JPH0970210A - Lift control unit for rice transplanter - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide the subject control unit prevented from intravelability or sinking in a deep paddy field, etc., through diminishing its load on the ground by providing a means to correct more insensitively the sensitivity of a ground sensor on the rising side of a seeding planting section as the machine body sinking increases. SOLUTION: A seedling planting section mounted in a vertically movable way through a lift on a traveling vehicle body is equipped with a float coming into contact with the ground when descended, and with a ground sensor to detect the surface of a paddy field, the lift is controlled so that the seedling planting section stands at a specified height above the paddy field surface in response to the detection by the ground sensor, a sensor 24 is provided to detect the sinking level of the machine body under the paddy field, and a means is provided to correct more insensitively the sensitivity of the ground sensor at least on the rising side of the seedling planting section as the machine body sinking detected by the sensor 24 increases. It is preferable to provide a control target value or insensitive band width correction for a float incidence angle sensor 18 involved in a specified wheel sinking level.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a raising and lowering control device for a rice transplanter.

[0002]

2. Description of the Related Art Conventionally, a rice transplanter having a vehicle body equipped with a seedling planting section that can be raised and lowered is equipped with a raising and lowering control device for controlling the raising and lowering of the seedling planting section to a certain height with respect to the field scene. There is something.

[0003]

However, when the subsidence amount of the rice transplanter machine is large in Fukada and the like, the resistance of the wheels of the traveling vehicle body to the traveling propulsion force becomes large, and traveling of the traveling vehicle body becomes difficult. As a result, it may become impossible to drive.

[0004]

The present invention takes the following technical means to solve the above-mentioned problems. That is, in a rice transplanter in which a traveling vehicle is equipped with a seedling planting section that can be lifted and lowered by an elevating device, a flow that grounds the seedling planting section when descending.
And a ground sensor for detecting a field scene is provided in the seedling planting section, and the lifting device is controlled based on the detection of the ground sensor so that the seedling planting section has a constant height with respect to the field scene. A raising / lowering control device for a rice transplanter, which is provided with a sensor for detecting a subsidence amount of the airframe with respect to a field, and as the subsidence amount of the airframe detected by the sensor increases, at least the ground sensor on the rising side of the seedling planting section An elevation control device for a rice transplanter is provided with a correction means for insensitively correcting the detection sensitivity of.

[0005]

In the lifting control device for rice transplanters according to the present invention, the ground sensor detects the position of the field scene, and controls the lifting device so that the seedling planting part has a constant height with respect to the field scene. To do. Here, when it is detected by the sensor that detects the amount of subsidence of the airframe that the amount of subsidence of the airframe is large, at least the sensing sensitivity of the ground sensor on the ascending side of the seedling planting section is insensitively corrected. As a result, when the amount of subsidence of the airframe increases, the ground contact load on the float of the seedling planting part increases,
The ground load on the wheels of the traveling vehicle body can be reduced, the resistance of the wheels to the traveling propulsive force is reduced, and it is possible to prevent the traveling vehicle body from traveling difficult or unable to travel.

[0006]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described with reference to the drawings. FIG. 1 shows a riding-type rice transplanter 1, which comprises a traveling vehicle body 2 and a 10-row seedling planting section 3. The traveling vehicle body 2 is equipped with a pair of left and right front wheels 4, 4 and rear wheels 5, 5 and drives by driving these front and rear wheels. The traveling vehicle body 2 is provided with a cockpit 6 in the center of the traveling vehicle body 2 in the left-right direction, a steering handle 7 is provided in front of the cockpit 6, and a control box 8 is provided on the right side of the cockpit 6. Further, the traveling vehicle body 2 has the seedling planting portion 3 mounted on the rear portion of the traveling vehicle body 2 via a link mechanism 9 which is a square link, and the link angle of the link mechanism 9 is expanded and contracted by expanding and contracting a hydraulic lifting cylinder 10. The seedling planting section 3 is provided so as to be able to move vertically, and the link mechanism 9 and the hydraulic lifting cylinder 10 serve as a lifting device for the seedling planting section 3.

