JPH09154340A - Lift control device for rice transplanter - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a lift control device for a rice transplanter that secures stable planting depth and can prevent deep planting by smoothly carrying out lift control in appropriate response to an unexpected accident such as deformation of a link arm, and corrects the lift control by a control means on the basis of a first detector means. SOLUTION: This lift control device comprises a second detector means that detects the displacement of a link arm 17 caused by a variation in ground contact pressure acting on a grounding member 14 in such a way that correction on the lift control based on a first detector means which detects rocking action on the link arm 17 based on the change in the ground contact pressure to the grounding member 14 is made by a control means based on the results given by the 2nd detector means. For this lift control, when the link arm 17 is subjected to flexural deformation that moves upward its points of connection to a bracket 14A around its point of connection to a body frame, a turning detector 43 is preferably actuated to detect by turning of a sensor case 35 which is caused by displacement of the sensor case 35 relative to the body frame.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a grounding body which is swingably attached to a seedling planting device connected to a traveling machine body so as to be movable up and down, through a linkage arm, and the grounding body to the linkage arm. And a first detecting means for detecting a rocking operation based on a change in the ground pressure of the plant, and a control for maintaining a desired height of the seedling planting device against the field based on a detection result of the first detecting means. And a lifting control device for a rice transplanter having means.

[0002]

2. Description of the Related Art Conventionally, as a raising / lowering control device for a rice transplanter having the above-mentioned structure, as shown in FIG. Supports the linkage arm,
A rear fulcrum of a center float as a grounding body is swingably connected to the tip of the linking arm. On the other hand, on the front end side of the center float, a front center fulcrum of the center float is supported by a link mechanism so as to be capable of bending and swinging with respect to the body frame. A rotation sensor, which constitutes a first detecting means for detecting swinging around, is mounted.

[0003]

In the above-mentioned structure, the vertical movement around the rear fulcrum of the center float is detected to perform the vertical movement control. However, the center float reduces the influence of the convex portion of the field. When receiving and attempting to swing upward around the rear fulcrum, the linking arm itself and the link mechanism arm itself may be distorted and deformed. Then, the rear fulcrum of the center float rises, so that the entire center float rises in parallel, and the rotation sensor cannot catch the rise of the center float. Although the center float is raised and the seedling planting device is raised to perform control for maintaining the standard planting depth, the control is not performed, which is a disadvantage.

The object of the present invention is to pay attention to the deformation of the linking arm that does not move relative to the main body frame of the seedling planting apparatus during normal raising / lowering control. The point is that proper lifting control can be performed.

[0005]

According to a first aspect of the present invention, there is provided a second detecting means for detecting a displacement of the linking arm caused by a change in a ground pressure acting on the grounding body. The control means corrects the elevation control based on the first detection means based on the detection result of the second detection means, and the operation and effect thereof are as follows.

[Operation] That is, even if the first detecting means does not sense the operation of the grounding body, the elevation control can be performed based on the detection result of only the second detecting means.

[Effect] Therefore, it is possible to appropriately perform the up-and-down control of the seedling planting device by appropriately responding to an unexpected situation such as the deformation of the linkage arm. This stabilizes the planting depth,
Can prevent deep planting.

[0008]

According to a second aspect of the present invention, there is provided a body frame of a seedling planting device connected to a traveling machine body so as to be movable up and down and a bracket of the grounding body. The sensor case, to which the linking arms are swingably connected, and to which a single rotation detector is attached, is pivotally supported about the mounting shaft center with respect to the longitudinal intermediate position of the linking arm. A drive mechanism for driving the single rotation detector is housed therein, and a drive arm that interlocks with the drive mechanism and the bracket are linked by a first linking mechanism, and the rotation detector is attached to the seedling planting device. Of the sensor case and the operation tool belonging to the main body frame are linked by a second linkage mechanism, and the first linkage mechanism and the second linkage mechanism are connected to each other. so, There the serial rotation detector that are configured to function as a second detecting means for detecting the displacement of the link arm, the effects thereof are as follows.

