JPH0742261Y2 - Water level detector for rice transplanter - Google Patents

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a water level detection device for a rice transplanter, which detects the water depth state of a planted rice field by the vertical movement amount of a float type water level sensor.

"Prior Art" In mounting this kind of water level sensor, there is a means which is provided at the rear position of the center float or the side float so as to avoid the influence of water flow as much as possible.

"Problems to be solved by the device" However, in the means that corrects the vegetation depth based on changes in the running speed and water level, the higher the running speed, the deeper the water depth (water level). The higher the water level is, the deeper the vegetation depth needs to be corrected, and the conventional water level sensor cannot be properly applied to the means for correcting the vegetation depth.

[Means for Solving Problems] Accordingly, the present invention provides a structure in which a center float is provided substantially at the center of a planting part to be mounted behind a traveling vehicle body, and side floats are provided on both left and right sides of the center float. A float type water level sensor for detecting the water depth of a field is arranged at a water flow position sandwiched between the center float and the side float.

[Operation] According to the present invention, by providing the water level sensor at the water flow position sandwiched between the center float and the side float, the water level becomes higher due to the water flow than the other parts, and the presence or absence of water is detected. It becomes possible to detect by expanding the (water level), and it is possible to perform vegetation depth correction by responding sensitively to changes in running speed and water level, and to enable highly precise constant control of vegetation depth.

[Embodiment] An embodiment of the present invention will be described below in detail with reference to the drawings. First
Fig. 2 is a plan view of the hardness and horizontal sensor section. Fig. 2 is a side view of the riding rice transplanter. Fig. 3 is the same plan view.
Is a traveling vehicle on which an operator rides. The rear end of the vehicle body frame (3) carrying the engine (2) is continuously connected to the mission case (4), and front axle cases ( The front wheels (6) for traveling paddy fields are supported via 5), and the rear wheels (8) for traveling paddy fields are supported on both rear sides of the mission case (4) via rear axle cases (7). Then, a spare seedling mounting table (10) is appropriately attached to both outer sides of the bonnet (9) covering the engine (2), and the axle case (5) is formed by a vehicle body cover (12) forming a step (11).
(7) etc. are covered, a driver's seat (13) is attached to the upper part 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 bonnet (9).

Further, in the figure, (15) is a planting section having a seedling platform (16) for multi-row planting and a plurality of planting claws (17), etc. The platform (16) is supported by the planting case (20) via the guide rail (18) and the guide rail (19) so as to be slidable left and right, and the rotary case (21) that rotates in one direction at a constant speed is provided. A pair of claw cases (22) and (22) are supported at the planted case (20), and a pair of claw cases (22) and (22) are arranged symmetrically around the rotation axis of the case (21).
2) Mount the planting claws (17) (17) on the tip. Further, a support frame (24) is provided on the front side of the planting case (20) via a rotation fulcrum shaft (23), and a three-point link mechanism (27) including a top link (25) and a lower link (26) is provided. A supporting frame (24) is connected to the rear side of the traveling vehicle (1) via the linking mechanism (27), and a lifting cylinder (28) for lifting and lowering the planting part (15) is provided. ) (8) is driven to move at a substantially constant speed, and at the same time, two planting claws (17) (17) (17) (17) by one rotation of the rotary case (21) from the seedling table (16) that slides back and forth to the left and right. ), Two seedlings are taken out and the seedlings are continuously planted.

Further, in the figure, (29) is a traveling shift lever, (30) is a planting lever, (31) is a planting sensitivity adjusting lever, (32) is a traveling clutch pedal, and (33) and (33) are left and right brake pedals.

