JPH11266632A - Working machine in paddy field - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a rice transplanter capable of smoothly regulating the sensing load based on the mud hardness of a field without deteriorating the effectiveness in regulating the sensing load based on an urging force of a spring. SOLUTION: This working machine in a paddy field is obtained by connecting a seedling planting device so as to be freely lifted and lowered relatively to a mobile machine body with a hydraulic cylinder 8 thereto, installing a ground contact float 18 downwardly urged with a sensing spring 47 in the seedling planting device, further providing a float sensor 41 for measuring the height of the ground contact float 8 from the field surface, a height setter 54 for setting a target height of the seedling planting device and a muddy surface sensor 62 for measuring the mud hardness and installing a controller 51 for controlling the hydraulic cylinder 8 so as to lift and lower the seedling planting device in the direction to make a signal from the muddy surface sensor 62 coincide with values measured with the float sensor 41 and controlling an electric motor 48 for raising the urging force of the sensing spring 47 with increasing mud hardness measured with the muddy surface sensor 62.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a ground work device connected to a traveling body via an actuator so as to be able to move up and down freely, and to be vertically displaceable with respect to the ground work device and to be directed downward by an urging mechanism. A ground float floated and provided with a float sensor for measuring the vertical displacement of the ground float, a setting value of a setting device for setting a target height of the ground work device with respect to a field scene, and a measurement value of the float sensor. Field of the Invention The present invention relates to a paddy working machine including a control device that controls the actuator so as to raise and lower a ground working device in a direction in which the ground work device matches, and more particularly, to a technique for automatically adjusting control sensitivity.

[0002]

2. Description of the Related Art A rice transplanter constructed as described above for automatically adjusting the control sensitivity is, for example, a rice transplanter disclosed in Japanese Utility Model Laid-Open Publication No. 62-202117 or Japanese Patent Laid-Open Publication No. Hei 6-62625. In the former of these conventional examples, the end of the swayable mud hardness sensor is inserted into the mud of the field, and the oscillating force of the mud hardness sensor accompanying traveling is The sensing load is adjusted by changing the urging force of a spring that urges the front part of the ground float downward. In this conventional example, when the mud is hard, the spring is largely compressed by using the fact that the mud hardness sensor oscillates greatly to increase the sensing load. Conversely, when the mud is soft, the mud is hardened. The sensing load is reduced by utilizing the fact that the swinging power of the sensor is reduced. In the latter of the conventional examples, the end of the mud hardness sensor, which is configured to be swingable, is inserted into the field scene, and the amount of swing of the mud hardness sensor accompanying traveling is electrically measured. Based on the result, if the mud in the field is hard, the target attitude of the ground float is displaced downward, and if the mud is soft, the target attitude of the ground float is displaced upward, so that The sensing load is adjusted with the same characteristics as those of the former by changing the spring load acting on the portion.

[0003]

However, as in the former configuration of the prior art, in which the biasing force of the spring is changed by the oscillating power of the mud hardness sensor accompanying the traveling of the traveling machine body, the mud hardness sensor is not used. Since a movable part mechanically linked to the mechanism that adjusts the biasing force of the spring is required, the operation resistance increases due to mud adhesion and rust generated on this movable part, and normal operation is performed. There is room for improvement because it may disappear. In particular, in the case of adjusting the sensing load by changing the biasing force of the spring, an artificial operation is required to set the initial pressure of the spring, and the operation is troublesome. or,
In the latter configuration of the conventional example, the amount of swing of the mud hardness sensor is electrically measured and the sensing load is adjusted by changing the target attitude of the ground float, so that the spring is mechanically actuated as in the former of the conventional example. Although there is a surface that is less likely to malfunction as compared with the one that changes the biasing force, the relative distance between the seedling planting device and the field scene changes each time the target attitude of the ground float is changed, and seedlings are planted. The depth also changes and there is room for improvement.

SUMMARY OF THE INVENTION An object of the present invention is to provide a paddy field operation capable of adjusting a sensed load by smooth operation based on mud hardness of a field without impairing the effectiveness of adjusting the sensed load of the lifting control based on the biasing force of a spring. The point is to construct the machine reasonably.

[0005]

According to a first feature of the present invention, as described at the outset, a ground working device is connected to a traveling body via an actuator so as to be able to move up and down via an actuator. A ground float, which can be vertically displaced relative to the working device and is urged downward by the urging mechanism, and a float sensor for measuring the vertical displacement of the ground float, and In a paddy working machine equipped with a control device that controls the actuator to raise and lower the seedling planting device in a direction in which the setting value of the setting device that sets the height and the measurement value of the float sensor match, in the paddy field working machine, A mud hardness sensor for measuring the mud hardness, and an electric control type adjusting means for increasing the urging force of the urging mechanism as the mud hardness measured by the mud hardness sensor is harder. Ah Its action, and the effects are as follows.

