JPH069444B2 - Riding rice transplanter - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a riding-type rice transplanter, and more particularly to lifting control for maintaining a seedling planting device at a set height above a rice field.

[Conventional technology]

With the existing riding-type rice transplanters, the height from the paddy field to the seedling planting device is detected by a float that can be moved up and down to control the raising and lowering of the seedling planting device. Since mud pushing by the float has become a problem with it, a type of seedling planting device without a float has been proposed, and in this case, a ground sensor or a ground sensor is used to detect the height from the paddy field to the seedling planting device. An ultrasonic sensor or the like is used.

[Problems to be Solved by the Invention]

As mentioned above, if you do not equip a float that grounds in a large area, when you turn the headland to complete the one planting process and move to the next planting process, the seedling planting device As described above, it is not necessary to lift it largely upward, and normal lifting control may be performed even during turning in the headland.

However, the headland is generally rougher and has more unevenness than the normal field scene where seedlings are planted, and the raising / lowering control sensitivity of the seedling planting device is relatively insensitive to the normal field scene conditions. Since it is set to, the raising and lowering of the seedling planting device may not quickly follow the unevenness of the headland during the turn in the headland, and the seedling planting device may collide with the headland.

Here, the present invention was made by focusing on the above-mentioned problems, and when turning in a headland, even if the seedling planting device without a float is largely lifted upwards and operated, The purpose is to configure the seedling planting device so that it does not collide.

[Means for Solving the Problems]

The feature of the present invention is that in the riding type rice transplanter as described above, the height of detecting the height from the paddy field to the seedling planting device by connecting the seedling planting device without a float to the machine body so that the device can be moved up and down. Provided with a sensor, equipped with a control means for operating the actuator for raising and lowering the seedling planting device so that the seedling planting device maintains the set height above the rice field based on the detection signal from the height sensor, and There is a restraint means for restraining the actuation of the actuator toward the descending side of the seedling planting device only while the clutch is being disengaged.
The action and effect are as follows.

[Action]

When turning in a headland, the planting clutch is disengaged in advance to stop the planting operation of the seedling planting device. If the operation of the seedling planting device is blocked, the seedling planting device is not lowered even if the height sensor detects a value higher than the set height, and the seedling planting device maintains its position or the When the detection value of the sa sensor becomes lower than the set height, the ascending operation is performed.

In other words, during turning in the headland, the position of the seedling planting device does not fall below the position when the planting clutch was disengaged, and it gradually rises. Even if there is a portion, it appears as a small convex portion from the position of the seedling planting device, and the seedling planting device can be raised without colliding with the convex portion.

〔The invention's effect〕

As described above, it becomes possible to turn the aircraft on the headland while easily avoiding the collision of the seedling planting device with the headland. In addition, the seedling planting device is in a state of being lifted from the paddy field at the end of turning in the headland, but this lifting height is slightly higher than the maximum convex portion during headland turning, so At the end of turning in the headland, the time loss of lowering the seedling planting device to near the paddy field will be reduced.

Furthermore, since the switching operation of the control state is also linked to the on / off operation of the planting clutch that is always performed before and after the turning, it is possible to surely perform the desired function without forgetting the operation of switching the control state. It has excellent properties.

〔Example〕

Hereinafter, a riding type rice transplanter which is an embodiment of the present invention will be described with reference to the drawings.

As shown in Fig. 1, the planting arm (2) is driven to rotate at the rear of the planting mission (1), and the seedling stand (3) is driven to reciprocate laterally at the top of the planting mission (1). A seedling planting device (4) is configured by the above, etc., and this seedling planting device (4) is extended from the machine body (not shown) to the front and rear axis of the four-link mechanism (5).
Rolled around (P ₁ ). And
The four-link mechanism (5) and the seedling planting device (4) can be moved up and down by the lifting cylinder as the first actuator (6), and the rear upper end of the four-link mechanism (5) and the seedling stand (3) By extending and contracting the rolling cylinder as the second actuator (7) which is laid across the supporting member (8) of
The whole seedling planting device (4) can be forcibly rolled around the longitudinal axis (P ₁ ).

The paddy field is in a state where a water layer (S) is formed on the mud surface (G) having a hardness suitable for planting seedlings. The structure for detecting the height up to (4) will be described in detail. As shown in Figs. 1 and 2, a support shaft (9) is erected in the lower left and right direction of the planting mission (1), and this support is also provided. Height sensors (10
R) and (10L) are attached to the mud slide, which is freely swingable around the axis (P ₂ ) of the support shaft (9). (10L) is urged downward. And the light emitting diode (12) is attached to the mud-sliding body (10R), (10L), and three sets of photodiodes (13R), (13L), (14R), are attached to the support shaft (9) side. (14L), (15R), (1
5L) are provided on the left and right so as to face the light emitting diode (12), and each photodiode (13R), (13L), (14R), (1
Light receiving signals from 4L), (15R), and (15L) are input to the control device (16). As a result, the mud slide (10R),
The swing angle of (10 L) is obtained as a change in the height of the seedling planting device (4) on the left and right. In addition, the mud slide (10R), (10L)
The member (17) arranged in front of is a rake-shaped ground leveling body.