[Operation] As shown in FIG. 6, the linking arm 1
When the grounding body 14 swings around the connection point between the bracket 14A and the linking arm 17 with the fixed state 7, the first
The linkage mechanism 45 drives the drive mechanism 43A, and the rotation detector 4
3B is detected and activated. This is the detection operation as the first detection means 43. On the other hand, as shown in FIG. 7, when the linkage arm 17 is displaced due to the lifting operation of the grounding body 14,
By the upward displacement of the linkage arm 17, the sensor case 35 is reversely driven in the arrow direction by the second linkage mechanism 48 by the operation tool 21 that belongs to the main body frame and is in a fixed state, and the rotation detector 43B detects rotation. This is the first detection means 4
3 is a detection operation.

[Effect] With this, the elevation control of the seedling planting device can be performed. Further, there is an effect that the same rotation detector can be used as both the first and second detecting means. However, as shown in FIG. 12, the sensor case 35 pivotally supporting the rotation detector 43B is attached to the linking arm 17, and the sensor case 35 and the seedling planting device fixing side serve as a second linking mechanism. Although the rotation detector 43B and the rear bracket 14A of the center float 14 are linked by the first linking mechanism 45, the arm 46 of the second linking mechanism also fixes the rotation detector 43B and the rear bracket 14A of the center float 14 in this case. Since it is linked to the side, it was not sufficient to capture the swinging motion of the linking arm 17. Compared with this, since the sensor case 35 and the planting tool are linked, as shown in FIG.
It is possible to appropriately grasp the swinging motion just by the rotation of the sensor case 35, and to perform the lifting control.

[0011]

According to a third aspect of the present invention, in the configuration according to the second aspect, the linkage arm connected to the traveling machine body so as to be movable up and down is connected to the main body frame. When a bending deformation that moves a connecting point portion with the bracket upward around a point is generated, the rotation detector is rotated by the rotation of the sensor case due to the relative displacement between the sensor case and the main body frame. The present invention is configured so as to detect and operate, and its action and effect are as follows.

[Operation] That is, when the linkage arm is displaced due to the bending deformation of the grounding body, the sensor case attached to the intermediate position of the linkage arm is driven and rotated in the opposite direction, and the rotation detector detects it. To do. Thereby, the raising and lowering control of the seedling planting device can be performed.

[Effect] The effect is the same as that of claim 2.

[0014]

According to a fourth aspect of the present invention, there is provided a configuration according to the second aspect of the present invention, wherein
When the detection means detects the bending deformation of the swing arm based on the ground pressure fluctuation of the grounding body, the control means is configured to control the seedling planting device to the ground rising side. Yes, its effects are as follows.

[Operation] In other words, when the linkage arm is displaced due to the bending deformation of the grounding body, the connecting point with the bracket of the grounding body rises around the connecting point with the body frame. The grounding body is in a state of being lifted up. Therefore, since the seedling planting device is located too close to the field surface, the raising control is performed to return the planting depth to the standard state.

[Effect] As a result, deep planting can be prevented.

[0017]

A characteristic feature of the present invention according to claim 5 is that in the configuration according to claim 1, the second feature
The detecting means is for detecting a change in strain of the linking arm due to a change in the ground pressure of the grounding body, and the function and effect thereof are as follows.

[Operation] In other words, in the case where the linkage arm is displaced due to the bending deformation caused by the lifting operation of the grounding body,
Since the second detection means senses the strain, the seedling planting device is moved up and down based on the detection result to return the planting depth to the standard state.

[Effect] As a result, an appropriate lifting control can be performed, and as a correction for the lifting control, only a sensor for detecting strain is provided as compared with a mechanical detection mechanism, so that the structure is simple. You can

[0020]

BEST MODE FOR CARRYING OUT THE INVENTION

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 rear part of the traveling machine body 1 is connected by a hydraulic lift cylinder 3 via a link mechanism 2 so as to be lifted and lowered so that the eight-row seedling planting device 4 is formed. The seedling planting device 4 is configured in a two-divided structure of a left seedling planting device portion 4A and a right seedling planting device portion 4B for each four rows, and a work posture in which the seedling planting device 4 is not divided (see FIG. 2) and a retracted posture (see FIG. 3) that reduces the lateral extension of the machine body.

