JPH0662629A - Paddy field working machine - Google Patents

Abstract

PURPOSE:To enable the automatic control of the lift control sensitivity of a paddy field working machine such as a riding-type rice transplanter according to the degree of the unevenness of the paddy field surface in the control of the working apparatus to keep a prescribed height from the ground by using a grounding float as a height sensor. CONSTITUTION:A grounding member 22 is attached to a working apparatus 3 in a state freely movable in vertical direction and the vertical position of the grounding member 22 relative to the working apparatus 3 is detected by a 2nd sensor 25. The controlling sensitivity of the lift controlling operation is automatically shifted to the insensitive side when the frequency of the vertical motion of the grounding member 22 relative to the working apparatus 3 increases. On the contrary, the controlling sensitivity of the lift controlling operation is automatically changed to the sensitive side when the frequency of the vertical motion of the grounding member 22 decreases.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to the construction of a lifting control mechanism for a working device in a paddy working machine such as a rice transplanter or a direct seeder.

[0002]

2. Description of the Related Art There is a riding type rice transplanter as an example of the above paddy field working machine, and the riding type rice transplanter controls the raising and lowering of a seedling planting device (corresponding to a working device). And
An example of the configuration of the lifting control mechanism of such a riding-type rice transplanter is disclosed in Japanese Utility Model Laid-Open No. 158-8212. In this configuration, as a device for detecting the height from the paddy field to the seedling planting device, the seedling planting device is equipped with a grounding float (9 in FIG. 2 of the above publication) that follows the ground to the paddy field. The position of the ground float with respect to the attachment device is the wire (25 in FIG. 2 of the above publication) (corresponding to the first sensor).
The height to the seedling planting device is used as the height.
Then, based on this height detection, the seedling planting device is moved up and down so that the seedling planting device maintains a constant height above the rice field. Then, the urging force of the spring (23 in FIG. 2 of the publication) that presses the ground float toward the field side can be changed by the adjusting lever (24 in FIG. 2 of the publication) to adjust the lift control sensitivity. Is configured as follows. In this case, when the unevenness of the rice field is large, the biasing force of the spring is increased to set the control sensitivity to the insensitive side, and when the unevenness of the rice field is small, the biasing force of the spring is decreased to set the control sensitivity to the sensitive side. Is common.

As described above, the ground float is used to detect the height from the rice field to the seedling planting device.
Since this grounding float is generally wide and has a large grounding area, the grounding float functions as a damper due to the grounding action of the grounding float on the paddy field, and fine vibrations of the seedling planting device are absorbed and suppressed. This is because the ground leveling function in a wide range can be expected.

[0004]

[Problems to be Solved by the Invention] In one paddy field,
It is not always said that the unevenness of the rice field is the same at all locations, and the unevenness of the rice field is often different depending on the location.Therefore, set the control sensitivity suitable for the unevenness of the rice field at the beginning of planting work. However, as the planting work progresses, the unevenness of the paddy field may not match the control sensitivity. Therefore, if the control sensitivity of the raising / lowering control mechanism is on the sensitive side even though there are many irregularities on the rice field, the so-called hunting phenomenon occurs because the raising / lowering operation of the seedling planting device is frequently performed. In order to suppress the hunting phenomenon, the control lever must be operated to the insensitive side by operating the adjusting lever. On the other hand, if the control sensitivity becomes insensitive when the rice field is smooth and the hunting phenomenon is unlikely to occur, the raising and lowering operation of the seedling planting device will be delayed and the seedling planting device will be maintained at a certain height from the rice field. I can not do it. Therefore, the operator must frequently change the control sensitivity of the lifting control mechanism according to the unevenness of the rice field, and there is room for improvement in terms of operability. An object of the present invention is to improve the operability of changing the control sensitivity in the type of the lifting control mechanism using the grounding float as described above while keeping the advantages (damper and ground leveling function) of the grounding float.

