KR0133452B1 - Lift control mechanism for rice transplanter - Google Patents

Abstract

The planting device 5 is connected to the traveling body 1 by the drive mechanism 3 as a driving elevating material, and the ground float 9 which is installed on the planting device 5 with up and down swinging material around the rear support point. Float displacement detection means (10) is provided for detecting an up-and-down swing displacement amount based on the ground pressure fluctuation, and control means (13) for controlling the drive mechanism (3) so that the detected value of the float displacement detection amount (10) becomes a control target value. Is provided with a quadrature depth detecting means 14 for detecting a quadrature depth formed after passing on the mud surface of the ground float 9, and the control means 13 is provided with the quadrature. On the basis of the detection information of the depth detecting means 14, the detection sensitivity of the vertical swing amount detection of the ground float 9 is corrected.

Description

Aangi's lifting control mechanism

1 is an overall side view of a rice transplanter.

2 is a control block diagram.

3 is a side view of the float sensor installation unit.

4 is a simplified plan view of the planting apparatus.

5 is a cutaway rear view of a quadrature depth detector.

6 is a control flow diagram.

＊ Explanation of symbols on main parts of drawing

1: driving body 2: link mechanism

3: lift cylinder 5: planting device

7: planting stand 8: planting equipment

9a, 9b, 9c: ground float 10: float sensor

13 control means 14 detection means

[Industrial use]

The present invention connects the planting device to the driving body by a driving mechanism with respect to the traveling gas, and detects the up and down oscillation displacement based on the ground pressure fluctuation of the ground float installed in the planting device around the rear support point with up and down rocking material. A lifter control mechanism of a rice transplanter is provided with displacement amount detection means and has control means for controlling said drive mechanism so that the detection value of this float displacement amount detection means becomes a control target value.

[Prior art]

In the lift control mechanism of the rice transplanter, conventionally, the control target value setting for the detection value of the float displacement detection means is configured to be artificially changed and adjusted appropriately by an operator according to the situation of pavement, for example, the degree of competition of mud. there was.

However, it is difficult to check the pavement condition as described above, and it is not always possible to change the setting to an appropriate value. If the set value is not suitable for the pavement condition, the ground float sedimentation amount is excessively pushed to the mud. There have been problems such as the occurrence of an internal condition or a situation in which the ground float floats, the depth of the door seedling being too shallow.

[Object, Composition, Action, Effect of the Invention]

The present invention aims at eliminating the above-mentioned end caused by an error of artificial judgment so that lift control is always performed with an appropriate sensing sensitivity.

In order to achieve the above object, the lift control mechanism of the rice transplanter according to the present invention is provided with a quadrature depth detecting means for detecting a quadrature depth formed after passage on a mud surface of a ground float, and the control means detects the quadrature depth detecting means. Based on the information, the detection sensitivity of the up and down swing detection of the ground float is corrected.

According to this configuration, the grounding float is shifted up and down in accordance with the variation of the ground pressure in the mud surface with the running of the planting machine. The drive mechanism is automatically controlled to match the control target set in advance. In this way, the elevating control is performed in a state in which the ground float maintains a previously settled depth.

At this time, when the control objective is not appropriate due to the difference in the packing situation such as the competition of the mud, for example, when the mud is soft, the sedimentation depth of the ground float into the mud is excessive. Becomes louder.

In addition, when mud hardens, the quadrature becomes shallow. Thus, the detection depth in the up-and-down fluctuation displacement according to the ground pressure fluctuation of the ground float based on this quadrature depth detection information is detected directly by the quadrature depth detection means, for example, the control target value. Alternatively, the control deadband width is automatically corrected to the insensitive side or the sensitive side.

Therefore, it is possible to automatically adjust the sensitivity of the ground float to the appropriate sensitivity according to the situation of the pavement at all times. It can prevent, and it becomes possible to perform a good planting work. In addition, since it is a configuration that directly detects the quadrature depth formed after passing on the mud surface of the ground float, even when the relative height of the rear support point position of the ground float with respect to the planting apparatus is changed, for example, to adjust the depth of the seedling planting apparatus, the ground float is It is easy to determine whether the sensitivity is suitable for packaging.

In a preferred embodiment according to the present invention, the quadrature depth detecting means comprises: a first mud surface following ground body swinging up and down while ground-following on a mud surface at a center position in the float width direction after a ground float passes; There is a thing composed of the 2nd mud surface following ground which swings up and down when following.

At this time, the first mud surface following grounding body is installed below the gas traveling direction of the ground float installed in the seedling device and the second mud surface following grounding body is located in the gas width direction inside the ground float and these ground floats. As an intermediate position with another ground float, it is provided in the side part of the said 1st mud surface tracking ground body. In this structure, the quadrature depth formed on the mud surface by the ground float passage is detected based on the relative vertical movement of the first mud-plane following ground body and the second mud-face following ground body.

