71) is installed inside the upper fixed box (70) of the vertical frame (67), and a rolling motor (72) which is a horizontal control drive element is installed on the screw shaft (71). ) to the movable body (73) which is connected to the screw shaft (71) and fixed plate (73a) (73
The spring pressure adjustment plate (74) is attached via the metal fitting (75) and the upper part of the support (68) is attached to the adjustment plate (74).
) is provided with a regulating spring (69) that can be freely adjusted in spring pressure to regulate the rolling caused by horizontally moving the seedling platform (16) during work, and also to control the rolling that occurs when the planting section (15) is tilted horizontally. In this case, the planting section (15) is maintained horizontally by driving the rolling motor (72) in forward and reverse directions and controlling the spring forces of the left and right regulating springs (69) in an unbalanced state. .

Note that (76) is the box (70) and seedling stand (16).
An auxiliary spring for regulating rolling that is stretched between the left and right sides of (
77) is a horizontal sensor for rolling detection provided at the upper central position of the planting case (20).

As shown in FIG. 9, the planting depth adjustment lever (78) for setting the standard planting depth, whose base end is fixed to the fulcrum shaft (37), is appropriately driven and controlled by the planting depth motor (79). The motor mounting base (80) of the planting case (20)
The motor (79) is provided in the motor (79), and the engagement piece (82) of the lever (78) is appropriately engaged and connected to the feed groove (81a) of the spiral member (81) connected to the motor shaft of the motor (79). Then, the reference planting depth set by the adjustment lever (78) is adjusted by forward and reverse driving of the motor (79), and the planting depth position by the lever (78) is adjusted to the planting case (20). ) installed on the horizontal vibrator (83) via the mounting base (84). It is configured to be detected by a deep rough feedback sensor 85). and the spiral member (81)
Even if mud adheres to the feed groove 181a) of the lever (78
) to scrape off mud and eliminate malfunctions caused by mud adhesion. On the other hand, in the event of a failure of the motor (79), as shown in the imaginary line in the figure, the feed groove f
81al, the engagement piece (82) of the lever (78) is separated from the lever (78) to release the engagement, thereby enabling manual adjustment.

As shown in FIG. 1, FIG. 5, FIG. 10 and FIG.
a) A sensor box (87) that is a sensor stand that supports
A hardness sensor (88) for detecting the surface hardness of the field and a float-type water level sensor (89) for detecting the water depth are provided, and the hardness sensor (88) is attached to the fulcrum shaft (90) of the box (87). The surface hardness of the field is detected by sensing the amount of subsidence, which is the amount of vertical displacement of the grounding ring (92) supported via the arm (91), with a potentiometer (93), while the water level sensor (89) is connected to the box. (87
) is supported via the front and rear arms (94).
The device is configured to detect the water depth by sensing the depth of the water.

And the hardness and water level sensor (881 (891) is the rear of the center float (34), specifically the float (34)
The float (3
The sensor is configured to stabilize these detection operations by moving on the leveled surface of the field after leveling in step 4).

As shown in FIG. 13, the device includes a planting depth control circuit (1001) that drives and controls the planting depth motor (79), the sensitivity motor (63), and the rolling morph (72) through a relay circuit (971f98) t991. , automatic switch 1101) and automatic lamp (1021),
A normally closed planting lever switch (1031) that turns off (opens the contact) when the planting lever (30) is in the planting work position (planting clutch "on"), a level contact (104al) and an automatic contact (104bl). Auto sensitivity switch with 041
, a vehicle speed sensor (105) provided in the transmission case (4) to detect the traveling speed, and the horizontal sensor (
77) and a planting depth setting device (1) for manually setting the standard planting depth.
06), the water level sensor (89), the hardness sensor (88), and the planting depth feedback sensor (85)
, a sensitivity feedback sensor 1107) that detects the sensitivity position of the sensitivity adjustment lever (31), and a left and right rolling control prohibition switch f108) that detects the end position of the fifth right movement of the seedling platform (6) (109). are manually connected to the control circuit 1100), and each of the motors (
63) f72) It is configured to carry out the drive side i wholesale of (79).

This embodiment is configured as described above, and will be described in the 14th section below.
This operation will be explained step by step with reference to the flowchart in the figure.

(1) Automatic switch (+, 0], sets the initial value when i is turned on, V, = 2.5, V, :=
Ov: Set voltage of the sensitivity motor (63) (for example, VY=2.5V for hardness standard) ■. , hardness sensor (88)
The target voltage va at the set position of the planting depth motor (79) with respect to the output V1 of the planting depth correction voltage (2) of the planting depth setting device 1106) corresponding to the output V of is determined.

