JPH0691770B2 - Lifting control device for rice transplanter - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a raising / lowering control device for a rice transplanter that raises / lowers a planting part with respect to a traveling machine body and keeps the height of the planting part against the rice field substantially constant.

[Conventional technology]

2. Description of the Related Art Passenger rice transplanters, in which a planting section is connected to the rear part of a traveling machine body to travel in a paddy field and the seedlings are automatically planted in rows by the operation of the planting section, are widely used.

During the planting work with the riding rice transplanter, the traveling machine body moves up and down according to the unevenness of the tiller, but in order to keep the planting depth of the seedlings constant, the seedling planting device of the planting section is It is desirable to maintain a constant height against the rice field regardless of the vertical movement of the traveling machine body. Detect the quarrel of the height against the rice field of the seedling planting device, and raise and lower the planting part based on the detection result. The lifting control device has already been put to practical use.

Various means are known for detecting the change in height of the seedling plant against the rice field, and one of them is a means by reaction force from the rice field acting on the float attached to the lower part of the seedling plant.

This is because a load cell, which is a reaction force detector, is installed on the upper surface of the float so that the lower end portion of the planting depth adjusting arm that connects the seedling planting device and the float is brought into contact with the upper surface of the arm. When the float is pushed up by force, the planting depth adjusting arm is pressed against the load cell, and the reaction force from the paddy field acting on the float by the load cell is detected.

[Problems to be solved by the invention]

However, in the above-described lifting control device, there is a risk that not only the mud and water may adhere to the load cell to prevent accurate detection of the reaction force but also a failure. In addition, when the planting portion is tilted in the left-right direction and there is a difference between the reaction force acting on the float in which the load cell is installed and the reaction force acting on another float, the output of the load cell is changed. The raising and lowering control based on it became inaccurate, and the planting depth of the seedlings could be uneven.

[Means for solving problems]

The present invention has been made in view of the above circumstances, and provides a lifting control device for a rice transplanter that accurately detects the height of the rice transplanter against the rice paddy field as a reaction force acting on the float from the rice field. The purpose is to do.

The raising and lowering control device of the rice transplanter according to the present invention is attached to the lower part of the seedling planting device of the planting part connected to the rear part of the traveling machine body, and the distance to the seedling planting device is controlled by operating the planting depth adjusting rod. Raising and lowering control device of rice transplanter capable of changing reaction force from the rice field acting on some or all of the plurality of floats and raising and lowering the planting part with respect to the traveling machine body based on the detection result. In, in the appropriate portion of the planting depth adjusting rod or the locking portion where the reaction force from the rice field acting on the plurality of floats is concentrated, the load acting on them or the strain generated in them causes A reaction force detector for detecting a reaction force from the rice field is provided, and the planting portion is configured to move up and down with respect to the traveling machine body based on the detection result of the reaction force detector. And

[Action]

That is, the reaction force acting on the plurality of floats provided in the planting part, the concentration of them, and at a part of the planting depth adjusting rod at a position sufficiently high from the rice field or its locking part,
The strain or load is detected by a reaction force detector such as a strain gauge or a load cell provided at that position, and the planting portion is moved up and down with respect to the traveling machine body based on the detection result.

〔Example〕

Hereinafter, the present invention will be described with reference to the drawings illustrating an embodiment thereof. FIG. 1 is a right side view of a riding rice transplanter equipped with a lifting control device according to the present invention (hereinafter referred to as the device of the present invention), and FIG. 2 is a plan view thereof.

In the figure, A is a traveling machine body supported by the front wheels 4 and rear wheels 5, and B is a planting part attached to a three-point link mechanism 12 provided at the rear part of the traveling machine body A.

The traveling machine body A has a power unit 1 mounted near its front end.
The power generated by (engine, transmission, etc.) is transmitted to the rear wheels 5, and the rotation of the rear wheels 5 allows the planting section B to be pulled while self-propelled in the paddy field.

The planting section B includes three sets of the seedling planting devices 25a, 25b, 25c and the seedling planting device 2
5a, 25b, 25c upper side of the seedling mounting table 20 slidably mounted in the left-right direction and 3 sets of floats 21a slidably mounted under the respective seedling planting devices 25a, 25b, 25c , 21b, 21c.

