JPH119033A - Rice transplanter - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a rice transplanter for making a seedling transplanting apparatus properly follow a field face regardless of the state of the field so as not to cause the shallow transplantation of seedlings. SOLUTION: This rice transplanter is equipped with a control apparatus 42 for lifting and lowering a seedling transplanting apparatus so that the height of the seedling transplanting apparatus, liftably supported on a traveling machine body, above a field face is maintained at target height. The traveling machine body or the seedling transplanting apparatus is provided with an acceleration sensor 41. The rice transplanter is furnished with a correcting means for reducing the lifting and lowering control sensitivity of the control apparatus 42 when the vibration of acceleration of a fixed value or larger than it in the vertical direction is detected by the acceleration sensor 41.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a seedling planting apparatus which is capable of moving up and down with respect to a traveling machine body, and which measures the height of a seedling planting apparatus measured by a height sensor provided in the seedling planting apparatus. The present invention relates to a rice transplanter having a control device for raising and lowering the seedling planting apparatus so as to maintain the height at a target height, and more particularly, to a technique for appropriately causing the seedling planting apparatus to follow a field scene regardless of the state of the field.

[0002]

2. Description of the Related Art As a rice transplanter configured as described above,
There is one shown in JP-A-6-62630,
In this conventional example, a grounding float is provided so as to swing freely with respect to a seedling planting device connected to the rear end of the traveling body so as to be able to move up and down,
A first sensor for biasing a front portion of the grounding float to a downward side, a first sensor for detecting a height of the seedling planting device with respect to a field from a posture of the grounding float, A second sensor for detecting the amount of swing of the sled-shaped ground sensor that is swingably provided, and a detection system is configured, and a signal value set by a sensitivity setting switch is detected based on a measurement result of the first sensor. A raising and lowering control system for raising and lowering the seedling planting apparatus is formed, and when the second sensor detects that there are many irregularities in the field scene, the target attitude of the grounding float is changed to the front lower side to raise and lower. A sensitivity setting system in which characteristics are set so as to reduce the control sensitivity is formed.

[0003]

In the structure of the prior art, the lifting and lowering control of the seedling planting device is unnecessarily caused by the vertical vibration of the seedling planting device as in the case of working in a field having many irregularities. Is repeatedly generated, that is, so-called hunting can be suppressed by lowering the sensitivity of the elevation control. However, considering the cause of the vertical vibration of the seedling planting apparatus, not only the unevenness of the field scene but also the vertical vibration of the machine due to the unevenness of the cultivator where the wheels touch the ground exist as a cause. In particular, the conventional rice transplanter supports the seedling plant in a suspended state with respect to the traveling machine body via a link mechanism or the like, and the grounding load of the grounding float of the planting device is set to be small. When vibrating in the vertical direction, the seedling planting apparatus is greatly vibrated, which also leads to the occurrence of hunting as described above, and there is room for improvement.

[0004] In addition, when a large depression or projection exists in the tillage, and the front wheel falls into the depression, or when the rear wheel rides on the projection, the seedling planting device can be constructed within a short time. In the case where the phenomenon of greatly raising the seedling occurs, there is room for improvement because it easily leads to the inconvenience of generating seedlings in a shallow planting state.

It is an object of the present invention to provide a rice transplanting machine which does not cause shallow planting of seedlings by appropriately causing the seedling planting apparatus to follow the field scene regardless of the field conditions.

[0006]

According to a first aspect of the present invention, as described at the beginning, a seedling planting device is provided so as to be able to move up and down with respect to a traveling machine body. In a rice transplanter equipped with a control device for raising and lowering the seedling planting device so as to maintain the height of the seedling planting device with respect to the field scene measured by the height sensor provided at the target height, a traveling machine, or a seedling The planting device is provided with an acceleration sensor, and when the acceleration sensor detects a vibration with an acceleration equal to or more than a predetermined value in the vertical direction, a correction unit that reduces the elevation control sensitivity of the control device is provided. The operation and effect are as follows.