As shown in FIGS. 4 to 5, a center float (34), which is a float sensor, is located in the lower center of the planting part (15).
In addition, the side floats (35) (35) are arranged on both the left and right sides, and the rear part of the left and right side floats (35) (35) is planted with a planting depth adjusting link (36). 2
0) The planting case (20) is supported by the planting depth adjustment fulcrum shaft (37) on the lower side and the front part is provided with a buffer link (38).
Supports the lower side. Further, the center float (34) has two planting depth adjusting links (36) (3
6), and the left and right sides of the front part are supported by two sensor links (39) and left side links (40) to form a four-point support structure. The front part of the center float (34) is A pitching fulcrum shaft (41) that swings up and down is provided on a bracket (42) on the upper rear surface of the float (34). Then, the planting depth adjusting fulcrum shaft (37) is rotatably supported on the planting case (20), and the planting depth adjusting link (36) having a base end fixedly mounted on the adjusting fulcrum shaft (37). (36) The tip end is connected to the pitching fulcrum shaft (41), while the output link (44) is rotatably supported by the support shaft (43) of the planting case (20) and its output link ( 44) The front end of the detection arm (46) is connected to the rear end via a coupling pin (45), and the base end of the detection arm (46) is fixed to the adjustment fulcrum shaft (37), and the output link (44 ) Pins on tip (47)
The sensor wire (48) which is an inner wire is connected via. Further, the sensor link (39) which is an outer receiving arm for detecting a change in the support angle of the float (34) due to vertical swinging of the front side of the center float (34) about the pitching fulcrum shaft (41) is attached to the bracket (49). ) And pin (5
The outer wire (51), which is supported on the upper surface of the front part of the float (34) through (0) and into which the sensor wire (inner wire) (48) is inserted, is fixed to the sensor link (39).

Furthermore, a hydraulic switching valve (52) for supplying hydraulic pressure from a hydraulic pump to the hydraulic cylinder (28) is provided, and the switching valve (52)
The sensor wire (inner wire) (48) is connected to one end of a switching cam (54) for abutting the middle of the spool (53), and the other end of the cam (54) is fixed to the machine body side fixed support shaft (55). ), And a spring (56) for separating the switching cam (54) from the spool (53) is provided between the other end extension of the cam (54) and the rear vertical frame (3a) of the vehicle body frame (3). And a spring pressure adjusting member (56a). Further, the base end of the sensitivity adjusting lever (31) is rotatably supported inside the vehicle body cover (12) in which the switching valve (52) and the like are installed via the implantation depth fulcrum shaft (57). ), The sensor wire (inner wire) is attached to the sensitivity adjusting arm (58) that pivotally supports the base end.
(48) is connected, and the adjustment arm (58) is interlockingly connected to the switching cam (54) via a link (59),
By operating the lever (31) around the lever shaft (60), the adjustment arm (58) is rotated while the switching cam (54) and the link (59) are held at the neutral position, and the sensor link (39) is moved. The sensitivity of the center float (34) is adjusted by changing the amount of protrusion of the sensor wire (48) and changing the standard posture of the center float (34) according to the hardness of the paddy field, etc., while the float (34) is changed based on the change in planting depth. When the ground pressure of the sensor changes and the front part of the float (34) moves up and down, the sensor wire (4
8) and the switching cam (54) are used to appropriately operate the switching valve (52) to control the raising and lowering of the planting portion (15) to maintain a constant planting depth.

Further, as shown in FIG. 9, the lever shaft (60) rotatably supports a lever guide disk (62) having a large-diameter gear (61) fixed thereto, and a sensitivity motor which is a sensitivity adjusting element. The gear (61) is coupled to a small-diameter gear (64) which is rotated by the (63), and the engaging piece (6) of the adjusting lever (31) is connected.
5) Spring (66) in the sensitivity adjustment groove (62a) of the disc (62)
When engaging by force, the motor (63) is driven to rotate integrally with the disc (62) to adjust the reference sensitivity position.

As shown in FIGS. 6 to 8, the support frame (24)
Left and right rolling restriction springs (69) (69) are installed between the central vertical frame (67) integrally connected to the upper end of the seedling and the seedling mounting columns (68) (68) that support the left and right sides of the seedling mounting table (16). A horizontal feed screw shaft (71) is internally provided in the upper fixed box (70) of the vertical frame (67), and the screw shaft (71) has a rolling motor (72) as a horizontal control drive element. In addition to interlocking, the moving body (73) to be coupled to the screw shaft (71) is attached with the spring pressure adjusting plate (74) via the fixing plate (73a),
The adjustment plate (74) and the upper fittings (7) for the columns (68).
A regulating spring (69) is stretched between 5) so that the rolling pressure generated by lateral feeding of the seedling table (16) during work is regulated, while the lateral inclination of the planting part (15) is controlled. In some cases, the rolling motor (72) is driven forward and backward to control the spring force of the left and right regulating springs (69) in an unbalanced state so that the planting part (15) is maintained horizontally. There is.

