JPH10248325A - Elevating and lowering controller for rice transplanter - Google Patents

Abstract

PROBLEM TO BE SOLVED: To obtain the subject elevating/lowering controller improving planting operability by providing a lowering correcting means correcting an automatically elevating/lowering control means in the lowering direction of a planter when the detecting value of an acceleration sensor becomes more than a prescribed value to eliminate a floating seedling even when a device body rapidly moves up and down. SOLUTION: Over a linking mechanism for elevating/lowering the transplanter, a hydraulic cylinder 8 is dispose-connected and the rear part of a machine body and a control valve 24 for the hydraulic cylinder is provided and an automatic elevating/lowering control means B which can stably maintain the ground height level of the planter by switch-operating the valve 24 based on the vertical movement detection of a ground float 22 is provided. In addition the acceleration sensor 26 capable of detecting acceleration in the vertical direction of the machine body is provided and a lowering correcting means C correcting the means B in the lowering direction of the planting device when the detecting value by this sensor 26 becomes not less than a prescribed value is provided.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a rice transplanter which performs automatic raising and lowering control for stably maintaining a planting depth at a predetermined level, and more particularly to a rice transplanter which is driven by undulations or unevenness of a rice field. The present invention relates to a technique for preventing floating seedlings from being generated even when a seedling planting device rises rapidly.

[0002]

2. Description of the Related Art In a rice transplanter equipped with an automatic lifting control device,
When the ground float rises above the predetermined height level, the hydraulic cylinder is shortened, and when the ground float falls below the predetermined height level, the hydraulic cylinder is extended and moved, so that the planting depth can be set to a good value. (See, for example, JP-A-5-260822).

[0003]

The above-described automatic raising and lowering control means causes the planting apparatus to constantly move up and down with respect to the traveling machine so that the ups and downs and irregularities of the field cultivator can be followed during the planting operation. However, as in recent years, when the weight of the seedling planting device is increased due to the addition of various devices and the traveling speed is increased, the raising and lowering movement cannot catch up with the change in the height of the rice field, and planting disturbance may occur. . In particular, when the planting device moves up and down suddenly, such as when the rear wheel rides on the rut left by the tractor during the scraping work, the current automatic lifting control cancels the lifting speed and follows the planting ground. There is a point that the quick lifting speed cannot be physically realized.

[0004] Therefore, deep or shallow planting may occur, or floating seedlings may occur in extreme cases, leaving room for improvement. In the case of deep planting, seedling planting is established, but floating seedlings are inconvenient due to lack of stock, so it is desirable to avoid this at all costs. In view of the above-mentioned circumstances, an object of the present invention is to eliminate floating seedlings by reviewing automatic elevating control means so that the elevating movement of the seedling planting apparatus can follow rapid body elevating movement due to undulation of a rice field or the like. The point is to make it possible.

[0005]

[Means for Solving the Problems]

[Structure] In the first invention, a hydraulic cylinder is erected and connected over a link mechanism for elevating and lowering the planting device and a rear portion of the machine body, and a control valve for the hydraulic cylinder is provided, and control is performed based on detection of vertical movement of a ground float. In a lift control device of a rice transplanter having an automatic lift control means capable of stably maintaining a ground height level of the planting device by switching a valve, an acceleration sensor capable of detecting vertical acceleration of the machine is provided. When the value detected by the acceleration sensor is equal to or more than a predetermined value, the planting device is provided with a downward correction unit that corrects the automatic vertical control unit in a downward direction.

A second invention is characterized in that, in the first invention, the acceleration sensor is arranged in a central region between the front and rear wheels in the front-rear direction.

A third invention is characterized in that, in the first invention, the acceleration sensor is disposed behind the front-rear center between the front and rear wheels.

