JPH0714289B2 - Riding rice transplanter - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of application] The present invention relates to a riding type rice transplanter, and in particular, an elevation control for maintaining the seedling planting device at a set height above the rice field, and the seedling planting device to the rice field. It relates to rolling control for maintaining parallelism.

[Conventional technology]

In conventional 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 and rolling control of the seedling planting device. Since the mud pushing by the float has become a problem with the increase in traveling speed, a type of seedling planting device without a float has been proposed.

In this case, a small ground sensor, a contactless ultrasonic sensor, or the like is used to detect the height from the rice field to the seedling planting device.

[Problems to be Solved by the Invention]

As mentioned above, if the float that grounds in a large area is not equipped, the planting device is floated when turning in the headland to complete the one planting process and move to the next planting process. Unlike the equipment type, it is not necessary to lift it largely upward, and normal lifting control and rolling control may be performed even during turning in a headland.

However, the headland is generally rougher and more uneven than the central rice field where seedlings are planted, and the raising / lowering control sensitivity of the seedling planting device is set to be relatively insensitive according to the state of a normal field scene. Therefore, during turning in the headland, the raising and lowering of the seedling planting device cannot quickly follow the unevenness of the headland, and the seedling planting device may come into contact with the headland.

The present invention is a riding type rice transplanter equipped with a seedling planting device without a float, and when turning in a headland while performing normal lifting control and rolling control, the seedling planting device does not contact the headland It is intended to be configured as.

[Means for Solving the Problems]

A feature of the present invention is that the riding type rice transplanter as described above is configured as follows.

The planting device without a float is connected to the machine so that it can be moved up and down freely and can be driven and rolled, and the height sensors that detect the height from the rice field to the planting device are located on the left and right of the planting device. In addition to being installed in the site, the seedling planting device is maintained at a set height above the paddy field based on the detection signals from the left and right height sensors, and the first plant for raising and lowering the seedling planting device is set parallel to the paddy field. 1 actuator and 1st control means for operating the 2nd actuator for rolling operation of the seedling planting device, the planting clutch is disengaged, and the height detected by at least one height sensor is lower than the set height If it is a thing, it is equipped with the 2nd control means which operates the 1st actuator to the raising side of a seedling planting device, Furthermore, in the state in which the planting clutch is operated,
The restraint means is provided for preventing the operation of the first actuator toward the descending side of the seedling planting device.

[Action]

In a riding type rice transplanter, when turning on a headland, the planting operation of the seedling planting device is stopped by operating the planting clutch in advance.

Therefore, with the configuration of the present invention, if the planting clutch is disengaged, even if the detection height of one of the left and right height sensors is higher than the set height, the entire seedling planting device can be operated by the restraint means. Is not lowered, and only the rolling operation is performed by the action of the first control means.

When one of the left and right height sensors has a detection height lower than the set height, the seedling planting device is raised by the action of the second control means and the rolling operation is performed by the action of the first control means. Will be.

As a result, during turning on the headland, the position of the seedling planting device does not fall below the position when the planting clutch was disengaged, and the seedling planting device is rolled so that it is parallel to the headland. Since it will be gradually raised while being operated, even if there is a large convex part on the headland, it will appear as a small convex part from the position of the seedling planting device and will contact this convex part. The seedling planting device can be operated without raising.

〔The invention's effect〕

As described above, the aircraft can be turned in the headland while easily avoiding the contact of the seedling planting device with the headland, and the turning performance of the riding-type rice transplanter can be improved. .

In addition, the seedling planting device is in a state of being lifted in a parallel state from the rice field at the end of turning on the headland, but this lifting height is higher than the maximum convex portion during turning on the headland. Since the height is slightly high, the time for lowering the seedling planting device to near the paddy field at the end of turning in the headland becomes short, and the waste of time is reduced.

Furthermore, the switching operation of the above control state is also linked to the on / off operation of the planting clutch that is always performed before and after turning, so the desired function can be surely exhibited 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, a planting arm (2) that is rotationally driven at the rear of the planting mission (1), and a seedling stand (3) that is laterally reciprocally laterally driven above the planting mission (1). A seedling planting device (4) is configured by, for example, the seedling planting device (4) around the front and rear axis (P ₁ ) of the four-link mechanism (5) extended from the machine body (not shown). It is connected to rolling freely. The lifting cylinder (6) (corresponding to the first actuator) can operate the four-link mechanism (5) and the seedling planting device (4) up and down, and the rear upper end of the four-link mechanism (5) and the seedling stand. By expanding and contracting the rolling cylinder (7) (corresponding to the second actuator) that is laid across the support member (8) of (3), the whole seedling planting device (4) is moved forward and backward (P ₁ ) A rolling operation can be forced around.

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. Next, from this mud surface (G), a seedling planting device is formed. A structure for detecting the height up to (4) will be described. As shown in FIGS. 1 and 2, a support shaft (9) is installed in the lower left and right direction of the planted mission (1), and the mud-sliding body (10R), (at the left and right ends of the support shaft (9). (10L) (corresponding to the height sensor) is mounted so that it can freely swing around the axis (P ₂ ) of the support shaft (9), and by the spiral spring (11), the mud slide (10R), (10L )
Is urged downward.

A light emitting diode (12) is attached to the mud-sliding body (10R), (10L), and three sets of photodiodes (13R), (13L), (14R), (14L), on the support shaft (9) side. (15R), (1
5L) are provided on the left and right so as to face the light emitting diode (12), and each photodiode (13R) to (15L)
The received light signal from is input to the control device (16). As a result, the swing angles of the mud-sliding bodies (10R) and (10L) can be obtained as a change in the height of the seedling planting device (4) on the left and right. In addition, a rake-shaped leveling body (17) is arranged in front of the mud-sliding bodies (10R) and (10L).

