JPH066B2 - Airframe height detector for paddy work machines - Google Patents

Description

The present invention relates to a paddy working machine represented by a rice transplanter, and more particularly to a device for detecting the height from a mud surface to a body.

[Conventional technology]

For example, in a riding-type rice transplanter, the height from the rice field to the seedling planting device is detected by a grounding float, and the seedling planting device is automatically moved up and down so that the seedling planting device maintains the set height from the rice field. It is equipped with a device, which keeps the planting depth of seedlings constant, but with the above-mentioned ground float type, the height from the surface of the rice field to the planting device is detected,
Seedlings will be planted at the set depth from the surface of the rice field. However, in paddy fields where the amount of water is relatively large, the surface mud may be too soft for planting seedlings, and thus the above-mentioned ground float type has a risk of seedling collapse after planting.

Therefore, in recent years, research has been conducted on a device that is located below the surface of the paddy field and has a suitable hardness for planting seedlings, and detects the height from this mud surface to the seedling planting device. The following is an example of this device. In other words, a pressure sensor is attached to the tip of the swing arm that is repeatedly swung around the horizontal axis of the seedling planting device, and the pressure sensor plunges into the rice field from the standard position above the rice field, and the set hardness is set. It is a device that measures the elapsed time until the mud surface having the above is detected and calculates the height from the mud surface to the airframe.

[Problems to be solved by the invention]

With the above structure, since the swing fulcrum of the swing arm is located above the rice field, when the pressure-sensitive sensor at the end of the swing arm plunges into the rice field, it is not perpendicular to the rice field, It will enter at an angle. Furthermore, since the pressure-sensitive sensor electrically detects the hardness of the mud by the resistance of the mud acting on the pressure-sensitive sensor when passing through the mud, its detection sensitivity is extremely sensitive. Because of the setting, when the pressure sensor rushes into the rice field, the pressure sensor will detect not only the resistance from the mud but also the resistance due to the running speed of the aircraft. (When the swing arm extends in the traveling direction of the machine body, the resistance due to the traveling speed acts on the pressure sensor as a negative resistance, and conversely, the swing arm does not correspond to the traveling direction of the machine body. When extended in the opposite direction, the resistance due to the traveling speed acts on the pressure sensitive sensor as a positive resistance.) As described above, the pressure sensitive sensor picks up a disturbance called resistance due to the traveling speed of the aircraft. In some cases, the mud surface having the set hardness cannot be detected accurately.

In view of the above-mentioned problems, the present invention has an object to obtain an airframe height detection device using a pressure-sensitive sensor that does not receive resistance due to the traveling speed of the airframe.

[Means for solving problems]

A feature of the present invention resides in that the body height detecting device for a paddy working machine as described above is configured as follows. In other words, it is equipped with a pressure-sensitive sensor that electrically detects the mud pressure resistance, and the pressure-sensitive sensor is repeatedly thrust into the mud surface from above in a fixed posture in which the pressure-sensitive surface is parallel to the mud surface. A drive mechanism is provided on the fuselage, and the detection value of the pressure-sensitive sensor is configured by detection means for detecting the height from the mud surface to the fuselage based on the detection at the time when the set value is reached. The actions and effects are as follows.

[Action]

The resistance based on the traveling speed of the airframe acts in parallel along the paddy field, and the vertical component of the resistance is almost zero. Therefore, if the pressure-sensitive sensor is supported as described above and the pressure-sensitive sensor is thrust into the rice field in a state where the pressure-sensitive surface is parallel to the rice field, the pressure-sensitive sensor can be operated even at a certain speed. The pressure-sensitive surface of the sensor is not affected by the resistance based on the traveling speed of the aircraft.

〔The invention's effect〕

As described above, a pressure-sensitive sensor supporting and operating structure is obtained so that the resistance based on the traveling speed of the aircraft is not detected by the pressure-sensitive sensor, which enables more accurate detection of the position of the mud surface suitable for planting seedlings. As a result, the accuracy of detecting the height from the mud surface to the body can be improved.

〔Example〕

 Embodiments of the present invention will be described below with reference to the drawings.

As shown in FIG. 1, the planting mission (1) is provided with a planting arm (2) that is driven to rotate at the rear part, and the planting arm (2) is mounted on the guide rail (3) of the planting mission (1). ) Is equipped with a seedling stand (4) that slides in conjunction with the rotation of (4) and a float (5) for leveling and posture-maintaining sliding. This seedling planting device is movably connected to a traveling body (not shown) via a four-link mechanism (6).