That is, the structure directly detects the quadrature depth based on the relative up and down swing amount between the first mud-plane following grounding body and the second mud-face following grounding body, so for example, the relative to the planting device of the grounding float for adjusting the depth of the planting plant. Even when the height is changed, the depth of the quadrature can be detected with high accuracy regardless of the change operation, and at the same time, the second mud-following grounding body is disposed at the intermediate position of each float in the width direction inside of the planting machine. It does not protrude, and there is no excessive swinging up and down due to rolling operation of the planting device, and there is little influence of pushing out mud by a grounding float and scattering of the mud surface by planting operation, and it is possible to follow the mud surface with high precision. do. In addition, each grounding body is arranged in parallel in the horizontal direction, and by fitting the oscillation shaft center, it is possible to reasonably detect the quadrature depth with a simple structure of the relative swing amount by one sensor.

In yet another embodiment according to the present invention, the first mud-face following grounding body is formed in a substantially U-shape as if hanging over the wheel barrel and dust. The advantages are as follows. That is, the ground float has a function to stop the pavement surface, and the ground float located at the passage of the wheel of the driving gas stops the passage of the passage, but the ground body located at the wheel passage and the groove is located at the wheel passage and the jar. By forming a substantially U-shape in the state of hanging, the quadrature surface after passing through the float can be detected with high accuracy even if the wheel barrel and the mud surface of the mud are largely dispersed and the stopping action is insufficient.

Moreover, in one of the other embodiment by this invention, the rolling drive mechanism for rolling the said seedling apparatus is provided, The said control means makes the said rolling drive mechanism so that the difference of each detection value in each said quadrature depth detection means becomes small. There is control. In this embodiment, the mud facet of the ground floats located on both the left and right sides and the depth of the quadrangle formed later are detected, respectively, so that the degree of mud on both the left and right sides is different, and there is a difference in the settling amount of each ground float. The height of the large clay surface in the part is accurately detected, and the rolling control is carried out so that these differences become smaller based on this detection information, so that the seedling device can always maintain the parallel clay surface posture, so that the planting depth of the seedling is constant. Will remain. Therefore, even if the mud hardness in the right and left sides of the working area is different, the rolling control that maintains the planting device in parallel with the soil surface is always possible, so that the depth of planting can be kept constant. It is possible to provide a control mechanism.

Example

Embodiments will be described below with reference to the drawings.

The first type rice transplanter is shown in FIG.

This rice transplanter is driven by a lift cylinder 3 (an example of a drive mechanism) through a link mechanism 2 at the rear of the riding type traveling body 1 as a driving elevating material and a rolling motor 4 around a front and rear shaft center. The planting device 5 is connected to the furnace.

The seedling planting device 5 is a seedling table 7 for reciprocating horizontal movement with a predetermined stroke, a seeding device 8 for extracting the seedlings from the lower end of the seedling stand 7, and planting the seedlings on the packaging, and swinging up and down around the rear horizontal support points. It is composed of three ground floats 9a, 9b, 9c, and the like, which are pivoted. The planting device 5 is maintained at the set ground height while the left and right tilted postures are set. It is configured to be automatically controlled posture to be maintained.

That is, it is configured to drive control the electromagnetic control valve 12 for the lift cylinder 3 and the rolling motor 4 by a control device 13 having a microcomputer as a control means, and the planting device 5 The ground (muddy surface) height change is detected by the ground float 9b located at the center by the amount of up and down swing based on the ground pressure fluctuation, and the ground inclination posture is set at each of the ground floats 9a and 9c located at the left and right sides. It is configured to detect on the basis of the quadrature depth formed after the passage.

In detail, as shown in FIG. 2 and FIG. 3, the up-down swing amount of the ground float 9b based on the ground pressure fluctuations above the front portion of the ground float 9b located in the center is provided via the link mechanism R. As shown in FIG. The control apparatus 13 is provided with the potentiometer type float sensor 10 to detect, and the detection value of this float sensor 10 matches the setting value by the potentiometer type sensitivity setting device 11 with which the gas control part was provided. Is configured to perform lift control by switching control of the electromagnetic control valve 12. When the link mechanism R is connected with a spring 23 for biasing the float front portion side downward, and the control target posture of the ground float 9b is changed to a forward (desensitized side) force applied by the spring 23 It is also configured to be strong in conjunction with. Further, quadrature depth detectors 14 and 14 (an example of quadrature depth detecting means) are respectively provided on the rear side of the ground floats 9a and 9c on both the right and left sides.

This quadrature depth detection mechanism 14 bearings the cylinder 17 on a support frame 15 protruded from the frame of the planting device 5 with a rotational material around the transverse center as shown in FIGS. 4 and 5. The first ground body 21 which swings up and down while supporting and integrally attaching the body portion 16 of the potentiometer PM to the cylinder 17 and grounding to the mud surface of the float passage quadrangle is supported. It is connected to the outer side of the said cylinder 17 by the integral rotating material. In addition, the support shaft 15, which is addressed as the integral rotation material on the operation shaft 18 of the potentiometer PM, is supported by the support material 20, which is addressed by the support frame 15, and the ground is supported. A second ground member 22 which swings up and down while ground-following the mud surface in the lateral position of the first ground member 21 as a center position between the float and the center side ground float 9b is attached to the pivot shaft 19. It is connected by all materials. The ground floats 9a and 9c on both the left and right sides also have a function to stop the wheel passage passage. However, when the stop action is insufficient, the quadrature may rise from the center, so that the first grounding body 21 has the wheel passage and the passage passage. It is formed so as to form a substantially U-shape to remove the error caused by the rising.

