JPH0614627A - Lift control mechanism for rice transplanter - Google Patents

Abstract

PURPOSE:To provide the subject mechanism settable at a proper control sensitivity corresponding to the situation of a farm, ensuring lift control actuation to be made in high accuracy. CONSTITUTION:A seedling planting device 3 is connected to a traveling machine body so as to be free to ascend or descend on being driven, and equipped with a grounding float 7 to be put to relative vertical motion while being compliance with the muddy surface. This device 3 is controlled so as to maintain its height from the ground at a specified level with the relative vertical motion of the float 7 due to the variation in its contact pressure on the ground, and the mud hardness distribution at every point along the vertical direction of mud soil layer from mud soil surface to a specified depth is detected; based on the results, the control sensitivity for the lift control is changed and regulated.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention comprises a grounding body which is connected to a traveling machine body so as to be driven up and down, and which is equipped with a grounding body which moves up and down relatively while following the grounding on a mud surface. The present invention relates to a raising / lowering control mechanism of a rice transplanter equipped with raising / lowering control means for maintaining the seedling planting device at a predetermined ground height in accordance with relative up / down movements due to body ground pressure fluctuations.

[0002]

2. Description of the Related Art In the elevation control mechanism of a rice transplanter described above, conventionally, as disclosed in, for example, Japanese Patent Laid-Open No. 62-146517, a bracket fixed to the front side upper surface of a grounding float as a grounding body is interposed. It pivots a mud hardness detection piece that can swing up and down, and changes the downward biasing force of the ground float with the vertical swing of this detection piece due to changes in mud hardness.
There has been a configuration in which the sensing sensitivity in the lifting control operation as described above is changed.

[0003]

In the above conventional structure, for example, when the mud is hard, the downward urging force of the grounding float is increased so that the grounding float is oscillated up and down frequently with respect to changes in the mud surface, and control is performed. Prevents hunting from occurring, and when mud is soft, lowers the downward biasing force of the grounding float to minimize mud pushing by the float, and also sensitively detects the height of the ground to control the lift accurately. It is made possible to do. However, in the above conventional structure, since there is only one mud hardness detection piece, and mud hardness detection is always performed at the same mud depth position, the following problems occur. there were. For example, when the sun shines after the scraping work is completed and the surface of the field is dried and only the surface is hardened, if the rice planting work is performed in such a state, the mud hardness of the conventional structure described above is obtained. The detection piece passes through such a hard surface and penetrates into the soft mud layer below, and the mud is detected as soft as the hardness detection information. As a result, the downward urging force of the ground contact float becomes weak, but since the mud surface is hard as described above, the vertical rocking operation is frequently performed based on the fluctuation of the ground contact pressure.
There is an adverse effect that the hunting phenomenon is likely to occur in the control operation. On the contrary, in the case where the surface of the field is soft and the lower side is hard, as a result that the mud is detected as hard as the detection information by the above detection piece, the ground float is pressed against the soft surface too strongly, There is a drawback that mud pushing occurs and accurate lift control cannot be performed.
The present invention aims to eliminate the above-mentioned problems.

[0004]

Means for Solving the Problems A feature of the present invention is that in the elevation control mechanism of a rice transplanter described at the beginning, each mud hardness in the vertical direction of the mud layer from the surface of the mud to a predetermined depth. The mud hardness distribution detecting means for detecting the distribution is provided, and the sensitivity adjusting means for changing and adjusting the control sensitivity in the elevation control means is provided based on the detection result of the mud hardness distribution detecting means.

[0005]

[Operation] Since the mud hardness distribution in the vertical direction of the mud layer in the planting field scene is detected and the control sensitivity in the elevation control is changed and adjusted based on the information of the hardness distribution, for example in the field scene. Only the surface at is hard,
Even in a field where the lower layer side is soft, it is possible to set an appropriate control sensitivity by comprehensive judgment based on the hardness distribution information.

[0006]

[Effects of the Invention] Therefore, even if the mud hardness of the field is different in the vertical direction, it is possible to always set an appropriate control sensitivity according to the mud hardness, and a hunting phenomenon occurs in the control operation or a grounding body is used. It has become possible to provide a product that can suppress the occurrence of adverse effects such as mud pushing as much as possible and can perform the lifting control operation with high accuracy.

[0007]

