JPH059044B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a rice transplanter, and more particularly, to a rice transplanter in which a seedling planting device is automatically raised and lowered to follow changes in the level of a planting surface.

(Prior art) In general, rice transplanters are designed to control the seedlings so that the planting claws of the seedling planting device can always plant seedlings at a constant depth in the field, and the distance between the seedling planting device and the mud surface of the field is constant. need to be accomplished.

Conventionally, the seedling planting device is supported so as to be movable up and down via a support device, and raised and lowered by a lifting device, and the seedling planting device is equipped with a float that slides by pressing against the mud surface of the field. A pressure detection element such as a strain gauge is provided on the bottom of the float to detect a change in the weight of the seedling planting device, and the lifting device is driven up and down in accordance with the detected amount to adjust the supporting force of the seedling planting device. Therefore, the distance between the seedling planting device and the mud surface was controlled to a constant value.

(Problem to be solved by the invention) However, the load applied to the float fluctuates due to changes in the hardness of the mud surface, or due to a decrease in the amount of seedlings on the seedling stand due to rice planting operations. The distance between the seedling planting device and the planting surface cannot be precisely controlled because the distance between the seedling planting device and the planting surface changes constantly.
In addition, the buoyancy of water acting on the float cannot be controlled accurately, and therefore, there is a problem in that seedlings cannot be planted at a constant planting depth. Even if it is necessary to adjust the seeding depth, it is necessary to change the load acting on the float, and there is a problem that adjustment cannot be done with a simple operation.Furthermore, when automatically controlling the raising and lowering drive of the seedling planting device, Since the seedling planting device is not structured to allow manual operation, there is also the problem that the planting depth cannot be adjusted manually.

The present invention was invented to solve the above problems, and the purpose is to be able to control the raising and lowering of the seedling planting device based on the planting surface, regardless of changes in the hardness of the mud surface in the field. , and it is possible to automatically plant seedlings at a constant planting depth in the field regardless of changes in the load due to a decrease in the number of seedlings on the seedling table, etc., and the automatic planting depth. To provide a rice transplanter which can easily adjust the planting depth by a simple operation, and can also adjust the planting depth by manual operation.

(Means for Solving the Problems) In order to achieve the above objects, the present invention includes a lifting device that moves a seedling planting device up and down with respect to the machine body, and a lifting device that moves the seedling planting device up and down in accordance with changes in the level of the planting surface. , a detection device that electrically detects the distance between the planting surface and the seedling planting device; and a detection device that drives and controls the lifting device so as to maintain the detection result from the detection device at a preset value of the distance. A drive control device, an interval adjustment mechanism for changing the set value in the vertical direction, an operating tool that enables manual operation of the lifting device, manual operation by the manual operating tool, and automatic control by the drive control device. The present invention is characterized in that it includes a switching mechanism for switching.

(Function) Displaces up and down to follow level changes on the planting surface,
Because it detects the distance between the planting surface and the seedling planting device,
The detection device can accurately detect the planting surface of seedlings without being affected by changes in field hardness or planting speed, or by changes in load. Since the lifting drive of the lifting device is controlled so as to maintain the spacing at the set value, the lifting drive of the lifting device can be reliably controlled, and the spacing can be maintained as set. The distance between the plant and the planting device can be easily adjusted by operating the spacing adjustment machine, and the automatic planting depth can be changed as desired, and the planting depth can also be adjusted manually using the manual operation tool. It can be done.

(Example) Hereinafter, an example of the rice transplanter of the present invention will be described based on the drawings.

In the figure, 1 is a fuselage, which is divided into two parts: a front fuselage 2 and a rear fuselage 3. A pair of front wheels 4 and a pair of rear wheels 5 are attached to the front and rear fuselages 2 and 3, respectively. 2 is provided with an operation box 7 with a handle 6 and a seat 8, and the rear body 3 is provided with an engine 9, and the front and rear bodies 2 and 3 are connected by a vertical connecting shaft 10 for free horizontal rotation.
Then, the power of the engine 9 is transferred to a transmission (not shown).
The power is transmitted to the front and rear wheels via the handlebars 6 to achieve four-wheel drive, and by operating the handle 6, both the vehicle bodies 2 and 3 are bent horizontally via the connecting shaft 10, allowing the aircraft 1 to be operated. I'm trying to move towards that.