[0005]

A feature of the present invention is that the paddy working machine as described above is configured as follows. That is, [1] the working device is provided with a grounding float that follows the ground contact with the paddy field so as to be movable up and down, and a first sensor that detects the vertical position of the grounding float with respect to the working device is provided. In order to maintain the device at the set height above the paddy field, it is equipped with a lifting control mechanism that raises and lowers this work device, and the work device is equipped with a grounding body that can be moved up and down. When the vertical movement of the grounding body with respect to the working device is increased, the second sensor for detecting is increased, and the control sensitivity of the lifting control mechanism is changed to the insensitive side, and the vertical movement of the grounding body with respect to the working device is reduced. Sensitivity changing means for changing the set control sensitivity of the lift control mechanism to the sensitive side is provided. [2] In the configuration of [1] above, an automatic deceleration means for decelerating the traveling speed of the machine body is provided when the vertical movement of the grounding body with respect to the work device increases.

[0006]

[Action]

[I] When configured as in [1] above, the work equipment is automatically maintained at the set height from the field based on the detection value from the first sensor of the ground float that follows the field to follow the ground. It is operated up and down. A grounding float with a relatively large grounding area may pass through as it is without reacting to the small unevenness on the rice field. And make the grounding body small and light enough,
This grounding body reacts sensitively to small irregularities on the rice field, and accurately follows the irregularities on the rice field regardless of its size. With this, if the above-mentioned grounding body is equipped, when the work equipment is controlled up and down based on the grounding float, it is possible to change the unevenness of the rice field
The grounded body will react faster than the grounded float.

Therefore, when the working device is controlled to move up and down on the basis of the grounding float with a certain control sensitivity, the number of times of vertical movement of the grounding body increases, and even if the number of times of vertical movement is small, a relatively large vertical width. If the grounding body repeatedly moves up and down, it is considered that the unevenness of the rice field has increased. In this case, the control sensitivity of the lifting control is automatically changed to the insensitive side. On the contrary, when the number of vertical movements of the grounding body is reduced, it is judged that the unevenness of the rice field is reduced and the rice field becomes relatively smooth. In this case, the control sensitivity of the lifting control is automatically operated to the sensitive side. As described above, the ground float is made to follow a large change in the rice field while ignoring the fine unevenness of the rice field, and the lifting control of the work device is performed based on this ground float. The grounding body is made to react sensitively to the fine unevenness of the rice field, and the condition of the unevenness of the rice field is detected, and the control sensitivity of the lifting control is corrected based on this grounding body. In this case, since the grounding body contacts the rice field and moves up and down to directly detect the unevenness of the rice field, the state of the unevenness of the rice field can be accurately detected. Then, the grounding function of the grounding float functions as a damper due to the grounding action of the grounding float, and the small vibrations of the work device are absorbed and suppressed, and the ground surface is leveled by the grounding float.

[II] When constituted as in the above item [2],
The control sensitivity of the lifting control is changed to the insensitive side because the grounding body moves up and down many times, or the grounding body repeatedly moves up and down with a relatively large up and down width even if the number of up and down movements is small. Then, the traveling speed of the aircraft is also automatically decelerated. As a result, the hunting phenomenon due to the lifting operation of the work device is further suppressed by the operation of changing the control sensitivity to the insensitive side and the operation of decelerating the traveling speed of the machine body.

[0009]

According to the present invention, the grounding body detects the condition of the unevenness of the rice field and automatically corrects the control sensitivity of the ascending / descending control accurately. The control sensitivity of the lift control mechanism does not have to be manually changed frequently according to the state, and the operability can be improved. The grounding function of the grounding float and the damper function of absorbing small vibrations of the working device have the advantages of the conventional structure. By performing the deceleration operation of the traveling speed of the machine body at the same time as the operation of changing the control sensitivity to the insensitive side, the hunting phenomenon due to the lifting operation of the working device can be further suppressed, and the stability can be further improved. Lifting control of the working device can be performed.

