JPH05115210A - Controller for lifting and lowering of paddy field working machine - Google Patents

Abstract

PURPOSE:To prevent a hunting phenomenon from occurring by maintaining a seedling planter at a prescribed height from the muddy surface according to the relative height of a seedling planter from a mobile machine body and the muddy depth and vertically moving a rocking fulcral part of sensors. CONSTITUTION:The depth of a muddy soil layer is computed from results of sensing by sensors (S1) and (S2) for muddy surface height from a machine body with a muddy depth arithmetic means. The relative height of a seedling planter 2 from the mobile machine body 1 is sensed with a height sensing means (PM1) to maintain the seedling planter at a prescribed height from the muddy surface with a lifting and lowering driving means based on results of sensing by the sensing means (PM1) and the arithmetic results obtained by the muddy depth arithmetic means. A rocking fulcral part of the sensors (S1) and (S2) is vertically moved with an electrically-operated cylinder 10 to prevent trouble such as damage to the muddy surface in turning from occurring.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a lifting control device for a paddy working machine such as a rice transplanter, and more specifically, a ground working device is connected to a traveling machine body so as to be capable of being driven up and down. The present invention relates to a lifting control device for a paddy field working machine, which is equipped with lifting control means for controlling the height of the mud surface to a predetermined value.

[0002]

2. Description of the Related Art In the above-mentioned elevation control device for a paddy working machine, conventionally, as disclosed in Japanese Patent Laid-Open No. 3-83502, a pair of left and right ground-following type anti-mud is provided in a seedling planting device as a ground working device. There has been a configuration in which a surface height detection sensor is provided and a lifting / lowering hydraulic cylinder of a seedling planting device is configured to be lifted / lowered based on the detection result of this detection sensor.

[0003]

In the above-mentioned conventional structure, since the ground height detecting sensor is provided in the working device itself which is driven up and down, the set height by the setting device and the detected height are compared, and they match. By controlling the hydraulic cylinder so that the work device can be maintained at a predetermined height above ground, it has the advantage that the control system can have a relatively simple structure, but the work device that moves up and down can detect height. Since the sensor is provided, for example, there are many irregularities on the surface of the mud, and when the detection sensor frequently swings up and down, a hunting phenomenon occurs,
This hunting phenomenon does not converge and the planting work depth may not be stable. In actual work, there is a drawback that control tends to be unstable, and there is room for improvement.
The present invention aims to eliminate the above-mentioned problems.

[0004]

A characteristic configuration of the present invention is that in the elevation control device for a paddy working machine described at the beginning, the movable body side is vertically rocked while following the ground contact on a mud surface,
A mud surface detection sensor for detecting the height of the mud surface against the machine body is provided, and a mud depth calculation means for calculating the depth of the mud layer from the detection result of the mud surface detection sensor is provided, and the ground working device for the traveling machine body is provided. The height detection means for detecting the relative height of the ground work equipment is provided, and based on the detection result of the height detection means and the calculation result of the mud depth calculation means, the ascending / descending drive for maintaining the ground work device at a predetermined height against the mud surface. Means, and an elevating operation mechanism for elevating the swinging fulcrum portion of the mud surface detection sensor in the vertical direction with respect to the traveling machine body is provided.

[0005]

[Function] The mud level detection sensor provided on the traveling body side
It moves up and down while following the ground contact on the mud surface, and the traveling wheels of the traveling machine body travel along the hard cultivator existing in the lower side of the mud layer due to the weight of the machine body. The depth of layers can be calculated. Then, since the relative height between the traveling machine body and the work device is detected by the height detection means, it is possible to perform the elevation control so that the height of the work device against the mud surface is maintained at the set value based on these detection results. Becomes Moreover, since the mud surface detection sensor is provided on the aircraft side, when the aircraft is turning, the rocking fulcrum is raised to turn the mud surface to the ground while the detection sensor touches the ground to roughen the mud surface. You can avoid problems.

[0006]

As a result, although the mud surface height control can be performed in the same manner as the conventional one, the ground work device that moves up and down and the mud surface height detection sensor do not interfere with each other. Therefore, since the hunting phenomenon due to the closed loop feedback control does not occur, the smooth elevation control can be performed. Furthermore, there is no mud surface roughening due to the mud surface detection sensor, it is possible to prevent the pushing down of already planted seedlings and mud hanging etc. due to mud pushing in the field, and moreover, regardless of the change in the thickness of the mud layer,
The position of the sensor can be roughly adjusted, and while maintaining high detection accuracy, it can also follow large changes in the mud layer.

[0007]

Embodiments will be described below with reference to the drawings. Figure 1
Shows a riding-type rice transplanter as an example of a paddy field working machine. In this rice transplanter, a seedling planting device 2 (an example of a ground work device) is connected to a rear part of a riding type traveling body through a parallel link mechanism 1 so as to be driven up and down and to be driven and rolled around a front-rear axis, and to be moved. However, it is constructed so that planting work of seedlings can be performed.

The seedling planting device 2 is supported by a planting transmission case 3 also serving as a frame so as to be capable of reciprocating lateral movement, and has a rearward-declining tilted seedling stand 4 on which a planting mat seedling is placed, It is equipped with a planting mechanism 5 and the like for taking out one seedling from the lower end of the placing table 4 and planting it in a field scene. The front end of the planting transmission case 3 is attached to the rear link 1a of the link mechanism 1 around the front-rear axis. It is configured to be rotatably and pivotally connected by means of, and to be driven and rolled by a rolling cylinder 6 interposed between the rear link 1a and the lateral side of the rear surface of the seedling stand 4. Further, the seedling planting device 2 is configured to move up and down through a link mechanism 1 which is lifted and lowered by a lift cylinder 7 to swing up and down.