A second feature (claim 2) of the present invention is that, in claim 1, the height sensor is a grounding float whose rear end is supported around an axis in a sideways posture with respect to the seedling planting device. A spring for urging the front position of the ground float downward, and a float sensor for electrically measuring a swing posture of the ground float around the axis, and the control device In the seedling planting apparatus, the control for maintaining the scene height relative to the field at the target height is set so as to perform the raising / lowering operation on the side for maintaining the measured value of the float sensor at the target value, and the control sensitivity is controlled by the correction means. Is that the target value measured by the float sensor is set so as to change the target attitude of the grounding float to the forward ascending side, and the operation and effect are as follows.

A third feature of the present invention (claim 3) is that, as described at the beginning, a seedling planting device is provided so as to be able to move up and down with respect to the traveling machine body, and a height sensor provided in the seedling planting device is provided. In a rice transplanter equipped with a control device that raises and lowers the seedling planting device so as to maintain the height of the seedling planting device with respect to the field scene to be measured at a target height, a traveling machine body, or an acceleration or A sensor for detecting the inclination, and when the sensor detects a displacement of a predetermined amount or more within a unit time in the lifting direction of the seedling planting device, the seedling planting device has priority over the elevation control of the control device. Is provided with forced lowering means for lowering
The operation and effect are as follows.

A fourth feature of the present invention (claim 4) is that in claim 3, a control operation is set such that the forcible lowering means lowers an actuator for raising and lowering the seedling planting device for a set time. The operation and effect are as follows.

According to the first feature, when the acceleration sensor detects vibration with an acceleration equal to or more than a predetermined value in the vertical direction, the elevation control sensitivity is reduced. Even when the sensor detects the vertical displacement of the seedling planting apparatus, the elevation control is suppressed and hunting does not occur. Also, since the acceleration sensor can instantly measure the absolute displacement of the traveling machine or the seedling planting device,
Compared with a conventional sensor using a sled-shaped member that measures displacement based on a field scene, the time lag until detection is extremely small and quick response is possible.

According to the second feature, when the acceleration sensor detects a vibration with an acceleration equal to or more than a predetermined value in the vertical direction, the correcting means sets the target posture of the grounding float to the forward-lowering side. Is compressed and the ground float increases the weight supporting the seedling planting device with respect to the field scene,
The vertical vibration of the seedling planting device is reduced, and at the same time, the spring is compressed, so that the posture change does not easily occur in the grounding float, and the hunting can be further suppressed.

According to the third feature, when the sensor detects that the planting device has been displaced in the lifting direction by a predetermined amount or more within a unit time, the forced lowering means lowers the planting device. Therefore, the displacement of the seedling planting apparatus in the floating direction can be reduced to suppress the occurrence of shallow planting.

According to the fourth feature, when the sensor detects that the seedling placement apparatus has been displaced by a predetermined amount or more in a unit time in the lifting direction, the actuator is moved down for a set time, so that the seedling placement is performed. Since the displacement of the planting device in the floating direction is reduced to suppress the occurrence of shallow planting, the lowering operation of the seedling planting device stops after the set time has elapsed, and thereafter the seedling planting device descends. Therefore, even when the original height is restored, proper control can be easily returned to.

[Effect of the Invention] Therefore, even in a field where the seedling planting device is vibrated up and down, the seedling planting device can properly follow the field scene without causing hunting, and the seedlings can be planted. The rice transplanter that can be transplanted to an appropriate depth was rationally configured (claim 1). Further, in addition to the effect of claim 1, even in a situation where hunting may occur, suppression of vertical vibration of the seedling planting device and suppression of unnecessary control are simultaneously realized, and the seedling planting device is constructed in a field. It is possible to more appropriately follow the surface (claim 2). Furthermore, a rice transplanter capable of transplanting seedlings to an appropriate depth without raising the seedling planting device from the field scene even if the traveling machine shakes in the direction of lifting the seedling planting device in a short time is reasonable. (Claim 3). Further, in addition to the effect of the third aspect, even when the posture of the traveling body is restored, the ascent / descent control that follows the field scene can be continuously performed (claim 4).