[0010]

Embodiments of the present invention will be described below with reference to the drawings. (1) As shown in FIG. 1, a seedling planting device 3 (corresponding to a working device) is provided at the rear of the machine body supported by the front wheels 1 and the rear wheels 2.
The link mechanism 4 and the hydraulic cylinder 5 are connected so as to be capable of moving up and down freely to form a riding-type rice transplanter, which is an example of a paddy field working machine. As shown in FIG. 1, in the seedling planting device 3, a planting case 8 having a pair of planting arms 7 is rotatably supported by a rear part of the planting mission case 6 of the seedling planting device 3, The mount 9 is supported so as to be reciprocally traversed laterally with respect to the planted mission case 6, and the planted case 8
With the rotation of, the pair of planting arms 7 are alternately taken out from the seedling stand 9 and planted on the rice field G.

As shown in FIGS. 4 and 1, the seedling planting device 3
Is connected to the front and rear axis P1 of the link mechanism 4 so as to be freely rotatable. A bracket 4b fixed to a frame 4a at the rear end of the link mechanism 4 supports a screw shaft 10 and a motor 15 for driving the screw shaft 10 in the forward and reverse directions.
Then, a boss portion 14 provided with a female screw is externally fitted to the screw shaft 10, and the operation rod 12 is fixed to the boss portion 14. The left and right fixed frames 11 for supporting the seedling stand 9 and the operation rod 12 are fixed. And are connected via a spring 13. With this structure, the screw 15 is normally / reversely driven by the motor 15 to move the boss portion 14 and the operation rod 12 to the left and right, so that the seedling planting device 3 is rolled around the front-rear axis P1 of the link mechanism 4. To do.

As shown in FIGS. 1 and 4, the seedling planting device 3
One grounding float 16 is arranged at the center of the left and right sides of the plant, and a pair of left and right side floats 3 is provided on both lateral sides of the seedling planting device 3.
8 are arranged, and as shown in FIG. 3, the ground float 1
The rear part of 6 is swingably supported around the horizontal axis P2 of the support arm 17 on the side of the planted mission case 6. As shown in FIGS. 2 and 3, a balance-shaped first arm 26 and a second arm 27 are supported by a frame 18 fixed to the front end of the planted mission case 6 so as to be vertically swingable, and A bracket 28 having an L-shape in plan view is supported by the tips of the two arms 26, 27, and the bracket 28 is supported by the first and second arms 26, 27 so that the bracket 28 can move up and down in parallel. A first sensor 19 of a potentiometer type is fixed to the bracket 28, and a detection arm 19a of the first sensor 19 and a front portion of the ground float 16 are connected by a rod 20. Then, the rod 23 supported on the front portion of the ground float 16
Is vertically movably inserted into a bracket 24 fixed to the bracket 28, and the rod 23 and the bracket 24
A spring 21 for urging the ground float 16 downward between
Is provided.

As shown in FIGS. 2 and 3, a planting depth adjusting lever 29 is fixed to the base of a support arm 17 for the ground float 16. Accordingly, by operating the adjusting lever 29 up and down to engage and fix the lever guide 30, the vertical angle of the support arm 17, that is, the horizontal axis P2.
By changing the position of the ground contact float 16 up and down, the planting depth of the seedling is changed as described later. in this case,
As shown in FIG. 2, the other end of the first arm 26 is engaged with the pin 29a of the adjustment lever 29, and the adjustment lever 29 is operated up and down to change the positions of the horizontal axis P2 and the ground float 16 up and down. Even if the planting depth of the seedlings is changed, the first arm 26 and the bracket 28 are vertically swung along with this, and the ground float 16 is irrespective of the change of the planting depth of the seedlings.
The upper and lower intervals of the first sensor 19, the rod 23, etc. are maintained at the intervals shown in FIG.

As shown in FIGS. 1 and 4, sled-like grounding sensors 22 (corresponding to grounding bodies) are swingably supported on the left and right outer sides of the side floats 38, and the grounding sensors 22 are located on the lower side. A spring (not shown) that lightly biases the
Second sensor 25 of potentiometer type for detecting the angle of the grounding sensor 22 with respect to the planted mission case 6
Is provided.

