JPH08140435A - Rice transplanter - Google Patents

Abstract

(57) [Summary] (Correction) [Purpose] Even in the control operation of the automatic sensitivity adjusting means, it is possible to obtain the seedling planting condition according to the operator's preference. Constitution: Manual sensitivity adjusting means 28 for manually adjusting the target groove trace depth during control operation by automatic sensitivity adjusting means 28C
When B is provided and the target groove trace depth is adjusted by the manual sensitivity adjusting unit 28B, the automatic sensitivity adjusting unit 28C sets the adjusted target groove trace depth as a reference value for comparison with the groove trace depth information. As configured.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a rear part of a traveling machine body, which is connected to a seedling planting device equipped with a leveling float so as to be vertically swingable so as to be vertically movable. Automatic lifting control means for automatically lifting the seedling planting device based on the float displacement information from the float sensor that detects the swing displacement, and the groove trace depth formed after passing through the mud surface of the leveling float. The groove trace depth information from the groove trace depth detecting means to be detected, and the mud hardness is detected by comparing the target groove trace depth preset as a comparison reference value with the groove trace depth information, The present invention relates to a rice transplanter equipped with a control device equipped with an automatic sensitivity adjusting means for automatically selecting a sensitivity target value of the float sensor according to mud hardness and automatically adjusting the sensing sensitivity of the float sensor.

[0002]

2. Description of the Related Art In a rice transplanter as described above, automatic raising / lowering control means automatically raises / lowers a seedling planting device based on float displacement information from a float sensor, thereby planting seedlings by the seedling planting device. We are trying to improve the accuracy. Further, the automatic sensitivity adjusting means automatically adjusts the sensing sensitivity of the float sensor based on the groove trace depth information from the groove trace depth detecting means, so that it is possible to artificially adjust the sensing sensitivity of the float sensor without any trouble. The seedling planting device can be planted according to the mud hardness of the plant so that the seedling planting accuracy can be further improved. The automatic sensitivity adjustment control by the automatic sensitivity adjustment means will be described in detail.
If the groove trace depth after passing through the mud surface of the leveled float detected by the groove trace depth detection means is shallower than the target groove trace depth preset as the comparison reference value, it is determined that the mud in the field is hard. Then, the sensitivity target value on the insensitive side (increasing the grounding pressure of the ground leveling float) is automatically selected, and the sensing sensitivity of the float sensor 24 is automatically adjusted to the sensitivity target value on the insensitive side. Further, if the groove trace depth after passing through the mud surface of the leveled float detected by the groove trace depth detecting means is deeper than the target groove trace depth preset as the comparison reference value, the mud in the field is soft. Therefore, the sensitivity target value on the sensitive side (to reduce the ground pressure of the ground leveling float) is automatically selected, and the sensing sensitivity of the float sensor is automatically adjusted to the sensitivity target value on the sensitive side. In other words, the automatic sensitivity adjustment means, so that the preset target groove trace depth and the groove trace depth after passing through the mud surface of the ground level float detected by the groove trace depth detection means match, It is configured to automatically adjust the sensing sensitivity.

Conventionally, only one standard fixed value has been set as the target groove trace depth in the automatic sensitivity adjustment control.

[0004]

However, since the planting condition of the seedlings preferred by the operator is various, there is only one fixed value which is standard as the target groove trace depth in the automatic sensitivity adjustment control. Once set, depending on the worker,
There is a possibility that the result of planting seedlings by the automatic sensitivity adjustment control may not be satisfied, and there is room for improvement.

An object of the present invention is to enable adjustment of a preset target groove mark depth in automatic sensitivity adjustment control, so that even in the control operation of the automatic sensitivity adjustment means, seedlings are planted according to operator's preference. To be able to obtain.