The seedling planting section 3 is provided with a seedling placing table 11, a planting transmission section 12 and planting devices 13, ... Of each row, and is operated by transmission of power from the traveling vehicle body side. That is, the motive power from the traveling vehicle side is the planted clutch case 14
It is transmitted to the seedling planting section 3 via. In addition, seedling planting section 3
Is provided with a center float 16 and side floats 17, 17, 17, 17 on both sides at the lower part of the seedling planting section 3, and the floats 16, 17, 17, 17, 17 are provided. Is configured to slide in a field scene. In addition, the center float 16
Is rotated around a pivot shaft in the left-right direction provided at the rear portion of the float, and the float 16 is a flowmeter which is a potentiometer for detecting the front-back inclination angle of the float 16. A contact angle sensor 18 is provided. The riding type rice transplanter is configured so that the hydraulic lift cylinder 10 is controlled by the controller 19 so that the detection value of the float interception angle sensor 18 becomes the control target value. Therefore, the float interception angle sensor 18 functions as a ground sensor. The center
As the control target value of the angle of attack of the float 16 is set so that the float 16 rises forward with respect to the field scene, the sensitivity of the float 16 in the elevation control of the seedling planting section 3 becomes insensitive. It is configured as follows. The float interception angle sensor 18 is configured to detect the front-back inclination angle of the center float 16 from the front portion of the center float via a link 20 and an arm 21.

Further, the traveling vehicle body 2 is provided with a planting position lever 22 on the right side of the cockpit 6, and the seedling planting section 3 is provided.
The drive can be turned on and off and can be moved up and down.
The rice transplanter is configured so that the seedling planting section 3 is driven by a planting clutch built in the planting clutch case 14. Further, the rice transplanter is provided with a pitching sensor 23 for detecting the front-back inclination of the seedling planting section 3, and the control device 19 causes the center float 16 to have a predetermined front-back inclination angle with respect to a horizontal plane. Therefore, the control target value of the float interception angle sensor 18 is corrected by the detection value of the pitching sensor 23.

Further, the traveling vehicle body 2 is provided with a wheel subsidence amount sensor 24 for detecting the subsidence amount of the front wheels 4, 4 and the rear wheels 5, 5 by detecting a field scene. It is configured to detect the amount of subsidence. The wheel subsidence amount sensor 24 includes a grounding body 24b that rotates around a rotation fulcrum 24a and contacts the field scene, and a potentiometer 24c that detects a rotation angle of the grounding body 24b. The control device 19 corrects the control target value of the float interception angle sensor 18 based on the detection value of the wheel subsidence amount sensor 24.

The rice transplanter is provided with spare seedling placing tables 25, 25 on the left and right for supplying seedlings to the seedling planting section 3 at the rear of the traveling vehicle body 2, respectively.
Is a rotating shaft 2 whose vertical axis is provided on the columns 26.
It is provided rotatably around 6a and 26a. Therefore, by rotating the preliminary seedling placing tables 25, 25, the preliminary seedling placing table 2 can be moved to the side of the machine body or to the front or rear of the machine body.
You can turn 5, 25.

When the preliminary seedling placing tables 25, 25 are turned forward and stopped, if the front part of the machine body is stopped in a state of being brought close to the ridges, the preliminary seedling placing tables 25, 25 are removed from the ridges. The seedlings can be easily supplied. Incidentally, the step 27 of the traveling vehicle body 2 is configured so as to sandwich the hood 28 in a plan view in the front part so that the operator of the rice transplanter can get on and off the aircraft from the front, and the operator of the rice transplanter is Move from the cockpit 6 to the ridge, rotate the preliminary seedling placing table 25, 25 forward,
It is possible to supply seedlings from the ridges to the preliminary seedling placing tables 25, 25. In addition, since the preliminary seedling placement tables 25, 25 do not project in the left-right direction of the machine body, that is, they fit within the left-right width of the machine body,
When the rice planting work is performed by moving the machine along a ridge higher than the height of the spare seedling placement table 25, 25, or when the rice transplanter is stored, the spare seedling placement table 25, 25 causes obstacles such as the rice planting operation or storage. I won't.