(2) Next, the elevation control of the seedling planting device 3 in the riding type rice transplanter will be described. As shown in FIG. 7, the detection value from one first sensor 19 of the grounding float 16 and the detection value from two second sensors 25 of the grounding sensor 22 are input to the control device 31, and the elevation control is performed. A sensitivity setting switch 32 capable of artificially changing the control sensitivity of is provided. With the above structure, FIGS.
It is assumed that the sensitivity setting switch 32 is set to the standard as shown in 7. In this state, when the grounding float 16 follows the paddy field G along with the traveling with planting, based on the detection value from the first sensor 19 as shown in FIG. 5 (step S
1) The control valve 33 is operated by the control device 31 so that the detected value becomes the reference value A1 (so that the detection arm 19a of the first sensor 19 has the attitude of the reference value A1 in FIG. 3). 5 is expanded and contracted, and the seedling planting device 3 is automatically moved up and down (step S3). As a result, the seedling planting device 3 is automatically maintained at the set height from the paddy field G, and the seedling planting depth is maintained at the set value.

During the raising and lowering control of the seedling planting apparatus 3 as described above, the left and right ground sensors 22 are set by the second sensor 25.
The vertical movement of is always detected. In this case, the number of vertical movements of the left and right ground sensors 22 within the unit time is obtained (step S4), and the average value of both the number of vertical movements is calculated (step S5). When this average value is equal to or more than the set range (step S6), it is determined that the rice field G has many irregularities, and the initial reference value A1 is changed to the reference value A1 ′ as shown in FIG. (Step S7).

In such a state, the first sensor 1
9 so that the detected value from 9 becomes the reference value A1 '(so that the detection arm 19a of the first sensor 19 has the attitude of the reference value A1' in FIG. 3), the seedling planting device 3 automatically moves up and down. To be done. Since the attitude of the ground contact float 16 at the reference value A1 ′ is higher than the attitude shown in FIG. The bias is strengthened. Therefore, in this state, the ground follow-up sensitivity of the ground float 16 to the field G, that is, the control sensitivity of the elevation control is changed to the insensitive side (corresponding to sensitivity changing means).

In this riding type rice transplanter, FIGS. 1 and 7 are used.
As shown in FIG. 3, a belt-type continuously variable transmission 3 for traveling is used.
6, the continuously variable transmission 36 is operated by an electric cylinder 37 to change gears. As a result, when the control sensitivity of the lifting control is changed to the insensitive side (step S
7) The continuously variable transmission 36 is operated by the electric cylinder 37 from the current shift position to the low speed side by a predetermined amount (step S8) (corresponding to an automatic speed reduction means).

On the contrary, when the average value of the number of vertical movements of the left and right ground sensors 22 within the unit time is within the set range (step S6), it is determined that the unevenness of the rice field G is small. In this case, as shown in FIG. 3, the initial reference value A
1 is changed to the reference value A1 ″ (step S9). In such a state, the detection value from the first sensor 19 becomes the reference value A1 ″ (the detection arm 19a of the first sensor 19 is The seedling planting device 3 is automatically moved up and down so as to be in the posture of the reference value A1 ″ of 3). The posture of the grounding float 16 at the reference value A1 ″ is lower than that shown in FIG. Therefore, the area where the ground float 16 is set on the rice field G increases, and the spring 21 extends to weaken the biasing force of the spring 21. Therefore, in this state, the ground follow-up sensitivity of the ground float 16 to the field G, that is, the control sensitivity of the elevation control is changed to the sensitive side (corresponding to sensitivity changing means).

In the above state, the sensitivity setting switch 32 is operated as standard. In this case, as shown in FIG. 3, the reference value A1 for the lifting control is set to the standard position,
The reference value A1 of the standard position is changed to the insensitive side and the sensitive side. On the other hand, it is assumed that the sensitivity setting switch 32 is operated to the sensitive side and the reference value A2 shown in FIG. 3, for example, is set at the position corresponding to this. In this state, since the grounding float 16 faces downward as described above, the raising / lowering operation of the seedling planting device 3 is sensitively performed, and the reference value A2 of FIG. 3 is set based on the detection of the second sensor 25. It is operated from the position to the insensitive side and the sensitive side.

