JPH10295126A - Elevating and lowering controller for riding type rice transplanter - Google Patents

Abstract

PROBLEM TO BE SOLVED: To obtain the elevating/lowering controller for riding type transplanter capable of stabilizing a transplanting depth even when a traveling machine body is tilted forward/backward by the recess/projection of a tilting panel. SOLUTION: The elevating/lowering controller is provided with a land grading float vertically rocking based on grounding pressure fluctuation and a float sensor S detecting the rocking angle of it at a seedling transplanting device fixed to the rear side of the traveling machine body through the elevating/ lowering link mechanism of a parallel quadruple link structure on the rear side of the traveling machine body and provided with an elevating/lowering control means elevating/lowering the seedling transplanter based on the detecting result of the float sensor S to make the rocking angle of the land grading float with respect to the seedling transplanter a target angle set by an elevating/ lowering sense setting device 38. In this case a front/rear tilting sensor 39 is provided for the transplanter to correct the target angle of the land grading float based on the detecting result of this sensor 39.

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 stabilizing a planting depth by raising and lowering a seedling planting device mounted on a riding type rice transplanter.

[0002]

2. Description of the Related Art As a lift control device for a riding type rice transplanter,
For example, as shown in Japanese Patent Application Laid-Open No. 8-331937, a rear plant is mounted on a seedling planting device attached via a lifting link mechanism having a parallel quadruple link structure at a rear fulcrum based on ground contact pressure fluctuation. A leveling float that swings up and down, and a float sensor that detects the swing angle are provided, and the seedling is set based on the detection result of the float sensor so that the swing angle of the leveling float becomes the target angle set by the sensitivity setting means. It is known that the planting device is configured to be raised and lowered. In this conventional example, the swing angle of the leveling float is detected by a potentiometer type float sensor, and the detection value of this float sensor and the potentiometer type sensitivity setting device are set. By raising and lowering the seedling planting device so as to correspond to the set value, the height of the seedling planting device with respect to the rice field surface is maintained at the set height to stabilize the planting depth. That.

[0003]

According to the above configuration, during normal planting travel, as shown in FIG.
The traveling machine body 3 traveling on the horizontal cultivator G is in the front-rear horizontal position, and the seedling planting apparatus A connected thereto via the lifting link mechanism 9 having a parallel quadruple link structure is also in the front-rear horizontal position. Here, the seedling planting apparatus A is controlled to move up and down in parallel so that the leveling float 19 becomes the target angle set by the sensitivity setting means, and the planting set up regardless of the depth change of the cultivator G. The depth is maintained,
When the traveling machine body 3 is tilted (pitched) back and forth due to local unevenness of the tillage G or the like, the planting depth fluctuates regardless of whether the lifting control is performed.

[0004] For example, as shown in FIG.
When the front wheel 1 falls into the recess of the vehicle body and the traveling body 3 assumes the forward-downward inclined posture, the seedling-planting device A at the rear of the body is lifted up from the rice field T and is controlled to descend, as described above. Since the control is to maintain the leveling float 19 at the target angle with respect to the seedling planting apparatus A, in the control neutral state, as shown in the drawing, the leveling float 1 at the target angle is set.
Reference numeral 9 denotes a front-down attitude with respect to the rice field T. Then, in a state where the leveling float 19 is in the forward lowered posture, the leveling float 19 that swings up and down around the rear fulcrum Y comes into contact with the ground at the front end side. The state is easy to move, that is, the control sensitivity is sensitive, and the control is neutral with little float subsidence. As a result, the seedling planting apparatus A is shown in FIG.
And the planting depth becomes shallower than the target.

[0005] As shown in FIG. 6 (c), when the front wheel 1 rides on the uplift of the cultivator G and the traveling machine body 3 assumes a forward-inclined posture, the seedling planting device A at the rear of the machine body moves to the rice field. In the control neutral state where the leveling float 19 reaches the target angle with respect to the seedling planting apparatus A, the leveling float 19 rises forward with respect to the rice field T as shown in the figure. Stabilize in posture. In the state where the leveling float 19 is in the forward rising posture, the ground contact portion of the leveling float 19 approaches the rear fulcrum Y side, so that the leveling float 19 is hard to swing, that is, the control sensitivity is insensitive, and the float Is set to the control neutral state in a state in which the value has greatly decreased. As a result, FIG.
It is stabilized at a position lower than the state shown in (a), and the planting depth is deeper than the target.

SUMMARY OF THE INVENTION An object of the present invention is to provide a riding type rice transplanter capable of suppressing a variation in planting depth even when a seedling planting device is inclined forward and backward, for example, by pitching of a traveling machine body and tilting forward and backward. An object of the present invention is to provide a lifting control device.

