JPH0870642A - Transplanting machine - Google Patents

Abstract

PURPOSE: To provide a transplanter capable of well maintaining the lifting control of a seedling-planting device in response to the reduction in a load accompanied by the work of the seedling-planting device. CONSTITUTION: In this transplanter in which a seedling-planting device is liftably mounted on a travel frame through a lifting link mechanism capable of being lifted with an actuator 8, a load sensor 9 for detecting the load of the seedling- planting device is disposed, and further, a lifting control means 10 for driving the actuator 8 so that the reduction in the load of the seedling-planting device after a specific set time is estimated on the detection result in the load sensor 9 at the specific set time and that the support characteristics of the seedling- planting device by the actuator 8 is constantly maintained is also disposed.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a transplanter such as a rice transplanter, and more particularly to a transplanter in which a seedling planting device is vertically mounted on a traveling machine body through an elevating and lowering link mechanism which is vertically moved by an actuator. .

[0002]

2. Description of the Related Art Heretofore, as a transplanter of this type, the raising / lowering control of a seedling planting device has been such that an actuator is always driven up / down with the same characteristics regardless of the seedling amount in the seedling planting device. . That is, taking the rice transplanter as an example, the seedling planting device is operated at the beginning when the seedling stand in the seedling planting device is replenished with seedlings and when the seedling planting work progresses and the seedling amount decreases. Despite the change in load, the control characteristics for driving the actuator were kept constant.

[0003]

Therefore, in the conventional transplanter, the raising / lowering speed of the seedling planting device is slow when the load is large, and it is fast when the load is small. There was a problem that the raising and lowering control for keeping the same was likely to be unstable when the load was small, and it was difficult to make the planting depth uniform. It is also possible to constantly detect the load of the seedling planting device and correct the support characteristics of the actuator of the seedling planting device based on the detection result, but it is unpredictable during planting work. Since the load fluctuation is applied to the lifting link mechanism and the actuator, the load of the seedling planting device cannot be accurately detected. The present invention has been made in view of the above circumstances, and provides a transplanter capable of maintaining the elevation control of a seedling planting device in a favorable manner in response to a decrease in load associated with work of the seedling planting device. With the goal.

[0004]

According to the present invention, in order to achieve the above object, a transplanter in which a seedling planting device is vertically mounted on a traveling machine body through an elevating and lowering link mechanism that is vertically driven by an actuator. In, while providing a load sensor to detect the load of the seedling planting device, based on the detection result of the load sensor at the time of a specific set, predict the decrease in the load of the seedling planting device after the set time. It is characterized in that a lifting control means for driving the actuator is provided so as to maintain a constant support characteristic of the seedling planting device by the actuator. The operation and effect of this characteristic configuration are as follows.

[0005]

In other words, based on the detection result of the load sensor at the time of a specific set, the decrease in the load of the seedling planting device after the set is predicted by, for example, the work traveling speed, and the seedling planting device by the actuator is used. Since the actuator is driven so that the support characteristics of the seedling planting device are maintained constant, an appropriate support state is provided so that the raising / lowering drive speed of the seedling planting device is not unduly increased due to the reduction of the load of the seedling planting device. Will be maintained.

[0006]

Therefore, the actuator is not driven and controlled based on the load detection of the seedling planting device at the time of planting work in which the load cannot be stably detected. The load of the seedling planting device can be detected accurately by setting the load detection at a specific time so that the load of the seedling planting device can be detected with high accuracy. At the same time, the actuator for raising and lowering the seedling planting device is controlled to operate properly based on the predicted load of the seedling planting device according to the subsequent decrease in the load of the seedling planting device accompanying the planting work. Therefore, the seedling planting depth can be made almost constant regardless of the load change of the seedling planting device.

[0007]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 shows a riding-type rice transplanter as an example of the transplanter. This riding-type rice transplanter has a pair of left and right front wheels 1, 1
The driving machine body 3 supported by the driving rear wheels 2 and 2 is equipped with the control section 4 and the driving section 5, and the rear section of the traveling machine body 3 is provided with a four-way lifting link mechanism 6 as a lifting link mechanism. The planting device 7 is attached and configured. The four-link mechanism 6 is operated so as to be able to move up and down by a hydraulic cylinder 8 serving as an actuator. Up and down is detected, and the hydraulic cylinder 8 is operated so that the detection signal of the up-and-down sensor 13 reaches a set value to raise and lower the seedling planting device 7, and thus the seedling planting device 7 is set to a set level for a field scene. It is configured to execute the lifting control which is maintained at.