[0015]

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 transmission, 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. A driving seat 7 is arranged at the center of the traveling body 3 and a seedling planting apparatus A is connected to a rear end of the traveling body 3 via a link mechanism 9 driven up and down by a hydraulic cylinder 8 as an actuator. To construct a riding rice transplanter.

A raising / lowering lever 10 is provided on the right side of the driver's seat 7 for controlling the raising and lowering of the seedling planting apparatus A and the on / off operation of a planting clutch (not shown). A shift lever 11 for performing a shift operation of the stepped transmission 5 is provided. The planting clutch is built in the transmission case 6 and permits the disengagement operation only when the transmission shaft 12 that transmits power from the transmission case 6 to the seedling planting device A is in a predetermined rotation phase. Seedling planting equipment A
Is configured to shut off power in a posture avoiding contact with the field.

The seedling placement 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 transmission shaft 12 is transmitted, and a chain case 1 from the transmission case 14.
Rotary case 1 rotated by the power transmitted through 5
6. A pair of planting arms 17 provided on the rotary case 16 and a plurality of leveling floats 18 as grounding floats, each of which is configured for eight-row planting, and a rear end position of the seedling planting device A. At the time of work, 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 mounting table 13 at the time of work, and plants the seedlings in the field scene at the same time as the vicinity of the planted seedlings. It is configured to supply fertilizer with the fertilizer applicator B under the field scene.

As shown in FIG. 2, a rear end of a support arm 22 extending rearward from a planting depth adjusting shaft 21 rotatably supported on the seedling planting device A around an axis in a lateral posture. One of the leveling floats 18 is disposed at the center in the left-right direction with respect to the position (hereinafter, referred to as a sensor float 18 and is an example of a grounding float), and is swingably supported around an axis P in a horizontal posture. The sensor float 1 is attached to a link member 23 formed forward from the planting depth adjusting shaft 21.
By supporting the front of the sensor float 8, the sensor float 18 is configured to be vertically displaceable by swinging around the axis P in a horizontal posture.

A potentiometer type float sensor 25 is supported so as to be swingable about an operation shaft 24 in a lateral position with respect to the support arm 22, and an operation arm 24A provided on the operation shaft 24 and a fixed arm fixed to the sensor float 18 2
6 and an operating rod 27, and the planting depth adjusting shaft 21
By providing the rod 29 over the member 28 fixed to the member and the member supporting the float sensor 25, the posture of the float sensor 25 around the operation shaft 24 can be changed when the planting depth adjustment shaft 21 is rotated. As long as the swinging attitude of the sensor float 18 with respect to the seedling planting apparatus A is kept constant, the attitude of the operation arm 24A with respect to the main body of the float sensor 25 is maintained. Also, a compression coil type as a biasing means is provided between a member 31 which is vertically oscillated through an adjusting arm 30 fixedly mounted on the planting depth adjusting shaft 21 and a front portion of the sensor float 18. By interposing the spring 32,
The sensor float 1 can be used even when the planting depth adjusting shaft 21 is rotated.
The urging force of the spring 32 is not changed as long as the rocking posture of the seedling plant A is kept constant.

As shown in FIGS. 1 and 3, the lifting lever 10
A potentiometer type lifting lever sensor 3
4, and a shift lever sensor 35 of a potentiometer type is provided at the base end of the shift lever 11. A potentiometer-type sensitivity setting device 38 operated by a dial 37 is disposed on a panel 36 in front of the driver's seat 7.
This sensitivity setting device 38 is "sensitive" by the dial 37.
It is configured to be able to continuously operate the operation range indicated by the numbers “1” to “7” during “dull”, and the more the dial is operated toward “sensitive”, the more the automatic raising and lowering control of the seedling planting apparatus A is performed. And the sensitivity of the automatic raising and lowering control of the seedling planting apparatus A is lowered as the dial 37 is operated to the "dull" side.

