JPH09154339A - Sulky rice transplanter - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a multi-purpose rice transplanter capable of positioning working equipment connected to the transplanter at a work level adaptive to the kind of the working equipment. SOLUTION: This sulky rice transplanter comprises a detachably connected seedling planting equipment that can be vertically driven by action of a lift cylinder 3 via a link mechanism 2 on the rear of a running machine body, a control reference angle setting unit 18 that sets and changes a control reference angle of a float sensor 14 that detects a vertical swing angle of a float 10 for ground leveling provided on the seedling planting equipment, and a control unit 16 provided with an automatic lift control means 16B that automatically lifts and lowers the seedling planting equipment by controlling the action of the lift cylinder 3 so as to make the vertical swing angle coincide with the control reference angle. The running machine body is equipped with an angle sensor 23 that detects the actual ascendant angle of the link mechanism 2, and a circuit wiring 15 connected to the float sensor 14 is designed to be reattachable to the angle sensor 23.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention detachably connects a seedling planting device, which is driven up and down by the operation of a lift cylinder via a link mechanism, to a rear portion of a traveling machine body and connects the traveling machine body with the seedlings. A control reference angle setter for setting and changing a control reference angle of a float sensor for detecting a vertical swing angle of a leveling float provided in a planting device, and the lift so that the vertical swing angle matches the control reference angle. The present invention relates to a riding type rice transplanter equipped with a control device having an automatic lifting control means for controlling the operation of a cylinder to automatically lift the seedling planting device.

[0002]

2. Description of the Related Art Conventionally, in the above-mentioned riding type rice transplanter, the seedling planting device is raised to the upper limit position by operating the planting clutch lever mounted on the control section of the traveling body to the "up" position. By operating the planting clutch lever to the "down" position, the seedling planting device is set by the control reference angle setter (control reference angle of the float sensor) and the detected value from the float sensor. It is possible to lower to the descent limit position (seedling planting work height) that matches (the vertical swing angle of the ground leveling float), and by operating the planting clutch lever to the "neutral" position, the seedling planting device is desired. It was configured so that it could be stopped up and down at the ascent and descent height. Also, while the seedling planting work is running with the planting clutch lever operated to the “planting” position, the condition of the field (relief and mud hardness).
When the vertical swing angle of the ground leveling float changes due to the change of the set value and a difference occurs between the set value and the detected value, the seedling planting device is automatically operated so that the set value and the detected value match each time. It was configured to execute automatic lifting control (ground height control) for lifting.

On the other hand, in recent years, instead of the seedling planting device, another working device such as a drug spraying device for spraying a drug is connected to the traveling machine body so that the rice transplanter can be used for spraying chemicals other than seedling planting work. The rice transplanter is being used for multiple purposes, such as making it available to all.

[0004]

However, in order to make the rice transplanter multipurpose, in the case where another working device such as a chemical spraying device is connected to the traveling machine body of the riding type rice transplanter according to the above-mentioned conventional technique, Unlike a seedling planting device that works in a grounded state, a spraying device works in a state in which it is located at a height that is a predetermined distance from the ground. When locating the plant at a predetermined working height, it is necessary to operate the planting clutch lever while observing the work equipment behind and checking whether or not the working height has been reached. Was there. That is, the operation for positioning the work device at the predetermined work height is difficult and troublesome.

An object of the present invention is to provide a work device connected to
It is an object of the present invention to provide a riding type rice transplanter which is advantageous in achieving multipurpose of the rice transplanter which can be easily positioned at a working height adapted to the type.

[0006]

In order to achieve the above-mentioned object, in the invention according to claim 1 of the present invention, seedlings are driven up and down by the operation of a lift cylinder via a link mechanism at the rear part of the traveling machine body. A control reference angle setter that detachably connects the planting device and that sets and changes the control reference angle of the float sensor that detects the vertical swing angle of the ground leveling float provided in the seedling planting device, to the traveling machine body. , A riding type rice transplanter equipped with a control device equipped with an automatic lifting control means for controlling the operation of the lift cylinder so that the vertical swing angle matches the control reference angle and automatically lifting the seedling planting device. In the machine, the traveling machine body is equipped with an angle sensor that detects the actual lifting angle of the link mechanism, and the circuit wiring connected to the float sensor is replaced with the angle sensor. It was constructed to function.

According to the first aspect of the present invention, the set value is originally compared with the detected value, and the operation of the lift cylinder is controlled based on the comparison result so that the detected value matches the set value. When the circuit wiring is connected to the float sensor, the automatic lifting control means of the control device configured as described above detects the setting value (control reference angle of the float sensor) set by the control reference angle setter and the detection from the float sensor. Value (the vertical swing angle of the ground leveling float) is compared, and based on the comparison result, automatic lifting control (ground height control) that controls the operation of the lift cylinder so that the detected value matches the set value is performed. I will do it. When the circuit wiring is connected to the angle sensor, the target lifting angle of the link mechanism as a preset value and the detected value from the angle sensor (actual lifting angle of the link mechanism) are compared, and the comparison result is obtained. Based on this, the position control (control of the height of the machine) for controlling the operation of the lift cylinder is performed so that the detected value matches the set value.