The rice transplanter is equipped with an elevating control means for controlling the lift cylinder 7 so as to maintain the height of the seedling planting device 2 against the mud surface at a predetermined value. More specifically, FIG.
As shown in FIG. 5, the electromagnetic hydraulic control valves V1 and V2 of the lift cylinder 7 and the rolling cylinder 6 are configured to be controlled and driven by the control device 8 equipped with a microcomputer, and the traveling machine body is made to follow the ground contact on the mud surface. Meanwhile, a pair of left and right ground-contact tracking swing arm type mud surface detection sensors S1 and S2 that swing up and down to detect the height of the mud surface against the aircraft are provided.
In addition, a first potentiometer PM1 (an example of height detecting means) for detecting the relative height of the seedling planting device 2 with respect to the traveling aircraft is provided at the body side pivotal fulcrum of the link mechanism 1, and the body and the seedling planting device are provided at the rolling fulcrum position. The second potentiometer PM2 for detecting the relative rolling angle with respect to 2 is arranged respectively, and the control device 8 calculates the depth of the mud layer from the detection results of the mud surface detection sensors S1, S2. A, the calculated mud depth and the first potentiometer PM1
And a lifting drive means B for maintaining the seedling planting device at a predetermined height based on the detection result of 1. or,
An electric cylinder 10 (one example of an elevating operation mechanism) for vertically moving the rocking fulcrum positions of the mud surface detection sensors S1 and S2 with respect to the machine body frame 9 is provided, and the rocking arm 11 detects a ground contact with the mud surface. It is configured to be freely switchable between the state and the non-acting state in which it floats upward from the mud surface, and the lower part of the seedling planting device 2 shakes while following the ground surface of the mud surface similar to the mud surface detection sensors S1 and S2. Moving mud surface sensor S
3 is provided. In addition, the raising / lowering operation of the seedling planting device 2 is accompanied by the switching operation of the manual operation lever 12,
It is configured to be switchable between the descending and planting operation states.

The control device 8 executes control as follows. FIG. 3 shows a control flowchart of the control device 8 when the seedling planting device 2 is grounded. When the detection switch SW that detects the setting state of the operation lever 12 detects the planting work position (step 1), the electric cylinder 10 is driven to move down the mud surface detection sensors S1 and S2 until the mud surface is grounded. (Steps 2 and 3). First and second potentiometers PM1, PM2, left and right mud surface detection sensor S
The detection values of S1 and S2 are read (step 4), the average value X of the detection values of the left and right mud surface detection sensors S1 and S2 is calculated, and the thickness D of the mud layer is calculated from the average value X (step 5, 6). Then, the height H of the seedling planting device 2 with respect to the mud surface is calculated from the calculated mud depth D and the detected value of the first potentiometer PM1 (step 7). Next, if the height H of the seedling planting device 2 is not within the predetermined level range, the lift cylinder 7 is driven to drive the seedling planting device 2 up and down (step 9). Then, the left and right mud surface detection sensors S1,
If the absolute value of the difference between the detected values of S2 is larger than the predetermined value M, the inclination of the seedling planting device 2 with respect to the mud surface is calculated from the detected values of the left and right mud surface detection sensors S1 and S2, and Correspondingly, rolling drive control is executed (steps 10 to 12). When it is detected from the detection value of the mud surface grounding sensor S3 that the seedling planting device 2 has floated from the mud surface, the electric cylinder 10 is driven to float the left and right mud surface detection sensors S1 and S2 from the mud surface. (Step 14). In this way, the mud surface detection sensors S1 and S2 do not roughen the mud surface when the vehicle body is turning. This is repeated until the control is reset (step 15). The mud depth calculating means A is constructed by the step 6, and the lifting drive means B is constructed by the steps 7-9.

The mud surface detection sensor may be provided in the center of the left and right instead of the pair of left and right provided.

It should be noted that reference numerals are added to the claims for facilitating the comparison with the drawings, but the present invention is not limited to the configurations of the accompanying drawings by the entry.

[Brief description of drawings]

[Figure 1] Side view of rice transplanter

FIG. 2 is a control block diagram.

FIG. 3 is a control flowchart.

[Explanation of symbols]

 2 Ground work device A Mud depth calculation means B Elevation drive means S1, S2 Mud surface detection sensor PM1 Height detection means 10 Elevation operation mechanism

Claims (1)

[Claims] 1. A lifting control means for connecting a ground working device (2) to a traveling machine body so as to be driven up and down, and controlling the ground working device (2) to maintain a height against mud surface at a predetermined value. A lifting control device for a paddy work machine, which is equipped with a mud level detection sensor (S1) that swings up and down while following the ground contact with the traveling machine side on the mud surface to detect the height of the mud surface against the machine body,
(S2) is provided, and the mud surface detection sensors (S1), (S
A mud depth calculating means (A) for calculating the depth of the mud layer from the detection result of 2) is provided, and a height detecting means (PM1) for detecting the relative height of the ground work device (2) with respect to the traveling machine body. ) Is provided, and from the detection result of the height detection means (PM1) and the calculation result of the mud depth calculation means (A),
Equipped with a lifting drive means (B) for maintaining the ground work device (2) at a predetermined height against the mud surface, and the rocking fulcrums of the mud surface detection sensors (S1), (S2) with respect to the traveling machine body. An elevation control device for a paddy work machine, which is provided with an elevation operation mechanism (10) for vertically elevating.