The raising / lowering lever 10 controls the solenoid valve 39 for the lift cylinder 8 so that the seedling planting device A is raised by operating the rearward side, and the seedling planting device A is lowered by operating the frontward side. When the basic control operation is set as described above, and the lift lever 10 is operated to the front end, the sensor float 18 is set to the setting of the sensitivity setting device 38 while the sensor float 18 is grounded. By raising and lowering the seedling planting apparatus A so as to maintain a target posture set in advance based on the value, the automatic control of raising and lowering the seedling planting apparatus A following the field scene S is performed. .
As shown in FIG. 3, when the shift lever 11 is operated forward with reference to the neutral position, an electric shift motor 4 for driving a trunnion shaft (not shown) of the continuously variable transmission 5 is operated.
0, the forward speed of the traveling body 3 is increased, and when the shift lever 11 is operated rearward with reference to the neutral position, the speed change motor 40 is similarly controlled to increase the reverse speed of the traveling body 3. The control operation is set so as to stop traveling at the neutral position.

When traveling on the field, the traveling body 3
An acceleration sensor 41 is provided to measure the vertical acceleration transmitted to the machine body 3 via the front and rear wheels 1 and 2 due to the unevenness of the plow G in the field.

As shown in FIG. 3, a control system for the rice transplanter is constructed. In this control system, a signal from the elevation lever sensor 34 and a speed change are transmitted to a control device 42 having a microprocessor (not shown). A signal from the lever sensor 35,
The signal from the sensitivity setting device 38, the float sensor 2
5 and a signal from the acceleration sensor 41 are formed, and an output system for controlling the solenoid valve 39 and the speed change motor 40 is formed.
Further, an input system based on a signal from a potentiometer type shift sensor 43 for detecting a shift position of the continuously variable transmission 5 is formed. The solenoid valve 39 has such a characteristic that the opening of the solenoid valve 39 is increased as the value of the current supplied to the solenoid is increased.

As shown in the flowcharts of FIGS. 4 and 5, the raising / lowering control operation of the seedling planting apparatus A is set. In this control, when the acceleration sensor 41 detects a change in the posture of the rear part of the body 3 in the lifting direction. The target opening of the solenoid valve 39 is set to the maximum only when the acceleration is equal to or more than a predetermined value set in advance (when it swings by a predetermined amount or more within a unit time), and Set time (0.1 ~
(For about 0.2 seconds) (# 101 to # 103 steps).

In this process, as shown in FIG. 6, the rear side of the traveling body 3 is greatly lifted in a short time due to the phenomenon that the rear wheel 2 rides on a large convex portion existing in the plow G. When the posture changes to the side, the acceleration sensor 41 detects the occurrence of the inclination of the traveling body with a very short time lag, and forcibly lowers the seedling planting device A so that the seedling planting device A moves from the field scene S. The floating phenomenon is prevented beforehand, and this control eliminates the shallow planting of the seedlings so that the seedlings can be transplanted to an appropriate depth. The forcible lowering means D of claim 3 is constituted by # 103 of this control.

When the control for forcibly lowering the seedling planting apparatus A is not performed, the acceleration sensor 41 detects a vibration (for example, pitching) for vibrating the seedling planting apparatus A up and down. In this case, only when the acceleration is equal to or more than a predetermined value, the sensitivity setting value input from the sensitivity setting device 38 is replaced with only a value proportional to the absolute value of the acceleration with reference to this setting value. The sensitivity setting value corrected on the sensitivity reduction side (insensitivity side) is set (steps # 104 to # 106). It should be noted that the correcting means C of claim 1 is constituted by the # 106 step of performing this correcting process.

In this flowchart, FIG.
In FIG. 4A, the flow is connected to FIG. 5B. Next, while setting a control target corresponding to the sensitivity set value, a signal from the float sensor 25 is input,
The dead zone formed on the basis of the control target is compared with the float sensor 25. As a result of the comparison, if the signal value from the float sensor 25 exists within the dead zone, the lifting / lowering control is not performed, and the dead band is not detected. Float sensor 25 in area
When there is no signal value from the control valve, the opening degree of the solenoid valve 38 is set to a value proportional to the deviation between the control target and the signal value from the float sensor 25, and based on the magnitude relationship, the ascending side and the descending side are set. One of the solenoids is driven to move up and down the seedling planting apparatus A (steps # 107 to # 111).