The structure of the seedling planting device 4 will be described in detail.
As shown in FIGS. 1 to 4, the seedling planting device 4 includes a vertical frame 5 connected to the rear end of the link mechanism 2 and a horizontal frame connected to the vertical frame 5 so as to project left and right. The frame 6, the left and right swing frames 7 pivotally connected to the both ends of the lateral frame 6 so as to swing left and right around the first vertical axis P1, and the swing ends of the left and right swing frames 7, respectively. Each second vertical axis P via the support bracket 8
2, a feed case 9 pivotally connected to the left and right, a square pipe-shaped support frame 10 extending from the left and right feed cases 9 to the left and right, and rearward from both ends of the left and right support frames 10. The planted transmission case 11 also serving as a main body frame extending toward the rear, a pair of left and right rotary type planting mechanisms 12 pivotally supported at the rear of the respective planted transmission cases 11, and divided into four left and right sections In addition, in the working posture, the seedling table 13 integrally reciprocating laterally with a constant stroke with respect to the planting transmission case 11, the center float formed so as to perform a leveling action on the central two-row seedling planting portion. 14 and the left and right side floats 15 that are formed wide so as to perform a leveling action on the left and right three-row seedling planting points.

A float fulcrum pipe 16 which is laterally stretched across the left and right planting transmission cases 11 is provided at the lower front portion of the respective planting transmission cases 11 in the left and right planting planting apparatus portions 4A and 4B. It is rotatably supported around the core P3. The left and right float fulcrum pipes 16 are integrally rotatably connected by connecting members 16a and 16b provided at their respective divided ends in the working posture of the seedling planting device 4. In each float fulcrum pipe 16,
A plurality of swing arms 17 as linking arms that integrally rotate around the float fulcrum pipe 16 and the axis P3 extend rearward from the swing fulcrum (axis P3). Of the respective rocking arms 17, the rocking arm 17 located at the center in the working posture of the seedling planting device 4 is extended from the float fulcrum pipe 16 of the right seedling planting device portion 4B,
A rear portion of the center float 14 is axially supported at its free end so as to be vertically swingable around the first horizontal axis P4. That is, the center float 14 is configured to belong to the right seedling planting device 4B. Further, the rear part of the side float 15 is pivotally supported about the first horizontal axis P4 so as to be vertically swingable at the free ends of the swinging arms 17 positioned on the left and right in the working posture of the seedling planting device 4. As shown in FIG. 4, an operation arm 19 that is rotatable integrally with the float fulcrum pipe 16 is extended toward the traveling machine body 1 on the right-side float fulcrum pipe 16. On the other hand, the frame rod 2 which supports the seedling stand 13 on the right side
0 is provided with a swing-type operation lever 21 as an operation tool, and a locking tool 22 that locks and holds the operation lever 21 at an arbitrary position by engaging with the operation lever 21. The operating lever 21 and the operating arm 19 are linked by a linking mechanism (not shown) including an operating rod and the like.
That is, by swinging the operating lever 21 to an arbitrary position, the vertical swinging adjustment of each swinging arm 17 around the axis P3 of the float fulcrum pipe 16 is integrally performed, and the planting transmission is performed. The relative height of the center float 14 and the side float 15 with respect to the case 11 can be integrally changed to a desired height, and the operation lever 21 is engaged with the locking tool 22 and locked and held at an arbitrary position. The float 14 and the side float 15 can be set to a desired height with respect to the planted transmission case 11. By this operation, the seedling planting depth can be adjusted according to the hardness of the field mud.