That is, by replacing the circuit wiring connected to the float sensor with the angle sensor, the automatic lifting control means for controlling the height above the ground can be made to function as the control means for controlling the height against the body, so that the traveling When the seedling planting device is connected to the machine body, the circuit wiring is connected to the float sensor, and the automatic raising / lowering control means controls the height above the ground, so that the seedling planting device is controlled by the control reference angle setting device. It is possible to maintain the set work height for planting seedlings, and when working equipment such as a chemical spraying device that works while being separated from the ground is connected to the traveling machine, the circuit wiring should be angled. By connecting to the sensor and making the automatic elevation control means control the height of the aircraft, the operation of changing the target elevation angle of the link mechanism allows the operator to visually check the work equipment behind. The work height such as the chemical spraying device can be easily adjusted to the work height (height against the machine) that does not require the operation of the planting clutch lever while checking whether or not the work height has been reached. Will be able to be located.

Moreover, since the circuit wiring is changed between the float sensor and the angle sensor according to the working device to be connected so that the circuit wiring is effectively used, the float sensor and the angle sensor are used. It is possible to reduce the number of circuit wirings as compared with the case where each circuit wiring is provided, and it is not necessary to carry out maintenance work such as storing unused circuit wirings and preventing rusting of connection terminal portions.

Therefore, according to the invention described in claim 1, in order to make the rice transplanter multipurpose, the working device connected to the traveling machine body can be easily positioned at the working height adapted to the type. It is possible to provide an advantageous riding type rice transplanter without increasing the number of parts, complicating the control configuration, and complicating the maintenance work by effectively using the circuit wiring for the existing automatic lifting control means and the float sensor. It became so.

In the invention according to claim 2 of the present invention,
In addition to the invention according to claim 1, in the state where the circuit wiring connected to the float sensor is replaced with the angle sensor, the set value of the control reference angle setter and the detected value from the angle sensor are compared. Then, the automatic elevation control means is configured to execute the elevation control.

According to the second aspect of the present invention, when the circuit wiring connected to the float sensor is replaced with the angle sensor, the control reference angle setter is used to set the target lifting angle of the link mechanism (of the connected working devices). It becomes possible to function as a setting means for setting a target work height according to the type. That is, since it is not necessary to newly provide setting means for setting the target lifting angle of the link mechanism, it is possible to further suppress the increase in the number of parts and the complicated assembly.

Therefore, according to the invention described in claim 2, a riding type rice transplanter, which is advantageous in achieving the multipurpose of the rice transplanter, is provided while further suppressing the increase in the number of parts and the complicated assembly. I can do it now.

[0014]

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 rice transplanter is driven up and down by the operation of a hydraulic lift cylinder 3 via a link mechanism 2 at the rear part of a traveling machine body 1. The seedling planting device 4 is detachably connected.

As shown in FIG. 2, the seedling planting device 4 includes a feed case 5, to which power from the traveling machine body 1 side is transmitted.
A square pipe-shaped support frame 6 extending from the feed case 5 to the left and right, a frame-equipped planting transmission case 7 extending rearward from the support frame 6, and a shaft at the rear of the planting transmission case 7. A pair of left and right planting mechanisms 8 supported, a seedling stand 9 that reciprocally moves laterally with a constant stroke with respect to the planting mechanism 8, and a leveling that preliminarily applies a leveling action to the seedling planting site by the planting mechanism 8. It is composed of the float 10 and the like. The ground leveling float 10 is provided at the free end of a swing arm 12 extending rearward from a float fulcrum pipe 11 pivotally supported around a horizontal axis P1 on the front part of the planted transmission case 7. The grounding float 10 with respect to the planting mechanism 8 of the leveling float 10 is pivotally connected so as to be vertically swingable around the horizontal axis P2 and is operated by an operation lever 13 that is integrally pivotally connected to the float fulcrum pipe 11. The relative height can be adjusted. by this,
The setting of seedling planting depth can be changed according to the situation in the field.