Embodiments will be described below with reference to the drawings. Figure 1
Shows a riding type rice transplanter. This rice transplanter is configured such that a seedling planting device 3 is connected to a rear portion of a riding type traveling body via a link mechanism 1 by a hydraulic cylinder 2 so as to be vertically movable. The seedling planting device 3 includes a seedling stand 5 that reciprocates laterally with a constant stroke with respect to the frame 4, a planting mechanism 6 that takes out one seedling from the lower end of the seedling stand 5, and plants the rear seedlings. It is equipped with a grounding float 7 etc. that is vertically swingable and that moves up and down while following the ground on the mud surface.
It is constructed so that seedlings can be planted on the mud surface while the aircraft is running. In this rice transplanter, automatic raising / lowering control means A for maintaining the height against mud surface of the seedling planting device 3 at a predetermined value is provided.
Is equipped with. That is, the vertical swing amount around the rear fulcrum X1 based on the ground pressure variation of the ground float 7 (an example of the ground body) located in the center of the left and right of the plurality of ground floats 7 as the aircraft travels is detected, and the detected value is detected. Is configured to expand and contract by operating the lifting hydraulic cylinder 2 so as to match the set level. More specifically, FIG.
As shown in FIG.
A control device 9 provided with a microcomputer so that the detection value of the first potentiometer PM1 detected by the potentiometer PM1 falls within a setting level having a predetermined dead band width set by the setting device 8 provided in the aircraft control section. Is an electromagnetic hydraulic control valve V for the hydraulic cylinder 2.
Is controlled so as to maintain the height of the seedling planting device 3 above ground substantially constant. Then, a mud hardness distribution detecting means B for detecting each mud hardness distribution in the vertical direction of the mud layer from the mud surface to a predetermined depth is provided. On the basis of the above, the sensitivity adjusting means C for changing and adjusting the control sensitivity in the elevation control means A is provided. More specifically, as shown in FIG. 5, the mud hardness detection tool 1 is swingable around the horizontal axis X2 by a bracket 10 fixedly attached to the upper surface of the ground float 7 on the front side.
The mud hardness detecting tool 11 is pivotally supported, and the rocking end side of the mud hardness detecting tool 11 is projected into the mud surface so that a reaction force corresponding to the mud hardness is generated as the machine travels. A support tool 13 for receiving and supporting the operating arm 12 formed integrally with the detection tool 11 against the reaction force is attached to a rotatable arm 15 by an electric motor 14 with a reduction mechanism, and a receiving portion 13 of the support tool 13 is attached.
A pressure sensor 16 for measuring the reaction force is provided at a.
A second potentiometer PM2 for detecting the amount of relative rotation is provided at the rotation fulcrum of the mud hardness detector 11. The mud hardness detector 11, the electric motor 14, and the pressure sensor 16
The mud hardness distribution detecting means A is constituted by the above. As shown in FIG. 6, the mud hardness detection tool 11 is configured to have a hardness detection function at that location only by the detection action portion 11a at the tip. The sensitivity adjusting means C is provided in the control device 9 in the form of a control program, and the control device 9 executes the control as follows. As shown in FIG. 4, first,
Prior to the automatic lifting control, the electric motor 14 is driven to rotationally drive the mud hardness detection tool 11 within a predetermined range, and a value corresponding to the depth of the detection action part 11a from the field surface is set by the second potentiometer PM2. While detecting at any time, at the same time, the detection value of the pressure sensor 16 at that time is read [steps 1 and 2]. In this way, as shown in FIG. 3, the mud hardness distribution corresponding to the mud depth is detected, and the dead band width is calculated based on the map data calculated in advance by experiments or the like according to the mud hardness distribution. Is set and stored in a memory or the like [step 3]. For example, when the mud hardness of the lower layer is soft and the hardness on the surface of the field is hard, the vertical movement detection based on the fluctuation of the ground pressure by the ground float 7 is likely to be sensitive. The sensitivity is set lower by narrowing it. Then, the detected value D1 of the first potentiometer PM1 and the set value D2 of the setter 8 are read, and the detected value D1 of the first potentiometer PM1 is set to the set value D.
2, it is determined whether or not it is within the dead band width determined as described above, and the electromagnetic control valve V is switched to fit within the dead band width to drive-control the hydraulic cylinder 2,
The seedling planting device 3 is maintained at a predetermined height above ground [step 4-
7]. The step S3 constitutes the sensitivity adjusting means C,
The steps 4 to 7 constitute the automatic lifting control means A.

[Other Embodiment] The mud hardness distribution detecting means B
Instead of the linear detection with one detection tool 11 as described above, a plurality of mud hardness detection tools 11 for detecting hardness at different depths are provided as shown in FIG. A pressure sensor 16 reads the reaction force corresponding to the mud hardness generated by the running of the fuselage in each mud hardness detection tool 11, and the mud hardness distribution is detected stepwise to adjust the sensitivity. It may be configured as follows. Further, the sensitivity adjustment in the elevation control is not limited to the change of the dead zone width, but may be carried out by changing to various configurations such as a configuration of changing and adjusting the downward pressing biasing force of the ground float.

It should be noted that although reference numerals are given in the claims for facilitating the comparison with the drawings, the present invention is not limited to the configuration of the accompanying drawings by the entry.

[Brief description of drawings]

[Figure 1] Overall side view of rice transplanter

FIG. 2 is a control block diagram.

[Fig.3] Mud hardness detection characteristics

FIG. 4 is a control flowchart.

FIG. 5: Side view of mud hardness distribution detection means

FIG. 6 is a rear view of the mud hardness detector.

FIG. 7 is a side view of a mud hardness distribution detecting means according to another embodiment.

[Explanation of symbols]

 3 Seedling planting device 7 Grounding body A Elevating control means B Mud hardness distribution detecting means C Sensitivity adjusting means

Claims (1)

[Claims] 1. A grounding body (7) which is connected to a traveling machine body so as to be able to drive up and down, and which is vertically moved while following the grounding on a mud surface. , A raising / lowering control of a rice transplanter equipped with a raising / lowering control means (A) for maintaining the seedling planting device (3) at a predetermined ground height in accordance with the relative vertical movement of the grounding body (7) based on the fluctuation of the grounding pressure. A mud hardness distribution detecting means (B) for detecting each mud hardness distribution in the vertical direction of the mud layer from the surface of the mud to a predetermined depth is provided. An elevation control mechanism of a rice transplanter comprising sensitivity adjusting means (C) for changing and adjusting the control sensitivity of the elevation control means (A) based on the detection result of (B).