JPH07274629A - Elevation control unit for planting unit of rice transplanter - Google Patents

Abstract

PURPOSE:To provide an elevation control unit for a planting unit of a rice plating unit capable of preventing distortion of the planting muddy surface and planting seedlings so as to have a suitable depth by attaching an acceleration sensor for detecting the vertical acceleration of a planting unit to the planting unit, performing a calculation operation under a specified condition and detecting the hardness of the planting muddy surface. CONSTITUTION:An acceleration sensor A for detecting the vertical acceleration of a planting unit 15 is attached to the planting unit 15 elevatably coupled through an elevation mechanism to the running machine body 1 of a rice transplanter. the detected value by the acceleration sensor A is subjected to operation so as to calculate the level and the period of the vertical motion of the planting unit 15 and the hardness of the planting muddy surface is detected from the calculated level and the calculated period. In addition, the detected value by the acceleration sensor A is subjected to operation so as to detect the level and the period of vertical motion of the planting unit 15 and the sensitivity for control of the elevation mechanism is adjusted so that the level and the period of the vertical motion may be constant.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a planting part elevation control device for a rice transplanter.

[0002]

2. Description of the Related Art In a conventional rice transplanter, a hardness detecting device for the surface of the planting mud is provided with a detector that slides on the surface of the mud on the float of the planting section, and the resistance of the detector to the mud as the rice transplanter runs. There are also those that detect the hardness of the mud surface from dynamic buoyancy.

Further, there is one in which seedlings are planted at an appropriate depth by manually adjusting the sensitivity of the lifting mechanism control based on the result of hardness detection on the surface of the planting mud.

[0004]

However, in the above hardness detecting device, it is impossible to detect the hardness accurately by catching foreign matters such as straw waste, or the planting surface of the seedling is disturbed by the mud pushing. There's a problem.

Further, if the sensitivity is manually adjusted, the timing of the adjustment tends to be delayed, and the sensitivity adjustment tends to be neglected due to being overwhelmed by other work, so that the proper planting depth adjustment is eventually achieved. There is a problem that you cannot do it.

[0006]

According to the present invention, an acceleration sensor for detecting vertical acceleration of a planting part is attached to a planting part connected to a traveling machine body of a rice transplanter via a lifting mechanism so as to be able to move up and down. We do not provide a planting part elevation control device for rice transplanters, which is characterized by calculating the vertical movement level and cycle of the planting part by calculating the detection value of the planting part and detecting the hardness of the planting mud surface from the same level and period. It is what

Further, the detection value of the acceleration sensor is arithmetically processed to detect the vertical movement level and cycle of the planting part,
Another feature is that the sensitivity of the lifting mechanism control is adjusted so that the level and cycle of the vertical movement are constant.

[0008]

Embodiments of the present invention will be described with reference to the drawings.

FIG. 1 shows a rice transplanter B equipped with a planting part elevation control device according to the present invention. Reference numeral 1 denotes a traveling machine body in which an engine 2 is mounted on a vehicle body frame 3 and a front part is provided in front of a mission case 4. A front wheel 6 is pivotally supported via an axle case 5, a rear axle case 7 is continuously provided at a rear portion of the mission case 4, a rear wheel 8 is pivotally supported by the rear axle case 7, and the engine 2 is covered. Preliminary seedling mounts 10 are attached to both sides of the bonnet 9, the mission case 4 and the like are covered by a vehicle body cover 12 through the floor 11, and a driver's seat 13 is placed on the upper portion of the vehicle body cover 12 and in front of the driver's seat 13. A steering handle 14 is provided at the rear of the hood 9.

A planting section 15 is connected to the rear of the traveling machine body 1 via an elevating mechanism D, and the planting section 15 is provided with a seedling table 16 for planting 6 rows and a plurality of planting claws 17 and the like. In addition, the front and rear low seedling mounting table 16 is supported on the planting case 20 via the lower rail 18 and the guide rail 19 so as to be slidable left and right, and the rotary case 21 that rotates at a constant speed in one direction is planted. A pair of claw cases supported by the case 20 and symmetrically around the rotary shaft center of the rotary case 21.
22 is provided, and the planting claw 17 is attached to the tip of the claw case 22.