In a fourth aspect of the present invention, a hydraulic cylinder is erected and connected between a link mechanism for elevating and lowering the planting device and a rear portion of the machine body, and a control valve for the hydraulic cylinder is provided. In a lift control device of a rice transplanter equipped with an automatic lift control means capable of stably maintaining the ground height level of the planting device by switching the valve, an angle capable of detecting an angular acceleration around the left and right axis of the machine. In addition to the provision of an acceleration sensor, a lifting / lowering speed adjusting means capable of variably setting the operating speed of the hydraulic cylinder is provided. A descent speed control means for increasing the descent speed is provided.

According to the first aspect of the present invention, the detection value of the acceleration sensor for detecting the vertical acceleration of the body is:
When the value exceeds a predetermined value, the automatic raising and lowering control means is corrected in the direction in which the planting device descends, and at least the occurrence of floating seedlings can be avoided. That is, since the planting device is disposed behind the body, if the front wheel goes up or the rear wheel goes down, the planting device goes down, so that the planting device is raised by automatic elevating control and whether the front wheel goes down. If the rear wheel rises, the planting device will rise,
The planting device is lowered by the automatic lifting control.

Therefore, when the vertical movement by the automatic vertical movement control cannot catch up, the planting apparatus tends to be deeply planted when the planting apparatus is followed up, and shallowly planted or floating seedling when the planting apparatus is followed down. As described above, even if the tendency to deep planting may affect growth somewhat, planting itself can be completed, whereas floating seedlings where seedlings do not reach the rice field will not be planted and will be out of stock. Occurs.

In view of the above, if the body is suddenly moved up and down by the function of the lowering correction means, the automatic ascent / descent control functions in the direction in which the planting device descends anyway.
When the front wheels that tend to be deeply planted rise or the rear wheels go down, the deep planting tendency becomes stronger, but when the front wheels that cause shallow planting or floating seedlings go down or the rear wheels go up. In some cases, floating seedlings will not occur even though the tendency to plant shallow remains. In other words, by adding a simple control function that only detects the vertical acceleration and corrects the descent, it is possible to avoid a deep stocking but a lack of stock even if the plant is deeply planted.

According to the second aspect of the present invention, since the acceleration sensor is disposed in the front and rear center region between the front and rear wheels, the vertical movement of the vehicle body due to the elevation of the front wheels and the vertical movement of the vehicle body due to the elevation of the rear wheels. Since the detection can be performed at the same level, relatively stable lowering correction control can be performed, which contributes to the improvement of the accuracy of the automatic lifting and lowering control.

According to the configuration of the third aspect, the following operation is provided. When the front wheel passes through the convex part, the body swings up and down around the ground point of the rear wheel, and when the rear wheel passes through the convex part, the body swings up and down around the ground point of the front wheel, The planting device at the rear of the aircraft moves up and down at approximately the same level or slightly reduced for vertical movement of the aircraft due to the elevation of the front wheels, and amplifies and receives the vertical movement of the aircraft due to the elevation of the rear wheels Become like That is, even if the front wheel and the rear wheel are moved up and down by the same amount, the amount of elevation control of the planting device by that is greater in the case of rear wheel elevation.

Since the acceleration sensor is arranged closer to the rear wheel than the front and rear center of the front and rear wheels, the acceleration sensor is used to raise and lower the rear wheel rather than move the body up and down due to the elevation of the front wheel. Sensitive to the vertical movement of the aircraft due to, the elevation control sensitivity of the planting device when the front and rear wheels are raised and lowered by the same amount, to the same level as each other,
Or, it is possible to make the state close to it. Therefore, even when the front wheels pass through the undulations and unevenness, and when the rear wheels pass, the lowering correction control can be performed in accordance with the actual amount of elevation of the planting device.

According to a fourth aspect of the present invention, there is provided an angular acceleration sensor capable of detecting an angular acceleration of the body around the left-right axis, and an elevating speed adjusting means capable of variably setting the operating speed of the hydraulic cylinder. When the detected angular acceleration in the descending direction is equal to or more than a predetermined value, control is performed to increase the descending speed of the planting device by the function of the automatic elevating control means. As described above, most of the vertical movement of the aircraft is swinging up and down around the front wheel contact point or the rear wheel contact point, that is, pitching, and the aircraft suddenly moves around the left and right axis when passing through unevenness. Behavior.