[0007]

[Means for Solving the Problems]

(Structure) The feature structure according to the present invention is a leveling float that swings up and down based on ground pressure fluctuation, on a seedling planting device attached via a lifting link mechanism having a parallel quadruple link structure behind the traveling body, and A float sensor for detecting the swing angle is provided, and the seedling planting device is set based on the detection result of the float sensor so that the swing angle of the leveling float with respect to the seedling planting device becomes the target angle set by the sensitivity setting means. A raising and lowering control device of a riding type rice transplanter provided with raising and lowering control means for raising and lowering, wherein a forward and backward inclination sensor is provided in the seedling planting apparatus, and the sensitivity setting means is set based on a detection result of the forward and backward inclination sensor. The correction control means for correcting the target angle of the leveling float is provided, and its operation and effect are as follows.

According to the above arrangement, when the tilting sensor detects that the seedling planting device has tilted back and forth, the target angle of the leveling float with respect to the planting device is automatically corrected, and the leveling is performed. The grounding state of the sensor is returned to the original state where the forward / backward tilt does not occur or to a state close to this. As a result, the height of the seedling planting apparatus with respect to the rice field becomes a predetermined height or close to the predetermined height, and the planting depth is stabilized.
For example, when the seedling planting apparatus is inclined forward and downward, the target angle of the leveling float with respect to the seedling planting apparatus is corrected to a forward angle higher than the set angle set by the sensitivity setting means. When the slope is tilted forward, the target angle of the leveling float with respect to the seedling planting device is corrected to the front side lower than the set angle set by the sensitivity setting means. The control neutral attitude of the leveling float is always stabilized.

[0009] The weight of the seedling planting apparatus varies depending on whether a fertilizer applicator or other auxiliary equipment is attached, and the fluctuation of the weight may change the amount of bending deformation of the lifting link mechanism. The back-and-forth inclination angle of the seedling planting device may also change due to or backlash, but the change in the front-to-back inclination posture of the seedling planting device due to such causes is also detected by the front-to-back inclination sensor provided in the seedling planting device, As described above, the target angle of the leveling float is corrected.

Incidentally, it is conceivable to perform the same correction control as described above by attaching a front-rear inclination sensor to the traveling body and detecting the front-rear inclination of the traveling body. The front-back inclination of the planting device is not taken into account.

[Effects] Therefore, according to the present invention, even if the front-back inclination posture of the seedling planting apparatus changes, the control neutral posture of the leveling float with respect to the rice field can be stabilized to perform the ascent / descent control. As a result, it has become possible to always perform planting with a stable planting depth. In addition, a front-rear inclination sensor for correcting the control neutral posture of the leveling float is provided in the seedling planting device, so that the front-rear inclination of the seedling planting device can be accurately detected regardless of the cause, so that the height is high. It is possible to correct the posture of the terrain float with high accuracy.

[0012]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS As shown in FIG. 1, a drive-type front wheel 1 and a drive-type rear wheel 2 are operated by steering.
The engine 4 is mounted on the front part of the traveling body 3 provided with a hydraulic motor, and a hydrostatic continuously variable transmission 5 to which power from the engine 4 is transmitted and a transmission case 6 are arranged on the rear part of the traveling body 3. The driver's seat 7 is disposed at the center of the traveling machine body 3, and the seedling planting apparatus A is moved via a lifting link mechanism 9 having a parallel quadruple link structure that is driven up and down by a hydraulic cylinder 8 with respect to the rear end of the traveling machine body 3. A riding rice transplanter is configured by being connected.

A main shift lever 10 for shifting the continuously variable transmission 5 is provided at a front portion of the traveling body 3.
A sub-transmission lever 11 for operating a gear transmission system in the transmission case is provided on the left side of the transmission case. Lifting lever 13 for performing operations
It has. The main shift lever 10 stops traveling at the neutral position, swings forward from the neutral position to increase the speed of the body 3 in the forward direction, and swings backward from the neutral position to swing the body 3. 3 is linked with the continuously variable transmission 5 so as to increase the speed in the reverse direction, the sub-transmission lever 11 is in a neutral position, a planting position for selecting a traveling speed for seedling planting work,
It is configured so that it can be set to a movement position where the aircraft travels at a higher speed than the planting position.

The seedling planting apparatus A includes a seedling table 14 on which a mat-shaped seedling W is placed and which reciprocally moves sideways with a constant stroke, a transmission case 15 to which power from the traveling machine body 3 is transmitted, and a chain from the transmission case 15 A rotary case 17 that rotates with power transmitted through a case 16, planting arms 18 provided in pairs on the rotary case 17, a plurality of leveling floats 19, and the like, and is configured for eight or more multi-row plants. At the same time, it is supported in a freely rolling manner around the axis X in the front-rear direction with respect to the rear end of the lifting link mechanism 9.

