JPH057A - Lifting control device for rice transplanter - Google Patents

Abstract

(57) [Abstract] [Purpose] To provide a lifting control device for a rice transplanter capable of planting seedlings at a set depth on a mud surface portion having a predetermined hardness regardless of the thickness of the mud layer in the field. . [Structure] On the traveling machine body, a detection means 14 for detecting the thickness of the muddy water layer above the seedling planting surface G1 having a predetermined hardness on the mud surface is provided, and the detection layer thickness by this detection means 14 is large. The correction means B for correcting the control state of the automatic lifting control means A so that the seedling planting depth becomes deeper.
Is provided.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention connects a seedling planting device to a traveling machine body so that it can be driven up and down, and a grounding follow-up type grounding sensor provided in the seedling planting device detects the ground height to detect the grounding. The present invention relates to a raising / lowering control device for a rice transplanter equipped with automatic raising / lowering control means for driving and raising / lowering the seedling planting device so that the output of the sensor matches a set value.

[0002]

2. Description of the Related Art In the above-described rice transplanter lifting control apparatus, conventionally, as disclosed in, for example, Japanese Patent Laid-Open No. 2-283206, an average value of outputs of a pair of right and left swing arm type ground sensors is set as a set value. In comparison, it was configured to control the raising and lowering of the seedling planting device.

[0003]

However, since the above ground contact sensor is constructed so as to swing up and down while following the ground contact with a mud surface having a predetermined hardness, a thick layer of mud exists on the mud surface of the field. In this case, the grounding sensor receives resistance due to water as the machine body travels, and the detection operation is performed at a high level that is lifted above the surface of the mud layer having a predetermined hardness. Then, the standard level of the seedling planting depth becomes higher than the surface of the mud surface, which causes a problem that the seedlings are shallowly planted. Further, even if the thickness of the muddy water layer is constant, the resistance due to the water is different due to the difference in the traveling speed of the machine body, and there is a drawback that the planting depth varies. The present invention aims to solve the above-mentioned problems.

[0004]

A feature of the present invention is that, in the raising / lowering control device for a rice transplanter described at the beginning, a muddy water layer above the seedling planting surface having a predetermined hardness on the mud surface is provided on the traveling machine body side. In addition to the detection means for detecting the thickness of the seedling, the thicker the detection layer by the detection means, the correction means for correcting the control state in the automatic lifting control means is deeper seedling planting depth. It is in.

[0005]

[Operation] When the mud layer in the field is thick, the grounding sensor detects the operation at a high level above the surface of the mud layer having a predetermined hardness due to the resistance from water accompanying the traveling of the aircraft. Therefore, the seedling planting depth is to be controlled at a shallower level than the set value.At this time, the detection means detects the thickness of the muddy water layer. Since the control state is corrected so that the seedling planting depth becomes deeper, the seedling planting work is always performed with reference to the mud surface having a predetermined hardness, so that the planting depth is stabilized.

[0006]

[Effects of the Invention] Therefore, regardless of the thickness of the muddy water layer in the field, seedlings can always be planted in a mud surface portion having a predetermined hardness with a set amount of depth, and floating seedlings can be generated and lived. The number of defective seedlings is reduced and the planted seedlings grow better.

[0007]

Embodiments will be described below with reference to the drawings. Figure 5
Shows a riding type rice transplanter. This rice transplanter is constructed by connecting a seedling planting device 2 to a rear portion of a riding type traveling body via a link mechanism 1 so as to be vertically movable. The seedling planting device 2 includes a seedling stand 3 on which seedlings for planting are placed and reciprocating laterally with a constant stroke, and a planting mechanism 4 for taking out one seedling from the lower end of the seedling stand 3 and planting it in a field. Etc., and is configured to be driven up and down by the lift cylinder 5.

The seedling placing table 3 is provided with a rotary belt type vertical feeding device 6 with a projection for feeding down the placed seedlings at a stroke end by an amount corresponding to the seedling consumption amount by the planting mechanism 4, and the seedling placing table 3 3 and 4 in each of the partition sections 7 of FIG.
As shown in, a rotary encoder 9 with a protrusion rotor 8 for detecting the vertical feed amount of the seedling is provided, and when the detected feed amount of the rotary encoder 9 is below a predetermined setting range,
The tilt angle of the seedling stand 3 is slightly increased by driving the electric motor 10, and the tilt angle is made gentle when the seedling placing table 3 exceeds a predetermined setting range to maintain the vertical feed amount constant. is there.