Va=aL+b (a, b: constants) (3) Planting lever switch (1031 is on (between contacts), that is, when the planting lever (30) is in the planting clutch "off", the planting section (
15) When the lift is not working, stop the automatic control and turn on the switch [03] (between the contacts), that is, turn on the planting lever (3).
0), and the planting clutch is "on" and the planting part (15) is in the working state of lowering, the signal (S) of the vehicle speed sensor t105)
The following operation is performed using the vehicle speed pulse (hereinafter referred to as vehicle speed pulse S).

Margin below (4) Perform the following operation depending on the value of the vehicle speed pulse S.

(2) When the vehicle speed pulse S satisfies Nl<S<N2, the planting depth correction voltage V is determined from the output v2 of the water level sensor (89) and the vehicle speed pulse S using the following formula.

■ Nl and Nz are constants ■ vl is the output v2 of the water level sensor (89), the correction voltage V of the planting depth corresponding to the vehicle speed pulse S, and the voltage V of the sensitivity lever (31) corresponding to the output V of the hardness sensor (88) Set voltage N, -N.

(c, d: constants) ■ When vehicle speed pulse S is N8≦S, water level sensor (89)
The planting depth correction voltage v5 is determined from the output v2 of the following equation.

Vb=CV1+d In other words, when the water depth is expressed by the relational expression (vb=c L+d) as shown in Figure 16, when the water depth is shallow (float (3
41 (no lifting), the correction amount is not corrected, and the correction amount is increased as the water depth becomes deeper (NUN, ). Also, in the case of the vehicle speed N shown in FIG.
As the vehicle speed N increases, the planting depth is gradually deepened to a constant value (N2), as given by the function of = o) within a certain range + b) (a and b are constants). .

Further, in this case, the output fvtl of the water level sensor is the first
As shown in Figure 8, the constant detection time tt of the detected output H
This uses the average value during t1, and float (34) +
This is to eliminate the influence of waves caused by, for example, 351 to obtain a proper signal (the waveform in FIG. 18 represents the actual output waveform affected by waves).

(5) Perform the following operations depending on the leveling/automatic position of the sensitivity switch (1041).

■ At the leveling position, Ve = 01Va = VK (VK constant) ■ At the automatic position, from the output V of the hardness sensor (88), from the following formula, VC5■,
seek.

1+'+ = 12. Vi + f VC= g Va + h -2,5 (ρ, f, g, h: constants) In other words, as shown in FIG. For example, when detecting a state that is softer than 2.51 (V, = 3.71, the value (V, =
The sensitivity feedback output (V, ) corresponding to 3.71 is obtained from the above formula % formula % (), and as shown in FIG. 20, this voltage fV,
The sensitivity motor (63) is driven to a value of =3.31 (in this case, the sensitive side "1" position), and the sensitivity is automatically adjusted according to the hardness and softness of the field surface.

Note that the output (V, ) of the hardness sensor (88) is
As shown in FIG. 1, a stable control signal is obtained by averaging the output m detected during a fixed detection time (t2).

Then, as shown in FIG. 22, the hardness sensor (88)
When the sensitivity motor (63) is driven based on the detection result and the sensitivity adjustment lever (31) position is determined, the lever (
31) A correction value (Vcl) for the planting depth is calculated according to the position (shallow value when sensitive, prevention of deep planting when insensitive).

(6) Set voltage (target value) vx of Uedaka motor (79)
and the set voltage (target value) VY of the sensitivity motor (63).

v8-vll+vl, +vc V,=V.

(7) The motor (79) f63 is set so that the output V of the planting depth feedback sensor (85) and the output V of the sensitivity feedback sensor (107) satisfy the following conditions for the obtained vx, ■. to drive.

Thereafter, there is a margin VIIA s Vwa; a dead zone, and after the end, the operation returns to step (2) and the same operation is repeated.

On the other hand, the rolling motor based on the detection of the horizontal sensor (77) is started by turning on (contact open) the planting lever switch (1031), and the output v6 of the horizontal sensor (77) is within the appropriate range (v7±VwC ) Drive control of the rolling motor (72) is performed as shown in the flowchart of FIG. 15 and the output diagram of FIG. 23.

In other words, the horizontal sensor (July output v6 is below the appropriate range (V6
<L-Vwc) 0) or above the appropriate range (V.