In the above elevating control, the adjustment lever 29 is operated up and down as described above, and the positions of the horizontal axis P2 and the ground float 16 are changed up and down with respect to the seedling planting device 3. In this way, the field surface G (ground contact float 1
For 6), the set height of the seedling planting device 3 to be maintained is changed up and down, and the seedling planting depth is changed. Even if the planting depth of seedlings is changed in this way, regardless of this,
By the action of the second arms 26 and 27, the vertical interval between the ground float 16 and the first sensor 19 is maintained at the interval shown in FIG. 3, so that the reference values A1 and A2 set by the sensitivity setting switch 32 are set. There is no change. During the lifting control, the grounding action of the grounding float 16 and the side float 38 causes the grounding float 16 and the side float 38 to function as a damper.
Small vibrations of the seedling planting device 3 are absorbed and suppressed. or,
By this ground float 16 and side float 38,
The field G is also leveled.

(3) As described above, when the raising and lowering control of the seedling planting device 3 is performed by the ground float 16 and the first sensor 19, as shown in FIG. 1st due to some abnormality
It is assumed that the detected value of the sensor 19 becomes an abnormal value exceeding the normal range and is input to the control device 31 (step S2).

In such a case, the process proceeds from step S2 to step S10, the detection value of the first sensor 19 is ignored, and the raising / lowering control of the seedling planting device 3 is performed based on the ground sensor 22 and the second sensor 25. I do. In this case, the detection values of the left and right second sensors 25 (the ground sensor 22 with respect to the seedling planting device 3 of the left and right) during the raising and lowering control of the seedling planting device 3 which was previously performed by the grounding float 16 and the first sensor 19. The average value of (up and down positions) is newly set as a reference value. Then, the raising / lowering control of the seedling planting device 3 is performed so that the average value of the detection values of the left and right second sensors 25 falls within the dead zone including the above-mentioned reference value. In this way, when the raising / lowering control of the seedling planting device 3 is performed based on the grounding sensor 22 and the second sensor 25, the raising / lowering operation becomes too sensitive as compared with the case of the grounding float 16, so the above reference value is set. The dead zone is set to be relatively wide.

(4) Next, rolling control of the seedling planting device 3 in this riding type rice transplanter will be described. As shown in FIGS. 4 and 7, a frame 1 supporting a seedling stand 9
The bracket 34 is extended from 1 and the bracket 3
4, a weight-type tilt sensor 35 is provided, and the detection value of the tilt sensor 35 (the horizontal tilt angle of the seedling planting device 3 with respect to the horizontal plane) is input to the control device 31. As a result, as shown in FIG.
Based on the detection value of 5 (step S11), the control device 31 operates the motor 15 in the normal and reverse directions so that the detection value falls within the dead zone B1 including the set value as shown in FIG. The auxiliary device 3 is automatically rolled (step S13). As a result, the seedling planting device 3 is maintained in a horizontal posture.

During the rolling control of the seedling planting apparatus 3 as described above, the second sensor 2 is operated in the same manner as the above-described elevation control.
5, the vertical movement of the left and right ground sensors 22 is constantly detected. In this case, the number of up and down movements of the left and right ground sensors 22 within the unit time is obtained respectively (step S14), and the average value of both up and down movements is calculated (step S15). Then, when this average value is equal to or greater than the set value (step S16), it is determined that the unevenness of the rice field G is large, and the initial dead zone B1 is set as shown in FIG.
Is changed to a wide dead zone B2 (step S17),
The control sensitivity of rolling control is changed to the insensitive side.
When the control sensitivity of the rolling control is changed to the insensitive side (step S17), as in the case of the lifting control, the electric cylinder 37 operates the continuously variable transmission 36 to the low speed side by a predetermined amount from the current shift position. (Step S1
8).

