JPH1189352A - Rice transplanter automatic sensitivity adjustment device - Google Patents

Abstract

(57) [Summary] (with correction) [Problem] To insert a planting part into a traveling vehicle so as to be able to move up and down, pivotally support the float below the planting part, and raise and lower the planting part according to the inclination angle of the float In the mechanism, the sensitivity for detecting the inclination angle can be adjusted. A control signal for suspending a front part of a float (34) in a vertically rotatable manner using a link (95), arranging an angle sensor (97) on the link (95), and raising and lowering a planting part according to the inclination angle of the float (34). The dead band width of the float inclination angle can be adjusted so that the frequency of the sloshing falls within a certain range.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a technique for automatically adjusting the sensitivity of a planting section of a rice transplanter in accordance with the hardness of a field scene.

[0002]

2. Description of the Related Art Conventionally, a planting portion of a rice transplanter has been hung up and down freely using a lifting mechanism at a rear portion of a traveling vehicle, and a plurality of leveling floats have been provided below the planting portion. The front part of each float is supported rotatably up and down, and a sensor for detecting the inclination is arranged on the center float arranged at the center on the left and right, the height of the planting part is detected by the sensor, and the planting depth is detected. The lifting mechanism was driven so that the height was constant.
If the field scene is hard, the float frequently moves up and down due to the unevenness of the field scene, so that hunting occurs or the planting depth cannot be controlled, and the planting depth varies. In addition, if the field scene is soft, even if the float is sinking, it may be planted at the planting depth and deeply planted. Therefore, the operator rotates the sensitivity adjustment lever so that the sensitivity is sensitive and small unevenness can be detected when the field scene is soft, and the sensitivity is insensitive when the field scene is hard. Unevenness was not detected.

[0003] Further, conventionally, the center of the arm is pivotally supported on a shaft fixed to the planting portion near the center float so as to be rotatable.
A spatula-shaped appliance is fixed to one end, a spring and a sensor are linked to the other end, and the spatula-shaped appliance is pressed against a field scene by the force of the spring. The arm rotates, the sensor is linked,
A mechanism for determining the hardness of the field scene and adjusting the sensitivity based on the detection value of the sensor is known.

[0004]

However, if the operator manually judges the thrust and the like, or judges it by experience, and adjusts the sensitivity manually, as in the prior art, planting is performed in a large-compartmented field. In this case, the frequency of changing the sensitivity increases due to the difference in hardness depending on the location, the planting time increases, and it is impossible for the operator to always perform appropriate sensitivity adjustment in accordance with the field conditions due to various other conditions. There was a problem of being close. Also, it is difficult to measure the damping force at each point in the field scene.

[0005]

The problem to be solved by the present invention is as described above. Next, means for solving the problem will be described. Attach the planting part to the traveling car so that it can move up and down freely,
In a rice transplanter having a mechanism for supporting a float below the planting portion and raising and lowering the planting portion according to the inclination angle of the float, the output frequency of a control signal for raising and lowering the planting portion changes the frequency of the field scene. Hardness is determined, and the dead width is adjusted so that the control output frequency falls within a certain range. Alternatively, the amount of oil supplied to the hydraulic cylinder that drives the planting section up and down is adjusted so that the control output frequency is within a certain range.

[0006]

DESCRIPTION OF THE PREFERRED EMBODIMENTS A riding rice transplanter is constructed as shown in FIGS. The engine 12 is mounted above the front part of the body frame 3 on which the operator rides, and the transmission case 4 is arranged at the rear part of the body frame 3. A front axle case 5 is provided in front of the transmission case 4 to support a front wheel 6 and a rear axle case 7 to support a rear wheel 8. The hood 9 covering the engine 12
Spare seedling mounts 10 and 10 are arranged on the sides, and the transmission case 4 and the like are covered by a body cover 2 on which an operator rides via a step 11. A driver's seat 13 is mounted on the vehicle, and an operation handle 14 is provided at the rear of the hood 9 in front of the driver's seat 13.

The planting portion 15 is for six-row planting, and the planting portion 15 supports a seedling table 16 disposed at a front height and a low height via a lower rail 18 and a guide rail so as to be reciprocally slidable left and right. And the rotary case 21 is attached to the planting case 2.
0, and a pair of claw cases 22 are positioned symmetrically about the rotation axis of the rotary case 21.
Are arranged, and the planting claws 17
17 is fixed.