As shown in FIGS. 4 and 5, the right and left planting transmission cases 11 in the respective left and right planting planting device portions 4A and 4B are horizontally mounted across the front and rear planting transmission cases 11. The seedling collection amount adjusting shaft 18 is rotatably supported around its axis. In the working posture of the seedling planting device 4, the left and right seedling taking amount adjusting shafts 18 are integrally rotatably connected by connecting members 18a and 18b provided at their respective split ends. The seedling taking amount adjusting shafts 18 are integrally rotated around the seedling taking amount adjusting shafts 18 and the axis P5 to move the seedling placing table 13 in the direction along the seedling placing surface so that the planting transmission case 11 can be moved. The arm member 24 for changing the relative height of the seedling placing table 13 to the seedling placing table 13 moves from the swing fulcrum.
It has been extended to the state. Left seedling control axis 1
In FIG. 8, an operation arm 25 that is integrally rotatable with the seedling collection amount adjusting shaft 18 is extended toward the traveling machine body 1. On the other hand, on the frame rod 20 that supports the left seedling stand 13, a swingable operation lever 26 and a locking tool that locks and holds the operation lever 26 at an arbitrary position by engaging the operation lever 26. 27
Are provided. Operating lever 26 and operating arm 25
And are linked by a linkage mechanism (not shown) including an operation rod and the like. In other words, by swinging the operation lever 26 to an arbitrary position, the seedling collection amount adjusting shaft 18
The vertical swing of the arm member 24 is adjusted around the axis of the plant, and the relative height of the seedling stand 13 with respect to the planted transmission case 11 can be changed to a desired height. The seedling table 13 can be set to a desired height with respect to the planted transmission case 11 by engaging and locking and holding the seedling table 13 at an arbitrary position. By this operation, the amount of seedlings taken from the seedling placing table 13 by the planting mechanism 12 can be adjusted.

As shown in FIGS. 1 to 3, power for driving the seedling planting device 4 is provided by a planting clutch and a transmission shaft 28 (not shown).
It is adapted to be supplied from the traveling machine body 1 so as to be intermittently switched via the. The power supplied from the traveling body 1 is
In the working posture of the seedling planting device 4, as shown in FIG. 2, after the bevel gear mechanism (not shown) is distributed to the left and right by a gear case 29, the left and right relay shafts 30 equipped with universal joints are provided. , And gear case 2
It is adapted to be transmitted to the left and right feed cases 9 via a pawl clutch mechanism 31 which is respectively interposed between 9 and the left and right relay shafts 30. Further, in the working posture of the seedling planting device 4, as shown in FIG. 3, the claw clutch mechanism 31 is separated so that the power from the traveling machine body 1 is not transmitted to the left and right feed cases 9.

With the above-described structure, as shown in FIG. 2, the inner lateral side edges of the left and right seedling placing tables 13 which are the inner lateral side portions of the left and right seedling planting device sections 4A and 4B, and the left and right floats. By connecting the connecting members 16a and 16b of the fulcrum pipe 16 to each other and the connecting members 18a and 18b of the left and right seedling-taken amount adjusting shafts 18 to each other, the working posture of the seedling planting device 4 that is not divided can be realized. It is ready to be put out. In addition, as shown in FIG. 3, the inner lateral sides of the left and right seedling stand 13, the connecting members 16a and 16b of the left and right float fulcrum pipes 16, and
Connecting members 18a, 18 on the left and right seedling removal amount adjusting shafts 18
b and the like, the connection postures of the seedling planting device 4 that reduces the amount of lateral extension of the machine body by uncoupling each other and facing the rear parts of the left and right seedling planting device parts 4A and 4B. It can be revealed. still,
In the storage posture of the seedling planting device 4, the center float 1
4 is located at the rearmost end of the seedling planting device 4 and is exposed to the rear of the fuselage.

As shown in FIGS. 1 and 10, the traveling body 1
A control device 32 equipped with a microcomputer is mounted on the control unit, and a control unit thereof is equipped with a planted clutch lever 33 pivotally supported so as to be swingable back and forth. The swing fulcrum portion of the planted clutch lever 33 is provided with a lever sensor 33A that is a potentiometer that detects the operating position of the planted clutch lever 33. Then, the control device 32 passes the hydraulic oil to the lift cylinder 3 in accordance with the respective operating positions of the planting clutch lever 33, which are detected by the lever sensor 33A, such as "up", "neutral", "down" and "planting". By controlling the operation of the electromagnetic control valve 34 for switching the flow state, each operation state of the seedling planting device 4 such as ascending operation, elevation stop, and descending operation is displayed, and the on / off state of the planting clutch is also displayed. It has become. That is, the control device 32 is provided with a manual control means 32A for controlling the raising and lowering of the seedling planting device 4 and the on / off of the planting clutch based on the manual operation of the planting clutch lever 33 as a control program.

