JPH07155022A - Lifting control device for rice transplanter - Google Patents

Abstract

(57) [Summary] (Corrected) [Purpose] At the beginning of the change in the distance between the planting section and the rice field,
This makes it possible to control the raising and lowering of the planting part with good responsiveness. [Structure] A rice field sensor 50 for detecting a change in the distance between the planting section and the rice field, and a speed sensor 104 for detecting a speed at the time of a change in the front-back posture of the machine are provided. Based on the above, the planting part is controlled to move up and down.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a raising / lowering control device for a rice transplanter that detects the change in the distance between the planting section and the rice field based on the change in the inclination angle of the center float to control the raising and lowering of the planting section.

[0002]

2. Description of the Related Art Changes in the distance between the seed planting section and the rice field
There is a means for detecting with a potentiometer or the like provided in the center float, and driving the electromagnetic valve of the lifting cylinder based on the output signal from the potentiometer to control the planting part up and down.

[0003]

However, in such a case, there is a drawback that the control is delayed because the amount of change in the potentiometer when the control needs to be started is small. In other words, even if there is a change in the output value of the potentiometer, control is not started within the dead zone and starts only after the dead zone or more, so there is a control delay between the change and the dead zone or above.

[0004]

Therefore, according to the present invention, there is provided a rice field sensor for detecting a change in the distance between the planting portion and the rice field, and a speed sensor for detecting a speed at the time of changing the front / rear posture of the machine. By controlling the raising and lowering of the planting part based on the detection of the rice field sensor and the speed sensor, the raising and lowering control of the planting part when the seedling planting depth changes due to the posture change in the front-back direction on the machine side,
The two sensors on the machine side and the planting side can be used for accurate measurement.

By starting the raising / lowering control based on the detection of the speed sensor, the control accuracy is improved by performing the control with good responsiveness in which the start time of the raising / lowering control is matched with the posture change timing of the machine side. be able to.

[0006]

Embodiments of the present invention will now be described in detail with reference to the drawings. 1 is a side view of a planting lift control circuit, FIG. 2 is a side view of a passenger rice transplanter, and FIG. 3 is a plan view of the same. In the figure, (1) is a traveling vehicle that is a main machine on which an operator rides, and an engine (2) is mounted on the body frame (3) and the mission case (4)
A front wheel (6) for traveling paddy fields is supported forward through a front axle case (5), and a rear wheel (8) for traveling paddy fields, which is a wheel, is disposed behind the mission case (4) through a rear axle case (7). ) Support. The spare seedling mounts (10) are attached to both sides of the hood (9) that covers the engine (2) and the like, and the mission case (4) is provided by the vehicle body cover (12) on which an operator rides through the step (11). Etc., a driver's seat (13) is attached to the upper portion of the vehicle body cover (12), and a steering handle (14) is provided in front of the driver's seat (13) at the rear of the hood (9).

Further, (15) in the drawing is a planting section comprising a seedling table (16) for planting 6 rows, a plurality of planting claws (17), etc. A rotary case (21) for supporting the seedling placing table (16) on the planting case (20) via the lower rail (18) and the guide rail (19) so as to be slidable left and right, and rotating at a constant speed in one direction.
The planting case (20) to support the case (2
The planting claws (17) and (17) are attached to the tips of the pair of claw cases (22) and (22) which are arranged symmetrically with respect to the axis of rotation of 1).

Further, a support frame (2) is provided on the front side of the planting case (20) via a rolling fulcrum shaft (23).
4) is provided, and the support frame (24) is connected to the rear side of the traveling vehicle (1) through the elevating link mechanism (27) including the top link (25) and the lower link (26), and the link mechanism (27) is provided. An elevating cylinder (28) for elevating the planting part (15) via a lower link (26) is connected to the lower link (26) to drive and move the front and rear wheels (6) and (8), and at the same time reciprocally slide left and right. The seedlings for one strain are taken out from the seedling mounting table (16) to be picked up by the planting claws (17), and the seedlings are continuously planted.

Further, in the figure, (29) is a main transmission lever, and (3
(0) is a sub-shift lever for planting up / down and work traveling gear shifting, (3
1) is a planting sensitivity adjusting lever, (32) is a main clutch pedal, (33) and (33) are left and right brake pedals, and (3)
4) is a center float for two-way leveling, (35) is a side float for two-way leveling, which is arranged at the rear position of the rear wheel (8) and allows the trail of the rear wheel (8) to pass through, (36) Is a lateral fertilizer applicator.

As shown in FIGS. 4 to 8, a center float (34) is arranged in the lower center of the planting part (15), and side floats (35) (35) are arranged on the left and right sides of the center float. , A pitching fulcrum shaft (36) for swingably supporting the front part of the center float (34) up and down is provided on a bracket (37) on the rear upper surface of the float (34), and pivots to the planting case (20). The base end of the planting depth adjusting link (39) is fixed to the planting depth adjusting fulcrum shaft (38) that freely pivots, and the tip of the link (39) is fixed to the pitching visual fulcrum shaft (36). ).