A support frame 24 is provided at the front of the planting case 20 and supports the planting portion 15 at the rear of the work vehicle via a link mechanism 27 including a top link 25 and a lower link 26 so as to be able to move up and down. The planting section 15 can be moved up and down by an elevating hydraulic cylinder 28. And
The seedlings for one plant are cut off by the planting claws 17 while the seedling table 16 is slid back and forth to the left and right, and the seedlings are continuously planted in the field. 6 is a front wheel and 8 is a rear wheel.

A driving lever 29, a sub-shift lever 30 for planting up / down and work traveling speed change, a planting sensitivity adjustment lever 31, a main clutch pedal 32, a left and right brake Pedals 33 are provided, and a leveling center float 3 is provided below the planting portion 15.
4. A leveling side float 35 is provided, and a six-row fertilizer section 36 is provided behind the driver's seat 13. The accelerator lever 1 is disposed on the hood 9.

A belt-type continuously variable transmission 59 is disposed behind the engine 12, and power is transmitted from an output shaft of the engine 12 via a pulley, a belt, and the like. The belt-type continuously variable transmission 59 is interlocked with the above-described sub-speed change lever 30 for planting up / down and work traveling speed change. By operating the auxiliary speed change lever 30, a continuously variable speed change is performed. The power shifted by the belt-type continuously variable transmission 59 is transmitted to the transmission case 4 via the clutch case 58 as shown in FIG. In the transmission case 4, the rotation after shifting is transmitted to the rear axle case 7.

Next, a mechanism for automatically raising and lowering the planting section 15 in accordance with the unevenness of the field scene will be described. The inclination detecting means for detecting the unevenness of the field scene is a center float 3
4 The center float 34 is configured as shown in FIG. The center float 34
Is provided with a bracket 90 on the rear upper surface, and on a planting depth adjusting fulcrum shaft 91 which is rotatably supported on the planting case 20,
The base end of the planting depth adjusting link 92 is fixed, and the bracket 90 is pivotally supported at the distal end of the planting depth adjusting link 92 via a fulcrum shaft 93 to rotatably support the center float 34. ing.

Then, the middle of a link 95 is pivotally supported on a support shaft 94 fixedly supported on the planting case 20 side,
An arm 9 having a base end fixed to the planting depth adjusting fulcrum shaft 91.
The rear end of the link 95 is pivotally connected to the tip of No. 6. A planting depth lever 85 is fixed to the planting depth adjusting fulcrum shaft 91 so that the planting depth can be set. Further, a locking pin 43 is provided at the front end of the link 95 so that the center link 98 is provided.
Is inserted into the long hole 46. The center link 98
Is pivotally supported at the front of the center float 34.
A pitching fulcrum shaft 93 that supports the front portion of the center float 34 so as to swing up and down is provided on a bracket 90 on the upper surface of the rear portion of the float 34, and a planting depth adjusting link 92 that pivotally supports the planting case 20. The base end is fixed and the tip of the link 92 is connected to the pitching fulcrum 93. The sensor link 98 is attached via a shaft 48 to a bracket 47 fixed on the front upper surface of the center float 34.
The lower end is connected and supported.

A speed sensor 113 is provided on the rear axle case 7, and an angle sensor 97 such as a potentiometer is provided on a side surface of the link 95. By the angle sensor 97, the link 9
By detecting the relative angle between 5 and center link 98, the inclination angle of center float 34 is detected.
Then, as shown in FIG. 5, the ascending and descending solenoid valves 108 and 109 are connected to the controller 44, and by controlling the expansion and contraction of the ascending and descending hydraulic cylinder 28, the planting section 15 is moved up and down to an appropriate height. I have to. An angle sensor 97 and a speed sensor 113 are connected to the input side of the controller 44.

As shown in FIG. 6, a dead zone of a predetermined range of inclination angles θ1 to θ2 of the center float 34 is set in the controller 44 in advance. When the field scene is within this range θ1 to θ2, the planting unit 15 is not moved up and down,
For example, when the front portion of the center float 34 largely rotates downward and crosses the dead zone, the solenoid valve 108 is driven to control the planted portion to rise and enter the dead zone.