Then, as shown in FIGS. 1 and 2, the seedling planting device 7 acting on the hydraulic cylinder 8 via the four-elevating link mechanism 6 is attached to the piston rod 8A of the hydraulic cylinder 8.
A load cell sensor 9 is attached as a load sensor for detecting the load. The detection signal of the load cell sensor 9 is input to the control device 10 provided in the traveling machine body 3. A set switch 11 for detecting the load of the seedling planting device 7 is arranged on a control panel provided near the control handle in the control section 4. This set switch 11
An operator on the control unit 4 can arbitrarily perform a set operation, and the set signal is input to the control device 10 as the elevating control means. When the set signal from the set switch 11 is input to the control device 10, the load of the seedling planting device 7 is pre-programmed to be calculated to decrease by the set weight every unit time after the input signal. The control means 10a is provided, and the pressure oil supply / discharge control to / from the hydraulic cylinder 8 is performed by the load of the seedling planting device 7 obtained based on the calculation result of the calculation means 10a. That is, as shown in FIG. 3, when seedling supply to the seedling stand 7a of the seedling planting device 7 at the edge of the field is completed (indicated by X in the figure), or planting work is performed. When the set switch 11 is set at a time point (indicated by an X mark in the figure) when reaching the traveling section at the end of the field in the middle of the operation, the detection signal by the load cell sensor 9 at that time point is set. It is input to the control device 10 to obtain the load of the seedling planting device 7 at the time of setting, and a standard preprogrammed corresponding to a predetermined seedling planting traveling speed for each unit time from the load. A pulse width is calculated based on the load of the seedling planting device 7 which is calculated by predicting a decrease in the seedling planting amount from the seedling planting device 7 based on the seedling planting amount and a predetermined distance between plants. A valve is driven to supply and discharge pressure oil in the hydraulic cylinder 8 by a modulation signal. By means 10b, a pulse signal for control is output to the electromagnetic control valve 12 for supplying / discharging the pressure oil to / from the hydraulic cylinder 8. Then, since the duty ratio of the pulse signal becomes small every unit time after the setting time, the operating speed of the hydraulic cylinder 8 is slowed corresponding to the decrease in the load, and thus the ascending / descending speed of the seedling planting device 7 is increased. I try not to change much regardless of the reduction of the load. Therefore, each time the planting work is started after the seedling is supplied or after traveling, the planting work is continued after the set switch 11 is set. ,
The reduction amount of the seedling amount is calculated in advance, and the seedling planting device 7 can always move up and down at almost the same speed based on the calculation result.

[Other Embodiments] In the above embodiment, the operator operates the set switch 11 to start the operation of the elevating control means, but the operation of seedling planting is stopped. The above control may be automatically performed by automatically determining when there is. In the above example, the reduction of the load of the seedling planting device is presented every unit time after setting, but the distance sensor and the like are provided on the axle of the traveling machine body, etc. according to the detection result of the distance sensor. The reduction of the load of the seedling planting device may be calculated and obtained for each unit distance. Alternatively, the number of seedling plantings may be detected, and the decrease in the load of the seedling planting device may be calculated and obtained according to the number of plantings after setting. In the above example, the rate of reduction of the load of the seedling planting device is presented in advance programmed in the lifting control means,
During at least one outward trip work in a field that reciprocates, the load of the seedling planting device is detected at each of the rounding points at both ends of the travel route where the work traveled, and seedling planting is performed based on the difference in the load. Calculate the reduction rate of the load of the device, and calculate the reduction of the load of seedling and drive the actuator based on the calculated reduction rate of the load of the planting device from the next process. Is also good. In addition to predicting the decrease in seedling volume, if the seedling planting device is equipped with a fertilizer application system that fertilizes the seedlings at the same time as the seedling planting work, the decrease in the fertilizer load installed in the fertilizer application device is also predicted. You may comprise so that the reduction of the load of the whole planting apparatus may be calculated. It may be applied not only to the riding type rice transplanter but also to various transplanters such as a vegetable transplanter.

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 structures of the accompanying drawings by the entry.

[Brief description of drawings]

FIG. 1 is an overall side view showing a riding type rice transplanter.

FIG. 2 is a schematic explanatory view showing a control means and the like for performing lifting control according to the load of the seedling planting device.

FIG. 3 is an explanatory plan view showing a time when load detection is set in a field.

[Explanation of symbols]

 3 traveling machine body 6 lifting link mechanism 7 seedling planting device 8 actuator 9 load sensor 10 lifting control means

Claims (1)

[Claims] 1. A transplanter in which a seedling planting device (7) is mounted on a traveling machine body (3) so as to be able to move up and down via an elevating link mechanism (6) that is driven up and down by an actuator (8). A load sensor (9) for detecting the load of the planting device (7) is provided, and based on the detection result of the load sensor (9) at the time of specific setting, the seedling planting device (7) after the setting is set. A lifting control means (10) for driving the actuator (8) so as to predict a decrease in the load of the actuator (8) and maintain the support characteristic of the seedling planting device (7) by the actuator (8) constant. A transplanter.