Next, the mud surface position detection configuration will be described in detail.As shown in the figure, the lower link (7
The parallel four-link mechanism as a repetitive drive mechanism (7) composed of a), the upper link (7b), and the vertical link (7c) is attached, and the vertical link of the parallel four-link mechanism (7) is also attached.
Attach the pressure-sensitive sensor (8) such as a piezoelectric element to (7c) and
It is installed so that a) is parallel to the surface (S) and the mud surface (G) of the rice field. A wiper motor (9) for driving the parallel quadruple link mechanism (7) is provided at the base of the lower link (7a), and a magnet rubber (10) is attached to the upper surface of the upper link (7b) to attach the wiper motor (9). In the attached mission (1),
A magnetic proximity sensor (11) for detecting that the magnet rubber (10) has approached a set distance is attached.

The signals from the pressure sensor (8) and the proximity sensor (11) are input to the control device (12), and the signal from the pressure sensor (8) is as shown in FIG. In other words, the pressure-sensitive surface (8a) of the pressure-sensitive sensor (8) is the detection point of the rice field surface (S).
When passing through (B) and when passing through the detection point (C) on the mud surface (G) that has the set mud hardness that is the reference for planting, the corresponding signals (B ′) and (C ′) Is entered. Then, as shown in the figure, a signal (C ') corresponding to the set mud hardness is input from a time point (A') corresponding to the reference position set based on the signal from the proximity sensor (11). By measuring the elapsed time (t), the height from the mud surface (G) to the seedling planting device can be detected.

And the seedling planting device is a mud surface (G) based on the detected height.
The hydraulic cylinder (14) of the four-link mechanism (6) is expanded and contracted by the control device (12) via the control valve (13) so as to maintain the set height more. In addition, the above detection operation is a constant period until the pressure sensor (8) descends from the reference position and plunges into the field and rises and returns to the reference position again.
Repeatedly performed at (T).

[Another embodiment]

In the above-described embodiment, the pressure-sensitive sensor (8) was provided with a means for measuring the elapsed time (t) until the mud surface (G) was caught.
As shown in the figure, a rotary encoder (not shown) is attached to the wiper motor (9), and when the pressure sensor (8) catches the mud surface (G), the angle between the lower link (7) and the vertical line ( It is also possible to adopt a means of detecting θ) and obtaining the height (H) from the mud surface (G) to the seedling planting device by the following formula.

H = L ₂ · COS θ + L ₁ (L ₂ ; total length of lower link (7a)) In the claims, reference numerals are given for convenience of comparison with the drawings. It is not limited to the structure of the accompanying drawings.

[Brief description of drawings]

The drawings show an embodiment of a body height detecting device for a paddy work machine according to the present invention, FIG. 1 is a view showing an overall side surface of a pressure sensor, a seedling planting device and the like, and an elevation control system, and FIG. A time chart of signals from the pressure sensor, FIG. 3 is a side view showing a state where the pressure sensitive sensor descends from the state shown in FIG. 1 and reaches the mud surface. (7) …… Repetitive drive mechanism, (8) …… Pressure sensor, (8a)…
… Pressure sensitive surface, (12) …… Detecting means, (t) …… Elapsed time.

Claims (4)

[Claims] 1. A pressure sensitive sensor for electrically detecting mud pressure resistance.
(8), the pressure-sensitive sensor (8) pressure-sensitive surface (8a) is parallel to the mud surface in a fixed posture, the repetitive drive mechanism for repeatedly thrusting the pressure-sensitive sensor (8) from above into the mud surface (7) is provided on the airframe, and a detection means (12) for detecting the height from the mud surface to the airframe based on the detection at the time when the detection value of the pressure sensor (8) reaches the set value A paddy height detector for paddy work machines. 2. The body height detecting device for a paddy work machine according to claim 1, wherein the repetitive drive mechanism (7) is a parallel four-link mechanism. 3. A mud based on an elapsed time (t) from the time when the pressure sensor (8) is above the mud surface to the time when the pressure sensor (8) detects a resistance value higher than a preset value. The device for detecting the height of a paddy work machine according to claim 1 or 2, wherein the detection means (12) comprises a device for detecting a height from a surface to the body. 4. The device for detecting the height from the mud surface to the airframe by detecting the posture of the repeating mechanism (7) at the time when the pressure-sensitive sensor (8) detects a resistance value equal to or higher than a preset value, The body height detection device for a paddy work machine according to claim 1 or 2, wherein the detection means (12) comprises the detection means (12).