[0006]

In order to achieve the above object, according to the present invention, a seedling planting device equipped with a leveling float so as to be vertically swingable is connected to a rear portion of a traveling machine body so as to be driven up and down. At the time of planting work, automatic raising / lowering control means for automatically raising / lowering the seedling planting device based on float displacement information from a float sensor that detects vertical swing displacement of the leveling float, and mud level passage of the leveling float. The groove trace depth information from the groove trace depth detecting means for detecting the groove trace depth formed later and the target groove trace depth preset as a comparison reference value with the groove trace depth information are compared. It is equipped with a control device equipped with automatic sensitivity adjustment means that automatically detects the mud hardness and automatically selects the sensitivity target value of the float sensor according to the mud hardness to automatically adjust the sensitivity of the float sensor. Shita rice field In the machine, a manual adjusting means for artificially adjusting the target groove trace depth during the control operation by the automatic sensitivity adjusting means is provided, and when the target groove trace depth is adjusted by the manual adjusting means, the automatic The sensitivity adjusting means is configured to set the adjusted target groove trace depth as a reference value for comparison with the groove trace depth information.

[0007]

According to the present invention, the standard adjustment of the target groove trace depth (the setting of a wide target groove trace depth) in the preset automatic sensitivity adjustment control can be performed by the manual operation of the manual adjustment means. . When the target groove trace depth is adjusted, the automatic sensitivity adjusting means detects the mud hardness by comparing the adjusted target groove trace depth and the groove trace depth information from the groove trace depth detecting means, The sensitivity target value of the float sensor is automatically selected according to the mud hardness and the sensing sensitivity of the float sensor is automatically adjusted (target groove depth after adjustment and leveling detected by the groove depth detection means. The sensing sensitivity of the float sensor is automatically adjusted so that the depth of the groove trace after passing through the mud surface of the float matches. In other words, the operator manually adjusts the target groove trace depth so as to obtain the seedling planting condition according to his preference by manually operating the manual adjustment means while confirming the leveling condition by the leveling float. The planting state of seedlings obtained by the control operation of the automatic sensitivity adjusting means can be a planting state of seedlings according to the operator's preference, regardless of the mud hardness of the field.

[0008]

Therefore, according to the present invention, the seedlings can be planted according to the operator's preference even in the control operation of the automatic sensitivity adjusting means.

[0009]

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

FIG. 1 shows the entire side surface of a riding type rice transplanter. This riding type rice transplanter is a riding type traveling machine body 1.
And a lift mechanism that can be lifted and lowered by the operation of a hydraulic lift cylinder 3 at the rear of the traveling machine body 1 via a four-link mechanism 2.
It is constituted by a seedling planting device 5 connected so as to be freely rolled around the front-rear axis center by the operation of an electric rolling motor 4. An engine 6 is mounted on the front part of the traveling machine body 1, and the power taken out from the engine 6 is transmitted to the main clutch 7, the mission case 8 at the rear part of the traveling machine body 1, and the lateral side of the mission case 8. It is adapted to be transmitted to the front wheels 10, the rear wheels 11, and the seedling planting device 5 via the hydrostatic continuously variable transmission 9 and the like.

As shown in FIGS. 1 and 2, the seedling planting device 5
Is a feed case 12 to which power from the engine 6 is transmitted, a support frame 13 extending from the feed case 12 to the left and right, and a frame-combined plant extending from the support frame 13 in parallel rearward. Transmission case 14,
A pair of left and right planting mechanisms 15 pivotally supported at the rear of each planted transmission case 14, a seedling stand 16 that reciprocates laterally with a constant stroke with respect to the planted transmission case 14, and a planted transmission case 14. The ground leveling float 17 is provided so that its relative height can be adjusted relative to.