Therefore, when the above-described large angular acceleration in the pitching direction acts, the descending speed of the planting device is increased when the planting device is moved downward by the automatic elevation control. Can follow the rice field, and the occurrence of floating seedlings can be avoided.

[Effect] In the lift control apparatus according to any one of the first to third aspects, the automatic lifting control means is corrected in the downward direction of the planting device based on the detection of the acceleration in the vertical direction of the body. The occurrence of floating seedlings even when the plant rapidly moved up and down was eliminated, and it became possible to perform good planting work without any missing stock.

In the lift control device according to the second aspect of the present invention, the acceleration sensor is disposed at the center between the front and rear wheels, so that the vertical movement of the body is caused by the elevation of the front wheels or the elevation of the rear wheels. In addition, the acceleration sensor can detect and operate with the same accuracy, and has the advantage of contributing to the stable operation of the lowering correction control.

In the lifting control device according to the third aspect, the acceleration sensor is disposed closer to the rear wheel from the center between the front and rear wheels, so that the correction to the lowering side by the lowering correction control means can be performed in the actual position of the planting device. This can be set according to the up-and-down movement, and the advantage of further contributing to the stable operation of the lowering correction control is obtained.

In the lifting control device according to the fourth aspect, the means for adjusting the descent speed of the planting device by the automatic lifting control device by detecting the pitching of the body allows the floating seedlings to move even if the body suddenly swings forward and downward. This eliminates the occurrence and allows for good planting work without any stock-outs.

[0021]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 shows a rice transplanter, 1 is a front wheel, 2 is a rear wheel, 3 is a fuselage, 4 is an engine, 5 is a rear transmission case, 6 is a lifting link mechanism, 7 is a driver's seat, and 8 is a single-acting lifting and lowering. The hydraulic cylinder for use, A, is a planting device.
Reference numeral 9 denotes a lifting lever for the planting device A.

The lifting link mechanism 6 includes an upper link 6A.
And a lower link 6B.
The hydraulic cylinder 8 and the suspension spring 10 are connected in a serial manner across a bracket 11 fixed to the rear transmission case 5 and the upper link 6A. The hydraulic cylinder 8 has a structure in which the hydraulic cylinder 8 is forcibly driven on the extension side, but is operated on its contraction side by the weight of the planting device A.

This rice transplanter is provided with automatic elevating control means B for maintaining the planting depth in a predetermined state, and lowering correcting means C for correcting the automatic elevating control means B in the direction in which the planting apparatus A is lowered. And will be described next.

As shown in FIG. 2, an electromagnetic proportional control valve for the hydraulic cylinder 8 (an example of the lifting / lowering speed adjusting means E) 24
And a float sensor 23 such as a potentiometer for detecting the vertical movement of the center grounding float 22 at the center in the left and right directions, and the control valve 2 based on the detection information of the float sensor 23.
The control device 25 is provided with an automatic elevating control means B in order to perform a known automatic elevating control for stably maintaining the ground height level of the planting device A by switching the operation of the planting device 4.

As shown by the solid line in FIG. 1, an acceleration sensor 26 capable of detecting the vertical acceleration of the vehicle body is disposed at the center between the front and rear wheels 1 and 2 of the vehicle body 3, and this acceleration sensor When the detection value of the hydraulic cylinder 8 is equal to or larger than the predetermined value, the lowering correction control unit C switches the control valve 24 in the direction in which the hydraulic cylinder 8 is shortened, regardless of the raising / lowering command at that time by the automatic raising / lowering control unit B. Function. The predetermined value is stored in the control device 25 in advance, and the control device 25 is also provided with a function of comparing the stored value with a detected value to make a determination.

