JPH0634648B2 - Paddy work machine - Google Patents

Description

Description: FIELD OF THE INVENTION The present invention relates to a paddy field working machine, and more particularly to a paddy field working machine configured so that a working device automatically moves up and down following a field.

[Prior Art] Taking a rice transplanter as an example, as a conventional device configured to automatically move up and down by following a work field to a field, a leveling float is biased downward with a predetermined load, and In some cases, the work device is moved up and down in the direction in which the load is maintained in accordance with the change in the load due to the level change (for example, Japanese Utility Model Laid-Open No. 56-107218).

[Problems to be solved by the invention]

Considering the paddy field work here, fertilization work and sowing work on the paddy field are preferably performed on the mud level regardless of the water level of the paddy field, not limited to the seedling planting operation. That is, it is necessary to insert the seedlings from the mud surface to an appropriate depth in the seedling planting operation, and to feed the fertilizer and seeds to an appropriate level below the mud surface in the fertilization and sowing operations.

However, when the lifting control system is configured to raise and lower the working device based on the ground load of the leveling float as in the above-mentioned reference, and in the paddy field where the level difference between the mud surface and the water surface is large, the leveling float is used. On the other hand, because of the buoyancy of water, not only the up-and-down control that accurately follows the mud surface is not performed, but also the posture of the leveling float tends to be unstable and there is room for improvement.

Also, in the conventional lifting control system, the lifting load control sensitivity is adjusted by changing the grounding load of the leveling float that corresponds to the hardness of the mud surface, and this grounding load must be changed in order to perform smooth lifting operation. At the same time, this change takes time,
Moreover, a dedicated structure is required, and there is room for improvement in these points.

An object of the present invention is to construct a lifting control system for a working device based on the mud level in a rational and simple structure.

[Means for solving problems]

A feature of the present invention is that a plurality of mud surface detectors that electrically detect the relative distance between the mud surface and the working device by downward displacement that follows the level change of the mud surface, and detection results from the plurality of mud surface detectors Control device for constantly raising and lowering the working device in a posture parallel to the mud surface so as to maintain the value at a preset value, and a work level for simultaneously changing the reference points of the plurality of mud surface detecting bodies to the working device in the vertical direction. Each of them has an adjusting mechanism, and its operation and effect are as follows.

[Action]

If the above characteristics are configured as shown in FIG. 1, for example, the mud level is electrically detected from the mud level detector (S) during work, so the control device (22) performs an appropriate electrical treatment. When the work device (A) can be moved up and down in the state, and the work level for the mud surface (M) is changed, the work level adjustment mechanism (B)
There is no need to perform other operations only with.

〔The invention's effect〕

Therefore, even in paddy fields where the level difference between the water surface and the mud surface is relatively large, the work equipment can be smoothly moved up and down by electrical processing regardless of the hardness of the mud surface, and the work level can be adjusted by a simple operation. The system was constructed relatively easily.

In particular, the present invention has an advantage that suspended matter in a paddy field is less likely to be caught by the mud surface detector because it is not necessary to urge the mud surface detector to descend with a large load.

Furthermore, since a plurality of mud level detectors used to control the working device in parallel according to the left and right inclination of the mud level are configured to be adjustable at the same time, compared to those that are adjusted separately,
Easy level adjustment of multiple mud level detectors.

〔Example〕

 Embodiments of the present invention will be described below with reference to the drawings.

As shown in Fig. 5, engine (1), mission case
(2), the chain case (3), the front body equipped with a single propulsion wheel (4), and the left and right hydraulic cylinders (5), (5) are actuated respectively to move around the lateral axis (X). Work for planting seedlings that has a pair of left and right tail sleds (6), (6), a transmission case (7), four planting arms (8), ... apparatus
A rear body provided with (A) is swingably connected around a longitudinal axis (Y) to form a rice transplanter as an example of a paddy working machine.

As shown in FIGS. 1 to 3, in the rice transplanter, a lateral support shaft (10) is provided on the lower surface of the transmission case (7), and both ends of the support shaft (10) are provided. Arm (11), (1
The mud surface detectors (S) and (S) that electrically detect the relative distance from the mud surface (M) of the working device (A) via (1) are provided, and the left and right tail sleds (6), ( 6) is moved up and down based on the signals from the left and right mud level detectors (S), (S) respectively, so that the working device (A) is moved to the mud level (M).
It is configured so that it can be moved up and down in accordance with.