Next, the flow of control in the control device (16) will be described in detail. As shown in FIGS. 3 and 4, the light of the left and right light emitting diodes (12) can be detected by any of the photo diodes up to step (S ₁ ). The diodes (13R), (13L), (14R), (14L), (15R), and (15L) determine whether the light is received, and the left and right of the seedling planting device (4) from the set height (A) If higher, steps (S ₁ ), (S ₂ ), (S ₃ ),
Passing through (S ₄ ), (S ₅ ), (S ₆ ), the raising and lowering and rolling cylinder (6) are installed so that the seedling planting device (4) is lowered in a state parallel to the mud surface (G). ), (7) the first and second control valve (18),
An operation signal is issued at (19). (State I in FIG. 4) If the left side of the seedling planting device (4) is higher than the set height (A) and the right side maintains the set height (A), steps (S ₁ ), ( S ₂ ),
After passing through (S ₃ ), (S ₄ ), (S ₅ ), and (S ₇ ), the seedling planting device (4) is rolled down while being lowered. (State II in FIG. 4) If the left side of the seedling planting device (4) is higher than the set height (A) and the right side is lower than the set height (A), steps (S ₁ ), (S ₂ ), (S ₈ ),
Only the rolling operation of the seedling planting device (4) is performed through (S ₉ ), (S ₇ ). (State III in FIG. 4) If the left side of the seedling planting device (4) maintains the set height (A) and the right side is higher than the set height (A), steps (S ₁ ), (S ₁₀ ),
After passing through (S ₁₁ ), (S ₁₂ ), and (S ₁₃ ), the seedling planting device (4) is rolled while being lowered. (State IV in FIG. 4) Steps (S ₁ ), (S ₁₀ ), (S ₁₄ ), (S ₁₅ ), if the set height (A) is maintained on both sides of the seedling planting device (4). Through seedling planting equipment
(4) will maintain its position. (State V in FIG. 4) If the left side of the seedling planting device (4) maintains the set height (A) and the right side is lower than the set height (A), steps (S ₁ ), (S ₁₀ ),
After passing through (S ₁₆ ) and (S ₇ ), the seedling planting device (4) is rolled while being raised. (State VI in Fig. 4) If the left side of the seedling planting device (4) is lower than the set height (A) and the right side is higher than the set height (A), steps (S ₁ ), (S ₁₇ ), (S
₁₈ ) and (S ₁₃ ) are passed, and only the rolling operation of the seedling planting device (4) is performed. (State VII in FIG. 4) When the left side of the seedling planting device (4) is lower than the set height (A) and the right side maintains the set height (A), step (S ₁ ),
After passing through (S ₁₇ ), (S ₁₉ ), (S ₂₀ ), and (S ₁₃ ), the seedling planting device (4) is rolled while being raised. (State of Fig. 4
VIII) Steps (S ₁ ), (S ₁₇ ), (S ₁₉ ), (S ₂₀ ), and (S ₂₁ ) are performed if the left and right sides of the seedling planting device (4) are lower than the set height (A). As mentioned above, only the raising operation of the seedling planting device (4) is performed. (State I in Fig. 4
X) As described above, the raising and lowering and rolling operations of the seedling planting device are performed so that signals can be obtained from the photodiodes (14R) and (14L) in the center of the left and right mud slides (10R) and (10L). As a result, the seedling planting device (4) is maintained at the set height (A) from the mud surface (G) and is kept parallel to the mud surface (G). Then, the setting height (A) is changed by rotating the support shaft (9) by the operation lever (20) attached to the support shaft (9), and thus the photodiodes (13R), (13).
This is done by changing the positions of L), (14R), (14L), (15R), and (15L).

The above seedling planting equipment during normal planting work
Although the raising and lowering control of (4) is performed, the seedling planting device (4) descends while the planting clutch (not shown) is being disengaged, such as when turning in a headland. Operating cylinder (6)
The operation of the first control valve (18) on the contraction side in states I, II, and IV of FIG. 4 is performed by steps (S ₃ ) and (S ₁₁ ) of FIG. It is avoided or the first control valve (18) is held at the neutral position and the vertical movement of the seedling planting device (4) is stopped, or only the rolling operation is performed.

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 structures of the accompanying drawings by the entry.

[Brief description of drawings]

FIG. 1 is a diagram showing the entire side surface of the seedling planting device and the raising / lowering / rolling operation system, FIG. 2 is an overall perspective view of the left and right height sensors, FIG. 3 is a flowchart of raising / lowering and rolling control, and FIG. 4 is 6 is a table showing control patterns for lifting and rolling control. (4) …… Seedling planting device, (6) …… Seedling planting device lifting actuator, (10R), (10L) …… Height sensor, (16) …… Control means.

Claims (1)

[Claims] 1. A seedling planting device (4) having no float is connected to a machine body so that it can be driven up and down, and the seedling planting device can be mounted from the rice field.
(4) height sensor to detect the height up to (10R), (10L) together with, the height sensor (10R), based on the detection signal from the (10L) seedling planting device (4) A control means (16) is provided for operating the actuator (6) for raising and lowering the seedling planting device so as to maintain the set height above the rice field, and the actuator (6) is operated only while the planting clutch is disengaged. Seedling planting device A riding-type rice transplanter equipped with a restraining means that restrains the downward movement of the plant.