In addition, a seedling planting device 11 is provided in front of the front body 2.
are connected and supported via a support device 12 so as to be movable up and down, and this support device 12 is connected to a lifting device 13.
It is suspended by.

The seedling planting device 11 includes a main body casing 14;
Three seedling stands 15 are arranged horizontally in each casing and are reciprocally driven by a cross-feeding mechanism (not shown).
and a pair of link mechanisms 1 provided for each seedling table 15.
6, a cylindrical shaft 18 that transmits power to the casing 14, and a bumper 19 connected to the cylindrical shaft 18 and the casing 14. Further, a gear case 20 is provided at the center of the cylinder shaft 18, and the case 20
The power of the engine 9 is transmitted to the input shaft 21 protruding from the input shaft 21, and the power is transmitted to the lateral feed mechanism and the link mechanism 16 to operate the seedling stand 15 and the planting claws 17.

Further, the support device 12 includes a top link 22
and lower links 23, 23 are used, and these links 22, 23,
23 to the front fuselage 2, the main body casing 1
4 to support three points, and the lower link 2
3 and 23, one ends of arms 24 and 24, which pivotally support the intermediate portions of lifting devices 13 and 13, which will be described later, are connected in a hanging manner via links 25 and 25.

The lifting and lowering devices 13, 13 use hydraulic devices, and are each composed of a double-acting hydraulic cylinder 27 having the arm 24 and a rod 26 connected to the other end of the arm 24. is connected to a constant displacement hydraulic pump 30 via a 4-port, 3-position, PR connection, spring center type electromagnetic switching valve 28 and a flow rate control valve 29. It is installed on.

That is, the discharge port of the pump 30 is connected to the pump port P of the switching valve 28 via the flow rate control valve 29, and the two switching ports A and B of the switching valve 28 are connected to chambers on both sides of the piston in the cylinder 27. The return port R of the switching valve 28 and the suction port of the pump 30 are connected to the tank T, and by switching the switching valve 28, the pressure oil of the pump 30 is selectively conducted to both chambers of the cylinder 27, and the arm 24 is connected to the tank T. By driving the lower link 23, the direction of the lower link 23 can be freely changed.

Therefore, in the embodiment shown in the drawings, bumpers 19 of the seedling planting device 11 are disposed on both sides of the bumper 19, which is displaced up and down in accordance with changes in the level of the seedling planting surface, and the distance between the planting surface and the seedling planting device 11 is Detection devices 34, 34 for detecting L
and drive control for controlling the driving of the lifting devices 13, 13 based on the detection results from the detection devices 34, 34, and maintaining the detection results from the detection devices 34, 34 at a preset value of the interval L. a device;
An interval adjustment mechanism for changing the set value in the vertical direction, a manual operating tool 50 that enables manual operation of the lifting devices 13, 13, and manual operation by the manual operating tool 50 and automatic control by the drive control device. A switching mechanism was provided. The detection device 34 uses a sled-shaped contact member 35 that contacts the planting surface of the field and moves up and down to follow changes in the level of the planting surface, and fixes one end of an arm 36 to the front end of the member 35. and attach the middle part of the arm 36 to the bumper 19.
A tension spring 37 is provided between the bumper 19 and the other end that pivots and faces above the bumper 19 from the pivot portion, and the contact member 35 is lightly pressed against the planting surface by the spring 37, and As schematically shown in FIG. 2, a resistor 38 is provided at the pivot portion of the bumper 19 of the arm 36, and the resistor 38 is a single coil wound inside an insulating case 39. The electrical resistance wire 40 is connected to the arm 36.
Arranged in a circumferential manner around the pivot point of
A movable conductor 41 is provided which is insulated from the arm 36 and rotates together with the arm 36, and the tip of the conductor 41 is pressed against the resistance wire 40 so that it can slide freely.
The detection terminals T, T are pulled out from one end and the conductor 41, and the electric resistance R ₁ between both terminals T, T causes the contact member 35 to be vertically displaced to cause the seedlings to be planted on the main casing 14 of the seedling planting device 11. This is done to electrically detect the distance L from the surface.

The drive control device for controlling the drive of the lifting device 13 includes a drive control circuit 42 having a detection resistor R ₁ of the detection device 34, and the output of the circuit 42 is connected to the coil C of the electromagnetic switching valve 28. ₁ and _C2 .