According to a second feature of the present invention (claim 2), in claim 1, the adjusting means is energized based on a measured value from the mud hardness sensor and a set value from a sensitivity setting device. The adjustment mode is set so as to adjust the urging force of the mechanism, and the operation and effect are as follows.

According to the first feature, the harder the mud hardness measured by the mud hardness sensor is, the more the adjusting means increases the urging force of the urging mechanism. When the mud hardness is soft, the urging force cannot be increased so much, so that the lifting control can be performed with the appropriate sensing load corresponding to the mud in the field scene, compared with the mechanical control. As a result, no malfunction occurs due to the adhesion of mud and rust, and the ground height of the ground working device does not change as compared with the case where the attitude of the ground float is changed.

According to the second feature, since the urging force of the urging mechanism can be changed also by the set value from the sensitivity setting device, for example, the mud hardness sensor is changed from the swinging posture of the spring-biased grounding piece. Even if there is an optimal measurement posture that performs good measurement from mechanical characteristics, such as one that measures mud hardness, this mud hardness sensor is biased while maintaining the optimal measurement form It is also possible to operate the sensitivity setting device to set the biasing force of the mechanism to an appropriate value, and to use this setting device to accurately measure the mud hardness and perform automatic elevation control of the ground work equipment This also eliminates the need for artificial adjustment of the initial tension of the spring constituting the biasing mechanism.

[Advantage of the Invention] Accordingly, a paddy field capable of adjusting the sensed load by smooth operation based on the mud hardness of the field without impairing the effectiveness of adjusting the sensed load of the elevation control based on the biasing force of the spring. The work machine was rationally configured (claim 1). Further, even when the mud hardness sensor changes its sensitivity depending on the measurement conditions, it is possible to perform high-sensitivity measurement, and the initial pressure of the urging mechanism can be easily set without any trouble. .

[0010]

Embodiments of the present invention will be described below with reference to the drawings. As shown in FIG. 1, a drive-type front wheel 1 and a drive-type rear wheel 2 that are steered.
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. Also, a driver seat 7 is arranged at the center of the traveling body 3, and a hydraulic cylinder 8 is mounted on the rear end of the traveling body 3.
Link mechanism 9 driven up and down by (an example of an actuator)
And a seedling planting device A as a ground working device is connected via the to construct a riding type rice transplanter as a paddy working machine.

The right side of the driver's seat 7 is provided with an elevating lever 10 for controlling the elevating and lowering of the seedling planting device A and the on / off operation of a planting clutch (not shown). 11 and a meter panel 12. The planting clutch is built in the transmission case 6.

The seedling planting apparatus A includes a seedling table 13 on which a mat-shaped seedling W is placed, a transmission case 14 to which power from the traveling machine body 3 is transmitted, and a chain case 15 from the transmission case 14.
Case 1 that rotates with the power transmitted through the
6. The rotary case 16 is provided with a pair of planting arms 17 and a plurality of grounding floats 18, each of which is configured for eight-row planting. B, and at the time of operation, the planting arm 17 cuts out the seedlings one by one from the lower end of the mat-shaped seedling W placed on the seedling placing stand 13 and plants the seedlings one at a time in the field scene S, and at the same time, It is configured to supply fertilizer with the fertilizer applicator B below. The fertilizer applicator B is configured so that the fertilizer stored in the hopper 19 can be fed by a feeding mechanism 20 and supplied under the field scene via a hose 21 and a groove generator 23 connected to the rear of the groove plate 22. ing.

As shown in FIG. 2, one of the plurality of grounding floats 18 at a central position in the left-right direction is connected to a seedling plant A.
It is used to measure the height of the scene with respect to the field. As shown in FIGS. 3 to 5, the grounding float 18 supports the front position via the front link LF and the rear position via the rear link LR to the planting apparatus A. The front position and the rear position are supported by the seedling plant A so as to be able to move up and down. In other words, the front link LF is formed by a pair of link members 28 and 29 that are configured to be able to bend and stretch around the axis in the lateral posture between the frame 26 of the seedling planting apparatus A and the front bracket 27 of the ground float 18. The rear link includes an LR, a rear end of an arm 32 integrally formed with a planting depth adjusting shaft 31 in a horizontal posture which is rotated by a planting depth adjusting lever 30, and a rear bracket 33 of the grounding float 18. And a link member 34 swingably supported around a core in a lateral posture with respect to the center. Further, the planting depth adjusting lever 30 is locked and held by the lever guide 35 to maintain the posture of the arm 32 and maintain the posture of the planting arm 17.
In this case, the depth of movement of the seedlings is adjusted by changing the relative distance in the vertical direction between the operation locus T of the planting claw 17A and the field scene S.