As shown in FIG. 3, the seedling planting apparatus A is connected to the lower end position of the rear vertical frame 9A in the lifting link mechanism 9 so as to be freely rotatable around the axis X, and the rear vertical frame 9A A moving member 25 screwed to a screw shaft 24 driven by an electric rolling motor 23 is provided at an intermediate position between the moving member 25 and the columnar frames 26 at the left and right sides of the seedling planting apparatus A. The operation springs 27, 27 are interposed therebetween so that the moving member 25 is moved in the left-right direction so that the seedling-planting apparatus A can be driven and rolled freely. The seedling planting device A is mounted on one of the support frames 26.
Is provided with a rolling sensor 30 for measuring the rolling posture of the vehicle. In addition, 29 in FIG. 3 is the rear vertical frame 9A.
2 provided at the upper end position of the base and the back side of the seedling mounting table 14
A return spring 29 erected between the return springs 8 and 28, and configured so that the rolling balance is lost due to the lateral movement of the seedling mounting table 14, and the return is corrected by the tension of one of the return springs 29. It is.

In order to perform the rolling control, based on a set value from a rolling setting device 41 provided in the control section,
The control device 40 controls the rolling motor 2 so that the feedback value from the rolling sensor 30 is maintained at the set value.
3 is normally driven and controlled, so that the target can normally be set to the left and right horizontal state, and can be set to an arbitrary inclination angle at the edge of a ridge.

As shown in FIG. 2, a planting depth adjusting shaft 31 in a horizontal position is erected on the lower surface of the chain case 16, and the planting depth adjusting shaft 31 swings integrally around the axis of the adjusting shaft. With respect to the rear end position of the arm 32 that is movably extended, each of the grading floats 19 is swingably supported around a swing axis Y in a lateral posture, and the front end of each grading float 19 is It is connected to the seedling planting device A via a bending and stretching type link member 33, and the front side of the leveling float 19 is supported around the rear fulcrum Y so that it can swing vertically.

Next, the elevation control structure will be described. Of the above-mentioned group of leveling floats 19, the leveling float 19 located at the center in the left-right direction of the seedling planting apparatus A is used as a grounding sensor for elevation control, and as shown in FIG. The sensor rod 20 is erected from the front bracket 19A of the connected leveling float 19 and the upper end of the sensor rod 20 is connected to the transmission case 1
5 is fitted inside one end of a balance arm 21 pivotally supported by a bracket 15A so as to be vertically slidable.
A sensor spring 22 for urging the leveling float 19 downward is mounted between one end of the balance arm 21 and the sensor rod 20. The other end of the balance arm 21 is provided with a planting depth adjusting shaft 31.
The extending end of the interlocking link 34 that swings integrally with the balance arm is connected so that the biasing force of the sensor spring 22 is maintained constant even if the interlocking link 34 moves up and down due to the adjustment of the planting depth. 21 swings.

A link mechanism 35 extends from a rear bracket 19B of a leveling float 19 that is swingably attached to a rear end position of an arm 32 that is integrally swingably extended from a planting depth adjusting shaft 31. At the same time, the tip of the link mechanism 35 is linked to the sensor arm Sb of the float sensor S for detecting the vertical swing of the leveling float 19, and the float sensor S detects the vertical swing amount of the leveling float 19, whereby the seedling is planted. The height of the attachment device A with respect to the rice field T is determined.

The float sensor S is a sensor case Sa
A potentiometer (not shown) housed and fixed in the inside and a sensor arm shaft 36 are linked via a speed reduction mechanism (not shown) in the sensor case Sa, and a sensor arm shaft 36 rotatably supported by the arm 32. The sensor case Sa is attached so as to be integrally rotatable, and the sensor case Sa is linked to the chain case 15 by a link rod 37. In other words, the sensor case Sa is fixed when the center leveling float 19 swings up and down around the axis X of the center leveling float 19 because it is linked to the chain case 15 by the linking rod 37. The arm shaft 36 rotates, and the sensor float S detects the swing amount. On the other hand, when the arm 32 is rotated by receiving the planting depth adjustment operation, the sensor case Sa is reversely driven by the link rod 37, and the sensor case Sa is operated by the link link mechanism 35 linked with the swing of the arm 32. It is configured so as to suppress the change of the reference value of the potentiometer by performing the corresponding movement.

A description will be given of the sensitivity adjustment of the elevation control according to the condition of the field. The raising / lowering sensitivity of the seedling planting apparatus A is determined by the attitude of the leveling float 19 in the control neutral state.
That is, as the leveling float 19 rises forward and the inclination angle increases, the float contact portion approaches the rear fulcrum Y side,
Even when the ground pressure changes, the float 19 is hardly moved up and down, and the elevation sensitivity becomes insensitive. Conversely, when the front is lowered, the landing start position of the float is separated from the rear fulcrum Y, so that the leveling float 19 is easily moved up and down due to the variation of the ground pressure, and the elevation sensitivity is increased. In the case of adjusting the sensitivity, when the operator sets the desired sensitivity by operating the elevation sensitivity setting device 38 at hand, the value indicated by the float sensor S is received and the setting value is set by the setting device 3.
The target angle of the leveling float 19 with respect to the seedling planting device 3 is changed, and the seedling planting device A is moved up and down so as to stably maintain the target angle.