As shown in FIGS. 1 to 3, the ground leveling float 10 arranged in the center of the seedling planting device 4 is equipped with a float sensor 14 which is a rotary potentiometer. The float sensor 14 detects the vertical swing angle of the ground leveling float 10 according to changes in the field conditions (undulation or mud hardness), converts the detected vertical swing angle into a voltage level, and then connects the circuit wiring 15 to the circuit wiring 15. It is configured to output to the control device 16 mounted on the traveling machine body 1 via the vehicle. On the other hand, in the control section of the traveling vehicle body 1, in order to change the setting of the planting clutch lever 17 that outputs an operation command according to the operation position to the control device 16 and the control reference angle (control reference voltage level) of the float sensor 14. Control reference angle setter 1
Eight are equipped. The control device 16 receives a command from the planting clutch lever 17, a set value set by the control reference angle setter 18 (control reference angle of the float sensor 14), and a detected value detected by the float sensor 14 (leveled ground float 10 Based on the vertical swing angle of the solenoid valve), an electromagnetic control valve 19 for switching the flow state of the hydraulic oil to the lift cylinder 3 and a clutch motor 21 for turning on and off the planting clutch 20 for switching the transmission state to the seedling planting device 4 are operated. To control.

More specifically, the control device 16 controls the operation of the electromagnetic control valve 19 so that the lift cylinder 3 extends when the planting clutch lever 17 is moved to the "raised" position so that the seedling planting device 4 is operated. It is designed to raise.
When the planting clutch lever 17 is operated to the "down" position, the operation of the electromagnetic control valve 19 is controlled so that the lift cylinder 3 is shortened to lower the seedling planting device 4. When the planting clutch lever 17 is operated to the "neutral" position, the operation of the electromagnetic control valve 19 is controlled so that the expansion and contraction of the lift cylinder 3 is stopped, and the raising and lowering of the seedling planting device 4 is stopped. That is, the control device 16 controls the seedling planting device 4 based on the combination of the above manual operations to the lower limit of the ascending position where the set value by the control reference angle setting device 18 and the detected value by the float sensor 14 match. It is possible to perform a manual lifting control to position it at a desired height up to the position. Further, when the planting clutch lever 17 is operated to the “planting” position, the control device 16 controls the operation of the clutch motor 21 so that the planting clutch 20 is turned on and operated, and the seedling planting operation of the seedling planting device 4 is performed. And the set value from the control reference angle setter 18 and the detected value from the float sensor 14 are compared, and the vertical swing angle of the leveling float 10 is changed according to changes in the field conditions (undulation and mud hardness). Changes and the set value from the control reference angle setter 18 and the float sensor 14
When there is a difference between the detected value and
The electromagnetic control valve 19 is adjusted so that the set value and the detected value match.
The automatic raising / lowering control for automatically raising and lowering the seedling planting device 4 to maintain the seedling planting work height set by the control reference angle setting device 18 by controlling the operation of (Ground height control). When the planting clutch lever 17 is operated from the "planting" position to another operation position, the operation of the clutch motor 21 is controlled so that the planting clutch 20 is disengaged, and the seedling planting operation of the planting apparatus 4 is stopped. It is designed to let you.

That is, the control device 16 controls the operation of the electromagnetic control valve 19 and the planting clutch 20 based on the operating position of the planting clutch lever 20 to raise and lower the seedling planting device 4 and the seedling planting device 4. From the manual control means 16A for controlling the start and stop of the seedling planting operation, the operating position of the planting clutch lever 20, the set value (control reference angle of the float sensor 14) from the control reference angle setter 18, and the float sensor 14. The control reference angle setter 1 is controlled by controlling the operation of the electromagnetic control valve 19 based on the detected value (vertical swing angle of the ground leveling float 10).
An automatic lifting control means 16B for automatically lifting the seedling planting device 4 is provided as a control program so that the set value from 8 and the detected value from the float sensor 14 match. By the control operation of the automatic raising / lowering control means 16B, stable planting of seedlings can be accurately performed at the set planting depth.

As shown in FIGS. 1 and 3, the traveling body 1
Is equipped with an angle sensor 23 that detects the actual lifting angle of the link mechanism 2 via the adjustment link 22. The angle sensor 23 is composed of a rotary potentiometer having the same characteristics as the float sensor 14, and is configured so that the circuit wiring 15 connected to the float sensor 14 can be connected. The adjustment link 22 is for making the actual elevation angle of the link mechanism 2 detected by the angle sensor 23 correspond to the vertical swing angle of the leveling float 10 detected by the float sensor 14. When the circuit wiring 15 connected to the float sensor 14 is replaced with the angle sensor 23, the control device 16 receives the detection value (actual lifting angle of the link mechanism 2) from the angle sensor 23. , The set value from the control reference angle setter 18 and the angle sensor 2
The detected values from 3 are compared, and based on the comparison result,
The electromagnetic control valve 19 is adjusted so that the set value and the detected value match.
The position control (height control with respect to the machine body) is performed to control the operation of (1) to expand and contract the lift cylinder 3.

