JPH07284314A - Lift actuation control unit for planting section of rice transplanter - Google Patents

Abstract

PURPOSE:To provide the subject unit designed to ensure accuracy of detection sensitiv ity to the hardness of mud surface for sensitivity setting in the feedback control of planting depth and to automate the sensitivity setting. CONSTITUTION:Side floats 35L are attached, in a longitudinally tiltable way, to the planting section connected in a vertically movable fashion via a lift mechanism to the traveling machine body of a rice transplanter, and the planting section is equipped with a potentiometer PL to detect the respective longitudinally tilting angles of the side floats 35L. When the quotient obtained by dividing the longitudinally tilting frequency of each of the side floats 35L by the average longitudinal tilt angle thereof on planting mud surface is in an increasing tendency, the sensitivity of the lift mechanism control is regulated to be higher; on the contrary, when the quotient is in a decreasing tendency, the sensitivity is regulated to be lower. The left and right side floats are made up through mutually connecting front and back floats in a mutually revolvable manner, and a potentiometer to detect the relative revolving angle for the front and back floats is placed in between these floats to detect the sinking degree of the front float, and based on this amount, the sensitivity of the lift mechanism control is regulated.

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, the left and right side floats are attached to the planting section connected to the traveling machine body of the rice transplanter via the elevating mechanism so that the left and right side floats can be tilted back and forth, and the left and right side floats are attached to the planting section. A rice planter equipped with left and right potentiometers that detect the front-back tilt angle and adjusting the sensitivity of the lifting mechanism control based on the average angle of the front-back tilt of the left and right side floats detected by the left-right potentiometer and the frequency of the front-back tilt. It is intended to provide a control device for raising and lowering the planting part of the above.

Further, when the quotient obtained by dividing the frequency of the longitudinal tilt by the average angle of the longitudinal tilt is increasing, the sensitivity of the lifting mechanism control is adjusted sensitively, and when the quotient is decreasing, it is adjusted insensitively. That is, the front and rear floats are rotatably connected to each other to form left and right side floats, and a potentiometer for detecting the relative rotation angle of the front and rear floats is attached between the front and rear floats to detect the sinking amount of the front float, It is also characterized in that the sensitivity of the lifting mechanism control is adjusted based on the amount of subsidence.

[0008]

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

FIG. 1 shows a rice transplanter A equipped with a planting part raising / lowering operation control device according to the present invention, in which 1 is a traveling machine body, an engine 2 is mounted on a vehicle body frame 3, and a front part of a mission case 4 is provided. The front wheels 6 are axially supported by the front axle case 5 and the transmission case 4
A rear axle case 7 is connected to the rear of the rear axle case, rear wheels 8 are pivotally supported on the rear axle case 7, and spare seedling mounts 10 are attached to both sides of a hood 9 that covers the engine 2.
The mission case 4 by the body cover 12 through 11
Etc., a driver's seat 13 is placed on the upper part of the vehicle body cover 12, and a steering handle 14 is provided in front of the driver's seat 13 and 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 B. The planting section 15 comprises a seedling table 16 for 6-row planting 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 B 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 speed change lever, 30 is a planting part elevating lever, 31 is an elevation control sensitivity adjusting lever, 32 is a main clutch pedal, 34 is a center float, 35L and 35R are left and right side floats, and 36 is a rolling. It is a bracket that supports the cylinder 37.

In the rice transplanter A, according to the present invention, as shown in FIGS. 2 and 3, a center float 34 is arranged in the lower center of the planting portion 15, and side floats are arranged on both left and right sides thereof.
35L and 35R are installed.

That is, a pitching fulcrum shaft 47 provided on a bracket 46 protruding from the rear upper surface of the center float 34.
In addition, by rotatably connecting the tip of the planting depth adjusting link 39 extending rearward from the planting depth adjusting fulcrum shaft 38 pivotally supported on the planting case 20, the front part of the center float 34 is connected. Supports vertical swing.

Then, a potentiometer-type planting depth sensor 62, which is interlockingly connected to the front upper surface of the center float 34, through a link mechanism 40, causes the center float 34 to move.
The planting depth is detected from the height difference between the front part of the plant and the main body of the planting part 15.

Further, as shown in FIG. 3, a side float
A bracket 46 is projectingly provided on the rear upper surface of the 35L and 35R, and the bracket 46 is rotatably pivotally attached to the rear end of the adjustment link 39 extending rearward from the adjustment fulcrum shaft 38 via a pitching fulcrum shaft 47. There is.

The shaft 42 of the bracket 41 projecting from the front upper surface of the left and right side floats 35L and 35R is interlocked with the left and right potentiometers PL and PR attached to the side frame 44 of the planting section 15 via the sensor link 45. Connect and plant part 15
The hardness of the mud surface G is detected from the height difference between the main body and the front parts of the left and right side floats 35L, 35R, that is, the front and rear inclination of the left and right side floats 35L, 35R.

By operating the planting depth adjusting lever 70 having the base end fixed to the fulcrum shaft 38, the height difference between the rear part of the center float 34 and the left and right side floats 35L, 35R and the main part of the planting part 15, that is, , The planting depth can be set.

FIG. 4 shows the control unit 60, which includes a calculation unit 61.
The planting depth sensor 62 and the left and right potentiometers PL and PR are connected to the input side of the microcomputer, and the solenoid control valve 63 of the lifting hydraulic cylinder 28 is connected to the output side.
Are connected.

The calculation unit 61 sets the sensitivity by referring to the hardness of the mud surface G with the set value of the planting depth as a target, and raises or lowers the electromagnetic control valve 63 based on the detected value of the planting depth sensor 62. By outputting a descending signal, feedback control is performed to keep the planting depth constant.
The sensitivity is set by referring to the average value of the detected values of the left and right potentiometers PL and PR and the frequency of tilting of the left and right side floats 35L and 35R in the front-rear direction.

FIG. 5 shows a sensitivity setting subroutine. First, the detection values of the left and right potentiometers PL, PR and the planting depth sensor 62 are read (90), and these are detected from the detection values of the left and right potentiometers PL, PR. And the frequency of tilting of the left and right side floats 35L and 35R.
(91) Then, divide the frequency of forward and backward tilt by the above average value (9
2) If the quotient is increasing (93Y), the sensitivity of the feedback control is adjusted sensitively (94), and if the quotient is decreasing (93N), it is adjusted insensitively (95).

As described above, the hardness of the mud surface G is calculated from the average angle of the front and rear inclinations of the left and right side floats 35L and 35R and the frequency of the front and rear inclination of the left and right side floats 35L and 35R. Can be accurately detected.

The sensitivity adjustment described above is performed by narrowing (widening) the dead zone width of the raising / lowering control of the planting portion 15 to make the control operation sensitive (insensitive) or by controlling the electromagnetic control valve 63 by the chopper control. To increase (decrease) the duty ratio of to increase (decrease) the operating speed of the elevating mechanism B, or shift the neutral position of the elevating control to the up (down) side to make the down (up) operation sensitive. This is done by making the raising (lowering) operation insensitive.

Further, since the average angle of the front and rear inclinations of the left and right side floats 35L and 35R is on the denominator side when calculating the mud surface hardness, it is possible to prevent the planting depth from being reduced due to the float rising as the traveling speed increases. can do.

As described above, since the sensitivity of the feedback control is automatically adjusted according to the hardness of the planting mud surface, the driver monitors the hardness of the planting mud surface G and plants the planting mud according to the hardness. There is no need to adjust the depth, and even if the hardness of the planting mud surface G changes, planting of seedlings can always be performed at an appropriate depth.

FIG. 6 shows a mud surface hardness detecting device according to another embodiment, in which the left and right side floats 35L and 35R are mounted so as to be tiltable forward and backward, and the left and right side floats 35 described above are attached.
The L and 35R are respectively configured by connecting front and rear floats 35f and 35r so as to be rotatable relative to each other.

That is, the connecting portion 75 is projected on the upper surface of the rear portion of the front float 35f as much as possible, and the connecting rod 76 extending obliquely forward and upward from the upper surface of the rear float 35r is also projected. The connecting rod 76 is rotatably connected to 75, the potentiometer P is attached above the connecting portion 75, and is interlockingly connected to the connecting rod 76, and by detecting the relative rotating angle of the front and rear floats 35f, 35r, The subsidence amount of the float 35f is detected, and the sensitivity adjustment of the planting part elevation control is performed based on the subsidence amount.The rotational angular acceleration of the rear float 35r is detected, and this rotational angular acceleration and the subsidence of the front float 35f are detected. The mud surface hardness is detected from the amount.

With this configuration, the sensitivity of the raising / lowering control of the planting section can be appropriately adjusted, and even if the float floats up due to the influence of the traveling speed and the planting depth changes, the rear float 35r rotates in proportion to this. Since it moves, it is possible to correct the change in planting depth.

Further, since the reaction force from the mud surface is detected by acceleration in a state of nearly no load without using an elastic member such as a strain gauge, the sinking amount of the front float 35f can be accurately detected.

Further, since it is not affected by mud flow and the like, appropriate sensitivity adjustment can be performed, and erroneous detection due to entanglement of foreign matter such as straw waste and disturbance of the planting surface due to mud pushing can be eliminated. To remove the wheel marks, or the rear float
A soil cover plate for fertilizer application can be attached to 35r to cover soil on the mud surface after fertilization.

In the same manner as in the above embodiment, FIG. 7 shows a side float in which front and rear floats 35f and 35r are rotatably connected to each other.
The pressure sensor 80 is attached to the bottom surface of the rear float 35r to detect the pressure on the mud surface.This structure can be used to increase the unevenness of the mud surface, foreign matter and running speed. It is possible to detect the ground pressure of the planting part without being affected by the floating of the front part of the float.

In FIG. 8, an insertion hole 82 is formed in the rear portion of the float 81, and a pivotal support portion 83 is erected on the upper surface of the rear portion, and the pivotal support portion 83 is inserted into the upper portion of the pivotal support portion 83 while inclining forward and rearward and low. The detection rod 85 with the weight 84 attached to the lower end through the hole 82 is pivotally attached to the middle of the detection rod 85 so that it can be tilted back and forth, and the upper end of the detection rod 85 and the upper end of the sensor rod 87 with the sensor float 86 attached to the lower end. Is rotatably pivoted via a potentiometer P, the angle between the detection rod 85 and the sensor rod 87 is detected, and the sinking amount of the weight 84 sliding on the cultivator K is detected. The hardness of the mud surface is detected. Since the pivot 83, the detection rod 85, the potentiometer P, etc. are on the rear upper surface of the float 81, the foreign matter is caught by these and interferes with the hardness detection. Can be prevented. Further, the weight 84 is prevented from being lifted by foreign matters, and the detection accuracy is improved.

[0033]

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

Left and right side floats are attached to the planting unit that is connected to the traveling body of the rice transplanter so as to be able to move up and down via a lifting mechanism so that the left and right side floats can be tilted back and forth, and the planting unit 15 is provided with a left and right potentiometer that detects the tilting angle of the left and right side floats. Provide the reaction force from the mud surface from the average angle of the front and back inclination on the planting mud surface of the left and right side floats, and calculate the hardness of the mud surface from the reaction force and the frequency of tilting back and forth. By adjusting the sensitivity of the lifting mechanism control in proportion to the hardness, the hardness of the mud surface can be accurately detected.

