JPH078167B2 - Lift control device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of application] The present invention provides a paddy field working apparatus with a grounding sensor for detecting a mud level of a paddy field working apparatus, and based on a detection result from the grounding sensor, The present invention relates to an improvement of a lifting control device that lifts and lowers a paddy field working device so that the paddy field working device is maintained at a set level based on the mud surface.

[Conventional technology]

Conventionally, as a lifting control device configured as described above, there is one disclosed in Japanese Patent Laid-Open No. 62-158420, and in this reference, a grounding body having a form protruding further below the bottom surface of the paddy field working device is used. It is installed in the paddy field work equipment as a ground sensor.

[Problems to be Solved by the Invention]

However, in the case of a grounding body that protrudes further downward than the bottom surface of the paddy field working device as in the above-mentioned reference, for example, when the paddy field working device is raised, such as when reversing the aircraft in a headland, the grounding body is raised. It may be damaged by bringing it into contact with such protrusions.

In particular, as in the above-mentioned reference, in the form in which the grounding body has one end supported, when the paddy working device is raised,
There is room for improvement because it is easy for the end of the grounding body to fall into a drooping posture, and when it falls into such a posture, the grounding body is likely to come into contact with a protrusion such as a ridge.

Therefore, it is conceivable to set the rising limit of the paddy work equipment to a higher value.However, trying to raise the rising limit in this way not only requires a major modification of the lifting system of the aircraft, but also limits the paddy work equipment. As a result, the center of gravity of the airframe increases when it is raised to a point where stability may be impaired.

An object of the present invention is to provide a device which can avoid contact between a grounding body and a protrusion such as a ridge without raising the level of the paddy field working device when the paddy field working device is raised by a rational improvement.

[Means for Solving the Problems]

A feature of the present invention is that in the lifting control device having the ground sensor as described above, the storage mechanism for forcibly pulling up the grounding body of the grounding sensor is provided in association with the raising operation for raising the paddy working device above a predetermined level. The operation and effect are as follows.

[Work]

If the above features are configured as shown in FIG. 1, for example, when the paddy field working device (B) is raised, the paddy field working device (B) is moved.
When the deformation of the link mechanism (A) that supports the wire mechanism (A) is taken out by the wire (17) as the storage mechanism, and when the deformation of the link mechanism (A) reaches a predetermined amount or more, the pulling operation force of the wire (17) grounds it. The body (12) will be pulled up to the posture shown in FIG.

〔The invention's effect〕

Therefore, by improving the provision of the storage mechanism, a device that can avoid contact between the grounding body and protrusions such as ridges without increasing the level of the paddy work device when the paddy work device was raised was reasonably configured. is there.

〔Example〕

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

As shown in FIG. 1, a seedling planting device (B) as a paddy field working device is connected to the rear end of the traveling machine body (1) via a link mechanism (A) that moves up and down by the operation of a hydraulic cylinder (2). And configure a rice transplanter.

As shown in the figure, the seedling planting device (B) is a traveling body (1).
A power transmission case (3) to which power is transmitted, a plurality of chain cases (4) to which power from the transmission case (3) is transmitted, and a chain case (4) ... 5) which comprises a pair of planting arms (6), (6) provided in 5) and a seedling stand (7) on which a mat-like seedling (w) is placed, and the link mechanism (A). Is composed of a pair of left and right top links (8), a pair of left and right lower links (9), and a vertical link (10) pivotally connected to the rear ends of these links. It is connected to the boss member (11) at one end of the link (10) so that it can be rolled.

Further, in this rice transplanter, a grounding body (12) swingable around a lateral axis and a potentiometer for detecting the swinging angle of the grounding body (12) are located at both left and right sides of the seedling planting device (B). (1
3) A grounding sensor (S) consisting of and is provided, and based on the detection results from these left and right grounding sensors (S), the seedling planting device (B) is maintained at the set level with the mud surface (14) as a reference. Drive the hydraulic cylinder (2) and further maintain the rolling posture of the seedling planting device (B) in a horizontal state along the mud surface (14). It has a control system for driving a rolling cylinder (16) between the stay (15) and the vertical link (10).