The above-mentioned rolling sensor 30 is a biaxial sensor, and is a multifunctional product that can detect inclination in the left-right direction and can be used as an inclination sensor 39 for detecting inclination in the front-rear direction. As shown in FIG.
When the pitching phenomenon occurs, the target angle of the leveling float 19 with respect to the seedling planting apparatus A is corrected based on the detection result from the front-rear inclination sensor 39.

That is, as shown in FIG. 5 (b), when the traveling machine body 3 is tilted forward and the seedling planting apparatus A is in the forward lowered position, the control device 40 incorporating a microcomputer is controlled.
The target angle of the leveling float 19 with respect to the seedling planting device A is corrected to the forward ascending direction by associating the correction value based on the detection result from the inclination sensor 39 with the setting value from the elevation sensitivity setting device 38 within the range. I do. In other words, the elevation sensitivity is corrected to the insensitive side so that the leveling float 19 is not stabilized in the front-down attitude with respect to the rice field T. As a result, the seedling planting apparatus A is further controlled to lower than the state shown in FIG. 6B, and the planting depth is almost the same as that in the case of the horizontal plow running shown in FIG. Become.

Further, as shown in FIG.
Is tilted forward and the seedling planting device A is in the forward raised attitude, the set value from the elevation sensitivity setting device 38 is made to correspond to the correction value based on the detection result from the tilt sensor 39, The target angle of the leveling float 19 with respect to the seedling planting apparatus A is corrected to the front lower side. In other words, the elevation sensitivity is corrected to the sensitive side so that the leveling float 19 is not stabilized in the front-up posture with respect to the rice field T. As a result, the seedling planting apparatus A is further controlled to rise as compared with the state shown in FIG. 6C, and the planting depth is almost the same as that in FIG.

[Other Embodiments] The present invention may take the following forms other than the above embodiment. In the above configuration, a two-axis sensor in which the rolling sensor 30 and the front-rear inclination sensor 39 are integrated is used, but the single-axis rolling sensor 30 and the front-rear inclination sensor 3 are used.
9 may be independently provided. What is the detection value of the front-rear inclination sensor 39?
As a method of determining the correction start timing of whether to correct the elevation sensitivity, there are a method of introducing a concept of a dead zone and a method of using a timer. That is,
For example, based on when the seedling planting device A is in a horizontal state,
A dead zone having a certain width with respect to the reference value is set, and when the inclination value of the seedling planting device A exceeds the dead zone width, the elevation sensitivity is corrected. Alternatively, if the inclination state exceeding the reference value continues for a predetermined time with respect to the time when the seedling planting apparatus A is in the horizontal state, the elevation sensitivity is corrected. Any of the two methods can be considered, but in any case, the correction can prevent frequent operation of the elevating control device, thereby avoiding the occurrence of control hunting.

[Brief description of the drawings]

FIG. 1 is an overall side view of a rice transplanter.

FIG. 2 is a side view showing a leveling float and a float sensor.

FIG. 3 is a front view of the seedling mounting stand viewed from the back side.

FIG. 4 is a block diagram of a control system.

FIG. 5 is a schematic side view showing a stable state of elevating control (a) When the cultivator is horizontal (b) When the cultivator is fitted into the recess of the cultivator

FIG. 6 is a schematic side view showing a stable state of elevating control by conventional means. (A) When the cultivator is horizontal (b) When the cultivator is fitted into the concave part of the cultivator

[Explanation of symbols]

 3 traveling body 9 lifting link mechanism 38 control sensitivity setting unit 39 front and rear inclination sensor A seedling planting device S float sensor

Claims (1)

[Claims] 1. A leveling float that swings up and down on the basis of a change in contact pressure, and a swing angle of the float, which is mounted on a seedling planting device attached to a rear side of a traveling body via a parallel link mechanism having a quadruple link structure. Raising and lowering control means for raising and lowering the seedling planting apparatus based on the detection result of the float sensor so that the swing angle of the leveling float with respect to the seedling planting apparatus becomes the target angle set by the sensitivity setting means. A raising and lowering control device for a riding type rice transplanter, comprising: a seedling planting device provided with a front-rear inclination sensor; and a target of a leveling float set by the sensitivity setting means based on a detection result of the front-rear inclination sensor. An elevation control device for a riding type rice transplanter provided with a correction control means for correcting a corner.