Since the seedling planting apparatus A is supported at the rear end position of the traveling machine body 3 via a link mechanism 9 and has a small contact load even when the sensor float 18 is in contact with the ground, for example, G is in a rough state, and the seedling plant A may be vibrated due to the rough state. If this vibration is large, the vertical vibration
5 detects and unnecessarily raises and lowers the seedling planting device A;
This leads to so-called hunting. Therefore,
As described above, when a large vertical vibration is generated with respect to the traveling machine body 3, the target attitude of the sensor float 18 is changed to the forward-downward direction, so that the sensor float 18 is lowered.
In the state where the spring 32 acting on the
8, the weight supporting the weight of the seedling planting device A is increased to suppress the vertical vibration of the seedling planting device A, and at the same time, the spring 32 is compressed, whereby the control sensitivity is substantially reduced, As a result, it is difficult for the sensor float 18 to change its posture, and hunting is favorably suppressed.

As described above, according to the present invention, the provision of the acceleration sensor 41 on the side of the traveling machine body 3 forcibly lowers the seedling planting apparatus A in response to the forward / backward tilt of the traveling machine body 3 or vibration. By lowering the raising / lowering control sensitivity of the attaching device A, the seedling planting device A can appropriately follow the field scene and work can be performed in a state where seedlings are not shallowly planted.

[Other Embodiments] In addition to the above-described embodiment, the present invention can use, for example, an inclination sensor for detecting the forward / backward inclination of the traveling machine body 3. It is also possible to provide the attachment device A.
It is also possible to set the operation of the correcting means so as to increase the width of the dead zone to lower the control sensitivity.

[Brief description of the drawings]

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

FIG. 2 is a side view of a sensor float.

FIG. 3 is a block circuit diagram of a control system.

FIG. 4 is a first half of a flowchart of the lifting control;

FIG. 5 is the second half of a flowchart of the lifting control.

FIG. 6 is a side view showing the rice transplanter in an inclined state.

[Explanation of symbols]

 3 Traveling body 8 Actuator 18 Grounding float 25 Float sensor 32 Spring 41 Acceleration sensor 42 Control device A Seedling plant C Correcting means D Forced descending means P Shaft center

Claims (4)

[Claims] 1. A seedling planting device is provided so as to be able to move up and down with respect to a traveling machine body, and the height of the seedling planting device relative to a field measured by a height sensor provided in the seedling planting device is set to a target height. A rice transplanter provided with a control device for elevating and lowering the seedling planting device so as to maintain the traveling machine body or the seedling planting device equipped with an acceleration sensor. A rice transplanter having a correction means for lowering the elevation control sensitivity of the control device when vibration of the rice is detected. 2. A ground float having a rear end supported around an axis in a lateral position with respect to the seedling planting device, and a spring for urging a front position of the ground float downward. And a float sensor for electrically measuring the swinging posture of the grounding float around the axis, and the control device sets the height of the seedling planting device relative to the field to the target height. The control to be maintained is set so as to perform the raising / lowering operation on the side that maintains the measurement value of the float sensor at the target value, and the control to reduce the control sensitivity by the correction means is to ground the target value measured by the float sensor. The rice transplanter according to claim 1, wherein the target posture of the float is set to be changed to the forward ascending side. 3. A seedling planting device is provided so as to be able to move up and down with respect to the traveling machine body, and the height of the seedling planting device relative to the field measured by a height sensor provided in the seedling planting device is set to a target height. A rice transplanter having a control device for raising and lowering the seedling planting device so as to maintain the traveling plant body or the seedling planting device, comprising a sensor for detecting acceleration or inclination. A rice transplanter comprising a forced descent means for lowering a seedling planting device in preference to a lifting / lowering control of the control device when a displacement of a predetermined amount or more is detected within a unit time in a lifting direction. 4. The rice transplanter according to claim 3, wherein a control operation is set such that said forcible lowering means lowers an actuator for raising and lowering the seedling planting device for a set time.