The operation of this control system is set so that the swinging angle caused by the contact of the grounding body (12) with the mud surface (14) is substantially constant for both left and right grounding. ing.

Further, in this rice transplanter, when the seedling planting device (B) is lowered, the grounding end (12a) of the grounding body (12) may come in contact with the mud surface (14) as shown in FIG. When the seedling planting device (B) is raised above a predetermined level in the projecting posture, as shown in FIG. 2, the grounding end (12) of the grounding body (12) is
It is configured so that the side a) is pulled up and set to the retracted posture.

That is, the structure for setting the storage posture is the storage mechanism (C).
This storage mechanism (C) is referred to as the lower link (9).
And an outer part (17a) between the chain case (4) and the front part of the chain case (4), and between the vertical link (10) and the operation piece (12b) on the side opposite to the ground end of the grounding body (12). Inner part (17b)
Operation wire (17) and operation piece (12b)
The storage mechanism (C) is forced to move the grounding body (12) upward by the pulling operation force of the operation wire (17) accompanying the change in the attitude of the link mechanism (A). It is designed to be pulled up.

In the storage mechanism (C), the end of the inner portion (17b) on the vertical link side is stored so that the grounding body (12) is stored only when the seedling planting device (B) is elevated above a predetermined level. Is provided with a contact piece (19), a bracket (20) communicating with the inner portion is provided on the vertical link (10), and the bracket (20) is brought into contact with the contact piece (19) with the seedling planting device (B) lowered. A sufficient distance is provided between the bracket and the bracket (20).

As shown in FIG. 3, the seedling stand (7) is moved laterally by moving a nut (23) screwed onto a screw shaft (22) driven by an electric motor (21). A system is constructed, and this lateral movement is stopped at the timing when the planting claw (6a) of the planting arm (6) cuts out the seedling from the mat-like seedling (w), and the amount of the seedling taken is also controlled. The system is configured.

That is, in the vicinity of the seedling cutting opening (24a) of the sliding rail (24) that supports the seedling placing table (7) in a freely slidable manner, the mat-like seedling (w) exposed in this opening (24a).
An optical detection system including a lamp (25), a lens (26), and an image sensor (27) is arranged to measure the amount of the rotary encoder (28) on the rotary shaft (5a) of the rotary case (5).
Is provided with these signals and seedling picking amount setting device (29)
The control system is configured to include a controller (30) that receives a signal from the controller and outputs a drive signal to the electric motor (21).

Then, at the time of work, the drive speed of the electric motor (21) is set slightly higher based on the setting signal from the seedling picking amount setting device (29) and the signal from the rotary encoder (28), and it is necessary for the optical detection system. It operates so as to stop the lateral movement of the seedling stand (7) when the amount of seedlings to be detected is detected.

By the way, in this rice transplanter, as shown in FIG. 1, since the soil in front of the seedling planting device (B) is leveled, the traverse machine body (1) is used.
Against the ground leveling plate (32) and rake (3) via the arm (31)
3) and are provided.

[Other embodiment] In addition to the above embodiment, the present invention may be, for example, a structure in which the grounding body is not of a swing type and is vertically displaced by using a parallel link mechanism or the like, and the storage mechanism is provided with an electric motor. , Driving the electric motor with the operation of the raising operation system to the ascending side, etc.
Various implementations are possible.

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]

The drawings show an embodiment of a lifting control device according to the present invention.
FIG. 3 is a side view of the rear part of the rice transplanter, FIG. 2 is a side view of the grounding sensor in a retracted state, and FIG. 3 is a schematic view of a lateral feeding system of a seedling stand. (12) …… Grounding body, (B) …… Paddy field work equipment, (C)…
… Storing mechanism, (S) …… Ground sensor.

Claims (1)

[Claims] 1. The paddy field working device (B) is equipped with a grounding sensor (S) for detecting a mud level of the paddy field working device (B), and the paddy field based on the detection result from the grounding sensor (S). A raising / lowering control device for raising / lowering the paddy field working device (B) so as to maintain the working device (B) at a set level based on the mud level, which is a raising operation for raising the paddy field working device (B) above a predetermined level. Linked to the ground sensor (S)
A lifting control device comprising a storage mechanism (C) for forcibly pulling up the grounding body (12) of the above.