That is, whether the front wheel 1 rides on the convex portion,
When the body 3 moves up and down in a forward ascending direction, for example, when the rear wheel 2 falls into the concave portion, the planting device A descends.
Will be issued. However, if the vertical movement of the upward movement is rapid, a lowering instruction is issued instead of the original upward instruction, and the control valve 24 is switched to the lowering side. In this case, since the planting device A descends by its own weight, the rice field is in a state of strongly pushing up the planting device A via the grounding float 22, and the tendency of deep planting is relatively strong.

When the vehicle body 3 moves up and down in a forward-downward direction due to the front wheel 1 falling into the concave portion or the rear wheel 2 riding on the convex portion, the planting device A rises. Therefore, a command to lower the planting device A is issued by the function of the automatic lifting and lowering control means B. When the vertical movement of the downward movement is rapid, the opening degree of the control valve 24 to the lower side by the original lowering command is increased, so that the lowering speed of the planting apparatus A due to its own weight is increased. It is controlled. Therefore, the planting device A is placed on the relatively rapidly descending rice field.
Of the seedlings can be followed to prevent the occurrence of floating seedlings.

In other words, when the vertical movement of the machine body 3 exceeds a predetermined level, the automatic raising and lowering control means B is operated in the direction in which the planting device A is lowered, and a slight excessive tendency of deep planting is allowed. Seedlings should never be born.

As shown in FIG. 3, the planting device A is supported by the lifting link mechanism 6 so as to freely roll around the longitudinal axis Z, and is driven by an electric mechanism 12 via left and right springs 11, 11. It is configured to be possible. The electric mechanism 12 is configured by screwing a top member 16 connected to both springs 11, 11 to a screw shaft 12b interlocked with a motor 12a. The seedling mounting table 13 is provided with a horizontal sensor 14 for detecting an absolute inclination angle in the left-right direction thereof, and a rolling angle setting device 15 for setting a target rolling posture of the planting apparatus A. Regardless, a known rolling control means F for operating the electric cylinder 12 based on the detection information of the horizontal sensor 14 is provided to the control device 25 so that the left and right posture of the planting device A can be maintained at the set posture by the setting device 15. It is prepared.

As shown in FIG. 4, the output voltage of the horizontal sensor 14 is set to be non-linear, in which the output voltage gradually increases and decreases near the absolute horizontal level, and increases and decreases as the inclination angle increases. This is because, if the tension force of the springs 11 is increased so that the rolling posture of the seedling mounting table 13 is stabilized without swaying, hunting tends to occur in the rolling control when the seedling mounting table 13 is in the vicinity of the horizontal posture. It is a thing that dealt with it. In other words, when it approaches absolute horizontal,
By reducing the output change of the horizontal sensor 14 per unit inclination angle of the seedling mounting table 13, the rolling control operation becomes gentle, the planting apparatus A can be easily kept horizontal, and stable planting work can be performed. .

As shown in FIG. 5, a pump 18 driven by the engine 4 and a fully hydraulic power steering device 2
0 is connected via an electromagnetic proportional valve 19 and a load detecting means 21 for detecting the load pressure of the power steering device 20 is provided. When the detected pressure of the load detecting means 21 is high, the opening of the electromagnetic proportional valve 19 is increased. A power steering control device 27 is provided for controlling the opening of the proportional solenoid valve 19 to be small when the detection pressure is low.

That is, the amount of oil supply / discharge per unit time is automatically increased / decreased by making the opening of the electromagnetic proportional valve 19 proportional to the magnitude of the load pressure. Thus, a power steering device 20 capable of constantly performing a steering operation with a good feeling is formed. By the way, as shown by an imaginary line in FIG. 5, a configuration may be added in which the pump is a variable flow pump 18A and the discharge amount thereof is also increased or decreased. In addition, the electromagnetic proportional valve 19 is omitted at that time. Is also possible.