A link piece 39, which operates in a parallel quadruple type with respect to a plate-like support member 38 fixedly mounted on the side of the seedling planting apparatus A,
There is provided a potentiometer type float sensor 41 which supports a plate 40 so as to be vertically displaceable via 39, and has an operation arm 41A which is rotated around an axis in a lateral posture with respect to the plate 40. The arm 32
And the link piece 39 supporting the float sensor 41 are linked by a link member 42, so that the planting depth adjustment shaft 31
During the rotation operation, the plate 40 linked to the swing of the arm 32 is vertically displaced, so that the relative distance between the plate 40 and the ground float 18 in the vertical direction is kept constant.

Further, a support piece 43 is provided at a position where the operating locus T of the tip of the planting claw 17A and the ground float 18 overlap in side view, and the support piece 43 and the float sensor 41 are provided.
An operation rod 44 is interposed between the operation arm 41A and the end of the operation arm 41A, and a cylindrical screw shaft 45 that is fitted to the operation rod 44 is disposed. The screw shaft 45 is attached to the plate 40
A sensing spring 47 as an urging mechanism is provided between the nut member 46 screwed to the screw shaft 45 and the lower end of the operation rod 44, and has a coaxial core with the operation rod 44. Have been. A gear 46A is formed on the outer periphery of the nut member 46, and an electric motor 48 (an example of an adjusting unit) that drives a pinion gear 48A screwed with the gear 46A is provided on the plate 40.

As shown in FIGS. 2, 3, and 6, the ground floats 18, 18 disposed on both outer sides of the float 18 at the center position on the left and right sides are connected to the front link LF similarly to the float 18 at the center position on the left and right sides. The rear bracket 33 and the link member 34 are supported so as to be able to move up and down via the rear link LR.
A cylindrical case 60 is rotatably provided on an axis P that is coaxial with the connection axis of the first arm 61A, and a ground float 18 is formed on the rear end of the first arm 61A that swings integrally with the case 60. It has a first grounding body 61 that comes into contact with the groove, and has a built-in and fixed potentiometer type mud surface sensor 62 that is operable on the same axis as the case 60. Second arm 63 that swings together
The mud surface sensor is provided with the second ground contact body 63 that contacts the field scene S where no groove is formed with respect to the rear end of A.

This mud surface sensor utilizes a phenomenon that when the ground float 18 passes through the field scene S, the groove becomes deep when the mud is soft, and the groove becomes shallow when the mud is hard. It has a function of measuring the mud hardness of the field, and includes a control system for automatically adjusting the sensing load set by the sensing spring 47 based on the measurement result of the mud surface sensor.

As shown in FIG. 7, a control system of the rice transplanter is configured. In this control system, a control device 51 having a microprocessor (not shown) is used to control the lifting lever 10.
Lever sensor 52 provided at the base end of the meter panel 1
2, a potentiometer type height setting device 54 operated by a dial 53 provided on the meter panel 12, a potentiometer type sensitivity setting device 56 operated by a dial 55 provided on the meter panel 12, the float sensor 41, the left and right mud A system for inputting signals from the surface sensors 62, 62 is formed, and an electromagnetic system 57 for controlling the hydraulic cylinder 8 and an output system for controlling the electric motor 48 are formed. The solenoid valve 57 is of an electromagnetic proportional type in which the opening of the solenoid is increased as the value of the current supplied to the solenoid is increased.

When the control lever 51 operates the raising / lowering lever 10 to the operation end on the side of lowering the seedling planting device A, the seedling planting is performed based on the contact pressure (sensing load) of the contact float 18 on the field scene S. A control operation is set so as to perform automatic elevating control for elevating and lowering the apparatus A. In this automatic elevating control, as shown in the flowchart of FIG. 8, a signal from the sensitivity setting device 56 is input to set a reference value of the sensed load. At the same time, a value obtained by averaging the signals from the left and right mud surface sensors 62, 62 is obtained. If the average value is harder than a predetermined mud hardness, the average value is added to the reference value. If the mud is softer than the mud hardness, a target load is set by subtracting the target value from the reference value. Only when there is a difference between the target load set in this way and the load set by the sensing spring 47, the electric load is set. Mo Drives 48 performs control to revealing the target load (# 101 to # 103 steps). In this control, when the sensitivity setting device 56 is operated to the “sensitive” side, the electric motor 48 is driven by an amount corresponding to the operation amount, the sensing spring 47 is relaxed, and the field float S , That is, by reducing the sensed load, the ground float 17 can be moved up and down sensitively to unevenness of the field scene. The electric motor 48 is driven by this amount to tension the sensing spring 47 to increase the pressure acting on the field scene S from the ground float 18, that is, the sensed load, thereby slowing the lifting and lowering of the ground float 18 with respect to the unevenness of the field scene. In this way, the ground float 17 is raised and lowered insensitively to the unevenness of the field scene.