In addition, (76) is an auxiliary spring for rolling regulation which is stretched between the left and right sides of the box (70) and the seedling stand (16), and (77) is a rolling detection provided at a central upper position of the planting case (20). Horizontal sensor for.

As shown in FIG. 10, the planting depth adjusting lever (78) for setting the reference planting depth, which has the base end fixed to the fulcrum shaft (37), is appropriately driven and controlled by the planting depth motor (79). I did it,
The motor (79) is provided on the motor mount (80) of the planting case (20), and the lever (78) is provided in the feed groove (81a) of the spiral member (81) connected to the motor shaft of the motor (79). ) Of the motor (79).
The standard planting depth set by the adjusting lever (78) is adjusted by the forward and reverse drive of the, and the planting depth position by the lever (78) is set to the lateral pipe (83) of the planting case (20). A plant depth feedback sensor (8
It is configured to detect by 5).

As shown in FIGS. 11 to 13, a sensor box (87) fixed to the lateral pipe (83) via a support member (86) is provided with a hardness sensor (88) for detecting the surface hardness of the field and a water depth. With a float type water level sensor (89) to detect,
The hardness sensor (88) is a fulcrum shaft (90) of the box (87).
The surface level of the field is detected by detecting the amount of subsidence, which is the vertical displacement of the grounding wheel (92) supported by the arm (91), by the potentiometer (93), while the water level sensor (89) The potentiometer (96) detects the vertical displacement of the sensor float (95) supported by the box (87) via the front and rear arms (94) to detect the water depth.

The hardness sensor (88) is provided with a center float (34).
The rear side of the planting part (15) is located near the left-right center of the planting part (15), behind the center float (34), and in front of the rear ends of the left and right side floats (35) by a dimension (A). ) Of the side float (35) and the dimension (A) in front of the rear end of the side float (35), the hardness sensor (88) can be installed on the ridgeline when the vehicle is moving backward or turning. It is configured so that it will not come into contact and will not be damaged.

The water level sensor (89) has a sensor float (95) disposed slightly behind the position of the smallest water flow (B) sandwiched between the center float (34) and the right side float (35), and By detecting the state in which the water level at the position B) is higher than the other parts due to the flow of water, the presence or absence of water (water level) can be expanded to perform detection. In other words, the higher the traveling speed of the aircraft, the greater the water flow flowing between these floats (34) (35). In this case, the higher the traveling speed and the higher the water level, the deeper the planting depth must be corrected. It is provided so as to appropriately cope with this, and is configured to perform accurate vegetation depth correction in accordance with traveling speed and water depth by expanding and detecting the water level.

As shown in FIG. 14, an implant depth control circuit (drive depth control circuit for driving and controlling the implant depth motor (79), the sensitivity motor (63) and the rolling motor (72) via relay circuits (97) (98) (99), respectively ( Equipped with an automatic switch (101),
Off (contact open) when the automatic lamp (102) and the planting lever (30) are in the planting work position (planting clutch "ON").
Lever switch with normally closed plant (103) and flat contact (1
04a) and an automatic sensitivity switch (104) having an automatic contact point (104b), a vehicle speed sensor (105) provided in the mission case (4) to detect a traveling speed, the horizontal sensor (77), and a reference plant. Sensitivity of the plant depth setting device (106) for manually setting the depth, the water level sensor (89), the hardness sensor (88), the plant depth feedback sensor (85), and the sensitivity adjusting lever (31). The sensitivity feedback sensor (107) for detecting the position and the left and right rolling control prohibition switches (108, 109) for detecting the left and right movement end positions of the seedling stand (16) are connected to the control circuit (100) by input. The motors (63) (72) (79) are driven and controlled.

This embodiment is constructed as described above, and this operation will be described step by step with reference to the flow chart of FIG.