Then, the middle of the output link (41) is rotatably supported by the support shaft (40) fixedly supported on the planting case (20) side, and the base end is fixed to the adjustment fulcrum shaft (38). The rear end of the output link (41) is connected to the tip of the swing arm (42) to be installed via a coupling pin (43), and the sensor link (4) is attached to the shaft (44) at the front end of the output link (41).
The long hole (46) of 5) is engaged and connected, and the lower end of the sensor link (45) is connected and supported via the shaft (48) to the bracket (47) fixed to the front upper surface of the center float (34). ing.

A potentiometer type Tadani sensor (50) is attached to a sensor base (49) fixed to the right side of the output link (41), and a detection plate (51) fixed to the sensor link (45). ) Detection axis (52)
The long hole (54) of the sensor arm (53) of the rice field sensor (50) is engaged and connected to the rice field sensor (50) when the planting depth changes due to unevenness of the cultivator or changes in the depth. )
Is configured to detect this.

Further, the bracket (37) on the substantially central upper surface of the side float (35) is supported by the adjustment fulcrum shaft (38) via the pitching fulcrum shaft (36) and the adjustment link (39) so as to be freely pitched. , A substantially central portion of the plant depth correction output link (56) is rotatably supported by a support shaft (55) fixedly supported on the planting case (20) side, and a base end of the adjustment fulcrum shaft (38). Fixed rocking arm (5
The front end of 7) and the rear end of the output link (56) are engaged and connected via a shaft (58) and an elongated hole (59).

Furthermore, the front end of the output link (56) is inserted into the elongated hole (63) of the sensor link (62) supported by the fixed bracket (60) on the upper surface of the front part of the left and right side floats (35) through the shaft (61). Left and right potentiometer type sensitivity sensors (66a) (6) which are installed on the sensor base (65) of the output link (56) while connecting the shaft (64) of
The shaft (69) of the sensor link (62) is engaged and connected to the long hole (68) of the sensor arm (67) of 6b), and the pitching fulcrum is changed when the implantation depth is changed by the rotation of the adjustment fulcrum shaft (38). The vertical displacement of the shaft (36) and the output link (4
1) The vertical displacements of the shafts (44) and (64) of (56) are made approximately the same, and even if the planting depth is changed, the outputs of the rice field and the sensitivity sensors (50), (66a) and (66b) are It is configured not to change.

As shown also in FIG. 7, a planting depth adjusting lever (70) for setting a reference planting depth, which has a base end fixed to the fulcrum shaft (38), is appropriately driven and controlled by a planting depth motor (71). The motor mounting part (72) of the planting case (20) is provided with the motor (71), and the feed groove of the spiral member (73) connected to the motor shaft of the motor (71) is provided with the motor. The engaging piece (74) of the lever (70) is appropriately engaged and coupled, and the reference planting depth set by the adjusting lever (70) is adjusted by forward and reverse driving of the motor (71), The planting depth position is detected by a planting depth feedback sensor (77) installed on the lateral pipe (75) of the planting case (20) via a mount (76).

As shown in FIG. 9, the supply hydraulic circuit of the hydraulic pump (78) driven by the engine (2) is connected to the high pressure oil passage (80) by the flow control valve (79).
Steering handle (14)
A steering valve unit (84) for switching the steering valve (83) of the steering cylinder (82) by means of a solenoid valve, and a lift valve unit for driving the lift cylinder (28) by operating solenoid type lift and drop valves (85) (86). (8
And 7) are provided in the high-pressure oil passage (80), and the planting portion (1
5) Rolling cylinder (8) that controls the left and right tilt posture
8) A rolling valve unit (90) having a rolling operation solenoid valve (89), and a planting portion (1)
5) Pitching cylinder (9) that controls the front-back inclination posture
The pitching valve unit (93) having the solenoid valve (92) for pitching operation of 1) is provided in the low pressure oil passage (81) to control the elevation of the planting part (15) of the valve (85) (86). Solenoid (85a) (86
It is configured to be performed by the excitation operation of a).

