JPH0787813A - Rice transplanter - Google Patents

Abstract

PURPOSE:To automatically control a controller to sensing sensitivity for lifting and lowering control suitable for field by accurately detecting the depth of a groove through which ground float passes in a state almost free from the turbulence of mud face. CONSTITUTION:In a rice transplanter provided with a controller for carrying out lifting and lowering control of a driving mechanism for lifting and lowering of a seedling planting apparatus so as to keep vertical moving amount based on change of ground pressure of a ground float 9b to a control target, the first grounding body 21 vertically oscillating while grounding and following onto the mud face at the center position in a float width after passage of the ground floats 9a and 9c is formed on the lower side in the advancing direction of a machine body of the ground floats 9a and 9c and the second grounding body 22 vertically oscillating while grounding and following onto the mud face is formed at a position being the intermediate position with the other ground float 9b positioned on the inner side in the width direction of the machine body and located on the side of the first grounding body 21 and the rice transplanter is constituted so as to detect groove trace depth formed on the mud face by passage of grounding floats 9a and 9c based on relative vertical oscillation amounts of each grounding bodies 21 and 22 and the controller is constituted so as to correct sensing sensitivity for detecting a vertical moving amount of the grounding float 9b based on detection data of groove trace depth.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention connects a seedling planting device to a traveling machine body by a drive mechanism so that the planting plant can be moved up and down, and a vertical movement amount of a grounding float provided in the seedling planting device based on fluctuations in the ground pressure can be improved. The present invention relates to a rice transplanter equipped with control means for raising and lowering the drive mechanism so as to maintain the control target.

[0002]

2. Description of the Related Art Conventionally, in the above rice transplanter, the control target value for the vertical movement amount detection value of the ground contact float is set manually by an operator depending on the condition of the field, for example, the hardness of the mud. It was configured to change and adjust.

[0003]

However, it may be difficult to check the situation in the field as described above, and it is not always possible to change and set to an appropriate value, and if the set value does not match the situation in the field. However, there were problems such as the amount of subsidence of the grounding float was too large to cause mud pushing, and the grounding float tended to float and the planting depth of the seedlings became too shallow. The present invention eliminates the above-mentioned inconveniences caused by artificial judgment errors,
The purpose is to ensure that the elevator control is always performed with appropriate sensing sensitivity.

[0004]

Means for Solving the Problems A feature of the present invention is that, in the rice transplanter described at the beginning, after the grounding float passes through on the lower side of the grounding float provided in the seedling planting device in the machine traveling direction. A first mud-surface-following grounding body that swings up and down while following grounding is provided on the mud surface at the center position in the float width direction, and the grounding float and the grounding float are located on the inner side in the machine width direction with respect to the other. A second mud surface tracking grounding body that swings up and down while tracking grounding on the mud surface at an intermediate position with respect to the grounding float of FIG. It is configured to detect the groove trace depth formed on the mud surface by the passage of the ground contact float based on the relative vertical swing amount of the following ground contact body, and the control means is based on the detection information of the groove trace depth. On the ground float Lies in that is configured to correct the sensing sensitivity of the movement amount detection.

[0005]

[Operation] As the seedling planting work runs, the ground contact float is displaced up and down based on the fluctuation of the mud surface contact pressure, and the drive mechanism is automatically adjusted so that the amount of up and down displacement matches a preset control target, for example. Controlled. In this way, the ground float is controlled to move up and down so as to maintain the expected subduction depth. At this time, it is appropriate to set the control target for differences in the field conditions such as the hardness and softness of mud. When there is none, for example, when the mud is soft, the amount of subsidence of the ground contact float into the mud becomes too large, so the depth of the groove traces formed after the ground float passes over the mud surface becomes large. Also, when the mud is hard, the groove marks become shallow. In this way, by detecting the groove trace depth that changes depending on the field situation, based on the detection information of the groove trace depth, the sensing sensitivity in detecting the vertical swing displacement amount based on the ground pressure fluctuation of the ground float, for example, The control target value or the downward biasing force is automatically corrected to the insensitive side or the sensitive side. Moreover, since the depth of the groove trace is directly detected based on the relative vertical swing amount of the first mud surface following grounding body and the second mud surface following grounding body,
For example, even if the relative height of the grounding float to the seedling planting device is changed to adjust the seedling planting depth, the groove trace depth can be detected accurately regardless of the changing operation. Since the second mud-surface-following grounding body is arranged at the intermediate position of each float on the inner side in the planting width direction, it does not project laterally outward from the machine body, so it can swing up and down excessively by the rolling operation of the seedling planting device. Therefore, it is possible to follow the mud surface with high accuracy in a state where there is little influence of the mud pushing by the ground contact float and the disturbance of the mud surface due to the seedling planting operation. Further, each grounding body is laterally arranged in parallel, and the relative swing amount can be rationally detected by a simple structure with a single sensor by aligning the swing axis cores. It will be possible.