(1) When the automatic switch (101) is turned on, the initial value is set. V _Y = 2.5, V _C = 0 V _Y : Sensitivity motor (63) set voltage (for example, V _Y = 2.5 V for hardness standard) V _C : Hardness sensor (88) output V ₃ of the planting depth corresponding to Correction voltage (2) Obtain the target voltage V _a at the set position of the implantation depth motor (79) with respect to the output V ₁ of the implantation depth setting device (106).

V _a = aV ₁ + b (a, b: constants) (3) The planting lever switch (103) is on (contact closed), that is, the planting lever (30) is located and the planting clutch is "off". 15) Discontinue automatic control when in a non-working state,
The signal (S) of the vehicle speed sensor (105) when the switch (103) is on (contact open), that is, when the planting lever (30) is in the working state of the planting clutch "on" and the planting part (15) descends. The following operation is performed by (hereinafter referred to as vehicle speed pulse S).

N ₁ and N ₂ are constants V _b is the output V ₂ of the water level sensor (89), and the planting depth correction voltage V _d corresponding to the vehicle speed pulse S is the sensitivity lever (31 corresponding to the output V ₃ of the hardness sensor (88). ) Set voltage (4) The following operation is performed according to the value of the vehicle speed pulse S.

Water level sensor (89) when vehicle speed pulse S is N ₁ <S <N ₂
From the output V ₂ and the vehicle speed pulse S, the vegetation depth correction voltage V _b is calculated by the following equation.

When the vehicle speed pulse S is N ₂ ≦ S, the planting depth correction voltage V _b is calculated from the output V ₂ of the water level sensor (89) by the following formula.

V _b = cV ₂ + d That is, in the case of the water depth expressed by the relational expression of V _b = cV ₂ + d as shown in Fig. 17, when the water depth is shallow (the float (34) does not rise), the water depth is not corrected. The correction amount increases as becomes deeper. Further, in the case of the vehicle speed N shown in FIG. 18, the correction amount is below a certain level (N <N ₁ ) (V _b = O) and within the certain range (N ₁ <N <N ₂ ) + B) (a and b are constants), the vegetation depth is gradually increased to a constant value (N ₂ ) as the vehicle speed N increases.

Further, in this case, the output (V ₂ ) of the water level sensor uses an average value of the detected output (V) during a constant detection time (t ₁ ) as shown in FIG. ) (3
5) The effect of the wave caused by such things is eliminated to obtain a proper signal (the waveform in Fig. 19 shows the actual output waveform affected by the wave).

(5) The following operation is performed according to the leveling / automatic position of the sensitivity switch (104).

V _c = O when Hitoshitaira _{position, V d = V K (V} K is a constant) V _c from the following equation from the output V ₃ of the hardness sensor when the automatic position (88), obtains the V _d.

_{V d = lV 3 + f V} c = gV d + h-2.5 (l, f, g, h: constant) That is, as shown in FIG. 20, the hardness sensor (88) of the field of surface hardness standard (V ₃ = 2.5), for example softer (V ₃ = 3.
7) When the state is detected, the sensitivity feedback output (V ₅ ) corresponding to the value (V ₃ = 3.7) is obtained from the above formula V _d = V ₅ = l × 3.7 + f = 3.3 (V), As shown in Fig. 21, this voltage (V _d = 3.
3) The sensitivity motor (63) is driven to the value (in this case, the position "1" on the sensitive side), and the sensitivity is automatically adjusted according to the hardness of the field surface.

The output (V ₃ ) of the hardness sensor (88) is obtained by averaging the output (V) detected at a constant detection time (t ₂ ) to obtain a stable control signal, as shown in FIG. .

Then, as shown in FIG. 23, when the sensitivity motor (63) is driven and the position of the sensitivity adjusting lever (31) is determined based on the detection result of the hardness sensor (88), the position of the sensitivity adjusting lever (31) is determined. The planted depth correction value (V _c ) is calculated (shallow value when sensitive, prevention of deep planting when insensitive).

(6) Obtain the set voltage (target value) V _{X of the} vegetation depth motor (79) and the set voltage (target value) V _Y of the sensitivity motor (63).

And _{V X = V a + V b} + V c V Y = V d (7) the obtained V _X, the output V ₄ of Uefuka feedback sensor to V _Y (85), the sensitivity feedback sensor (10
So that the output V _{5 of} 7) satisfies the following conditions.
9) Drive (63).