In addition, the second ground body 22 is formed in a long rake shape, and even if a layer of water is present in the mud, the water is good to drain out of the long cutout portion K. To be done.

The relative rotational amounts of the grounding bodies 21 and 22 are directly output from the potentiometer PM as detection data of the quadrature depth and are given to the control device 13. Sensitivity correction means (A), which constitutes left and right quadrature depth detector spheres 14 and 14 in this way, and corrects the sensitivity of detection of shank weight detection by the ground float 9b based on detection information by quadrature depth detection means. The control program 13 is equipped with this control program type.

The control operation of the control device will be described below.

As shown in FIG. 6, the detection value a of the float sensor 10 and the detection value b of the sensitivity setter 11 are read out, and the lift cylinder 3 is drive-controlled to move up and down so that they match. (Steps 1 to 4). Then, the output of each potentiometer PM of each quadrature depth detector port 14, 14 is read. The average value of these values is calculated and calculated. When the average value C exceeds the set value d1, the control target (set value) in the lifting control is set to the sensitive side, that is, the control target reference of the ground float 9b. The posture is corrected so as to change in the forward direction, and when the average value C is lower than the set value d2, the control target standard posture of the ground float 9b is changed to the forward direction when the average value C is lower than the set value d2. Correct it. (Steps 5 to 10). In addition, when the difference between the detected values of the respective potentiometers PM is equal to or greater than the set amount and the large soil surface attitude of the planting apparatus 5 is inclined from side to side, the rolling motor 4 becomes smaller (to accommodate within the set amount). Drive control (steps 11 and 12).

Another embodiment

As the sensitivity correction means, instead of correcting the control target of the ground float 9b, the detected value of the float sensor 10 may be corrected, and instead of changing such control information, the ground float 9b may be used. The downward force may be changed by an actuator so as to change the detection sensitivity.

The control means 13 can also change the planting depth on the basis of the detection information of the quadrature depth detection means 14. At this time, the control means 13 reads the output of the potentiometer PM of the quadrature depth detector port 14, so that the planting depth becomes shallow when the mud surface is hardened at these values, and the planting depth when the mud surface is soft. The lifting control is controlled to deepen.

In addition, although a code | symbol is written in the term of a claim for easy contrast with drawing, by this writing, this invention is not limited to the structure of an accompanying drawing.

Claims (5)

The planting device 5 is connected to the traveling body 1 by the drive mechanism 3 as a driving elevating material, and the ground float 9 which is installed on the planting device 5 with up and down swinging material around the rear support point. Float displacement detection means (10) is provided for detecting an up-and-down swing displacement amount based on the ground pressure fluctuation, and control means (13) for controlling the drive mechanism (3) so that the detected value of the float displacement detection amount (10) becomes a control target value. A lift control mechanism of a rice transplanter, which is provided with a), formed after passing on the mud surface of the ground float 9 to detect the amount of sedimentation of the ground float 9 into the mud, which varies with the hardness of the paving mud. Quadrature depth detecting means 14 for detecting quadrature depth is provided, and the control means 13 is adapted to detect the up and down swing amount of the ground float 9 based on the detection information of the quadrature depth detecting means 14. feeling Lifting control mechanism of the rice transplanter, characterized in that to correct the sensitivity. The first mud surface tracking grounding device (1) according to claim 1, wherein the quadrature depth detecting means (14) swings up and down while ground-following on the mud surface at the center position in the float width direction after the ground cloths (9a, 9c) pass. 21), and the second mud surface following grounding body 22 that swings up and down when ground following on the mud surface, wherein the first mud surface following grounding body 21 is a ground float installed in the planting device 5 9a and 9c are installed below the gas advancing direction, and the second mud-plane following ground 22 is located in the gas width direction other than the ground floats 9a and 9c and these ground floats 9a and 9c. As an intermediate position with the ground float 9b, it is provided in the transverse side part of the said 1st mud surface follow ground 21, and the said 1st mud surface follow ground 21 and the 2nd mud surface follow ground 22 Quadrature formed on the mud surface by the passage of the ground float (9a, 9c) on the basis of the relative vertical swing amount of Lifting control mechanism of a rice transplanter, characterized in that teeth are detected. 3. The lift control mechanism for a rice transplanter according to claim 2, wherein the first mud-plane following ground (21) is formed in a substantially U shape like a wheel passage. The rolling drive mechanism 4 for rolling the said seedling apparatus 5 is provided, The said control means 13 has the said each depth detection means 14; The rolling drive mechanism (4) is controlled so that the difference between the detection values in (14) is reduced. 2. The lift control mechanism for a rice transplanter according to claim 1, wherein said control means (13) has a function of changing the planting depth of a seedling based on detection information of said quadrature depth detection means (14).