[0006]

Therefore, it is possible to automatically adjust the sensing sensitivity in the ground float to an appropriate sensing sensitivity according to the situation of the field, and even in any field, floating seedlings due to mud pressing or shallow planting are used. It is possible to prevent the occurrence of seedlings and to perform good seedling planting work. Moreover,
The depth of the groove traces formed after the ground float passes over the mud surface can be accurately detected in a state in which the mud surface is less disturbed by the relative vertical swing amount of the pair of grounding bodies due to the rational arrangement structure. It became possible.

[0007]

Embodiments will be described below with reference to the drawings. Figure 1
Shows a riding type rice transplanter. This rice transplanter is driven by a lift cylinder 3 [an example of a drive mechanism] via a link mechanism 2 at the rear part of the riding type traveling machine body 1 to be freely lifted and lowered, and by a rolling motor 4 to be freely driven to roll around the front and rear axis. It is configured by connecting the planting device 5.

The seedling planting device 5 comprises a seedling stand 7 which reciprocally moves laterally with a constant stroke, a planting mechanism 8 for taking out one seedling from the lower end of the seedling stand 7 and planting it in a field, and a rear side. It is configured by including three grounding floats 9a, 9b, 9c pivotally supported about a lateral fulcrum so as to be vertically swingable, and the seedling planting device 5 is maintained at the set ground height during seedling planting work. In addition, the automatic posture control is performed so that the left and right tilt postures are maintained at the set postures.

That is, the electromagnetic control valve 12 and the rolling motor 4 for the lift cylinder 3 are provided as a control device 13 having a microcomputer as control means.
The height of the ground [mud surface] of the seedling planting device 5 is controlled by the ground contact float 9 located in the center.
It is detected by the vertical swing amount based on the fluctuation of the ground contact pressure of b, and the ground inclination posture is located on both the left and right sides.
The detection is performed based on the depth of the groove traces formed after each passage. More specifically, as shown in FIGS. 2 and 3, above the front side of the grounding float 9b located in the center,
A potentiometer type float sensor 10 for detecting a vertical swing amount of the grounding float 9b based on a variation of the grounding pressure is detected via a link mechanism R, and a detection value of the float sensor 10 is provided in a body control section.
The control device 13 controls the switching of the electromagnetic control valve 12 so as to match the set value of 1 to perform the lifting control. When the spring 23 for urging the front side of the float downward is linked to the link mechanism R and the control target posture of the ground float 9b is changed to the front upward (insensitive side), the urging force of the spring 23 is also interlocked. It is configured to be strong.