Further, there is provided an automatic lifting control means A for driving and controlling the lift cylinder 5 so that the height of the seedling planting device 2 against the mud surface is maintained at a predetermined value. That is, the seedling planting device 2
The ground sensors 11R and 11L that detect the height against the mud surface while following the ground contact on the mud surface are provided on the lower sides of the left and right sides of the ground sensor. The ground sensors 11R and 11L swing up and down around the horizontal axis. It comprises rocking arms 12R and 12L that follow the ground and potentiometers PM1 and PM2 that detect the rocking angles of the rocking arms 12R and 12L. The outputs of the potentiometers PM1 and PM2 are input to the control device 13, and the control device 13 controls the electromagnetic hydraulic control valve V for drive control of the lift cylinder 5 so that the average value of the output values matches a predetermined value. . That is, the automatic lifting control means A is provided in the control device 13 in the form of a control program.

A detection device 14 (an example of detection means) for detecting the thickness L of the muddy water layer above the seedling planting surface G1 having a predetermined hardness on the mud surface is provided on the traveling machine body side, and this detection device 14 is also provided. The correction means B is provided to correct the control state of the automatic elevation control means A such that the depth of seedling planting becomes deeper as the thickness of the detection layer is increased. More specifically, as shown in FIG. 2, the detection device 14 includes a pair of left and right pipe members 17R that are integrally swingable up and down around the horizontal axis X at an intermediate position between the front and rear wheels 15 and 16 at the bottom of the machine body. , 17L are mounted, a plurality of light emitters 18 are arranged in parallel along the longitudinal direction inside one pipe member 17R, and a plurality of light receiving units are arranged along the longitudinal direction inside the other pipe member 17L. The devices 19 are arranged in parallel so that the light emitted from each light emitter 18 is input to the corresponding light receiver 19. Further, the lower ends of the pipe members 17R and 17L are formed wide so as to follow the ground contact along the seedling planting surface G1 having a predetermined hardness. Since the detection device 14 configured as described above has little resistance to muddy water during the planting traveling work, the lower end portion swings up and down while following the ground contact with the seedling planting surface G1. Then, the output of each light receiver 19 is input to the control device 13, and the light is blocked at the portion immersed in the muddy water, so that the light receiver 19 located below the muddy water surface G2 does not output, so the control device is controlled. 13 calculates the thickness L of the muddy water layer from the output status. The correction means B is provided in the control device 13 in the form of a control program, and the control device 13 determines the output values of the ground sensors 11R and 11L according to the thickness L of the muddy layer calculated as described above. This thickness data is added to the average value and corrected, and the control is executed so that the corrected value matches the set value. In this way, the seedling planting depth can always be maintained at an appropriate level regardless of the thickness of the muddy water layer.

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

[Brief description of drawings]

[Figure 1] Control system diagram

FIG. 2 is a front view of the detection device.

[Figure 3] Side view of the seedling stand

FIG. 4 is a plan view of a rotating body arrangement portion.

[Figure 5] Overall side view of rice transplanter

[Explanation of symbols]

 2 Seedling planting equipment 11R, 11L Grounding sensor 14 Detection means A Automatic lifting control means B Correcting means G1 Seedling planting surface

Claims (1)

Claims: 1. A grounding follow-up type grounding sensor (11R), (wherein a seedling planting device (2) is connected to a traveling machine body so as to be able to drive up and down, and is arranged in the seedling planting device (2). 11L) to detect the height above ground, and to automatically raise and lower the seedling planting device (2) so that the outputs of the ground sensors (11R) and (11L) match the set value. A raising / lowering control device for a rice transplanter equipped with a detecting means (14) for detecting the thickness of the muddy water layer above the seedling planting surface (G1) having a predetermined hardness on the mud surface on the traveling machine body side. Rice planting provided with a correction means (B) for correcting the control state of the automatic elevation control means (A) such that the depth of seedling planting becomes deeper as the detection layer thickness of the detection means (14) increases. Lifting control device for machine.