Next, the flow of control in the control device (16) will be described. As shown in FIGS. 3 and 4, up to step (S ₁ ), it is determined which of the photodiodes (13R) to (15L) has received the light of the left and right light emitting diodes (12), and the seedling If the left and right sides of the planting device (4) are higher than the set height (A), the steps (S ₁ ), (S ₂ ), (S ₃ ), (S ₄ ), (S ₅ ), (S ₆ )
So that the seedling planting device (4) is moved down in a state parallel to the mud surface (G), the first and second control valves ((1) and (2) for the lifting and rolling cylinders (6), (7) 1
Operation signals are issued to 8) and (19) (state I in Fig. 4).

The left side of the seedling planting device (4) is higher than the set height (A),
If the right side maintains the set height (A), go through steps (S ₁ ), (S ₂ ), (S ₃ ), (S ₄ ), (S ₅ ), (S ₇ ), A rolling operation is performed while the seedling planting device (4) is being lowered (state II in FIG. 4).

The left side of the seedling planting device (4) is higher than the set height (A),
If the right side is lower than the set height (A), step (S
₁ ), (S ₂ ), (S ₈ ), (S ₉ ), (S ₇ ) are passed and only the rolling operation of the seedling planting device (4) is performed (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), step
(S ₁ ), (S ₁₀ ), (S ₁₁ ), (S ₁₂ ), (S ₁₃ ), and the rolling operation is performed while the seedling planting device (4) is being lowered (state IV in FIG. 4). ).

If the set height (A) is maintained on both the left and right sides of the seedling planting device (4), seedling planting is performed through steps (S ₁ ), (S ₁₀ ), (S ₁₄ ), (S ₁₅ ). The device (4) will maintain its position (4th
State V).

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), step
After passing through (S ₁ ), (S ₁₀ ), (S ₁₆ ), and (S ₇ ), the seedling planting device (4) is rolled while being raised (state of FIG. 4).
VI).

The left side of the seedling planting device (4) is lower than the set height (A),
If the right side is higher than the set height (A), step (S
₁ ), (S ₁₇ ), (S ₂₂ ), (S ₁₈ ), (S ₁₃ ), and seedling planting device (4)
Only the rolling operation of
I).

The left side of the seedling planting device (4) is lower than the set height (A),
If the right side maintains the set height (A), it passes through the steps (S ₁ ), (S ₁₇ ), (S ₁₉ ), (S ₂₀ ), (S ₁₃ ), and the seedling planting device ( 4) is rolled while being raised (state VIII in Fig. 4).

If both left and right of the seedling planting device (4) are lower than the set height (A), the steps (S ₁ ), (S ₁₇ ), (S ₁₉ ), (S ₂₀ ), (S ₂₁ ) are passed. , Only the raising operation of the seedling planting device (4) is performed (4th
Figure status IX).

As described above, in the left and right mud slides (10R) and (10L), raising and lowering and rolling of the seedling planting device (4) so that signals can be obtained from the photodiodes (14R) and (14L) in the center. The operation is performed. This enables seedling planting equipment (4)
Is maintained at the set height (A) from the mud surface (G), and is maintained parallel to the mud surface (G). To change the set height (A), the operation lever (20) attached to the support shaft (9) rotates the support shaft (9) to rotate the photodiodes (13R), (13L) (14R). ), (14L) (15
This is done by changing the positions of R) and (15L) (the above corresponds to the first control means).

During normal planting work, the raising and lowering and rolling control of the seedling planting device (4) as described above are performed. On the other hand, while the planting clutch (not shown) is being disengaged, such as when turning in a headland, the seedling planting device (4) is lowered (the lifting cylinder (6) The contraction side operation of the first control valve (18) in the states I, II, and IV of FIG. 4 is performed in steps (S ₃ ) and (S ₁₁ ) of FIG. 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. Equivalent).

Then, also in the state VII of FIG. 4, the process proceeds from step (S ₂₂ ) to step (S ₁₉ ) of FIG. 3, and the rolling operation is performed while the seedling planting device (4) is being raised ( The above corresponds to the second control means).

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) ...... 1st actuator for raising and lowering seedling planting device, (7) ...... 2nd actuator for seedling planting device rolling operation, (10R), (10L) ...... Height sensor.

Claims (1)

[Claims] 1. A height of a seedling planting device (4) without a float is connected to a machine body so that it can be driven up and down and can be driven and rolled freely to detect the height from the paddy field to the seedling planting device (4). Height sensors (10R) and (10L) for seedling planting equipment (4)
In addition to being installed in the left and right parts of the plant, the seedling planting device (4) maintains the set height above the rice field based on the detection signals from the left and right height sensors (10R) and (10L), and is parallel to the rice field. To operate the first actuator (6) for raising and lowering the seedling planting device and the second actuator (7) for rolling operation of the seedling planting device so that
The first actuator (6) is provided with a control means, when the planting clutch is disengaged, and the height detected by at least one of the height sensors (10R), (10L) is lower than the set height. The planting apparatus further comprises a second control means for operating on the ascending side, and further in a state where the planting clutch is disengaged,
A riding-type rice transplanter equipped with a restraining means for preventing the operation of the first actuator (6) to the descending side of the seedling planting device.