JPS62158420A - Lifting and falling control apparatus of riding type rice planter - 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 [Industrial Application Field] The present invention relates to a riding rice transplanter in which a seedling planting device is connected to the rear of a traveling vehicle body so as to be movable up and down.

[Conventional technology]

In recent years, riding rice transplanters have been designed to automatically raise and lower the seedling planting device to maintain the ground pressure of the sensor float installed in the seedling planting device at a set value, regardless of unevenness of the tiller or pitching of the vehicle body. The structure is designed to stabilize the planting depth.

Furthermore, the structure is such that the sensing characteristics of the sensor foo (o-) can be adjusted in accordance with field conditions.

[Problem/point that the invention attempts to solve]

However, the sensing characteristics of the sensor floats cannot be adequately adapted to subtle changes in field conditions, and sometimes the elevation control is not performed properly, resulting in fluctuations in planting depth and mud pushing by the floats. Sometimes there are many.

The present invention enables appropriate automatic running control of a seedling planting device using a novel means that does not use a sensor float.

[Means for solving problems]

The lifting control device for a riding rice transplanter according to the present invention includes a leveling plate whose angle is adjusted by a drive mechanism at the bottom of the seedling planting device, a pressure sensor on the ground surface of the leveling plate, and an angle of the leveling plate. and a means for determining a target ground pressure and a target angle by comparing the ground pressure and angle detection results of the ground leveling plate with pre-stored data, and a means for determining a target ground pressure and a target angle, and a means for determining a target ground pressure and a target angle by comparing the ground pressure and angle detection results of the ground leveling plate with data stored in advance. The structure includes means for controlling the entire raising and lowering of the seedling planting device, and means for controlling the drive mechanism for changing the angle of the leveling plate to bring it closer to the target angle.

[For production]

According to the above configuration, the ground pressure of the leveling plate fluctuates depending on the ups and downs of the seedling planting device on the rice field and the hardness and softness of the mud, and the ground pressure and leveling plate angle at this time are compared with data stored in advance based on actual measurement results. The soil quality at this time can be determined by
Based on this, the target ground pressure and target angle are determined. Then, the raising and lowering control of the seedling planting device is performed to bring the seedling planting device closer to the target ground pressure, and the ground plate angle adjustment control is performed to bring the seedling planting device closer to the target angle.

For example, when the soil is hard, the angle of the ground leveling plate is adjusted to be looser, making it difficult for the ground pressure caused by the forward movement of the aircraft to act on the pressure sensor, and the 1 target ground pressure is adjusted to be higher, causing the leveling plate to tend to press against the rice field. Followed. Also, when the soil is soft, the angle of the leveling plate is corrected in the upright direction,
The ground pressure associated with the forward movement of the aircraft acts more easily on the pressure sensor, and the target ground pressure is corrected to a lower value so that the ground leveling plate follows the ground pressure without sinking.

〔Effect of the invention〕

Therefore, if the control device according to the present invention is used, the leveling plate will follow the rice field surface with appropriate ground contact pressure and angle according to changes in soil quality, and as a result, the level of the seedling planting device relative to the rice field surface will be stabilized, and the seedling planting device will be planted at a stable level. It is now possible to plant the seeds at a uniform depth.

〔Example〕

FIG. 1 shows the rear part of the riding rice transplanter according to the present invention.
This rice transplanter includes a seedling planting device (4) connected to the rear of a passenger traveling vehicle body (1) via an elevating link mechanism (3) driven by a hydraulic cylinder (2).

A leveling plate (5) whose angle can be freely adjusted by a motor M) is provided at the lower part of the seedling planting device (4), and a pressure sensor (6) is attached to the lower ground surface of this leveling plate (5), Furthermore, a sensor (7) detects the angle of the ground leveling plate (5).
Equipped with a potentiometer.

The lifting hydraulic cylinder (2) of the seedling planting device (4) is automatically controlled based on the detection of the ground pressure of the leveling plate (5), and its configuration is shown in the block diagram of FIG. shown.

The detection result of the pressure sensor (6) <P) and the angle sensor (
The detection result (θ) of 7) is input to the comparison and sled printing unit (8), where it is compared with the data previously stored in the storage unit (9) to determine whether the mud is hard or soft. The target ground pressure (PO) and target angle (θO) are determined. Then, the electromagnetic control valve CIQ of the lifting hydraulic cylinder (2) is controlled so as to approach this target ground pressure (Po), and the motor (M) is controlled via the drive circuit αυ so as to approach the target angle (θ0). controlled by By repeating such control in short cycles using a microcomputer, the leveling plate (5) can be adjusted to an angle suitable for the hardness and softness of the mud, while making it follow the entire field surface. The seedling planting device (4) is raised and lowered.
When the soil is soft, it is necessary to make the elevation control sensitive, so the target ground pressure is reduced and the target leveling plate angle is corrected to the upright side so that the ground pressure associated with the aircraft's forward movement is adjusted to the pressure sensor (6). ).

On the other hand, when the soil is hard, it is necessary to make the elevation control less sensitive, so the target ground pressure is increased and the target leveling plate angle is made looser so that the ground pressure associated with the forward movement of the aircraft is detected by the pressure sensor (6). make it difficult to act.

In addition to the motor (M), a hydraulic cylinder can be used as the drive mechanism for adjusting the angle of the leveling plate.

[Brief explanation of drawings]

The drawings show an embodiment of the lifting control device for a riding rice transplanter according to the present invention, and FIG. 1 is a side view showing the rear part of the riding rice transplanter, and FIG.
The figure is a partially cutaway perspective view of the ground leveling plate, and FIG. 3 is a block diagram of the control device. (1)... Traveling vehicle body, (4)... Seedling planting device, (5)... Ground leveling plate, (6)...
Pressure sensor, (7)...Angle sensor, (PO)
...Target ground pressure, (θ0) ...Target angle. Agent Patent Attorney Shudai Kitamura 2
Figure PjS3 animals

Claims (1)

[Claims] This is a lift control device for a riding rice transplanter in which a seedling planting device (4) is connected to a traveling vehicle body (1) so as to be able to be raised and lowered by driving, and the lower part of the seedling planting device (4) is equipped with an adjustment device whose angle is adjusted by a drive mechanism. A ground plate (5) is provided, a pressure sensor (6) is provided on the ground plane of this ground leveling plate (5), a sensor (7) is provided to detect the angle of the ground leveling plate (5), and a pressure sensor (6) is provided on the ground plane of this ground leveling plate (5). 5) Means for determining the target ground pressure (P_0) and target angle (θ_0) by comparing the ground pressure and angle detection results with pre-stored data, and planting seedlings so as to approach the target ground pressure (P_0). A lifting control device for a riding rice transplanter, comprising means for controlling the lifting and lowering of the device (4) and means for controlling a drive mechanism for changing the angle of the ground leveling plate (5) so as to approach the target angle (θ_0).