As shown in FIGS. 2 to 5, a float fulcrum pipe 18 which is laterally bridged across the left and right planting transmission cases 14 is provided at the front of each planting transmission case 14.
It is pivotally connected so as to be rotatable around 1. On the float fulcrum pipe 18, a swing arm 19 that integrally rotates with the float fulcrum pipe 18 extends in parallel rearward. A leveling float 17 is connected to a swing end of each swing arm 19 via a support shaft 20 so as to be swingable up and down around an axis P2. An operating lever 21 extending toward the traveling machine body 1 is integrally and rotatably connected to and fixed to the float fulcrum pipe 18. The operation lever 2 is attached to the support frame 13 by engagement with the operation lever 21.
The locking plate 22 that locks and holds 1 at an arbitrary position is a support plate 23.
It is connected and fixed via. That is, the operation lever 21
Is operated around the axis P1 of the float fulcrum pipe 18 and locked and held at an arbitrary position by engaging with the locking plate 22, thereby adjusting the relative height of the grounded float 17 with respect to the planted transmission case 14. The planting depth of seedlings can be changed according to the hardness of mud in the field.

As shown in FIG. 3, FIG. 4 and FIG. 6, in the upper front part of the leveling float 17 located in the center, the leveling float 1 in the center due to the fluctuation of the ground contact pressure (the ups and downs of the mud in the field).
A potentiometer-type float sensor 25 for detecting the vertical swing displacement of 7 via a link mechanism 24 is provided. The float sensor 25 is supported by a bracket 27 that is pivotally supported at the ends of a pair of upper and lower links 26 that are pivotally supported so as to be vertically swingable with respect to the support plate 23. The other end of the link 26 located on the upper side of the pair of upper and lower links 26 is engaged with the pin 21 a extending from the operating lever 21, and the operation of the operating lever 21 causes the planted transmission case 14 to move.
Along with adjusting the relative height of the ground leveling float 17 with respect to the ground level, the float sensor 25 for the planted transmission case 14
The relative height of the is also adjusted in the same manner.

The float sensor 25 converts the vertical swing displacement of the leveling float 17 located at the center into a voltage level,
The control device 28 uses the voltage level as float displacement information.
It is designed to output to. The control device 28, based on the float displacement information from the float sensor 25, shows the reference posture of the ground leveling float 17 in the center.
The operation of the electromagnetic control valve 29 is controlled to raise and lower the seedling planting device 5 so that the reference voltage level of 5 and the voltage level (float displacement information) output from the float sensor 25 match. .

For example, when the reference position of the operating shaft 25b with respect to the sensor body 25a for obtaining the reference voltage level is the position a in FIGS. 3 and 6, the leveling float 17 is provided.
Assuming that the actual operating position of the operating shaft 25b rotated by the vertical swinging of the sensor is the position b in FIGS. 3 and 6, the control device 28 controls the operation of the electromagnetic control valve 29 to cause the sensor body 25a to operate. By raising the seedling planting device 5 so that the reference position of the operation shaft 25b and the actual operation position match (the reference voltage level and the output voltage level match), the leveling float 17 is returned to the reference posture. is there. Further, assuming that the actual operation position of the operation shaft 25b rotated by the vertical swing of the leveling float 17 is the c position in FIGS. 3 and 6, the control device 28 controls the electromagnetic control valve 2
9 by controlling the operation of the seedling planting device 5 so that the reference position of the operation shaft 25b relative to the sensor body 25a and the actual operation position match (reference voltage level and output voltage level match).
By lowering, the leveling float 17 is returned to the reference posture.

That is, the control device 28 automatically raises and lowers the seedling planting device 5 based on the float displacement information from the float sensor 25 so that the ground leveling float 17 returns to the reference posture. Is provided as a control program, and this automatic lifting control means 28A
By the control operation of, the height of the seedling planting device 5 in the running state of seedling planting during the seedling planting work is maintained at the set ground height, and the seedling planting device 5 is moved up and down along the ups and downs of the field. The operating lever 2 can be
The seedlings can be stably planted at the planting depth set in 1.

As shown in FIG. 6, the maneuvering section of the traveling machine body 1 is provided with a manually operated setting device 30 such as a potentiometer, and the setting device 30 is artificially judged to be mud in the field. By setting the operation position of "1" to "7" according to the hardness, the reference voltage level of the float sensor 25 indicating the reference posture of the ground leveling float 17 can be changed to the voltage level according to the mud hardness of the field. It is like this. The changed reference voltage level is input to the control device 28, and the control device 28 controls the electromagnetic control valve 29 so that the changed reference voltage level of the float sensor 25 matches the output voltage level. The operation is controlled to raise and lower the seedling planting device 5.

