JPS61209513A - Paddy field working machine - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed Description of the Invention] [Field of Industrial Application] The present invention relates to a paddy field work machine, such as a riding rice transplanter or a riding sowing machine, which is configured to be able to control the attitude of a ground work device with respect to the machine. Regarding.

[Conventional technology]

This type of paddy frost work machine has attitude control of ground work equipment,
For example, when controlling the elevation of a ground work device so that the level above the ground is maintained constant or almost constant, the means described in (g) or (b) below are generally adopted.

What) A grounding float that swings up and down in response to changes in ground pressure is attached to the ground work device while being elastically biased in the direction of contact with the ground via a spring, and at least a certain level of the ground float relative to the ground work device is attached. A sensor is provided to detect the vertical displacement of the ground work device, and a mechanism is provided to control the operation of the lifting drive mechanism of the ground work device so that the ground pressure of the ground float becomes the set ground pressure based on the detection signal of the sensor. .

(b) The ground work device is equipped with a transmitter that emits electromagnetic waves such as ultrasonic waves toward the field, and a receiver that receives reflected waves from the field, and the time from the time of transmission to the time of reception. A sensor is provided to measure the distance from the ground, and a mechanism is provided to control the operation of the lifting/lowering drive mechanism of the ground work device based on the detection signal of the sensor so that the detected distance becomes a set distance.

[Problem that the invention seeks to solve]

In the case of the conventional method (2), the detection reference ground pressure of the ground float is set by adjusting the primary biasing force of a spring based on the operator's intuition, so it is difficult to adjust the target ground pressure even though the adjustment is time-consuming. There is a problem in that large variations tend to occur between the ground pressure and the actual ground pressure, resulting in a decrease in attitude control accuracy of the ground work device.

In addition, in the case of the latter (b) method, even though the surface of the mud layer in the field serves as the work reference, the electromagnetic waves emitted from the sensor's transmitter are reflected on the surface of the water layer located above the mud layer. Therefore, it is inevitable that the detection distance will be shortened by the depth of this water layer, and since the depth of this water layer changes from moment to moment, it is virtually impossible to correct the error value. However, there is a problem that the detection accuracy becomes low.

The present invention adopts the latter means, which makes it easy to set the attitude control reference level of the ground work equipment, and also enables the vehicle to follow the hard mud surface layer so as to improve the level detection accuracy as much as possible. In addition to providing a grounding body, the ground work device includes a transmitter that emits electromagnetic waves toward the grounding body, a receiver that receives reflected waves from the grounding body, and a time period from the time of transmission to the time of reception. a sensor equipped with a means for measuring a distance from the sensor; and based on a detection signal from the distance measurement sensor, a drive mechanism for changing the attitude of the ground work device is actuated and controlled so that the detected distance becomes a set distance. Although there is a possibility that a means may be provided, its operation and effect are as follows.

[For production]

Finally, at the start of ground work, by setting the hardness that serves as the basis for the following movement of the grounding body to the surface hardness of the substantial mud layer located one step below the water layer, it is possible to prevent the presence of a water layer. Regardless, the distance from the surface of the substantial mud layer can always be electrically measured with high precision.

〔Effect of the invention〕

Therefore, since the false detection value due to the water layer can be made as small as possible compared to the conventional method, it is possible to improve the attitude control accuracy of the ground work equipment as a whole, and the set distance that is the control standard. It has also become possible to electrically change settings easily and accurately.

〔Example〕

Embodiments of the present invention will be described below based on the drawings.

(A) is the engine @), the driving part (1), the front and rear wheels (2
).

This machine is equipped with (3), (B) is an example of a ground work device, and compared to this machine (A), it has a four-thousand link mechanism (4).
These seedling planting devices are connected to each other so that they can be raised and lowered through GA) and GA), and (B) together constitute a riding type rice transplanter which is an example of a paddy field working machine.

The seedling planting device (2) has a seedling platform (5) that is movable back and forth in the left and right direction, and a planting claw (6) that extends between the seedling outlet of the seedling platform (5) and the mud surface. Link mechanism for circular movement (
7), a planting case (8) that houses a transmission mechanism therefor, and eight grounding floats (9).

(C) is a drive mechanism that drives the seedling planting device (B) up and down with respect to this machine (A);
and the hydraulic cylinder QQ for lifting and lowering installed between the
It is equipped with an electromagnetic lift control valve αυ interposed in the hydraulic circuit for the lift.