Next, a target height is set based on a signal from the height setting device 54, and a feedback control for raising and lowering the seedling plant A so that the float sensor 41 detects the target height is performed. (# 104,
# 105 step). At the time of this elevating control, dead zones are set on the ascending side and the descending side with reference to the target height set by the height setting device 54. If the detection value from the float sensor 41 is within the dead zone, the seedling planting is performed. When the attachment device A stops moving up and down, and the detection value from the float sensor 41 changes to the side where the ground float 18 rises beyond the dead zone, it is proportional to the deviation between the target height and the detection value from the float sensor 41. Controlling the solenoid valve 57 so that the opening degree is reached
Control, and conversely, the float sensor 41
If the detected value from the sensor exceeds the dead zone and the ground float 18 moves downward, the target height and the float sensor 4
The lowering control of the seedling planting apparatus A is performed by controlling the solenoid valve 57 so that the opening degree is proportional to the deviation from the detection value from 1.

As described above, in the present invention, after the relative height of the grounding float 18 with respect to the seedling planting apparatus A is set by the height setting device 54, the sensitivity setting device 56 corresponding to the hardness of the mud in the field scene S is set. , The optimum sensing load corresponding to the hardness of the mud in the field scene S is automatically set based on the measurement result of the mud hardness sensor without changing the attitude of the grounding float 18. The lifting load of the seedling planting apparatus A can be controlled with the optimum sensing load corresponding to the state of the field scene S by changing the sensing load of the ground float 18. The planting depth of the seedlings can be adjusted by either the planting depth adjusting lever 30 or the height setting device 54. When the height setting device 54 is operated, the sensing spring 47 is attached. Since the power changes, the height setting device 54 is set to a necessary value before the start of the work, and the planting depth adjusting lever 30 is used to adjust the planting depth during the work.

[Other Embodiments] In the present invention, besides the above-described embodiment, it is also possible to set a control mode of automatic lifting control as shown in a flowchart of FIG. 9, for example. That is, a signal from the sensitivity setting device 56 is input to set the reference value of the sensed load, and the mud surface sensors 62, 62
A value obtained by averaging the signals from the above is calculated.If the average value is harder than a predetermined mud hardness, the average value is added to the reference value.If the average value is softer than a predetermined mud hardness, A target load and a correction value of the target height are set by subtracting from the reference value, and the electric motor is set only when there is a difference between the target load set in this way and the load set by the sensing spring 47. Then, control is performed to drive the motor 48 to produce the target load (steps # 201 to # 203). Next, a feedback control for setting the target height based on the signal from the height setting device 54 and the correction value and raising and lowering the seedling planting apparatus A so that the float sensor 41 detects the target height is performed. This is to be performed (# 204, # 205 steps). By setting the control mode in this manner, for example, when the mud hardness of the field is hard, the planting depth of the seedling is automatically adjusted in accordance with the mud hardness of the field, such as setting to shallow planting. Adjustment is also possible.

[Brief description of the drawings]

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

FIG. 2 is a plan view showing an arrangement of a ground float.

FIG. 3 is a side view of a ground float.

FIG. 4 is a side view showing the structure of a part of the float sensor.

FIG. 5 is a sectional view showing a structure for adjusting the biasing force of the sensing spring.

FIG. 6 is a sectional view showing an arrangement of a mud surface sensor.

FIG. 7 is a block circuit diagram of a control system.

FIG. 8 is a flowchart of a lifting control routine;

FIG. 9 is a flowchart of a lifting control routine according to another embodiment.

[Explanation of symbols]

 Reference Signs List 3 traveling machine 8 actuator 18 ground float 41 float sensor 47 biasing mechanism 48 adjusting means 51 controller 54 setting device 56 sensitivity setting device A ground work device S field scene

Claims (2)

[Claims] A ground working device is connected to a traveling body via an actuator so as to be able to move up and down via an actuator, and is vertically displaceable with respect to the ground working device and is biased downward by a biasing mechanism. A float, and a float sensor for measuring the vertical displacement of the ground float. The ground value is set in a direction in which the setting value of the setting device for setting the target height of the field work device relative to the field scene and the measurement value of the float sensor match. A paddy working machine including a control device that controls the actuator to raise and lower a working device, comprising a mud hardness sensor that measures mud hardness in the field scene, and mud hardness measured by the mud hardness sensor. A paddy working machine comprising an electric control type adjusting means for increasing the urging force of the urging mechanism as the rigidity increases. 2. An adjusting mode is set such that the adjusting means adjusts the urging force of the urging mechanism based on a measurement value from the mud hardness sensor and a set value from a sensitivity setting device. The paddy working machine according to claim 1.