Further, the rotating shafts 2 of the preliminary seedling placing tables 25, 25
The positions of 6a and 26a do not overlap with the cockpit 6 in the left-right direction, and when the preliminary seedling placement tables 25 and 25 are turned to face the front of the machine body, the preliminary seedling placement table 2 is viewed in plan view.
Since 5 and 25 do not overlap with the cockpit 6 of the traveling vehicle body 2, they do not interfere with the work in the cockpit 6 of the operator.
If the positions of the rotating shafts 26a, 26a do not overlap the step 27 of the traveling vehicle body in the left-right direction, when the preliminary seedling placing tables 25, 25 are rotated and directed toward the front of the machine body,
In a plan view, the spare seedling placing table 25, 25 does not overlap with the step 27 of the traveling vehicle body 2 and the spare seedling placing table 2
It is possible to get on and off from the operator's ridge with 5, 25 facing the front of the aircraft.

When the rear seedling placing tables 25, 25 are turned and turned rearward, if the rear part of the machine is stopped with the ridges approaching the ridges, the reserve seedling placing tables 25, 25 are removed from the ridges. The seedlings can be easily supplied. In addition, the spare seedling placing table 25, 25,
Since it does not project in the left-right direction of the machine body, that is, it fits within the width of the machine body, the rice planting work by running the machine body along the ridges higher than the height of the preliminary seedling placement tables 25, 25, or when storing the rice transplanter machine, The spare seedling placing tables 25, 25 do not hinder rice planting work or storage.

Further, when the preliminary seedling placing tables 25, 25 are turned toward the lateral sides of the machine body, the auxiliary seedling placing tables 25, 25 can be stopped if the side portions of the machine body are stopped in the state of approaching the ridges. The seedlings can be easily supplied from the ridges. In addition, as shown in FIG. 5, since the axis of the spare seedling placement table 25, 25 is rotatable about the vertical rotation shafts 26a, 26a, the spare seedling placement table 25, 25 is at any position in the headland turning stroke. It is possible to supply seedlings from the ridges to the preliminary seedling placement table 25 by orienting the placing table 25 in the ridge direction, and it is unavoidable for the seedling supplementation that the cultivator is locally deep in the field during the pillow rotation. It is not necessary to stop the machine body, and it is possible to prevent the traveling vehicle body 2 from being unable to run when the machine body starts after the seedlings have been supplied to the preliminary seedling placing tables 25, 25.

The control device 19 can control the raising and lowering of the seedling planting section 3. The traveling vehicle body 2 is
In the control box 8 of the control device 19, the center flow
A raising / lowering sensitivity adjusting dial (not shown) for adjusting the control target value of the angle of attack of the vehicle 16 is provided, and the raising / lowering sensitivity adjusting dial can be adjusted by an operator. Therefore, the control device 19 inputs the detected values of the elevation sensitivity adjusting dial, the pitching sensor 23, and the wheel subsidence amount sensor 24, and calculates the control target value of the float interception angle sensor 18 from them. A signal is output to operate the hydraulic lift cylinder 10 so that the detection value of the float interception angle sensor 18 becomes the control target value.