For example, when it is judged that the mud in the field is hard, the setting device 30 is set at the operation position on the "hard" side according to the hardness.
Set. Then, the operation shaft 25 with respect to the sensor body 25a for obtaining the reference voltage level according to the operation position.
The reference position of b is changed to the b position direction in FIGS. 3 and 6, and the control device 28
Controls the operation of the electromagnetic control valve 29 so that the sensor body 25
The seedling planting device 5 is lowered so that the changed reference position and the actual operation position of the operation shaft 25b with respect to a match (the changed reference voltage level and output voltage level match). Then, by this control operation, the leveling float 17
The reference posture of No. 1 is changed to the forward rising posture according to the changed reference voltage level, and by changing the reference posture, the ground contact length of the leveling float 17 in the machine front-rear direction with respect to the mud surface of the field is changed. The compression spring 31 that shortens according to the reference voltage level and biases the ground leveling float 17 toward the ground side is in a relatively strong compression state according to the changed reference voltage level (the ground pressure of the ground leveling float 17 is changed after the change). The state becomes relatively large according to the reference voltage level), and the sensing sensitivity of the float sensor 25 is changed to the sensing sensitivity on the insensitive side according to the operation position of the setting device 30.

When it is judged that the mud in the field is soft, the setting device 30 is set at the operation position on the "soft" side according to the softness. Then, the reference position of the operation shaft 25b with respect to the sensor main body 25a for obtaining the reference voltage level according to the operation position is changed in the c position direction in FIGS. 3 and 6, and the control is performed in accordance with the change. The device 28 controls the operation of the electromagnetic control valve 29 so that the changed reference position and the actual operation position of the operation shaft 25b with respect to the sensor body 25a match (the changed reference voltage level and output voltage level match). The seedling planting device 5 is raised so as to do so. By this control operation, the reference posture of the leveling float 17 is changed to the front-lowering posture according to the changed reference voltage level, and the change of the reference posture causes the field of the leveling float 17 in the machine front-back direction. The ground length for the mud surface becomes longer according to the changed reference voltage level, and the compression spring 31 for urging the ground leveling float 17 toward the ground side is relatively weakly compressed according to the changed reference voltage level ( The ground pressure of the leveling float 17 becomes relatively small according to the changed reference voltage level), and the sensitivity of the float sensor 25 is set by the setter 3.
The sensing sensitivity on the sensitive side is changed according to the operation position of 0.

That is, the setting device 30 functions as a manual setting means A for manually setting the reference voltage level of the float sensor 25 according to the artificially determined mud hardness of the field as the sensitivity target value. is there. In addition, the control device 2
8 is provided with a manual sensitivity adjusting means 28B as a control program for automatically adjusting the sensitivity of the float sensor 25 to the sensitivity target value manually set by the setting device 30.

As shown in FIG. 2 and FIG. 5 to FIG. 7, the seedling planting device 5 includes a first grounding body for converting a change in the mud surface level into a vertical swing displacement by following the ground contact with the surface of the field mud. 32A,
A second grounding body 32B, which changes the level of the bottom surface of the groove trace into a vertical swing displacement by following the ground contact with the bottom surface of the groove trace formed after passing the mud surface of the leveling float 17 located on the left and right, and these grounding bodies 32A , 32B, and a pair of left and right groove trace depth detecting means 32 constituted by a rotation sensor 32C composed of a potentiometer for detecting a relative swing displacement amount and outputting a voltage level corresponding to the relative swing displacement amount. There is.