A hydraulic cylinder 10 (see FIG. 4) for moving the planting portion B up and down with respect to the traveling body A is supported by a trunnion at an appropriate position in the lower rear portion of the traveling body A, and the tip of its piston rod 10a is connected to the three-point link mechanism. Twelve top links 12a are rotatably supported by a bracket 12b provided on the lower side of the central portion, and are interposed between the traveling machine body A and the three-point link mechanism 12.
Then, the top link 12a is pushed up (or pulled down) by the advancing (or retracting) operation of the piston rod 10a of the hydraulic cylinder 10, and the planting part B attached to the rear part of the three-point link mechanism 12 has the traveling body A On the other hand, in other words, it is raised (or lowered) with respect to the field.

FIG. 3 is a perspective view of an essential part from the right rear showing the planting depth adjusting mechanism.

In the figure, 30 is a planting depth adjusting shaft, which is horizontally arranged with its axial direction as the left-right direction, as shown in FIGS. 1 and 2, and in front of the seedling planting devices 25a, 25b, 25c. The planting depth adjusting shaft 30 is rotatably supported on the lower side of the plant, and the planting depth adjusting shaft 30 has a plate-like planting depth adjusting arm at a position below each seedling planting device 25a, 25b, 25c. 30a, 30b, 30c are provided so as to project downward and rearward.

On the other hand, brackets 31a, 31b, 31c are fixed to the substantially central portions of the upper surfaces of the floats 21a, 21b, 21c, respectively. The brackets 31a, 31b, 31c are each composed of a pedestal in the form of a flat plate, and a pair of pivotally-supporting members standing on the pedestal and spaced apart from each other by an appropriate length and having a triangular shape in a side view. The planting depth adjusting arms 30a, 30b, 30c are inserted between the pivot members, and the pins 32
It is rotatably supported by a, 32b, and 32c.

Further, the planting depth adjusting shaft 30 includes the planting depth adjusting arm.
Between 30a and 30b, a rotary arm 33 which is a part of a planting depth adjusting rod 35 described later is provided so as to project toward the previous information.
The rotating arm 33 is a hollow member having a substantially square cross section, and one end of the planting depth adjusting rod 35 is inserted into the tip of the rotating arm 33 so that the rotating arm 33 can rotate in the left-right direction by a small angle. It is pivotally supported by pin 34.

Then, when the planting depth adjusting shaft 30 is rotated by the operation of the planting depth adjusting rod 35, three planting depth adjusting arms 30a, 30 are provided.
Since the rear end of b, 30c goes up and down, each float 21a, 21b, 21c
And, the distance between the seedling planting devices 25a, 25b, 25c located above each of them, that is, the height of the seedling planting devices 25a, 25b, 25c against the rice field can be changed, and the planting depth of the seedlings can be adjusted. it can.

A locking plate 41 of a locking member 40 for locking and supporting the planting depth adjusting rod 35 in a multi-stage manner is provided at an intermediate portion in the axial direction of the planting depth adjusting rod 35. It is arranged at a right angle to the adjusting rod 35. The locking plate 41 is a rectangular flat plate, and has one guide groove 41a parallel to its longitudinal direction and a plurality of (3 in FIG. 3) locking grooves orthogonal to the guide groove 41a. 41b ... and are formed.

The planting depth adjusting rod 35 is inserted into the guide groove 41a, can be freely operated in the vertical direction along the guide groove 41a, and can be pinned at any position of the locking grooves 41b. It can also be locked and supported at that position by being rotated leftward about 34 as a pivot.

The locking plate 41 has its left side (right side in FIG. 3).
Is a pivot shaft horizontally projected rearward at the left end of the load detection arm 42 fixed with its longitudinal direction as the left-right direction.
At 43, it is rotatably supported at an appropriate position in front of the planting section B.

A load cell 50, which is a reaction force detector, is disposed at a position near the locking plate 41 below the load detection arm 42 so that the lower surface of the load detection arm 42 contacts when the load detection arm 42 is horizontal. There is. Thus, the load cell 50 has one of the locking grooves.
When a load is applied to 41b so as to rotate the locking member 40 around the pivot 43 clockwise when viewed from the front, a voltage corresponding to the magnitude of the load is output.

FIG. 4 is a hydraulic circuit diagram of the device of the present invention and an energization control circuit diagram of a solenoid of an electromagnetic directional control valve included in the hydraulic circuit.

The hydraulic circuit of the device of the present invention is composed of the hydraulic cylinder 10, the electromagnetic directional control valve V, the hydraulic pump P, and the like, and the pressure oil supplied by the hydraulic pump P is hydraulic pressure via the electromagnetic directional control valve V. Supplied to the cylinder 10.