With the above construction, by replacing the circuit wiring 15 connected to the float sensor 14 with the angle sensor 23, the control reference angle setter 18 can be moved to the target lifting angle of the link mechanism 2 (depending on the type of connected working device). It can be made to function as a setting means for setting a target working height according to the above, and an automatic lifting control means 1 for controlling the height above ground.
6B can be made to function as a position control means for controlling the height of the machine body, so instead of the seedling planting device 4, a chemical spraying device which is an example of another working device that performs work in a state of being separated from the ground, etc. When the rice transplanter is used as a paddy field management machine by connecting the vehicle to the rear part of the traveling vehicle body 1, the circuit wiring 15 connected to the float sensor 14 is connected to the angle sensor 2.
By replacing with 3, the working device such as the chemical spraying device can be easily positioned at the proper working height set by the control reference angle setting device 18 apart from the ground according to the type. There is.

In addition, since the position control can be performed by effectively utilizing each of the existing circuit wiring 15, the automatic raising / lowering control means 16B, and the control reference angle setting device 18, the positions corresponding to those positions can be controlled. It is possible to avoid an increase in the number of parts, a complicated control configuration, a complicated maintenance work, and the like, which are caused when a means dedicated for control is newly provided.

That is, with the above-mentioned structure, the riding-type rice transplanter is advantageous in achieving the multipurpose of the rice transplanter capable of easily positioning the working device connected to the traveling machine body 1 at the working height adapted to the type. Increase the number of parts,
It is possible to provide without complicating the control configuration and complicating the maintenance work.

[Other Embodiments] Hereinafter, other embodiments of the present invention will be listed. In the above-described embodiment, the actual lifting angle of the link mechanism 2 is adjusted so that the actual lifting angle of the link mechanism 2 detected by the angle sensor 23 corresponds to the vertical swing angle of the leveling float 10 detected by the float sensor 14. Although the angle sensor 23 is configured to indirectly detect through the link 22, the angle sensor 23 is attached to the swing fulcrum of the link mechanism 2 without the adjustment link 22, and the link sensor 2 is actually mounted. The elevation angle may be directly detected by the angle sensor 23. In this configuration, instead of the adjustment link 22, the actual up-and-down angle (voltage level) of the link mechanism 2 detected by the angle sensor 23 is changed to the vertical swinging angle (voltage level) of the leveling float 10 detected by the float sensor 14. The controller 16 may be equipped with a regulator that attenuates so as to correspond to (1). In the above embodiment, the control reference angle setting device 18
Is configured so as to also serve as setting means for setting the target lifting angle of the link mechanism 2.
Aside from 8, a dedicated setting means for setting the target lifting angle of the link mechanism 2 may be newly provided.
With this configuration, it is not necessary to configure the angle sensor 23 with a rotary potentiometer having the same characteristics as the float sensor 14, and the actual elevation angle of the link mechanism 2 detected by the angle sensor 23 is determined by the float sensor 1.
It is not necessary to provide a device for responding to the vertical swing angle of the ground leveling float 10 detected by 4.

In the claims, reference numerals are provided for convenience of comparison with the drawings, but the present invention is not limited to the configuration shown in the attached drawings.

[Brief description of the drawings]

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

FIG. 2 is a vertical sectional side view showing the configuration of the main part of the seedling planting device.

FIG. 3 is a block diagram showing a control configuration.

[Explanation of symbols]

 1 Traveling Aircraft 2 Link Mechanism 3 Lift Cylinder 4 Seedling Planting Device 10 Ground Float 14 Float Sensor 15 Circuit Wiring 16 Control Device 16B Automatic Elevating Control Means 18 Control Reference Angle Setter 23 Angle Sensor

Claims (2)

[Claims] 1. A rear part of the traveling machine body (1) is detachably connected with a seedling planting device (4) which is driven up and down by an operation of a lift cylinder (3) through a link mechanism (2), and A control reference angle setter for setting and changing a control reference angle of a float sensor (14) for detecting a vertical rocking angle of a ground leveling float (10) provided in the seedling planting device (4) on the traveling machine body (1). 18) and an automatic lifting control means (16B) for automatically lifting the seedling planting device (4) by controlling the operation of the lift cylinder (3) so that the vertical swing angle matches the control reference angle. A riding type rice transplanter equipped with a control device (16) provided with, the traveling machine body (1) being equipped with an angle sensor (23) for detecting an actual ascending / descending angle of the link mechanism (2). , On the float sensor (14) Riding rice transplanter circuit wiring (15) are configured to be replaced in the angle sensor (23) to continue. 2. The set value of the control reference angle setter (18) and the angle sensor (18) when the circuit wire (15) connected to the float sensor (14) is replaced with the angle sensor (23). The riding-type rice transplanter according to claim 1, wherein the riding-type rice transplanter is configured so as to perform a raising / lowering control by the automatic raising / lowering control means (16B) in comparison with a detected value from 23).