That is, the mud surface detector (S) is pivotally supported by the rocking shaft (12) provided at the rocking end of the arm (11), and a flat mud surface sliding contact portion (13a) is provided on the rocking end side. ) Formed on the swing rod (13), a cam body (14) swinging integrally with the swing rod (13), and the cam body (14)
Limit switches (15), (1
5), and the plate (16) supporting the swing rod (13) and the limit switches (15) and (15) further includes the support shaft (1
An arm provided on the support shaft (10) so that the position of the mud surface sliding contact portion (13a) does not move significantly in the front-rear direction even when the rocking operation (0) is performed.
An arm (17) having the same length as (11) is provided between the arm (17) and the shaft (18).

Incidentally, the mud surface sliding contact portion (13a), in a side view, the tail sled (6), (6)
It is set above the grounding point with respect to the cultivator and is set to substantially overlap with the seedling planting position, and the support shaft (10) has an operation lever (19) and an operation position of the operation lever (19). Is provided with an operation guide (20) for holding the support shaft (10),
The arms (11) and (17), the operation lever (19), and the operation guide (20) are collectively referred to as a work level adjusting mechanism (B), and the mud surface (M) is operated by the operation of the work level adjusting mechanism (B). The planting depth of seedlings can be adjusted.

Also, in this rice transplanter, the left and right sleds (6), (6) move up and down independently, so as shown in Fig. 3, the mud surface (M) is inclined to the left and right with respect to the water surface (W). Even in paddy fields that are in operation, the aircraft can be tilted to the left and right to follow this mud surface (M).

Further, the signals from the left and right limit switches (15), ... Are input, and the control signals for operating the solenoid valves (21), (21) for the left and right hydraulic cylinders (5), (5) are output. A control device (22) is provided for preventing the malfunction caused by the vibration of the swing rods (13), (13), for example, as shown in FIG. , The state in which the working device (A) needs to be raised, the state in which the working device (A) needs to be lowered, or the state in which the neutral state needs to be maintained are alternately changed by the two limit switches (15) and (15). Even if it appears, the figure
(B) Counts the number of three-state signals and the means for generating the sampling signal so that control is performed according to the signal with the largest value obtained by integrating the signals at the timings matching the sampling signal shown in (b). Means, means for comparing count results, timer, etc. are provided. By the way, when the signal shown in Fig. 4 (a) is detected, many signals in the rising direction are counted within the set time, so the tail sled on the side where this mud surface detector (S) is arranged is (6) will be operated in the direction of raising the working device (A).

Further, the left and right tail sleds (6) and (6) are, as shown in FIG. 3, shaft members (2) penetrating left and right frames (23) and (23) of the rear body.
It is attached to the outer end side of the pipe material (25), (25) which is fitted on the outer peripheral surface of the hydraulic cylinder (5), (5) on the inner end side of the pipe material (25), (25). Arm (26), (2
6) is installed.

[Another embodiment]

In addition to the above embodiments, the present invention may be provided with a potentiometer for detecting the displacement of the mud surface detector.

Further, the present invention can be applied to a fertilizer applying device and a sowing device.

It should be noted that reference numerals are added to the claims for convenience of comparison with the drawings, but the present invention is not limited to the structure of the accompanying drawings by the guide entry.

[Brief description of drawings]

The drawings show an embodiment of a paddy working machine according to the present invention. Fig. 1 is a side view of a mud level detector and an adjusting mechanism, Fig. 2 is a block circuit diagram of a control system, and Fig. 3 is a schematic rear view of a working device. Figure, 4th
Figure (a) is a graph of the signal from the limit switch, Fig. 4
(B) is a graph of the sampling signal, and FIG. 5 is an overall side view of the rice transplanter. (22) …… Control device, (A) …… Working device, (B) …… Adjustment mechanism, (M) …… Mud surface, (S) …… Mud surface detector.

Claims (1)

[Claims] 1. A plurality of mud surface detectors (S) for electrically detecting the relative distance between the mud surface (M) and the working device (A) by downward displacement following the level change of the mud surface (M). (S), the working device (A) is moved up and down in a posture that is always parallel to the mud surface in order to maintain the detection results from the plurality of mud surface detection bodies (S) and (S) at preset values. Paddy field work comprising control device (22), work level adjusting mechanism (B) for simultaneously changing the reference points of the plurality of mud surface detection bodies (S), (S) with respect to the work device (A) in the vertical direction Machine.