As shown in FIG. 5, the lower end of an urging mechanism 39 composed of a spring 39A for urging the center float 14 toward the ground is pivotally connected to the front portion of the center float 14. A boss member 39B on the upper end side of the urging mechanism 39 is pivotally supported by a support shaft 40 extending from a bracket 10A fixed to the inner end of the right support frame 10 to a front upper portion of the center float 14. Swing link 4
It is adapted to be pivotally connected to one end of 1. The other end of the swinging link 41 is pivotally supported at the free end of a waist break type link mechanism 42, one end of which is fixed to the float fulcrum pipe 16. In other words, the urging mechanism 39 changes the height of the center float 14 with respect to the planting transmission case 11 by operating the operation lever 21 for adjusting the seedling planting depth, and changes the height according to the amount of change. It is supposed to be changed. As a result, the biasing mechanism 39 applies a predetermined pressing force to the center float 14 according to the swinging posture of the center float 14 regardless of the change in the seedling planting depth.

As shown in FIGS. 5 to 10, the seedling planting device 4
Is the contact pressure of the center float 14 (ups and downs of the mud in the field)
Detecting means 4 for detecting the amount of vertical swing displacement (displacement angle of the center float 14) about the first horizontal axis P4 due to the fluctuation of
3 is provided. The first detection means 43 converts the vertical swing displacement amount from the amplification type drive mechanism 43A that amplifies the vertical swing displacement amount of the center float 14 into a voltage level (an example of detection information) and outputs it to the control device 32. The rotation detector 43B is a potentiometer. On the other hand, in the control part of the traveling machine body 1, a potentiometer type for setting the reference voltage level (control target value) of the first detecting means 43 for defining the reference attitude of the center float 14 according to the hardness of the field mud is set. A setting device 44 is provided. The control device 32 uses the setting device 44 to set the first detection means 43 according to the hardness of the field mud during seedling planting work.
When the reference voltage level of the rotation detector 43B is set, the reference voltage level set by the setter 44 and the rotation detector based on the voltage level detected by the rotation detector 43B (the vertical swing displacement amount of the center float 14). The operation of the electromagnetic control valve 34 is controlled to raise and lower the seedling planting device 4 so that the voltage level detected by 43B matches.

More specifically, the control device 32 compares the reference voltage level set by the setting device 44 with the voltage level detected by the first detecting means 43, and obtains the reference voltage level. When it is determined that the actual swinging posture of the center float 14 in which the voltage level from the rotation detector 43B is obtained with respect to the reference posture of the center float 14 is the forward rising state, the electromagnetic control valve 34 Control the operation of the reference voltage level and the rotation detector 4
Seedling planting device 4 so that the voltage level from 3B matches.
The center float 14 is returned to the reference posture by raising the. Further, the reference voltage level is compared with the voltage level from the rotation detector 43B,
When it is determined that the actual swing posture of the center float 14 is in the front-lowering state with respect to the reference posture of the center float 14, the operation of the electromagnetic control valve 34 is controlled to control the reference voltage level and the rotation detector 43B. The center float 14 is returned to the standard posture by lowering the seedling planting device 4 so as to match the voltage level of the.
That is, the control device 32 automatically raises and lowers the seedling planting device 4 so that the center float 14 returns to the reference posture based on the voltage level as the detection information from the first detection means 43. An automatic elevating control means 32B for maintaining the seedling planting device 4 at a predetermined height above ground is provided as a control program. This automatic lifting control means 32B
The control operation described above enables stable seedling planting at a preset preset seedling planting depth along the ups and downs of the field during seedling planting work.

As shown in FIGS. 5 and 9, the first detecting means 43 includes a swing arm 17 for pivotally supporting the center float 14.
It is supposed to be installed in. Hereinafter, the first detection means 4
The supporting structure 3 and the linking structure between the first detecting means 43 and the center float 14 will be described in detail.