After the end, the operation returns to (2) and the same operation is repeated.

On the other hand, rolling control based on the detection of the horizontal sensor (77) is performed by turning on the contact lever (103)
It is started by the rolling motor (7) so that the output V ₆ of the horizontal sensor (77) is within the proper range (V ₇ ± V _WC ).
The drive control of 2) is carried out as shown in the flow chart of FIG. 16 and the output diagram of FIG.

That is, the output V ₆ of the horizontal sensor (77) is below the proper range (V ₆ <V ₇
-V _WC ) or more than the appropriate range (V ₆ > V ₇ + V _WC ) (however, V _WC is in dead zone), the forward movement of the motor (72) raises or lowers the planting part (15) to the right or left. When the seedling stand (16) reaches the left and right movement end position and the prohibition switch (108) or (109) is turned on (contact open), the raising control is carried out. Signal is not output for a minute fixed time (for example, 20 to 40 msec), and rolling control is prohibited. That is, as shown in FIG. 25, at the left and right end positions of the seedling placing table (16), when the seedling placing table (16) is reversed in the left and right direction, the entire planting part (15) is in the opposite direction due to inertial force. The tilt horizontal sensor (77) temporarily outputs an erroneous signal corresponding thereto. Therefore, the operation at this time is temporarily prohibited to prevent overcontrol.

A sensitivity manual setting device for manually correcting the sensitivity may be provided in the control circuit (100).

Further, in the above-described embodiment, the composite control based on the detection of the hardness and water level and the vehicle speed sensor (88) (89) (105) is shown, but any one of the sensors (88) or (89) or (105) Control based on detection may be used.

As described above, in the present embodiment, the sensitivity is corrected by detecting the field hardness, and the plant depth is corrected by correcting the sensitivity. In other words, if the float (34) is adjusted to the sensitive side in the same planting depth state, the planting depth will be the shallow planting side, so it is necessary to correct the deep planting side, and as a result, the planting depth is also corrected. It is a thing.

[Advantages of the Invention] As is apparent from the above embodiments, the present invention is provided with a center float (34) substantially at the center of the planting part (15) to be installed behind the traveling machine body (1), and the center float (34) is provided. In a structure having side floats (35) on both the left and right sides of (34), a float type water level sensor (89) for detecting the water depth in the field is located between the center float (34) and the side float (35). Since it is arranged in
By detecting at a position where the water level is higher than other parts due to the flow of water, it is possible to detect by expanding the water level,
It is possible to perform planting depth correction that is sensitive to changes in traveling speed and water level (the higher the traveling speed and the deeper the water depth, the deeper the planting depth must be corrected), and highly precise constant control of planting depth. It has a remarkable effect such as enabling it.

[Brief description of drawings]

FIG. 1 is a plan view of the hardness and water level sensor section, FIG. 2 is an overall side view of the rice transplanter, FIG. 3 is the same plan view, and FIG. 4 is a side view drawing of the planting depth control mechanism section. Is a plan view of the float part, FIG. 6 is a side view of the planting part, FIG. 7 is a view of the rolling control part, FIG. 8 is a side view of the same, and FIG. 9 is an explanatory view of the sensitivity motor part. , Fig. 10 is an explanatory diagram of the vegetation depth motor section,
FIG. 11 is a side view of the hardness sensor, FIG. 12 is a side view of the water level sensor, FIG. 13 is a plan view of the same, FIG. 14 is a plant depth control circuit diagram, and FIG. 15 is a plant depth control. In FIG. 16, FIG. 16 is a flowchart in horizontal control, and FIGS. 17 to 25 are output diagrams. (1) …… Traveling vehicle (traveling vehicle) (15) …… Planting part (34) (35) …… Float (89) …… Water level sensor

Claims (1)

[Scope of utility model registration request] 1. A float type water level sensor for detecting the depth of water in a field in a structure in which a center float is provided substantially in the center of a planting part to be mounted behind a traveling machine body and side floats are provided on both left and right sides of the center float. A water level detecting device for a rice transplanter, wherein the water level detecting device is arranged at a water flow position sandwiched between the center float and the side float.