JPH04237410A - Transplantation machine - Google Patents

Abstract

PURPOSE:To suppress the over-action of a rolling-controlling device by providing a means for stopping the rolling controlling action for a prescribed period when the moving direction of a seedling table coincides with the downward moving direction of a control driving rolling. CONSTITUTION:A moving direction detection means detects the lateral moving direction of a seedling table 6. When the moving direction of the seedling table coincides with that of the downward moving part in the controlled driving rolling with a rolling controlling means, the control driving of the rolling 3 with the rolling controlling means is stopped for a prescribed period with a drive-stopping means.

Description

[Detailed description of the invention]

0001

[Industrial Application Field] The present invention connects a seedling planting device to a traveling machine so that it can freely drive left and right and roll by a drive mechanism.
The seedling planting device is provided with a seedling platform on which seedlings for planting are placed and reciprocated from side to side with a constant stroke with respect to the traveling body, and a detection means for detecting the left and right posture of the seedling planting device relative to the ground. The present invention relates to a rice transplanter, further comprising a rolling control means for controlling the drive mechanism so as to maintain the left and right tilted posture of the seedling planting device at a predetermined posture based on the detection result of the detection means.

0002

[Prior Art] In the above-mentioned rice transplanter, conventionally, as shown in, for example, Japanese Patent Application Laid-Open No. 1-269414,
The rolling cylinder provided on the body side and the left and right sides of the seedling stand are connected via a balance spring, and
The oil pressure control valve of the rolling cylinder is always maintained in a neutral state based on the difference in the relative vertical height of the left and right side floats, and the seedling planting device is maintained in a parallel position to the ground. there were.

0003

[Problems to be Solved by the Invention] However, since the seedling stand provided in the above-mentioned seedling planting device and on which a large weight of seedlings is placed is constantly moving back and forth from side to side during the planting operation, When the direction of movement of the stand and the direction of drive movement of the rolling cylinder match, a biasing load of the seedling stand is applied to the posture correction operation by driving the rolling cylinder, and the rolling operation for posture correction is applied to the posture correction operation of the seedling stand. Due to the weight, there is a risk of excessive operation exceeding the control target position, and in that case, this will be detected again as a difference in the relative vertical heights of the left and right side floats, and rolling operation will be performed in the opposite direction. This has the disadvantage that the seedling planting device shakes and the planting operation becomes unstable. An object of the present invention is to eliminate the above-mentioned disadvantages.

0004

[Means for Solving the Problems] A characteristic configuration of the first invention is that the rice transplanter described at the beginning is provided with a moving direction detecting means for detecting in which direction the seedling stand is moving, to the left or right. , when the movement direction detected by the movement direction detection means coincides with the downward moving part side during controlled driving rolling by the rolling control means, driving to stop the controlled driving of the drive mechanism by the rolling control means for a predetermined period of time; The characteristic configuration of the second invention is that the driving stopping means executes the stopping of the controlled drive for a predetermined period of time only when the detection result of the detecting means is less than or equal to a set amount. The point is to have regulatory measures in place.

[0005]

[Function] When the traveling machine is tilted left and right with respect to the planting mud surface due to the unevenness of the tiller during planting travel, and the rolling control operation is about to work, the downward moving part during controlled drive rolling If the seedling stand is moving sideways,
Since the control drive of the drive mechanism is stopped for a predetermined period of time, the seedling planting device tends to tilt due to the lopsided load caused by its large weight when the seedling platform is moved laterally, but the posture changes during the lapse of the predetermined period. It is possible to stabilize and suppress excessive operation in the rolling control operation.

If the angle of inclination to the ground determined by the detection means is larger than the set amount, the operation of the drive stop means is restricted to allow a quick rolling operation. can suppress large fluctuations in planting depth.

[0007]

[Effects of the Invention] Therefore, according to the present invention, it is possible to suppress excessive rolling control operation caused by the back and forth movement of a heavy seedling stand, thereby stabilizing the planting operation. , there is no change in the planting depth, and it is possible to prevent problems such as falling of planted seedlings or burying them in mud.

[0008]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Examples of the present invention will be described below with reference to the drawings. FIG. 6 shows a rice transplanter according to the present invention. This rice transplanter is driven by a lift cylinder 2 via a parallel link mechanism 1 at the rear of the riding-type traveling machine so that it can be driven up and down, and by a rolling cylinder 3 (an example of a drive mechanism), it can freely roll left and right around the front and rear axis to plant seedlings. It is configured by connecting devices 4. The seedling planting device 4 has a planting transmission case 5 that also serves as a frame support a seedling tray 6 on which planted seedlings are placed and moves back and forth with a constant stroke from side to side. A planting mechanism 7 for cutting out seedlings one by one from the lower end and planting them in the field is provided, and three ground floats 8a, 8b, and 8c are provided at the bottom. Further, as shown in FIG. 3, the piston rod 3a of the rolling cylinder 3 is connected to the seedling stand 6 via a buffer spring 8, so that the drive rolling operation can be performed smoothly. Moreover,
A return spring 10 is stretched between the link mechanism 1 and the lower side of both left and right sides of the seedling resting table 6 to alleviate the bias of the load caused by the lateral movement of the seedling resting table 6.