A bracket is erected at an intermediate position in the longitudinal direction of the swing arm 17, a sensor case 35 is swingably attached to the bracket via a support shaft 17a, and the sensor case 35 and the operating lever 21 are connected to each other. The drive mechanism 43A in the sensor case 35 and the bracket 14A of the center float 14 are linked by the first linking mechanism 45 while being linked by the two linking mechanism 46. The second linkage mechanism 46 is swingable around a bracket 47 extending from the sensor case 35 and a horizontal axis P5 provided below the float fulcrum pipe 16, and the balance arm 4 linked to the operation lever 21.
8 and a vertical second connecting rod 49 connecting the balance arm 48 and the bracket 47 so as to be capable of relative swinging. On the other hand, the first linkage mechanism 45 includes an arm 5 that is integrally rotatably attached to the support shaft 17a that supports the sensor case 35.
0 and the bracket 14A of the center float 14 are linked to each other by the first connecting rod 51 so as to be capable of relative swinging, thereby forming a parallel four-link mechanism. As shown in FIGS. 8 and 9, a rotation detector 43B that constitutes the first detection means 43 is supported and fixed to the sensor case 35. First
The drive mechanism 4 is attached to the first arm 50 of the linkage mechanism 45.
A sector gear 37 constituting 3A is integrally swingably connected to the support shaft 17a via the support shaft 17a. The sector gear 37 meshes with a pickup gear 38 that is integrally rotatably fixed to the operation shaft 43a of the rotation detector 43, and the sector gear 37 and the pickup gear 38 form a drive mechanism 43A. .
The drive mechanism 43A is adapted to be installed in the sensor case 35.

With the above configuration, when the normal raising / lowering control is performed, as shown in FIG. 6 (A), the center float 1 is moved up and down to bring the seedling planting device 4 to the value of the setter 44.
The reference posture of No. 4 is set, and the elevation control is performed so as to maintain the reference state. That is, as shown in FIG. 6A, the first linkage mechanism 45 is driven by the swing around the rear fulcrum (axis P4) of the center float 14, and the rotation detector 43B is rotated to determine the rotation amount. Based on the above, the seedling planting device 4 is moved up and down so as to eliminate the difference from the set value. In this case, the second linkage mechanism 46 and the sensor case 35 linked to the planting adjustment lever 21 are fixed. On the other hand, when the seedling planting depth is adjusted, the operation arm 19 is driven by the operation lever 21 to move the swing arm 17 as shown in FIG.
When the vertical swing is adjusted, the swing link 41 is also moved up and down in association with each other, and the center float 14 moves up and down in parallel while maintaining its front-rear tilted posture. On the other hand, the swing operation of the balance arm 48 linked to the operation lever 21 causes the sensor case 35 to rotate in the direction opposite to the swing direction of the swing arm 17, and the reference value of the rotation detector 43 to be changed. Suppress.

In normal lifting control, the swing arm 17
When the strain is deformed, the sensor case 35 is swung due to the strain of the swing arm 17, as shown in FIG.
When is raised, the balance arm 48 is fixed,
The first connecting rod 49 rotates the sensor case 35 around the support shaft 17a in the same direction as the rotation direction of the swing arm 17. When the sensor case 35 rotates in the arrow direction, the rotation shaft 43a of the rotation detector 43B rotates in the opposite direction. As a result, the raising control of the seedling planting device 4 can be performed, and proper planting can be performed. In this way, the swing arm 17
The rotation detector 43 that operates when the normal elevation control is corrected by the distortion deformation of is referred to as second detection means.

[Other Embodiments] As the second detecting means, a sensor 52 for directly detecting the strain applied to the swing arm 17 may be used instead of the rotation detector 43B. As shown in FIG. 9, a swing arm 17 is supported with respect to a planting transmission case 11 as a main body frame of a seedling planting device, and a rear fulcrum of a center float 14 as a grounding body is supported at a tip of the swing arm 17. P4 is swingably connected. On the other hand, on the front end side of the center float 14, a front center fulcrum of the center float is supported by a link mechanism 53 so as to be capable of bending and swinging with respect to the main body frame. A rotation detector 43B is attached to detect the swing around the rear fulcrum. The swing arm 17 includes a sensor 5 using a strain gauge or the like for detecting strain applied to the swing arm 17.
2 may be provided. This makes it possible to directly capture the distortion. In addition to the strain gauge, a piezoelectric element or the like can be used. In the above embodiment, the seedling planting device 4 for multi-row planting
As an example, the one for eight-row planting is illustrated, but other than that, for example, ten-row or twelve-row planting may be used. In addition, the embodiment is shown with the split type seedling planting device 4,
It may be applied to a seedling planting device that is not a split type.