(6) is a flag-shaped grounding body that is connected to the rear transmission case (to) of the machine (A) via a 1,000-row 4-link mechanism α4) so that it can be raised and lowered, and the 1,000-row 4-link Between the upper and lower links (14m) and (14b) constituting the mechanism (14), this grounding body (b) is made to follow along the mud surface layer of a predetermined hardness, in other words, it runs substantially along the mud surface layer. A spring is interposed to urge the grounding body (2) in the direction of contact with the ground so that it follows along the surface.

In addition, as this grounding body (b), even if the specific gravity is smaller than 1 and has buoyancy, the above-mentioned spring (to)
By setting the elastic biasing force, it is possible to make the rod follow along the surface of the mud surface, but it is preferable that the rod has no buoyancy or has very small buoyancy and has a specific gravity slightly heavier than 1. .

σQ is a distance measurement sensor attached to the rear surface of the seedling stand (5) of the seedling planting device (B) in a state where the distance to the grounding body side can be measured; A ceramic microphone (an example of a transmitter) (16A) that emits ultrasonic waves, which are an example of electromagnetic waves, towards (
An example of a receiver) (16B), a circuit (16C) for causing the transmitting microphone (16A) to transmit ultrasonic waves at set time intervals (16C), the receiving microphone (16
Receiving circuit (16D) that amplifies the received sound wave according to B)
, a transmitting microphone (16A) based on information from the transmitting circuit (16C) and the receiving circuit (16D), respectively.
a time measurement unit (18E) that measures the time required from the time when a signal is transmitted until the receiving microphone (16B) receives the signal; and a height above the ground that calculates the height above the ground based on the measurement result by the time measurement unit (16E). It is composed of a calculation unit (16F).

αη is a setting device that sets the distance between the grounding body side and the distance measurement sensor (LQ), which corresponds to the desired planting depth;
The setting signal of the setting device Q force and the detection signal of the distance measuring sensor a are outputted to a judgment circuit (to). This judgment circuit (g) maintains the detection distance within the permissible range of the set distance, in other words, so that the planting depth is maintained within the permissible range of the set planting depth. It is configured to control the operation of the lift control valve (b).

[Another example]

(B) In the above embodiment, the distance measurement sensor 1llL.
The seedling planting device (B) was configured to be controlled up and down based on the detection signal of the seedling planting device (B), but instead of this, a pair of the above-mentioned sensors (L) are provided on the left and right, and the seedling planting device (B) is controlled in the left and right direction. The left and right sensors q are adjusted so that the attitude of the
0. The seedling planting device (B) may be configured to perform rolling control based on (1) above, and may also be configured to perform both such lifting control and rolling control. (B) The above implementation In the example, the distance to the grounding body (2) is detected using ultrasonic waves, but instead of this, it may be configured to detect using other electromagnetic waves such as laser light.

(C) Although a seedling planting device was used as the ground work device (B) in the above embodiment, it is not limited to this.
For example, it may be carried out using a seeding device or the like.

[Brief explanation of the drawing]

The drawings show an embodiment of the rice paddy working machine according to the present invention, in which Fig. 1 is an overall side view of the riding rice transplanter, Fig. 2 is an elevation control system diagram,
FIG. 8 is an enlarged side view of the main part. GA)...This machine, (B)...Ground work device, (C)...Attitude change drive mechanism, (4)...
...Grounding body, αQ...Distance measurement sensor, (
16A)...Transmitter, (16B)...
receiver.

Claims (1)

[Scope of Claims] [1] A paddy field work machine configured to be able to control the attitude of the ground work device (B) with respect to the machine (A), which is capable of following a mud surface layer of a predetermined hardness. The ground work device (B) is provided with a ground body (12).
) and a receiver (16B) that receives reflected waves from the grounding body (12).
and a means for measuring distance from the time from the time of transmission to the time of reception, and
Based on the detection signal of the distance measurement sensor (16), the ground work device (B
) A paddy field work machine provided with means for controlling the operation of the posture change drive mechanism (C). [2] Claim No. 2, wherein the electromagnetic wave is an ultrasonic wave.
1] The paddy field work machine described in item 1]. [3] A drive mechanism for changing the attitude of the ground work device (B) (
The paddy field working machine according to claim 1, wherein C) is a lifting drive mechanism. [4] A drive mechanism for changing the posture of the ground work device (B) (
C) is a rolling drive mechanism [
1] The paddy field work machine described in item 1].