> When L + Vwcl (however, Vwc is a dead zone),
The planting section (15) is controlled to move up to the right or to the left by forward and reverse driving of the motor (72), and at this time, when the seedling platform (16) reaches the end position of left and right movement, the prohibition switch (1081) is activated. Or (when 1091 is turned on (contact open), these upward left or upward signals are not output for a very small fixed period of time (for example, 20 to 40 m5ec) and rolling control is prohibited. In other words, as shown in Fig. 24. At both left and right end positions of the seedling platform (16), when the horizontal movement direction of the seedling platform (1G) is reversed, the entire planting part (15) tilts in the opposite direction to the reverse direction due to inertia, and the horizontal sensor (77) A corresponding erroneous signal is temporarily output.

Therefore, the operation at this time is temporarily prohibited to prevent overcontrol.

Note that the control circuit f100) may be provided with a manual sensitivity setting device for manually correcting the sensitivity.

Further, in the above embodiment, composite control based on the detection of hardness, water level, and vehicle speed sensor f881 (891 (105)) was shown, but any one sensor (88) or (891 (105))
9) Or control based on the detection of (105) may be used.

As described above, in this embodiment, the sensitivity is corrected by detecting the field hardness, and the planting depth is corrected by the sensitivity correction. In other words, if the float (34) is adjusted to the sensitive side in the same planting depth state, the planting depth becomes shallower, so it is necessary to correct the deeper planting side, and as a result, the planting depth must also be corrected. It is something that can be done.

By the way, what is shown in FIG. 12 is the sensor box (
87) is provided with a horizontal maintenance mechanism +1101 to maintain the horizontality of the sensor box (87) even if the planting depth is changed, and the lower surface of the rear end side of the box (87) is used as a pitching fulcrum. While supporting on the shaft (41),
A horizontal maintenance mechanism (1
It is supported by the horizontal vibrator (83) via 101. The horizontal maintenance mechanism fl101 has a swing pin (113) (1
A link fl151 is interposed through the adjustment lever (78), and the link (1151 and the adjustment link (36) form a parallel link whose fulcrum axis is the pin fl14) and the shaft (37). Alternatively, even if the shaft (37) is rotated by the motor (79) and the planting depth is changed, the sensor box (87) is provided so as to remain horizontal. By attaching the box (87) to the pitching fulcrum shaft (41) which is the rear fulcrum of the float (34), the height from the field surface to the box (87) is always kept constant, and the box (87) is always kept constant. By maintaining the sensor f881 (89) horizontally, the ground ring (92) and the float (95) are supported without changing the support angle of each sensor f881 (89), thereby improving detection accuracy.

"Effects of the Invention" As is clear from the above embodiments, the present invention provides a water level sensor (89) that detects the water depth of the field and a hardness sensor (88) that detects the surface hardness of the field. ) is installed within the leveling width fWl behind the rice field leveling float (34), so each sensor (881 (89)) constantly detects the leveling surface after leveling by the float (34). Safe and stable detection can be performed.Also, each of these sensors 188
) The sensor stand (87) to which (89) is attached is supported by the rear fulcrum shaft (41) of the rice field leveling float (34) via the horizontal maintenance mechanism (110). Each sensor (881+89
This has remarkable effects such as being able to improve the detection accuracy of +.

[Brief explanation of the drawing]

Figure 1 is a plan view of the float section, Figure 2 is an overall side view of the rice transplanter, Figure 3 is the same plan view, Figure 4 is a side view of the planting depth control mechanism, and Figure 5 is a side view of the rice transplanter. FIG. 6 is an explanatory side view of the rolling control section, FIG. 7 is an explanatory side view of the same, FIG. 8 is an explanatory view of the sensitivity motor section, FIG. 9 is an explanatory diagram of the planting depth motor section, and FIG. Figure 10 is an explanatory side view of the hardness sensor section, Figure 11.
The figure is an explanatory side view of the water level sensor section, Fig. 12 is an explanatory diagram of the horizontal support structure of the sensor box, Fig. 13 is a planting depth control circuit diagram, Fig. 14 is a flow chart for planting depth control, and Fig. 15 is an illustration of the horizontal support structure of the sensor box.
The figure is a flowchart for horizontal control, and FIGS. 16 to 24 are output diagrams. (15)... Planting part (34)...
・ Float (88)...
Hardness sensor (89)... Water level sensor

Claims (2)

[Claims] (1) A rice transplanter characterized in that a water level sensor that detects the water depth in the field and a hardness sensor that detects the surface hardness of the field are arranged within a level width behind the float for leveling the rice field in the planting section. Planting control device. (2) In the structure equipped with the water level sensor and hardness sensor described in paragraph 1, the sensor stand on which the water level sensor and hardness sensor are mounted is supported on the rear fulcrum shaft of the rice field leveling float via a horizontal maintenance mechanism. A planting control device for a rice transplanter featuring: