JPH07298731A - Rice transplanter lifting control device for riding type rice transplanter - Google Patents

Abstract

(57) [Summary] (Correction) [Purpose] When the lift control sensor fails, it can be easily repaired. [Structure] Central terrain float 34 for pitching operation
A memory which transmits an electric signal from the potentiometer Po1 proportional to the height of vertical movement of the controller to the controller and stores the electric signal in the controller based on the signal received by the controller. The vertical output command signal of the rice transplanting device is calculated from the above, and the elevation control means for controlling the elevation of the rice transplanting device by the command signal is provided, and the height of the vertical movement of the central part grounding float 34 is adjusted to the appropriate planting. An upper / lower limit detection sensor for detecting the deviation limit point on the ascending side and the deviation limit point on the descending side from the range is provided, and at least two types of lifting control that enable the rice transplanter to be lifted / lowered by a signal from the limit detection sensor. In the riding-type rice transplanter, which is characterized in that the rice transplanter is configured to be capable of raising and lowering control by a signal, and the rice transplanter is controlled to be raised and lowered by a signal on one side that prioritizes or selects these signals. Planting machine elevator control device.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a rice transplanter lifting control device for a riding type rice transplanter in which a rice transplanter is mounted on a passenger car body.

[0002]

2. Description of the Related Art Conventionally, as disclosed in Japanese Patent Application Laid-Open No. 60-203103, a rice transplanter is mounted on the rear rear side of a traveling vehicle so that the rice transplanter can be moved up and down, and its lifting operation mechanism is located at the center of the left and right sides. It is well known that the up-and-down movement of the soil leveling float is electrically detected, and the rice planter is controlled up and down by operating by the detection signal. In this known technique, the detection signal is a signal indicating that the switch is ON and the switch is OFF, and is control means for performing control when the float moves up and down in a deviated range from the integrated range. It was

In addition to this embodiment, the vertical movement of the float is continuously sent to the microcomputer side by a potentiometer, and the microcomputer side calculates an electric signal as a control output signal. There was also something to control the elevation.
However, there has been no control device that has both of them.

[0004]

In the above-mentioned prior art, since the control signal for raising and lowering the rice transplanter is in a single signal form, if this signal unexpectedly becomes impossible, the control becomes impossible. However, there was a drawback that the work could not be done unless the rice planting work was stopped in the field and repaired. Also, it is conceivable to stop the electric signal form and perform switching repair to one that directly operates the hydraulic switching valve for raising and lowering the rice transplanter mechanically. Since the configuration is completely different from the control mode, there is a drawback that complicated switching repair is performed.

[0005]

The present invention takes the following technical means in order to solve the above-mentioned problems. That is, in the rear part of the riding type traveling vehicle body 1, a central part grounding float 34 that slides on the surface soil surface of a paddy field on the lower side and a pair of left and right side grounding flows that are provided on the left and right sides with a predetermined interval. A rice transplanter 21 equipped with a grate 35 is mounted via an interlocking mechanism capable of pitching and rolling, and this pitching operation is controlled by a signal generated by the vertical movement of the central portion grounding float 34, while Operate the ring with the left and right side ground flow
In which the vertical movement of the pitch 35 is controlled by a signal, the height of the vertical movement of the central part grounding float 34 for pitching operation is transmitted to the controller by an electric signal proportional to the movement height. Based on the signal received by the controller, an up / down control means for calculating the up / down output command signal of the rice transplanting device 21 from the memory stored in the controller, and performing the up / down control of the rice transplanting device 21 by the command signal. And a vertical limit detection sensor-S for detecting the height of vertical movement of the central part grounding float 34 from the proper planting range to the deviation limit point on the ascending side and the deviation limit point on the descending side, The signal from this limit detection sensor-S enables the rice transplanter to move up and down. The rice transplanter can be controlled to move up and down by at least two types of lifting control signals, and these signals are prioritized or selected. It was rice transplanter elevator control device in riding rice transplanter, characterized by elevation control the planting device 21 by the side of the signal.

[0006]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS 1 is a passenger-type traveling vehicle body, and a front mission case 3 is provided in front of a frame 2 extending in the front-rear direction.
The front wheels 5 and 5 are axially mounted on the left and right ends of the front transmission case 3 via front wheel drive cases 4 that extend downward, and the front wheels 5 and 5 are steerable. Also,
An engine 6 is mounted on the front and rear intermediate portions of the frame 2. A rear mission case 7 is fixed to the rear end of the frame 2, and the rear mission case 7 is fixed.
The rear wheels 9 and 9 are mounted via the rear wheel transmission cases 8 and 8. Reference numeral 10 is a control frame, and a control handle 11 is provided above the control frame.
Are equipped with. Reference numeral 12 is a cover for covering the engine 6, and a control seat 13 is arranged above the cover. 14
Is an operation lever, which is a common type lever that can operate switching of a power transmission clutch on the working machine side and a hydraulic switching valve of a hydraulic device, which will be described later. Reference numeral 15 indicates a boarding floor. 1
Reference numeral 6 designates a column vertically provided at the rear portion of the vehicle body.

Reference numeral 17 is a link mechanism, in which the base side of the upper link rod 17a and the lower link rod 17b are pivotally attached to the support column 16, and the tip end side thereof is pivotally connected by a vertical link 17c equipped with a hitch 18. Reference numeral 19 is a hydraulic cylinder device, which is a cylinder-body 1
The frame 9a is pivotally connected to the frame 2 and is interlockingly connected to the piston 19b and the upper link 17a. The protrusion of the piston 19b causes the link mechanism 17 to rotate upward and the retract to rotate downward. .

A rice transplanter 21 is provided between the hitch 18 and the vertical link 17c side of the link mechanism 17, and the rolling shaft 2 is provided.
The rice planting device 21 side is mounted so that it can be freely rolled to the left and right. And this rice transplanter 21
The rolling shaft 22 that rotates is rotatably inserted in a rolling metal 22a that is integral with the vertical link 17c. Then, the left and right central portions of a transmission case, which also serves as a frame of a rice transplanter 21, which will be described later, are attached to the rolling shaft 22 so that the rice transplanter 21 can be rolled left and right. . Further, a stepping motor 24, which rotates forward and backward through a step 23, is provided above the vertical link 17c.
Is provided, and a piston rod 25 that moves to the left and right sides by the forward and reverse rotation of the motor 24 is provided. And
The piston rod 25 and the projecting frame 20 integral with the rice transplanter 21 are connected via a spring 26, and the rolling of the rice transplanter 21 is controlled by the lateral projection of the piston rod 25. .

The rice planting device 21 will be briefly described. The front side of the transmission case 27 which also serves as a frame is fixed to the rolling shaft 22 so as to be freely rollable with respect to the link mechanism. . A seedling supply table 28 is mounted on the upper side of the transmission case 27 so as to be movable laterally laterally, and behind the transmission case 27, behind the planting section transmission case 29 which extends rearward at right and left at predetermined intervals. The planting device 30 is attached to the side.

The planting device 30 is constructed so that a seedling planting tool 33, in which a seedling planting claw 32 is attached to a rotating case 31, is rotated, and the seedling planting claw 32 is used for the seedling planting base 28. The planting locus is drawn in the vertical direction so that the seedlings can be separated and held from the side and transplanted to the lower field scene. Reference numeral 34 is a central grounding float, and 35 is a side grounding float, which are arranged below the transmission case 27 and the planting section transmission case 29 with a predetermined left and right space. ing. The rear sides of these floats 34, 35 are attached to the transmission case 29 side as follows. That is, a cylindrical shaft 37 that is fixed to the transmission case 29 and is rotatable around a shaft 36 that protrudes in the lateral direction is provided, and an arm 38 that extends rearward and downward is fixed to the cylindrical shaft 37. A rear part of the float 34 and the floats 35, 35 is attached to the arm 38 via a lateral pin 39 so that the front side can be pivoted up and down. And
The front sides of the left and right side surface grounding floats 35a and 35b are
A potentiometer PO mounted on a horizontal shaft 41 extending laterally from a projection rod 40 fixed to the transmission case 27.
2, PO3 input arms 42a and 42b are interlocked with each other via a rod 43, and the left and right side grounding floats 35a,
The vertical movement change of 35b is detected by the potential.

A controller 44 receives signals from potentiometers PO2 and PO3 for detecting vertical movement changes of the left and right grounding floats 35a and 35b, and compares the magnitudes of these signals. , The output signal based on the compared difference is transmitted, and thereby the stepping motor 24 for the rolling operation is rotated forward and backward based on the signal so that the rice transplanting device 21 is not tilted left and right. It is configured to perform rolling control.

On the other hand, the front side of the central grounding float 34 is
As shown in the embodiment of FIG. 2, the input arm 45 fixed to the shaft 47 of the potentiometer PO1 mounted on the projection rod 40 is connected through the rod 46 to the front side of the central grounding float 34. The electric signal from the potentiometer PO1 which fluctuates depending on the height of vertical movement of the controller is sent to the controller 44, and the hydraulic cylinder device 19 is controlled by a signal transmitted from the controller 44 in response to this signal. The solenoid type hydraulic switching valve 48 is configured to be switched. That is, the switching speed of the hydraulic pressure switching valve 48 is changed according to the magnitude of the transmitted signal so that the ascending / descending speed on the rice transplanter 21 side is variable. More specifically, when the float 34 largely moves out of the proper range and moves upward or downward, it is quickly raised or lowered. Incidentally, the switching operation of the hydraulic pressure switching valve 48 may be switched by a piston by a stepping motor capable of rotating in the forward and reverse directions in addition to the means for switching by the variable solenoid. Also, supply operating oil from the hydraulic pump to the hydraulic cylinder-19a side,
Instead, the lifting / lowering speed control of the rice transplanting device 21 as a working machine may be executed by controlling the switching of the hydraulic pressure switching valve 48 by pulse control or on-time control. That is, the output signal from the controller 44 may be a pulse signal or an on-time signal (a control signal for changing the on / off time).

A cam body 49 for turning the switch on and off is attached to the potentiometer shaft 47 which is rotated by the input arm 45, and the cam body 49 rotates so that the upper limit of the float is reached. The switch SW1 and the lower limit switch SW2 are configured to be turned on. This cam body 4
Upper and lower limit detection sensor with 9 and switches SW1 and SW2
Constitutes S. That is, when the central portion grounding float 34 deviates from the rotation range L of the cam body 49, which is an appropriate vertical range for seedling planting work, and the float 34 moves upward, the upper operation limit switch SW1 turns on, On the contrary, when the float 34 moves downward beyond the rotation range L, the lower operation limit switch SW
2 is turned on. Then, the signals from the switches SW1 and SW2 are switched so as to directly switch the solenoid of the hydraulic pressure switching valve 48 to raise the rice transplanter 21 when the switch SW1 is turned on, and are lowered when the switch SW2 is turned on. It is configured to do.

The signal from each of the switches SW1 and SW2 is constructed so that it is not used as a control signal on the solenoid side under normal conditions by the main switch SW3. Further, the signals from the switches SW1 and SW2 are sent to the controller 44, and the potentiometer PO
When the signal from the 1 side is not sent to the controller side, the automatic priority control is configured so that the lifting control is performed by the signal from the switches SW1 and SW2 side for the first time.

The manual operation lever 14 is configured to preferentially switch the switching solenoids SL1 and SL2 of the hydraulic pressure switching valve 48, and the rice transplanter 21 is raised by the operation on the operating lever side. In this case, the control signals from the controller 44 and the switches SW1 and SW2 are not transmitted. Therefore, even when the front side of the float 34 is moved downward while the rice transplanting device 21 is being raised by the manual operation lever 14, the signal for lowering the rice transplanting device 21 is not generated.

The hydraulic pressure switching valve 48 may be mounted at an appropriate position on the traveling vehicle body 1 side or the rice transplanting device 21 side, and in short, it controls the operation of the hydraulic cylinder device 19. The operation of the configuration of the above example will be described. During rice planting work,
When the depth of the paddy field fluctuates and the height of the traveling vehicle body 1 side from the topsoil changes, it is attached to the lower part of the rice transplanter 21 side that is mounted via the lifting link mechanism 17 operated by the hydraulic cylinder device 19. The ground pressure of each ground float 34, 35, 35 changes, and the front side of each ground float 34, 35a, 35b moves up and down due to this ground pressure change.

Therefore, the potentiometers PO1, PO2, PO3 linked to the respective floats output a potential according to the vertical operating height of the float, which is transmitted to the controller 44. . The electric signals sent in the controller 44 are compared and arithmetically processed, and the control signal is sent to the control signal of the stepping motor 24 and the solenoids SOL1 and SOL2 of the electromagnetic hydraulic switching valve 48.

That is, the left and right side ground contact floats 35a,
When there is a difference in the magnitude of the signals of the potentiometers PO2 and PO3 linked to 35b, this detects the state in which the rice transplanter 21 is being propelled while leaning to the left and right. In such a case, the output signal from the controller 44 causes the stepping motor 24 to rotate on the forward rotation side or the reverse rotation side according to the signal, and the rice transplanter 21 is controlled to roll.

When the front side of the central grounding float 34 moves up and down due to a change in the padding pressure due to a change in the depth of the paddy field, the potentiometer PO1 interlocked with this changes the change electrically.
The signal is sent to the controller 44. Therefore, the rice transplanter 21 side is controlled so as to perform pitching control at an appropriate ascending / descending speed from the reference value of the control data stored in the controller 44. A signal is sent to the solenoids SOL1 and SOL2 of the electromagnetic hydraulic switching valve 48 to control the operation of the hydraulic cylinder device 19.

That is, when the cultivator of the paddy field becomes deeper, the rice transplanter 2
1 is raised, and conversely, it is lowered when it becomes shallow. In this way, the ground pressure of the central grounding float 34 is maintained in a state suitable for seedling planting work. Thus, normally,
Pitching control of the rice planting device 21 is performed based on the electric signal from the potentiometer PO1, and the raising / lowering control with high seedling planting precision is executed by the highly precise control considering the ascending / descending speed.

However, when the potentiometer PO1 fails, this control is no longer performed and generally work must be stopped and repaired. However, in such a case, the axis 4 of this potentiometer PO1
The electric circuit on the side of the switches SW1 and SW2 which is turned on and off by the cam body 49 attached to the main switch S
When closed by W3, when the central grounding float 34 deviates from a height within a certain range suitable for seedling planting work, the switch SW1 or SW2 is turned on and the solenoids SOL1 and SOL2 of the electromagnetic hydraulic switching valve 48 are turned on. Is directly switched to control the operation of the hydraulic cylinder device 19.
Therefore, even if the potentiometer PO1 fails, the work can be continued without being interrupted.

Further, as shown in the electric circuit of the embodiment of FIG. 5, electric signals from the switches SW1 and SW2 are sent to the controller 44, and the priority circuit function in the controller 44 causes the potentiometer to operate. If the signal from the controller PO1 is not sent or an abnormal signal is sent, the potentiometer PO1 judges that it is abnormal and automatically controls by the signals of the switches SW1 and SW2. It is designed to switch. Therefore, in this embodiment, it is not necessary to switch the main switch SW3, which is convenient.

In the embodiment shown in FIGS. 6 and 7, switches SW1 and SW2 and the cam body 49a are provided in a hermetically sealed case 50 containing a potentiometer PO1. , This cam body 49 with potentiometer shaft 4
7a is connected by arms 54a and 54b which are interlocked with a pin 53, and the cam shaft 51 is operated by the input arm 45. 52 is an O-ring, and 55 is a mounting substrate for the potentiometer PO1.

According to the structure of this embodiment, the waterproof property is maintained and the failure is less likely to occur, and the interlocking with the float 34 is facilitated to facilitate the assembling. The embodiment shown in FIG. 8 may be controlled by the comparator 56 and the relays R1 and R2 excited by the comparator instead of the signals from the switches SW1 and SW2. That is, when the potentiometer PO1 is damaged, the changeover switches (a), (b), and (c) are switched to switch between the voltage from the microcomputer side and the preset reference voltages m and n on the input side. The configuration is such that elevation control is performed based on the comparison signal. With this configuration, it is not necessary to provide a special switch, and the work can be continued even if the potentiometer fails. The reference voltages m and n are generally the same,
By making a difference, it is possible to change the control sensitivity between rising and falling. Further, by providing the technical means for changing the reference voltage by the dial so that the operator can change and adjust it, the control sensitivity can be adjusted and the seedling planting accuracy can be improved.

FIG. 10 is provided with a sensor 57 for detecting a working state in which the float side is grounded, and a vehicle speed sensor 58 for detecting the traveling speed, and the output signal ON / OFF time can be controlled. The pulse control signal output means 59 is incorporated in the controller 44, and a sensitivity adjusting mechanism for varying the speed of the elevation control is provided. Then, when the vehicle speed is zero (stopped state) and extremely low speed, the raising / lowering control speed is set to the low speed side (insensitive), and the standard control is performed in the normal planting speed state. This makes it possible to prevent hunting (vertical vibration) for lifting control during low-speed work and when stopped.

The embodiment shown in FIG. 11 has a hardness measuring sensor 60 for measuring the hardness of the surface soil of paddy field mounted on the float side in the means in the control circuit shown in FIG. When the topsoil surface is hard, the float is pressed against the topsoil surface to control the sensitivity insensitive side. Conversely, when the topsoil surface is soft, the floats tend to float from the topsoil surface. It is configured to be side-controlled. In a vehicle having such a structure, the vehicle speed sensor-5
When 8 is detecting the stopped state, the signal from the hardness measuring sensor-60 is cut off. As a result, lifting / lowering hunting of the working machine when stopped can be prevented.

[0027]

According to the present invention, when controlling the pitching of the rice transplanting device 21 by a signal due to the vertical movement of the central grounding float 34, it is based on an electric signal corresponding to the vertical operating height. Pitching control can be performed by a highly accurate output signal calculated in the controller 44, and if the signal to the controller side is interrupted due to an unforeseen situation, the central part grounding float 3
The vertical movement height of 4 is provided with a vertical limit detection sensor-S for detecting the deviation limit point on the rising side and the deviation limit point on the falling side from the proper planting range. The rice transplanter can be controlled to move up and down. The rice transplanter can be controlled to move up and down by at least two kinds of lifting control signals, and the rice transplanter 21 can be controlled to move up and down by a signal on one side that prioritizes or selects these signals. Rice planting machine lifting control device for a characteristic riding type rice transplanter

[Brief description of drawings]

1] Side view

FIG. 2 is a side view of the main part.

FIG. 3 is a back cross-sectional view of the main part

FIG. 4 is a control circuit diagram

FIG. 5 is a control circuit diagram of another example.

FIG. 6 is a front sectional view showing the structure of a sensor.

FIG. 7 is a side view in which FIG. 6 is partially broken.

FIG. 8 is a control circuit diagram of another example.

FIG. 9 is a control circuit diagram of another example.

FIG. 10 is a control circuit diagram of another example.

FIG. 11 is a control circuit diagram of another example.

[Explanation of symbols]

 1 traveling vehicle 21 rice transplanter 34 central grounding float 35 side grounding float 44 controller PO1 potentiometer S limit detection sensor

Claims (1)

[Claims] 1. A central grounding float 34 that slides on the rear surface of the riding type vehicle body 1 on the surface soil surface of a paddy field on the lower side.
And a rice planting device 21 equipped with a pair of left and right side grounding floats 35 at predetermined intervals on the left and right sides thereof is mounted via a linkage mechanism capable of pitching and rolling, and this pitching operation is performed at the center. In the one in which the rolling operation is controlled by a vertical movement signal of the partial grounding float 34, while the rolling operation is controlled by a vertical movement signal of the left and right side grounding floats 35, a central portion for the pitching operation is provided. An electric signal proportional to the height of vertical movement of the leveling float 34 was transmitted to the controller, and stored in the controller based on the signal received by the controller. Calculate the rice output device 21 up and down output command signal from the memory,
Elevating control means is provided for controlling the rice transplanting device 21 to elevate and lower in response to the command signal, and the height of the vertical movement of the central part grounding float 34 is set to a deviation limit point on the ascending side from the proper planting range and a descending side. Upper and lower limit detection sensor for detecting deviation limit points
S is provided, and the rice transplanter can be controlled to move up and down by the signal from the limit detection sensor-S. The rice transplanter can be controlled to move up and down by at least two kinds of lifting control signals, and these signals are given priority or selected. A rice transplanter lifting control device for a riding type rice transplanter, wherein the rice transplanter 21 is controlled to move up and down by a signal from one side.