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 plan view showing the seedling planting device in a working posture.

FIG. 3 is a plan view showing the seedling planting device in a retracted posture.

FIG. 4 is a rear view showing the seedling planting device in the retracted posture.

FIG. 5 is a side view showing first and second detecting means.

[Fig. 6] (a) Operational diagram showing the detection operation of the so-called first detection means based on the vertical swing of the center float around the rear fulcrum P4. (B) Planting depth based on the parallel elevation of the center float. Diagram showing the height adjustment operation

FIG. 7 is an operation diagram showing a detection operation state of the second detection means when the linkage arm swings.

FIG. 8 is a vertical cross-sectional rear view showing the mounting state of the rotation detector.

FIG. 9 is a vertical sectional side view showing a speed-increasing drive mechanism.

FIG. 10 is a control configuration diagram.

FIG. 11 is a control configuration diagram showing another embodiment in which the strain detection sensor is used as the second detection means.

FIG. 12 is a perspective view showing a comparative example.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Traveling machine 4 Seedling planting device 14 Center float 14A Bracket 17 Linking arm 32 Control means 35 Sensor case 36 Drive mechanism 43 1st detection means 45 1st linking mechanism 46 2nd linking mechanism 50 Drive arm

Claims (5)

[Claims] 1. A linking arm (17) for a seedling planting device (4) connected to a traveling machine body (1) so as to be driven up and down.
A first detecting means (43) for mounting a grounding body (14) swingably via a roller and detecting a rocking motion based on a change in grounding pressure of the grounding body (14) with respect to the linking arm (17).
And a rice transplanter having control means (32) for maintaining the height of the seedling planting device (4) to the desired height based on the detection result of the first detection means (43). And a second detection means for detecting a displacement of the linking arm (17) caused by a change in a ground pressure acting on the grounding body (14), the detection result of the second detection means. Based on the above, the raising and lowering control device of the rice transplanter configured to add the correction to the raising and lowering control based on the first detecting means (43) by the control means (32). 2. Relative swinging is possible between the main body frame of the seedling planting device (4) connected to the traveling machine body (1) so as to be movable up and down and the bracket (14A) of the grounding body (14). The sensor case (35) having the single rotation detector (43) attached thereto can be pivoted about the attachment axis center with respect to the longitudinal intermediate position of the linkage arm (17) while connecting the linkage arm (17). The sensor case (3
5) The drive mechanism (43A) for driving the single rotation detector (43B) is housed in 5), and the drive arm (50) and the bracket (14A) that are interlocked with the drive mechanism (36).
And a first linkage mechanism (45) to link the rotation detector (43B) with the first detection means for detecting the ground level of the seedling planting device (4), and the sensor case. (35) and the operating tool (21) belonging to the body frame are linked by a second linking mechanism (46),
A rice transplanter configured to cause the rotation detector (43B) to function as a second detection unit that detects the displacement of the linkage arm (17) by the linkage mechanism (45) and the second linkage mechanism (46). Lift control device. 3. The bracket (14) having the linking arm (17) centered on a connection point with the body frame.
When a bending deformation that moves the connection point portion with A) upward is generated, the rotation is caused by the rotation of the sensor case (35) caused by the relative displacement between the sensor case (35) and the main body frame. The elevation control device for a rice transplanter according to claim 2, wherein the detector (43) is configured to detect and actuate. 4. The grounding body (14) wherein the second detecting means is the grounding body (14).
The control means (32) is configured to control the seedling planting device (4) to the ground rising side when the flexural deformation of the linking arm (17) is detected based on the fluctuation of the ground contact pressure. An elevation control device for a rice transplanter according to claim 2. 5. The grounding body (1)
The elevation control device for a rice transplanter according to claim 1, wherein a strain change of the linking arm (17) due to the ground pressure fluctuation of (4) is detected.