Next, the above operation will be described. As the wheel subsidence amount detected by the wheel subsidence amount sensor 24 increases, the control device 19 desensitizes the sensing sensitivity of the center float 16 in the elevation control of the seedling planting section 3, that is, the float interception angle sensor 18. The control target value is corrected so that the center float 16 rises forward with respect to the field scene, and the hydraulic lift cylinder 10 is operated so that the detection value of the float interception angle sensor 18 becomes the control target value. A signal is output to cause it. In addition, in the elevation control of the seedling planting part 3, the control device 19 corrects the dead zone width of the float interception angle sensor 18 to be widened as the subsidence amount of the wheel increases, thereby making the center flow. It is possible to make the sensitivity of the sensor 16 insensitive. At this time, the control device 19
Is such that the dead zone width of the float interception angle sensor 18 is set so that the sensing sensitivity of the center float 16 in the output only on the rising side of the raising / lowering control of the seedling planting section 3 becomes insensitive.
The correction may be made so that only the upper side of 6 is widened.

Therefore, as the wheel subsidence increases, the center float 1 in the elevation control of the seedling planting section 3 will be described.
Because the sensitivity of 6 is insensitive,
The ground contact surface of the girder 16, 17, 17, 17, 17 is increased, and the ground load of the float 16, 17, 17, 17, 17 is increased, and the ground load of the wheels of the traveling vehicle body 2 can be reduced. , It is possible to prevent the aircraft from traveling in Fukada, sinking, etc.

The correction of the sensing sensitivity of the center float 16 in the elevation control of the seedling planting section 3 is performed by continuously adjusting the control target value of the float interception angle sensor 18 with the subsidence amount of the wheels. The correction amount of the dead zone width can be changed. Further, the control target value of the float interception angle sensor 18 or the correction amount of the dead zone width may be set in accordance with a constant wheel subsidence amount.

Further, the control device 19 is configured to output a signal that delays the lifting speed of the hydraulic lifting cylinder 10 as the vehicle sinking amount detected by the wheel sinking amount sensor 24 increases. It is also possible to prevent the aircraft from running in the car and sinking. Further, the control device 19 may be configured to regulate the rise of the seedling planting portion 3 when the wheel sinking amount is large. As a result, the ground load of the floats 16, 17, 17, 17, 17 is increased, the ground load of the wheels can be reduced, and it is possible to prevent the aircraft from traveling or sinking in Fukada.

As another embodiment, as shown in FIG. 4, the center float 16 is restrained from moving upward as the subsidence amount detected by the wheel subsidence amount sensor 24 increases. Wheel subsidence sensor 24 to wire 2
It may be configured such that the upward movement resistance of the center float 16 is increased by the restraint tool 31 that rotates around the rotation fulcrum 31a via the spring 30 and the like. Further, the spring 30 may be removed and the wheel subsidence amount sensor 24 and the restraining tool 31 may be directly connected by a wire to restrict the upward movement of the center float 16.

Further, although the above-mentioned embodiment has described the rice transplanter with 10 rows planted in detail, the present invention is not limited to the rice transplanter with 10 rows planted.

[Brief description of drawings]

FIG. 1 is a side view of a riding rice transplanter.

FIG. 2 is a plan view of the same.

FIG. 3 is a block diagram.

FIG. 4 is a side view of a main part of another embodiment.

FIG. 5 is a plan view showing a state in which seedlings are supplied while the aircraft is turning.

[Explanation of symbols]

1 ... Riding type rice transplanter, 2 ... Running car body, 3 ... Seedling planting section, 1
0 ... hydraulic lift cylinder, 16 ... center float, 18
... Float interception angle sensor, 19 ... Control device, 24 ... Wheel sinking amount sensor

Claims (1)

[Claims] 1. A rice transplanter in which a traveling vehicle is equipped with a seedling planting section that can be raised and lowered by an elevating device. The seedling planting section is provided with a float that is grounded when the planting section descends. A raising / lowering control device for a rice transplanter, which is provided with a ground sensor for detecting, and controls the raising / lowering device so that the seedling planting section has a constant height with respect to a field scene based on the detection of the ground sensor,
A correction unit that is provided with a sensor that detects the amount of subsidence of the airframe with respect to the field, and that as the amount of subsidence of the airframe detected by the sensor increases, at least the sensing sensitivity of the ground sensor on the ascending side of the seedling planting section is insensitively corrected. An elevator control device for rice transplanters, which is provided with.