On the contrary, when the average value of the number of vertical movements of the left and right ground sensors 22 within the unit time is less than or equal to the set value (step S16), it is determined that the unevenness of the rice field G is small. In this case, as shown in FIG. 8, the initial dead zone B1 is changed to a narrow dead zone B3 (step S1).
9) The control sensitivity of rolling control is changed to the sensitive side.

(5) As described above, when the rolling control of the seedling planting device 3 is performed by the tilt sensor 35, as shown in FIG. 6, due to some abnormality of the tilt sensor 35, the detection value of the tilt sensor 35 is detected. Is abnormal beyond the normal range and is input to the control device 31 (step S12).

In such a case, the process proceeds from step S12 to step S20, the detection value of the inclination sensor 35 is ignored, and the rolling control of the seedling planting device 3 is performed based on the ground sensor 22 and the second sensor 25. To do. In this case, the rolling control of the seedling planting device 3 is performed so that the difference between the detection values of the left and right second sensors 25 is eliminated, that is, the difference is within the dead zone including zero. As a result, the seedling planting device 3 is maintained parallel to the rice field G in the left-right direction. In this way, if the rolling control of the seedling planting device 3 is performed based on the ground sensor 22 and the second sensor 25, the rolling operation becomes too sensitive as compared with the case of the inclination sensor 35, and thus the above-described zero is included. The dead zone is set to be relatively wide.

[Embodiment] In the above-mentioned embodiment, the pair of left and right ground sensors 22 and the second sensor 25 are provided, but it is configured to be equipped with one set of the ground sensor 22 and the second sensor 25. Good. In this case, as shown in the explanation of the previous section (5) and step S20 of FIG.
The rolling control function by the ground sensor 22 and the second sensor 25 is not provided. INDUSTRIAL APPLICABILITY The present invention is not only a riding type rice transplanter, but also a riding type direct seeding machine in which a direct sowing machine (corresponding to a working device) is movably connected to the rear part of the machine body, and a walking type rice transplanter machine (in this case, the machine body is the working device) Can also be applied to.

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

[Brief description of drawings]

[Fig. 1] Overall side view of the riding rice transplanter

FIG. 2 is a front view of the vicinity of the ground float and the first sensor.

FIG. 3 is a side view near the ground float and the first sensor.

[Figure 4] Front view near the seedling stand

FIG. 5 is a diagram showing a flow of raising / lowering control of the seedling planting device.

FIG. 6 is a diagram showing a flow of rolling control of the seedling planting device.

FIG. 7 is a diagram showing a linked state of a grounding float, a first sensor, a second sensor, a control valve of a seedling planting device, and a motor.

FIG. 8 is a diagram showing a state of a dead zone in rolling control of the seedling planting device.

[Explanation of symbols]

 3 Working device 16 Grounding float 19 First sensor of grounding float 22 Grounding body 25 Second sensor of grounding body G Tamiya

Claims (2)

[Claims] 1. A work equipment (3) is provided with a grounding float (16) for grounding following a rice field (G) so as to be movable up and down, and a vertical position of the grounding float (16) with respect to the working equipment (3) is detected. This working device (3) is equipped with one sensor (19) so that the working device (3) is maintained at a set height from the field (G) based on the detection value of the first sensor (19). A second sensor that includes an elevating control mechanism for performing an elevating operation, the work device (3) includes a grounding body (22) that is vertically movable, and detects a vertical position of the grounding body (22) with respect to the working device (3). (25), when the vertical movement of the grounding body (22) relative to the working device (3) increases, the control sensitivity set by the lifting control mechanism is changed to the insensitive side, and the working device (3) Up and down movement of the grounding body (22) with respect to The paddy work machine is provided with sensitivity changing means for changing the set control sensitivity of the elevating control mechanism to a sensitive side when the number of pumps decreases. 2. A grounding body (2) for the working device (3).
The paddy work machine according to claim 1, further comprising an automatic deceleration means for decelerating the traveling speed of the machine when the vertical movement of 2) increases.