Then, as shown in FIG. 1, the relay circuit (94) of the implantation depth motor (71) and the solenoid (8).
5a) and (86a) with an output connection controller (95) for vegetation, an automatic switch (96),
Down and up switches (97) and (98) for detecting the planted down and up positions of the auxiliary transmission lever (30), respectively.
And a leveling switch (99) for manual "leveling" setting,
Raising and lowering switches (100) (101) for manually raising and lowering the planting part (15), and the rice field sensor (50).
The left and right sensitivity sensors (66a) and (66b) provided with a low pass filter (LPF) (66c), and the planting section (1) connected to the link mechanism (27) as shown in FIG.
5) Potentiometer type vertical displacement sensor (102) for detecting the vertical movement amount, a planting depth setting device (103) for setting a reference planting depth, and the planting depth feedback sensor (77).
And an angular velocity sensor (104), which is an inclination velocity sensor installed in the traveling vehicle (1) to detect the speed of posture change of the traveling vehicle (1) in the front-rear direction, the controller (95)
To the input / output, and the left / right sensitivity sensors (66a) and (66b) detect the hardness of the field surface hardness based on the change in the inclination angle of the left and right side floats (34), and the target of the elevation control of the center float (34). The inclination angle is corrected to perform a constant control of the planting depth according to the field surface hardness.

This embodiment is constructed as described above, and its operation will be described below with reference to FIGS.

When the angular velocity sensor (104) detects the forward ascending state of the traveling vehicle (1) as shown in FIG. 10, the field sensor (50) causes the inclination angle (θ) of the center float (34).
It is detected that the distance between the planting part (15) and the paddy field is close by detecting a large value (which sets θ = 0 based on the forward descent state in the air). When the angular velocity sensor (104) detects the forward / downward state of the traveling vehicle (1) as shown in FIG. 11 while sensing and controlling the raising of the planting part (15), the paddle sensor (50) causes the center float (34). ) Of a small inclination angle (θ2) (downward from the standard float posture) is detected, and it is sensed that the distance between the planting section (15) and the rice field is large, and the planting section (15) is controlled to descend. The planting depth is kept constant.

Then, as shown in the flow chart of FIG. 12, the outputs from the rice field sensor (50) and the angular velocity sensor (104) are input to the controller (95), and the angular velocity sensor (104) of the traveling vehicle (1). When detecting the speed at the time of changing the forward descent or forward descent posture, it is judged that it is the change start time of the distance between the planting part (15) and the rice field, and the down solenoid (86a) and the up solenoid (85a) are excited. Valve (86) (85) to activate the planting part (15)
Start the descent or rising control of the field sensor (5
When 0) stops the descending or ascending output, the control is stopped. As a result, when the posture change in the front-rear direction of the traveling vehicle (1) occurs, the angular velocity sensor (104) can detect the start timing of the ascending / descending control without a time difference, and control with good responsiveness can be performed.

In the above embodiment, the traveling vehicle (1)
Although the configuration in which the angular velocity sensor (104) detects the posture change in the front-rear direction is shown, an acceleration sensor may be used.

[0022]

As is apparent from the above-described embodiments, the present invention provides a rice field sensor (50) for detecting a change in the distance between the planting section (15) and the rice field, and a change in the front-back posture of the machine (1). Since the speed sensor (104) for detecting the speed at the time is provided and the planting section (15) is controlled to move up and down based on the detections of the rice field sensor (50) and the speed sensor (104), the machine (1 ) Side elevation control of the planting part (15) when the seedling planting depth changes due to a change in the front-back direction, two sensors (104) (on the side of this machine (1) and planting part (15) ( 50) can be performed accurately.

Since the lifting control is started based on the detection of the speed sensor (104), the responsiveness is obtained by adjusting the start time of the lifting control to the posture change timing of the machine (1) side. There is a remarkable effect such that good control can be performed and control accuracy can be improved.

[Brief description of drawings]

FIG. 1 is an elevation control circuit diagram.

FIG. 2 is an overall side view of a rice transplanter.

FIG. 3 is an overall plan view of a rice transplanter.

FIG. 4 is a side view of a planting part.

FIG. 5 is an explanatory plan view of a float portion.

FIG. 6 is a side view of a center float section.

FIG. 7 is a side view of a center float section.

FIG. 8 is a side view illustrating a side float portion.

FIG. 9 is a hydraulic circuit diagram.

FIG. 10 is an explanatory diagram when the traveling vehicle is in an upstream state.

FIG. 11 is an explanatory diagram of a traveling vehicle front down state.

FIG. 12 is a flowchart.

FIG. 13 is a relationship chart between a sensor and a valve.

[Explanation of symbols]

 (1) Traveling vehicle (this machine) (15) Planting part (50) Field sensor (104) Angular velocity sensor (velocity sensor)

Claims (2)

[Claims] 1. A pad sensor for detecting a change in the distance between the planting section and the pad and a speed sensor for detecting a speed when the front-rear posture of the machine changes, and based on the detection by the pad and the speed sensor. An elevation control device for a rice transplanter, which is configured to vertically control the planting section. 2. The elevation control device for a rice transplanter according to claim 1, wherein the elevation control device is provided so as to start the elevation control based on the detection of the speed sensor.