The structure of the groove trace depth detecting means 32 will be described in detail. As shown in FIGS. 5 and 7, the respective support shafts 20 that pivotally connect the left and right ground leveling floats 17 to the rocking ends of the rocking arms 19 have their inward end portions at the center ground leveling on the axis P2. It extends toward the float 17. At this extended end,
A cylindrical body 33 is rotatably fitted and supported around a shaft center P2 via a bearing, and a second grounding body 32B and a sensor body 32a of the rotation sensor 32C are mounted on the cylindrical body 33 around the shaft center P2. Is connected so as to be integrally rotatable.
The rotation sensor 32C is provided with an operation shaft 32b.
The first support member 34 connected to the sensor body 32a of C and the second support member 35 extending from the brackets 17a of the left and right ground floats 17 are pivotally supported by the first support member 34 and the first support member 34. The grounding body 32A is coupled so as to be integrally rotatable around the axis P2. With the above structure, the operation shaft 32b of the rotation sensor 32C is rotated by the vertical swing displacement of the first grounding body 32A, and the rotation sensor 32C is rotated by the vertical swing displacement of the second grounding body 32B.
The sensor main body 32a of is rotated so that the rotation sensor 32C can move the
The relative swing displacement amount of 2A and the second grounding body 32B can be detected.

As shown in FIG. 6, the relative swing displacement amount detected by the rotation sensor 32C is converted into a voltage level corresponding to the relative swing displacement amount by the rotation sensor 32C, and then the groove trace depth is obtained. The information on the groove trace depth from the detection means 32 is output to the control device 28. The rotation sensor 32C includes a second grounding body 32B for the first grounding body 32A.
The amount of relative swing displacement downward is large (groove depth is deep)
Is configured to output a lower voltage level.
The control device 28 sequentially reads the groove trace depth information from the groove trace depth detection means 32 to sequentially calculate the moving average of the groove trace depth information, and also obtains the latest moving average and the groove trace depth information (latest (Moving average of) and a target groove depth (target voltage level) preset as a reference value for comparison to detect mud hardness, and a sensitivity target value of the float sensor 25 according to the mud hardness. The (reference voltage level) is automatically selected and the sensing sensitivity of the float sensor 25 is automatically adjusted.

For example, the moving average of the voltage level as the groove trace depth information output from the rotation sensor 32C is lower than the target voltage level (the groove trace depth detected by the groove trace depth detecting means 32 is the target. The deeper the depth of the ditch), the softer the mud is detected, and the sensitivity target value on the sensitive side is automatically selected according to the softness, and the float sensor 25 is set on the sensitivity target value on the automatically selected sensitive side. The sensing sensitivity of is automatically adjusted. Also, the rotation sensor 32C
The higher the moving average of the voltage level output from the target voltage level is (the groove trace depth detected by the groove trace depth detecting means 32 is shallower than the target groove trace depth), the harder the mud is detected. The sensitivity target value on the insensitive side is automatically selected according to the hardness, and the sensing sensitivity of the float sensor 25 is automatically adjusted to the automatically selected sensitivity target value on the insensitive side.

That is, the control device 28 detects the mud hardness based on the groove depth information from the groove depth detecting means 32, and sets the sensitivity target value of the float sensor 25 according to the mud hardness. An automatic sensitivity adjusting means 28C for automatically selecting and automatically adjusting the sensing sensitivity of the float sensor 25 is provided as a control program.

The control section of the traveling machine body 1 is provided with a manually operated changeover switch 37 as shown in FIG. 6, and the control device 28 sets the changeover switch 37 to the "manual" position to set the manual sensitivity. When the control operation by the adjusting means 28B is executed and the changeover switch 37 is set to the "automatic" position, the control operation by the automatic sensitivity adjusting means 28C is executed.

When the setting switch 30 is set to the "manual" position, the setting device 30 manually sets the reference voltage level of the float sensor 25 according to the artificially determined mud hardness of the field as the sensitivity target value. When the changeover switch 37 is set to the “auto” position, the target groove depth previously set as a reference value for comparison with the groove trace depth information from the groove trace depth detecting means 32. It functions as a manual adjusting means B for artificially adjusting the. When the setter 30 is caused to function as the manual setting means A, the sensitivity target value can be set based on the display of "1" to "7" shown in FIG.
When functioning as the manual adjusting means B, the target groove trace depth can be adjusted based on the display of "0 mm" to "20 mm" shown in FIG.