The drive control circuit 42 includes the detection resistor R ₁ ,
A Wheatstone bridge 43 comprising an adjustment resistor R ₂ , constant resistors R ₃ and R ₄ , and a battery E ₁ constituting the interval adjustment mechanism, and an input terminal from the bridge 43 and first and second output terminals 44 and 45. amplifier 4
It consists of 6. That is, the distance L between the seedling planting device 11 and _the seedling planting surface is set in advance to a desired value. This is done by adjusting the adjustment resistor R ₂ so that the output of the bridge 43 becomes zero at a certain time as a reference. Accordingly, a positive or negative control voltage is outputted from the bridge 43 according to the amount of change in which the interval L increases or decreases from the set value, and these outputs are amplified by the amplifier 46 and the first or second
The amplified positive or negative control voltage is selectively outputted from the output terminals 44 and 45, and the outputted positive or negative control voltage is applied to the coil C ₁ of the switching valve 28,
_C2 is selectively inputted to control the lifting and lowering drive of the lifting device 13 so as to maintain the detection result from the detecting device 34 at the set value.

On the other hand, the elevating device 13 is configured to forcefully operate the cylinder 27 manually. That is, a switching valve 48 having a coil _C3 is provided in parallel with the flow rate control valve 29 in the hydraulic circuit.
An operation in which the switching valve 48 is switched to allow a predetermined flow rate to flow regardless of the flow rate set by the flow rate control valve 29, and the movable contact piece 51 can be switched to three positions, a neutral terminal and two switching terminals. switch 5
2, and a manual operating tool 50 is provided to enable manual operation of the lifting device 13. On the output side of the amplifier 46 in the drive control circuit 42, there are two switching terminals that are interlocked with each other, and the switching valve 28 is The input to each coil C ₁ and C ₂ is connected to the drive control circuit 42.
and a manual operation circuit 55 having an operation switch 52 of the manual operation tool 50, and a changeover switch 49 constituting a switching mechanism that switches between manual operation by the manual operation tool 50 and automatic control by the drive control device. , 49 are provided. That is, one of the switching terminals of the switching switches 49, 49 is interposed between the two output lines of the amplifier 46, and each switching terminal of the operating switch 52 is connected to the other switching terminal, and A voltage E ₂ is connected between the movable contact piece 51 and the ground, and, although not shown, both switching terminals of the operating switch 52 are connected to the coil.
It was connected to _C3 .

In addition, in FIG. 1, 53 is a preliminary seedling stand provided in the rear body 3, and in FIG. 3, 54 is a relief valve.

Therefore, in the above configuration, when performing rice planting operation, the contact member 35 of the detection device 34 is displaced up and down following the level change of the planting surface, and the main body casing 14 of the seedling planting device 11 and the seedling planting Distance L from the surface
is detected electrically, and when this interval L, that is, the detection resistor _R1 is at the desired set value, the control voltage output from the amplifier 46 becomes zero, and the switching valve 28 is turned off. cylinder 27
The rod 26 is maintained at a predetermined protrusion amount, and the seedling planting device 11 is suspended by the arm 24, so that the distance L from the seedling planting surface is maintained at a preset value. Further, when the distance L between the main body casing 14 and the planting surface increases or decreases from the set value, the first and second output terminals 44 and 45 of the amplifier 46 A control voltage is selectively outputted from the switching valve 28, and the coil _C1 or _C2 is excited to switch the switching valve 28.

In this way, the oil flowing through the flow control valve 29 selectively flows into the chambers on both sides of the piston of the cylinder 27, the amount of protrusion of the rod 26 is decreased or increased from the set value, and the arm 24 is moved counterclockwise or clockwise. When the lower link 23 is swung in the direction, the lower link 23 moves up and down and is controlled to maintain the distance L at the set value.

Therefore, the seedlings planted by each planting claw 16 can always be planted at a constant depth on the planting surface of the field without being affected by changes in the hardness of the field or fluctuations in load. be.

Further, an adjustment resistor constituting the interval adjustment mechanism
By adjusting _R2 by operation, the set value of the distance L between the planting surface and the seedling planting device 11 can be freely changed in the vertical direction, and the planting depth can be changed with a simple operation. be.