As shown in FIGS. 2 and 4, the left and right side grounding floats 8a and 8c of the respective grounding floats are supported by the planting transmission case 5 so as to be able to swing up and down about their respective rear axes. , first and second potentiometers PM1 and PM2 (an example of detection means) are provided above the front side of each of the side grounding floats 8a and 8c to separately detect the amount of vertical swing of the respective side grounding floats 8a and 8c. It is equipped with a rolling control means A that controls the rolling cylinder so as to maintain the left and right tilted posture of the seedling planting device 4 at a predetermined posture based on the detection results of each potentiometer PM1 and PM2, and the seedling platform 6 is A moving direction detecting means is provided for detecting in which direction the moving direction is left or right, and the moving direction detected by the moving direction detecting means coincides with the downward moving part side during controlled drive rolling by the rolling control means A. In this case, it is provided with a drive stop means B that stops the control drive of the rolling cylinder 3 by the rolling control means A for a predetermined period of time, and only when the difference between the detection results of the potentiometers PM1 and PM2 is equal to or less than a set amount. , control regulation means D for causing the drive stop means B to stop the controlled drive for a predetermined period of time.

More specifically, as shown in FIG. 1, the hydraulic control valve V of the rolling cylinder 3 is configured to be electromagnetically driven, and the control device 11 operates as shown in FIG. The hydraulic control valve V is configured to be electrically driven and controlled, and the seedling stand 6 and the link mechanism 1 are connected to each other.
A stroke sensor 12 that detects the relative movement position between
is provided, and by determining an increase or decrease in the output value of this stroke sensor 12, it is possible to detect whether the seedling stand 6 is moving in the left or right direction. This stroke sensor 12
The means C for determining increase/decrease in the output value, the rolling control means A, and the drive stop means B are provided in the control device 11 having a built-in microcomputer in the form of a control program,
The control device 11 executes control as follows.

As shown in FIG. 5, the output signals of the first and second potentiometers PM1 and PM2 are read (step S1), and it is determined that the difference between the detected values is greater than or equal to the first predetermined value E1, and that the first A second predetermined value E2 larger than the predetermined value E1
If it is above, it is determined that the inclination angle is large and has a negative impact on the planting operation, and the rolling cylinder 3 is immediately controlled to drive in a direction that reduces the difference in the detected values so that it is within the first predetermined value E1. (Steps S1 to S5). If the difference is less than or equal to the second predetermined value E2, the output value of the stroke sensor 12 is read (step S6), and based on the output value, the moving direction of the seedling stand 6 is determined to be the downward moving part side during controlled drive rolling. is on the opposite side, and when the seedling placement amount detection switch disposed in the middle of the seedling placement table 6 in the vertical direction detects that the amount of seedlings is small (steps S7 and S8).
), the first
The rolling cylinder 3 is drive-controlled so as to fall within a predetermined value E1 (steps S4, S5). Then, when the moving direction of the seedling platform 6 matches the downward moving part side during controlled driving rolling and the amount of seedlings is large, from that point on, the timer measures the time and waits for a predetermined time (step S9).
If the difference is greater than or equal to the second predetermined value E2 after a predetermined period of time has elapsed, the process proceeds to step S4, and the rolling cylinder 3 is driven and controlled so that the difference in the detected values is reduced within the first predetermined value E1. be.

The steps S4 and S5 constitute the rolling control means A, the steps S6 and S7 constitute the increase/decrease determination means C, the step S9 constitutes the drive stop means B, and the step S3 constitutes the rolling control means A. This constitutes the control regulation means D. The increase/decrease determining means C and the stroke sensor 12 constitute the moving direction detecting means.

Although reference numerals are written in the claims to facilitate comparison with the drawings, the present invention is not limited to the structure shown in the accompanying drawings.

[Brief explanation of the drawing]

[Figure 1] Control block diagram

[Figure 2] Side view of seedling planting device

[Figure 3] Front view of seedling planting device

[Figure 4] Plan view of grounding float

[Figure 5] Control flowchart

[Figure 6] Overall side view of rice transplanter

[Explanation of symbols]

3 Rolling cylinder 4
Seedling planting device 6
Seedling stand A
Rolling control means B
Drive stop means D Control regulation means PM1, PM2 Detection means

Claims (2)

[Claims] 1. A seedling planting device (4) is connected to the traveling machine body by a drive mechanism (3) so as to be capable of rolling left and right, and seedlings for planting are placed on the seedling planting device (4). A seedling platform (6) that reciprocates left and right with a constant stroke with respect to the traveling machine is provided, and detection means (PM1) and (PM2) are provided for detecting the left and right attitude of the seedling planting device (6) relative to the ground, Rolling control means (A) for controlling the drive mechanism (3) to maintain the left-right tilted posture of the seedling planting device (4) at a predetermined posture based on the detection results of the detection means (PM1) and (PM2); The rice transplanter is equipped with a moving direction detecting means for detecting whether the seedling stand (6) is moving in the left or right direction, and the moving direction detected by the moving direction detecting means is When the rolling control means (A) corresponds to the downward moving part side during control-driven rolling, the rolling control means (A)
) A rice transplanter comprising a drive stop means (B) for stopping the controlled drive of the drive mechanism (3) for a predetermined period of time. [Claim 2] The detection means (PM1), (PM2)
Claim 1, further comprising a control regulation means (D) that causes the drive stop means (B) to stop the controlled drive for a predetermined period of time only when the detection result of is less than or equal to a set amount.
The rice transplanter mentioned.