Another Embodiment As shown by a virtual line in FIG. 1, the acceleration sensor 26 may be disposed at a position closer to the rear wheel 2 than the center between the front wheel 1 and the rear wheel 2 in the front-rear direction. The lowering correction control means C in this sensor arrangement responds more sensitively to the case of the vertical movement of the rear wheel 2 than to the case of the vertical movement of the front wheel 1,
As described in the section of “action”, the probability of occurrence of floating seedlings can be further reduced.

As shown in FIG. 1, an angular acceleration sensor 28 capable of detecting an angular acceleration around the left-right axis of the body 3 is provided, and an elevating speed adjusting means E capable of variably setting the operating speed of the hydraulic cylinder 8 is provided. Alternatively, the rice transplanter may be provided with a descent speed control means D for increasing the descent speed of the planting device A by the automatic elevating control means B when the detected angular acceleration in the direction in which the body front descends is equal to or more than a predetermined value.

That is, as shown in FIG. 6, an angular acceleration sensor 28 is disposed on the body 3 at the front and rear center position of the front wheel 1 and the rear wheel 2, and the angular acceleration sensor 28 detects the angular acceleration and its direction. , The electromagnetic proportional control valve 24, which is an example of the elevating speed adjusting means E, is operated. Specifically, when the change in the forward ascending angle of the body 3 per unit time increases, the ascending speed of the planting apparatus A by the automatic ascent / descent control means B decreases, and the change in the forward and downward angle of the body 3 per unit time increases. Becomes larger, the lowering speed control means D functions so that the lowering speed of the planting device A by the automatic raising and lowering control means B increases.

Therefore, in any case, the planting apparatus A can reliably follow the rice field, and the occurrence of floating seedlings can be prevented.

[Brief description of the drawings]

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

FIG. 2 is a block diagram showing an automatic elevating control system of the planting device.

FIG. 3 is a rear view showing a rolling drive structure of the planting device.

FIG. 4 is a diagram showing an output characteristic graph of a horizontal sensor.

FIG. 5 is a block diagram showing a power steering control system.

FIG. 6 is a block diagram showing an automatic elevation control system using an angular acceleration sensor.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Front wheel 2 Rear wheel 6 Link mechanism 8 Hydraulic cylinder 22 Ground float 24 Control valve 26 Acceleration sensor 28 Angular acceleration sensor A Planting device B Automatic elevating control means C Lowering correction control means D Lowering speed control means E Elevating speed adjusting means

Claims (4)

[Claims] 1. A hydraulic cylinder is erected and connected between a link mechanism for elevating and lowering a planting device and a rear part of a machine body, a control valve for the hydraulic cylinder is provided, and the control valve is provided based on detection of vertical movement of a ground float. Switching operation of the planting device, the elevation control device of the rice transplanter provided with automatic elevation control means capable of stably maintaining the ground height level of the planting device, the acceleration sensor capable of detecting the vertical acceleration of the body And a lowering correction unit for lowering the automatic raising and lowering control unit in a direction in which the planting device is lowered when a value detected by the acceleration sensor is equal to or more than a predetermined value. 2. The raising and lowering control device for a rice transplanter according to claim 1, wherein the acceleration sensor is arranged in a central region between the front and rear wheels. 3. The lift control device for a rice transplanter according to claim 1, wherein the acceleration sensor is disposed behind the front-rear center between the front and rear wheels. 4. A hydraulic cylinder is erected and connected between a link mechanism for elevating and lowering the planting device and a rear part of the machine body, and a control valve for the hydraulic cylinder is provided. Switching operation of the planting device, the lift control device of the rice transplanter provided with automatic lifting control means capable of stably maintaining the ground height level of the planting device, wherein it is possible to detect the angular acceleration around the left and right axis of the body A vertical acceleration adjusting means capable of variably setting the operating speed of the hydraulic cylinder, and when the detected angular acceleration in the direction in which the body front descends becomes equal to or greater than a predetermined value, the automatic vertical control means A lift control device for a rice transplanter, comprising a descent speed control means for increasing a descent speed of the planting device.