Furthermore, while the planting depth can be automatically maintained at a constant depth based on the preset interval L as described above, this planting depth can be adjusted by operating the switching switches 49, 49 of the switching mechanism. It is also possible to artificially drive the lifting device 13 up and down by operating the manual operating tool 50, thereby making the change artificially.

Furthermore, even if the intervals L, L on both sides of the main body casing 14 change rapidly, the detection device 3
4 and 34 respectively detect these changes, the lifting devices 13 and 13 are controlled separately, and the respective intervals L and L are both controlled to set values, so that the so-called main body casing 14 is tilted in the lateral direction. , is controlled so that it is always parallel to the mud surface.

In addition, even if the front wheels 4, 4 fall into a deep place or run onto a high place, no matter how suddenly the distances L, L change, the seedling planting device 11 is immediately adjusted to its posture by the lifting devices 13, 13. The distances L and L are both controlled to set values. Furthermore, since the detection devices 34, 34 incline the planting surface by means of the contact members 35, 35 that lightly press against the mud surface, high-speed planting is possible without creating a mud-pushing state even when running at high speed.

In the above explanation, two cylinders 27 are used, but the number may be increased or decreased as appropriate.
4 is provided on the bumper 19, but it may be provided on the seedling planting device 11 or at any arbitrary location on the body 1.

In the above description, the contact member 35 and the resistor 38 are used as the detection device 34 for the seedling planting surface, and the distance L between the seedling planting surface and the seedling planting device 11 is detected by electrical resistance. Although not shown, a capacitive sensor may be used to detect the capacitance between the seedling planting surface and the seedling planting surface.

(Effects of the Invention) As described above, the present invention includes a lifting device that moves the seedling planting device up and down with respect to the machine body, and a lifting device that moves up and down following the level change of the planting surface, and a device that moves the seedling planting device vertically with respect to the planting surface. a detection device that electrically detects the interval; a drive control device that drives and controls the lifting device so as to maintain the detection result from the detection device at a preset interval setting value; A space adjustment mechanism that changes the direction, an operating tool that enables manual operation of the lifting device, and a switching mechanism that switches between manual operation using the manual operating tool and automatic control using the drive control device. Therefore, the detection of the distance between the seedling planting surface and the seedling planting device by the detection device is not affected by changes in the hardness of the planting surface in the field or the planting speed, and , the distance between the seedling planting device and the planting surface can be maintained accurately regardless of the planting speed, as it is no longer affected by the reduction in the amount of seedlings on the seedling platform or changes in the center of gravity due to horizontal movement of the seedling platform. It can be detected.

Moreover, since the elevating drive of the elevating device is controlled so that the detection result from the detecting device is maintained at the preset value of the interval,
The drive control of the lifting device can be performed reliably, the spacing can be maintained as set, the planting depth can be kept constant, and the set value can be changed in the vertical direction using the spacing adjustment mechanism. The planting depth can be easily adjusted with a simple operation, and the planting depth can be automatically maintained at a constant depth based on the interval L preset as described above. It is also possible to artificially change the planting depth by manually raising and lowering the lifting device using the active operating tool.

Furthermore, since it is not equipped with a float, mud pushing by the float can be eliminated and the planted seedlings will not be hindered, so high-speed rice planting operation is possible.

[Brief explanation of the drawing]

Fig. 1 is a plan view showing an embodiment of the present invention, Fig. 2 is a partially enlarged front view thereof, and Fig. 3 is an explanatory diagram combining an electric circuit and a hydraulic circuit to explain drive control of a lifting device. be. 1... Airframe, 11... Seedling planting device, 12... Support device,
13... Lifting device, 34... Detection device.

Claims (1)

[Claims] 1. A lifting device that moves the seedling planting device up and down with respect to the aircraft body, and a detection device that moves up and down in accordance with changes in the level of the planting surface and electrically detects the distance between the planting surface and the seedling planting device. a drive control device that drives and controls the elevating device so as to maintain the detection result from the detection device at the preset value of the interval; and an interval adjustment mechanism that changes the set value in the vertical direction;
an operating tool that allows the lifting device to be manually operated;
A rice transplanter comprising a switching mechanism that switches between manual operation using the manual operating tool and automatic control using the drive control device.