By adjusting the sensitivity of the lifting mechanism control to be sensitive when the quotient obtained by dividing the frequency of the front-rear tilt by the average angle of the front-rear tilt is increasing, and to be insensitive when the quotient is decreasing. In addition, it is possible to prevent the planting depth from being reduced due to the float floating as the traveling speed increases.

As described above, since the sensitivity of the lifting mechanism is automatically adjusted according to the hardness of the planting mud surface, the driver monitors the hardness of the planting mud surface and determines the planting depth according to the hardness. There is no need to adjust the height, and even if the hardness of the surface of the planting mud fluctuates, seedlings can always be planted at an appropriate depth.

Further, the front and rear floats are rotatably connected to each other to form left and right side floats, and a potentiometer for detecting the relative rotation angle of the front and rear floats is attached between the front and rear floats to adjust the sinking amount of the front float. By detecting and adjusting the sensitivity of the lifting mechanism control based on this amount of subsidence, the sensitivity of the raising / lowering control of the planting part can be adjusted appropriately, and the float floats and the planting depth changes due to the influence of running speed. However, since the rear float rotates in proportion to this, the change in the planting depth can be corrected. Further, since the reaction force from the mud surface is detected by acceleration in a state of almost no load without using an elastic member such as a strain gauge, the subsidence amount of the front float can be accurately detected.

[Brief description of drawings]

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

FIG. 2 is a plan view showing an arrangement of a center and a side float.

FIG. 3 is a side view of a side float.

FIG. 4 is an explanatory diagram showing a configuration of a control unit.

FIG. 5 is a flowchart showing a processing operation of an arithmetic unit.

FIG. 6 is a side view of a side float of another embodiment.

FIG. 7 is a side view of a side float of another embodiment.

FIG. 8 is a side view of a side float of another embodiment.

[Explanation of symbols]

 A Rice transplanter B Lifting mechanism P Potentiometer PL Left potentiometer PR Right potentiometer 1 Traveling machine 15 Planting part 35L Left side float 35R Right side float 35f Front float 35r Rear float

Claims (3)

[Claims] 1. A lifting mechanism for a traveling machine body (1) of a rice transplanter (A).
Attach the left and right side floats (35L) (35R) to the planting part (15) that is vertically movable via (B) so that they can be tilted back and forth, and attach the left and right side floats (35L) (35R) to the planting part (15). Left and right potentiometer (PL) (PR) that detects the tilt angle
By adjusting the right and left side floats (35L) and (35R) detected by the left and right potentiometers (PL) (PR), the average angle of the front and rear tilts and the frequency of the front and rear tilts are used to adjust the sensitivity of the lifting mechanism (B) control. A planting part elevation control device for a rice transplanter, which is characterized in that 2. An elevating mechanism for the traveling machine body (1) of the rice transplanter (A).
Attach the left and right side floats (35L) (35R) to the planting part (15) that is vertically movable via (B) so that they can be tilted back and forth, and attach the left and right side floats (35L) (35R) to the planting part (15). Left and right potentiometer (PL) (PR) that detects the tilt angle
, The quotient obtained by dividing the frequency of back-and-forth tilt by the average angle of front-and-back tilt on the planting mud surface of the left and right side floats (35L) (35R) increases the sensitivity of the lifting mechanism (B) control when it increases. A planting part raising / lowering operation control device for a rice transplanter, which is sensitively adjusted when the above quotient tends to decrease. 3. An elevating mechanism for the traveling machine body (1) of the rice transplanter (A).
Left and right side floats (35L) (35R) are attached to the planting part (15) that is vertically movable via (B) so that they can be tilted back and forth, and the front and back floats (35f) (35r) are rotated relative to each other. The left and right side floats (35L) (35R) are freely connected to form the front and rear floats (35f) (35r).
f) Potentiometer that detects the relative rotation angle of (35r)
(P) is attached, the subsidence amount of the front float (35f) is detected, and the sensitivity of the lifting mechanism (B) control is adjusted based on this subsidence amount. apparatus.