The electromagnetic directional control valve V is a 3-port 3-position switchable type, and when its solenoid Su is excited, pressure oil is fed to the oil chamber of the hydraulic cylinder 10 and the piston rod 10a advances and the piston rod 10a advances. The top link 12a of the three-point link mechanism 12 is pushed up, and the planting part B is raised with respect to the traveling body A.

On the other hand, when the solenoid Sd is excited, the pressure oil in the hydraulic cylinder 10 returns to the oil tank and the piston rod 10
a becomes freely movable by an external force, and the planting part B descends with respect to the traveling body A by its own weight.

Further, when the solenoids Su and Sd are both demagnetized, the port of the electromagnetic directional control valve V on the hydraulic cylinder 10 side is blocked, so that the planting portion B maintains the height position at that time. An energization control circuit for the solenoid Su and the solenoid Sd is composed of the load cell 50, the comparators 60, 61 and the like.

A constant voltage is input from the battery to the load cell 50, and the output of the load cell 50 is the + input of the comparator 60 and the − input of the comparator 61.

On the other hand, the − input of the comparator 60 and the + input of the comparator 61 have predetermined voltage values defined by the voltage divider 62, respectively. The outputs of the comparators 60 and 61 are given to the solenoids Sd and Su of the electromagnetic directional control valve V, respectively, and when the output of the load cell 50 is equal to or greater than the reference value which is the negative input of the comparator 60. , The output of the comparator 60 becomes high level, the solenoid Sd is excited, and the output of the load cell 50 becomes + of the comparator 61.
If the input reference value is less than or equal to the reference value, the comparator
The output of 61 goes high and the solenoid Su is excited.

Further, when the output of the load cell 50 is within the range of the reference value that is the + input of the comparator 61 or more and the reference value that is the-input of the comparator 60 or less, the outputs of the comparators 60 and 61 are Becomes low level, and both solenoids Su and Sd are demagnetized.

Now, the operation of the device of the present invention configured as described above will be described. First, the planting depth is determined prior to the planting work, and the planting depth adjusting rod 35 is operated to engage the locking member 40. The floats 21a, 21 are locked and supported in one of the stop grooves 41b.
The distance between b, 21c and the seedling planting device 25a, 25b, 25c is set so that the required planting depth can be obtained.

At this time, the floats 21a, 21b, 21c are pressed against the rice field,
Although it receives an upward reaction force from the paddy field, this upward reaction force works to rotate the lower ends of the planting depth adjusting arms 30a, 30b, 30c upward, and the planting depth adjusting shaft 30 and the rotating arm. 33
It works to rotate the upper end of the planting depth adjusting rod 35 downwards via the.

Therefore, the locking groove that locks and supports the planting depth adjusting rod 35.
A downward load is applied to 41b in order to rotate the locking member 40 around the pivot 43 clockwise when viewed from the front, and a voltage corresponding to the magnitude of the load is output from the load cell 50. The output voltage at this time is lower than the reference voltage value that is defined by the voltage divider 62 and that is the-input of the comparator 60, and is higher than the reference voltage value that is the + input of the comparator 61. Since the resistance value in the voltage divider 62 is set, the outputs of the comparators 60 and 61 both become low level, and the planting section B is not moved up and down.

Now, the traveling body A moves up and down due to the unevenness of the tiller when traveling in the paddy field. When the traveling body A moves downward or inclines with the front side up with respect to the rice field, the planting section B approaches the rice field correspondingly and floats 21a, 21b, 21c.
Is strongly pressed against the rice field, the floats 21a, 21b,
The reaction force acting on the 21c from the field increases.

This reaction force is applied to the planting depth adjusting arms 30a, 30b, 30 as described above.
c, planting depth adjusting shaft 30, planting depth adjusting rod 35 and locking member 4
It is transmitted to the load cell 50 via 0, and the output voltage of the load cell 50 increases. When the output voltage of the load cell 50 is regulated by the voltage divider 62 and becomes higher than the reference voltage value which is the + input voltage of the comparator 61, the comparator 61
Output goes high, the solenoid Su of the electromagnetic directional control valve V is excited, and the piston rod of the hydraulic cylinder 10
10a moves forward and pushes up the top link 12a of the three-point link mechanism 12, and the planting section B, in other words, tells the traveling vehicle A that the output voltage of the load cell 50 is lower than the input voltage of the comparator 61. Then, the height is raised with respect to the paddy field, and the height of the seedling planting devices 25a, 25b, 25c in the planting section B with respect to the paddy field is returned to the initial set height.