The lifting mechanism D is provided with a support frame 24 on the front side of the planting case 20 via a rolling fulcrum shaft 23.
The support frame 24, the top link 25 and the lower link
The lower link 26 is connected to the rear side of the traveling machine body 1 via a three-point link mechanism 27 including 26, and the lowering hydraulic cylinder 28 is connected to the lowering link 26. The planting part 15 can be moved up and down via the.

In the figure, 29 is a main gear shift lever, 30 is a planting part raising / lowering lever, 31 is a raising / lowering control sensitivity adjusting lever, 32 is a main clutch pedal, 34 is a center float, 35 is a side float, and 36 is a rolling cylinder 37. It is a bracket to support.

In the rice transplanter B, according to the present invention, as shown in FIG. 1, the planting case of the planting section 15 of the rice transplanter B is installed.
An acceleration sensor A for detecting vertical acceleration is fixedly attached to the front side surface of 20, and the acceleration sensor A is connected to a control unit 60 described below.

The acceleration sensor A is constructed so that the weight is supported by an elastic body and the displacement of the weight is detected to measure the acceleration. To detect the displacement, a piezoelectric effect or static force is detected. A change in capacitance or a strain gauge is used, and the outside of the acceleration sensor A is sealed with a waterproof case.

The mounting position of the acceleration sensor A is not limited to the front side surface of the planting case 20 described above, and the planting claw 17, the claw case 22, the rotary case 21, the cams and arms built in the planting case 20, and the like. It suffices if it is a place where it is not affected by vibration, and for example, as shown in FIG.

The control unit 60, as shown in FIG.
An electromagnetic control valve 63 that connects the acceleration sensor A and the planting depth sensor 62 to the input side of the microcomputer as described above, and controls the hydraulic pressure to the planting section 15 lifting hydraulic cylinder 28 of the lifting mechanism D on the output side. Are connected.

The planting depth sensor 62 is a mechanical type that detects the planting depth from the relative position between the float and the body of the planting section 15, or it detects the planting depth by emitting and receiving ultrasonic waves. There is an ultrasonic type.

As shown in FIG. 3, the computing unit 61 reads the acceleration detection value and the planting depth detection value from the acceleration sensor A and the planting depth sensor 62, respectively (70).
The level and cycle of fluctuations in the detected acceleration value are calculated (71).

In order to obtain the level or cycle of fluctuations in the detected acceleration value, it is sufficient to repeat the Fourier transform of a fixed number of detected acceleration values from the newest input order to the arithmetic unit 61.

As shown in Table 1, when both the level and the period are large, the sensitivity is insensitive, when the level and the period are both small, the sensitivity is sensitive, and when the level and the period are large, the sensitivity is neutral. , When the level is large and the cycle is small, it is made insensitive (72).

[0021]

[Table 1]

The above-mentioned sensitivity adjustment makes the dead zone width of the elevation control narrow (wide) to make the control operation sensitive (insensitive), increase the operating speed of the elevation mechanism D to high speed (low speed), and raise / lower the control. This is done by shifting the neutral position to the up (down) side so that the down (up) operation is sensitive and the up (down) operation is insensitive.

By adjusting the sensitivity of the ascending / descending control, the level and cycle of the vertical movement of the planting section 15 can be made constant, and the hardness of the mud surface G is judged by the averaged data of the vertical movement of the planting section 15. Therefore, smooth control can be performed without excessive fluctuation of sensitivity, and the vibration of the planting portion 15 is detected and controlled. Therefore, hunting can be reliably suppressed, and the vibration of the planting portion 15 is detected and controlled. So the mud G
Not only is it hard and soft, but it is possible to prevent vibration of the center float 34 when the traveling speed is increased.

As described above, in this embodiment, the sensitivity of the raising / lowering control of the planting section is not limited to the raising / lowering control of the planting section 15 for simply keeping the planting depth constant, but based on the detection value of the acceleration sensor A. However, when the mud surface hardness is high, it is adjusted insensitively, and when the mud surface hardness is low, it is adjusted sensitively.
There is no need for the driver to monitor the hardness of the planting mud surface G and adjust the planting depth according to the hardness.
Even if the hardness changes, seedlings can always be planted at an appropriate depth.