Further, groove trace depth detection mechanisms 14 and 14 (an example of groove trace depth detection means) for detecting the groove trace depth are provided on the rear sides of the left and right ground floats 9a and 9c, respectively. is there. As shown in FIGS. 4 and 5, the groove trace depth detection mechanism 14 has a support frame 15 extending from the frame of the seedling planting device 5 and a cylindrical body 17 which is rotatable about a horizontal axis. The main body portion 16 of the potentiometer PM is integrally mounted on the cylindrical body 17, and the first mud-surface-following grounding body 21 which vertically swings while following the ground contact with the mud surface of the float passage groove is provided on the cylindrical body 17. Is integrally rotatably connected to the outer side of the. And the operation shaft 1 of the potentiometer PM
8, a rotary shaft 19 extending integrally from the support frame 15 is rotatably supported by a support tool 20 extending from the support frame 15, and is located at an intermediate position between the grounding float and the center side grounding float 9b. The first mud surface following grounding body 21
A second mud-surface-following grounding body 22 that swings up and down while following the mud surface in contact with the mud surface at the lateral position thereof is integrally rotatably connected to the rotary shaft 19. Left and right ground floats 9a,
9c also has a function of leveling a wheel passage mark, but when this leveling action is not sufficient, the groove trace may swell in the central part, so the first mud-surface-following grounding body 21 uses this wheel passage mark. It is formed in a substantially U shape straddling the above, and is configured to remove an error due to this bulge. Further, the second mud-surface-following grounding body 22 is formed in a long comb shape, and even if there is a water layer on the mud surface, water is well removed from the long cutout portion k. It will be done in. The relative rotation amount of each of the grounding bodies 21, 22 is directly output from the potentiometer PM as detection data of the groove trace depth,
It will be given to the control device 13. In this way, the left and right groove trace depth detection mechanisms 14 and 14 are configured, and the control device 13 causes the rolling motor to reduce the difference between the left and right groove trace depths by the groove trace depth detection mechanisms 14. 4 is driven and the sensing sensitivity for detecting the vertical swing amount of the ground float 9b for elevation control is corrected based on the detection result of the groove trace depth.

The control operation of the controller will be described below. As shown in FIG. 6, the detection value a of the float sensor 10
Also, the detection value b of the sensitivity setting device 11 is read, and the lift cylinder 3 is drive-controlled so as to match them, and the lifting operation is executed [steps 1 to 4]. Then, the output of each potentiometer PM of each groove trace depth detection mechanism 14, 14 is read, the average value of these values is calculated and obtained, and when this average value c exceeds the set value d1, the ascending / descending The control target [set value] in the control is corrected to the sensitive side, that is, the control target reference attitude of the ground contact float 9b is changed to the front falling side, and when the average value c is below the set value d2, The control target is set to the insensitive side, that is, the ground float 9
It is corrected so that the control target reference posture of b is changed to the forward rising side [steps 5 to 10]. Further, when the difference between the detection values of the potentiometers PM is equal to or more than the set amount and the posture of the seedling planting device 5 against the mud surface is tilted to the left or right, the difference between them should be small [within the set amount. To fit in],
Drive control of the rolling motor 4 [steps 11, 1
2].

It should be noted that although reference numerals are given in the claims for facilitating the comparison with the drawings, the present invention is not limited to the configurations of the accompanying drawings by the entry.

[Brief description of drawings]

[Figure 1] Overall side view of rice transplanter

FIG. 2 is a control block diagram.

FIG. 3 is a side view of a float sensor arrangement portion.

[Figure 4] Simplified plan view of the seedling planting device

FIG. 5 is a rear view of the notch of the groove mark depth detection mechanism.

FIG. 6 is a control flowchart.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Traveling machine 3 Drive mechanism 5 Seedling planting devices 9a, 9b, 9c Grounding float 13 Control means 21 1st mud level following grounding body 22 2nd mud level following grounding body

Claims (1)

[Claims] 1. A seedling planting device (5) is connected to a traveling machine body (1) by a drive mechanism (3) so as to be movable up and down,
Control means (13) for controlling elevation of the drive mechanism (3) so that the vertical movement amount based on the fluctuation of the ground pressure of the ground float (9b) provided in the seedling planting device (5) is maintained at a control target.
A rice transplanter equipped with a ground float (9) provided on the seedling planting device (5).
a) and (9c), on the lower side in the traveling direction of the airframe, the first swings up and down while following the ground contact on the mud surface at the center position of the float width direction after the ground contact floats (9a) and (9c) have passed.
A mud-surface-following grounding body (21) is provided, and the grounding floats (9a) and (9c) and another grounding float (9b) located on the inner side in the machine width direction with respect to the grounding float.
The first mud-surface-following grounding body (21) at an intermediate position between
A second mud level following grounding body (22) that rocks up and down while following the grounding is provided on the side of the mud surface, and the relative vertical rocking amount of each mud level following grounding body (21), (22). Based on the above, it is configured to detect the groove trace depth formed on the mud surface by passing the ground contact floats (9a) and (9c), and the control means (13) detects the groove trace depth. A rice transplanter configured to correct the sensitivity for detecting the vertical movement amount of the grounding float (9b) based on the above.