Similarly, when the traveling body A moves upward or inclines with the front side down with respect to the rice field, the planting part B moves away from the rice field and the reaction force acting on the floats 21a, 21b, 21c from the rice field decreases. To do.

Then, the output voltage of the load cell 50 decreases, and when the voltage value becomes lower than the reference voltage value which is the negative input voltage of the comparator 60, the solenoid Sd is excited and the planting portion B
Until the output voltage of the load cell 50 becomes higher than the reference voltage value, it descends with respect to the traveling body A, in other words, with respect to the paddy field, and the seedling planting devices 25a, 25b, 25c of the planting section B with respect to the paddy field The height is restored to the initial set height.

In this way, the height of the seedling planting devices 25a, 25b, 25c with respect to the paddy field is kept substantially constant regardless of the vertical movement of the traveling body A, and the rice seedling planting devices 25a, 25b, 25c move to the paddy field. The planting depth of the planted seedlings is also kept substantially constant.

In the present embodiment, the reaction force from the paddy field acting on the float is used as the load for pushing the locking member 40 of the planting depth adjusting rod 35 downward, and the load cell 50 which is a reaction force detector.
The strain gauge 55, which is a reaction force detector, is attached to an appropriate position of the rotating arm 33, which is a part of the planting depth adjusting rod 35, as shown by the chain double-dashed line in FIG. Then, the reaction force may be detected as the strain generated in the rotating arm 33 by the reaction force from the rice field acting on the floats 21a, 21b, 21c, or the rotation of the planting depth adjusting rod 35. Arm 33
And the locking plate 41 of the locking member 40, that is, the float 21.
It goes without saying that the strain gauge 55 may be attached to the portion where the reaction force from the rice field acting on a, 21b, 21c is concentrated to detect the reaction force.

〔effect〕

As described above in detail, in the device of the present invention, the reaction force acting on the float from the paddy field is applied to the locking portion of the planting depth adjusting rod where the reaction force is concentrated, or to one part of the planting depth adjusting rod. Since it is detected by the reaction force detection of the provided load cell or strain gauge, the reaction force detector can be installed at a position sufficiently high with respect to the rice field, and mud and water do not adhere to the reaction force detector. Not only can the reaction force acting on the float from the paddy field be detected accurately, but the reaction force detector is less likely to fail.

Further, even if a failure occurs, adjustment, repair or replacement work can be easily performed.

Furthermore, the load cell or strain gauge that is the reaction force detector detects the load or strain corresponding to the sum of the reaction forces from the rice field acting on all the floats arranged in the planting part,
The detection results show the average height of the rice planting surface to all rice planting devices, and the planting part is tilted to the left and right, and the heights of rice planting devices on the left and right sides of the rice planting device are different from each other. The present invention has excellent effects such as accurate detection results and reliable up-and-down control, even when the reaction forces acting on the rice field are different.

[Brief description of drawings]

The drawings show one embodiment of the present invention. FIG. 1 is a right side view of a riding rice transplanter equipped with the device of the present invention, FIG. 2 is its plan view, and FIG. 3 is a planting depth adjusting mechanism. FIG. 4 is a perspective view of a main part of FIG. 4, and FIG. 4 is a hydraulic circuit diagram of the device of the present invention and a solenoid energization control circuit diagram. A: traveling body, B: planting part, P: hydraulic pump, V: electromagnetic directional control valve, Su, Sd ... solenoid, 10 ... hydraulic cylinder, 1
2 ... 3-point link mechanism, 21a, 21b, 21c ... Float, 25a, 25b,
25c ... Seedling planting device, 30 ... Planting depth adjusting shaft, 35 ... Planting depth adjusting rod, 40 ... Locking member, 50 ... Load cell, 55 ... Strain gauge

Claims (1)

[Claims] 1. A plurality of plants, which are attached to a lower part of a seedling planting device of a planting part connected to a rear portion of a traveling machine body and whose distance from the seedling planting device can be changed by operating a planting depth adjusting rod. In the elevator control device of the rice transplanter that detects the reaction force from the paddy field that acts on part or all of the float, and moves the planting part up and down with respect to the traveling machine body, The reaction force from the paddy field that acts is concentrated on the appropriate part of the planting depth adjusting rod or its locking part, and the reaction force from the paddy field is detected by the load acting on them or the strain generated in them. A riser control of a rice transplanter comprising a reaction force detector designed to do so, and is configured to raise and lower the planting part with respect to the traveling machine body based on a detection result of the reaction force detector. apparatus.