The automatic sensitivity adjusting means 28C adjusts the preset target groove mark depth by the setting device 30,
The adjusted target groove trace depth is set as a reference value for comparison with the groove trace depth information from the groove trace depth detecting means 32, and the adjusted target groove trace depth and the groove trace depth detecting means 32 are set. The mud hardness is detected by comparing it with the groove depth information, the sensitivity target value of the float sensor 25 is automatically selected according to the mud hardness, and the sensing sensitivity of the float sensor 25 is automatically adjusted. It is configured. That is, the operator manually adjusts the target groove trace depth so as to obtain a desired seedling planting state by manually operating the setting device 30 (manual adjusting means) while confirming the leveling condition by the leveling float 17. By performing the above, the planting state of the seedlings obtained by the control operation of the automatic sensitivity adjusting means 28C can be set to the planting state of the seedlings according to the operator's preference regardless of the mud hardness of the field. Of.

[Other Embodiments] Other embodiments of the present invention will be listed below. The rice transplanter may have any form such as four-row planting, five-row planting, six-row planting, or eight-row planting. In the above embodiment, the setting device 30 functioning as the manual setting device A is also used as the manual adjusting device B, but a setting device separately configured as the manual adjusting device B may be additionally provided. . As shown in FIG. 8, the function display of the manual adjustment means B is replaced with the display of the target groove trace depth by the numerical values shown in FIG.
The target ground leveling state display may be displayed in words such as “shallow”, “standard”, and “deep”.

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

[Brief description of drawings]

[Fig. 1] Overall side view of the riding rice transplanter

FIG. 2 is a schematic plan view of a seedling planting device.

FIG. 3 is a cross-sectional side view of the center of the lower part of the seedling planting device showing the support structure of the float sensor.

FIG. 4 is a cross-sectional front view of the lower part of the seedling planting device showing the support structure of the float sensor.

FIG. 5 is a cross-sectional side view of the lower part of the seedling planting device showing the structure of the groove mark depth detecting means.

FIG. 6 is a block diagram showing a control configuration.

FIG. 7 is a rear view of the ground leveling float showing the configuration of the groove mark depth detecting means.

FIG. 8 is a diagram showing a function display of a manual adjustment means B in another embodiment.

[Explanation of symbols]

 1 Traveling Aircraft 5 Seedling Planting Device 17 Leveling Float 25 Float Sensor 28 Control Device 28A Automatic Elevating Control Means 28C Automatic Sensitivity Adjusting Means 32 Groove Depth Detecting Means B Manual Adjusting Means

Claims (1)

[Claims] 1. A rearing part of a traveling body (1) is connected with a seedling planting device (5) equipped with a ground leveling float (17) capable of swinging up and down so as to be driven up and down, and at the time of seedling planting work, the ground leveling is performed. An automatic lifting control means (28A) for automatically lifting the seedling planting device (5) based on float displacement information from a float sensor (25) that detects vertical swing displacement of the float (17), and As a reference value for comparing the groove trace depth information from the groove trace depth detecting means (32) for detecting the groove trace depth formed after passing through the mud surface of the leveling float (17) and the groove trace depth information. The mud hardness is detected by comparing it with a preset target groove depth, and the sensitivity target value of the float sensor (25) corresponding to the mud hardness is automatically selected to detect the float sensor (25). Automatic sensitivity adjustment to automatically adjust sensitivity Means (28C)
A rice transplanter equipped with a control device (28) provided with: manual adjustment means (B) for artificially adjusting the target groove trace depth during the control operation by the automatic sensitivity adjustment means (28C). When the target groove depth is adjusted by the manual adjusting means (B), the automatic sensitivity adjusting means (28C) is provided.
The rice transplanter is configured to set the adjusted target groove trace depth as a reference value for comparison with the groove trace depth information.