Further, the lifting hydraulic cylinder 28 of the lifting mechanism D is used.
When the electromagnetic control valve 63 connected to is driven by a pulsed voltage and the mud surface hardness is high but the sensitivity is set to a suitable level when the mud surface hardness is low, the planting part 15 becomes slightly floating and the side float 35 Since the supporting load is reduced, the lifting mechanism D
The frequency of raising and lowering the frequency increases.

On the contrary, if the sensitivity is set to be suitable when the mud surface hardness is small but the mud surface hardness is large, the planting portion 15 tends to sink, and a viscous damping effect appears on the float to raise the lifting mechanism D.・ The frequency of lowering is reduced.

Therefore, the raising and lowering drive pulses output from the computing unit 61 of the control unit 60 to the electromagnetic control valve 63 are counted. If this count number is too large, the sensitivity of the lifting control is desensitized and the count number is small. If too much, the above problem can be solved by correcting the sensitivity to the sensitive side.

The embodiment of the present invention has the structure, operation, and effect as described above, and the following preambles of the claims are given.

In addition to the structure of claim 1 in the scope of claims, the preliminary claim 1 counts up and down drive pulses output from the arithmetic unit of the control unit to the electromagnetic control valve, and when this count number is too large. Is a planting part elevation control device characterized in that the sensitivity of the elevation control is corrected to the insensitive side, and when the count number is too small, the sensitivity is corrected to the sensitive side.

With this structure, the following actions and effects are obtained in addition to the actions and effects of the first aspect.

That is, when the electromagnetic control valve connected to the lifting hydraulic cylinder of the lifting mechanism is driven by a pulsed voltage, if the sensitivity is set to be suitable when the mud surface hardness is low but the mud surface hardness is low, the planting The part seems to be floating,
Since the side float support load is reduced, raising and lowering of the lifting mechanism
When the mud surface hardness is low but the mud surface hardness is high, setting the sensitivity to a value suitable for the mud surface hardness causes the planting part to tend to sink, and the viscous damping effect on the float appears, resulting in a lifting mechanism. Although the frequency of raising and lowering the number tends to be low, this problem can be solved by the configurations of claim 1 and preliminary claim 1.

[0032]

According to the present invention, the following effects can be obtained.

Since the hardness of the mud surface is judged based on the averaged data of the vertical movement of the planting portion, smooth control can be performed without excessive fluctuation of sensitivity.

Since the vibration of the planting portion is detected and controlled, hunting can be surely suppressed.

Since the vibration of the planting part is detected and controlled, it is possible to prevent not only the hardness of the mud surface but also the vibration of the float when the traveling speed is increased.

Since the acceleration sensor is not in direct contact with the mud surface, there is no erroneous detection due to foreign matter or disturbance of the planting surface due to mud pushing.

By detecting the hardness of the surface of the planting mud and controlling the elevation of the planting section as described above, the sensitivity of the planting depth control can be automatically adjusted, which contributes to planting seedlings of an appropriate depth and saving labor. can do.

[Brief description of drawings]

FIG. 1 is an overall side view of a rice transplanter equipped with a planting part elevation control device according to the present invention.

FIG. 2 is an explanatory diagram showing a configuration of a control unit.

FIG. 3 is a flowchart showing a processing operation of an arithmetic unit.

[Explanation of symbols]

 A Accelerometer B Rice transplanter D Lifting mechanism G Mud surface 1 Running machine 15 Planting section

Claims (2)

[Claims] 1. An elevating mechanism for the traveling machine body (1) of the rice transplanter (B).
An acceleration sensor that detects the vertical acceleration of the planting part (15) on the planting part (15) that is vertically movable via (D).
(A) is attached, the detection value of the acceleration sensor (A) is calculated and the vertical movement level and cycle of the planting part (15) are calculated, and the hardness of the planting mud surface (G) is calculated from the same level and cycle. A planting part elevation control device for a rice transplanter characterized by detecting. 2. A lifting mechanism for the traveling machine body (1) of the rice transplanter (B).
An acceleration sensor that detects the vertical acceleration of the planting part (15) on the planting part (15) that is vertically movable via (D).
(A) is attached, the detection value of the acceleration sensor (A) is arithmetically processed to detect the vertical movement level and cycle of the planting part (15), and the vertical movement level and cycle are moved up and down to be constant. Mechanism (D) An elevation control device for a planting section of a rice transplanter, which is characterized by adjusting the control sensitivity.