In the present invention, the range θ1 to θ2, which is the width of the dead zone, can be changed according to the hardness of the field surface. The controller 44 measures the output frequency of the signal for controlling the lifting hydraulic cylinder 28, and estimates the hardness of the field scene based on the frequency of controlling the lifting hydraulic cylinder 28. The controller 44 stores an upper limit and a lower limit (set frequency) of the frequency of output of the control signal in advance. When the output frequency to be controlled exceeds the upper limit of the set frequency, the hardness is estimated to be hard, and when it is less than the lower limit of the frequency, the hardness is estimated to be soft. The hardness of the field surface is calculated by the controller 44 as described above, and the dead zone width (θ1 +
θ2) is changed.

In other words, when the output frequency to be controlled exceeds the set range and the hardness of the field surface is estimated to be hard, the width of the dead zone is increased, whereby the control frequency is reduced to be constant (within the set range). To be. When the control frequency is lower than the set frequency lower limit and the hardness of the field surface is estimated to be soft, the width of the dead zone is reduced, the output frequency of the control is increased, and the control frequency is constant (within the set range). So that Therefore, when the hardness is high, the center float 34 rotates up and down in accordance with the unevenness of the field, but the width of the dead zone is widened, so that the output frequency is not controlled up and down and the output frequency is within the set range. The sensitivity is insensitive and hunting does not occur. When the hardness is soft, the center float 34 rotates slightly up and down, but the width of the dead zone is reduced, so that the output frequency to be controlled is increased and the output is within the set range, the sensitivity becomes sensitive, and the planting section becomes sensitive. 15 is moved up and down with high accuracy.

Further, a speed sensor 113 is connected to the controller 44, and the setting control frequency is configured to be corrected by a map stored in the controller 44 in advance according to the speed of the rice transplanter. I have.
When the speed of the rice transplanter is increased, the control frequency of the raising and lowering of the planting section is increased irrespective of the hardness of the field scene. Conversely, when the speed of the rice transplanter is reduced, the control of the raising and lowering of the planting section is performed. Since the frequency is reduced, the upper limit and the lower limit of the set control frequency are corrected based on the speed of the rice transplanter detected by the speed sensor 113.

Further, with the dead zone width fixed, the planting portion 15
May be configured to adjust the amount of pressure oil supplied to the hydraulic cylinder 28 that drives the cylinder up and down. That is, the hydraulic cylinder 28 is connected to the ascending solenoid valve 108 and the descending solenoid valve 109, and is expanded and contracted by opening and closing the ascending solenoid valve 108 and the descending solenoid valve 109. By changing the opening and closing amounts of the ascending solenoid valve 108 and the descending solenoid valve 109, the amount of expansion and contraction of the hydraulic cylinder 28 is changed, and the amount of elevation of the planting section 15 is also changed.

The opening / closing amount is controlled by PWM (pulse width) for the solenoid valves 108 and 109 in accordance with the degree of deviation from the dead zone. For example, the planting portion 15 having large irregularities
Is greatly shifted from the dead zone, the pulse width is increased so as to enter the dead zone. However, overshoot easily occurs, the output frequency of the control signal increases, and hunting easily occurs. When the output frequency increases, the present invention determines that the field scene is hard, makes the pulse width slightly smaller, prevents overshooting, reduces the output frequency, and sets the output frequency within the setting. It fits (the output frequency becomes constant).

Conversely, when the planting portion 15 moves up and down with a small amount of unevenness, the displacement is smaller than the dead zone, so that the pulse width is reduced and the frequency of output of the control signal is reduced. According to the present invention, when the output frequency is low, it is determined that the field scene is soft, the pulse width is slightly increased, and the output frequency is increased, so that the control signal falls within the set output frequency (output frequency). Is constant) so that there is no output delay.

[0021]

As described above, the present invention has the following advantages. Judgment of the hardness of the field scene is determined by the output frequency of the control signal for raising and lowering the planting unit, and the dead band is adjusted so that the control output frequency is in a certain range, or the control output frequency is in a certain range. In addition, since the amount of oil supplied to the hydraulic cylinder that drives the planting section up and down is adjusted, there is no need to separately provide a sensor that directly detects the hardness of the field scene, so there is no mechanically movable part and maintenance is performed The parts are reduced and the parts that cause mechanical failure are reduced.

Further, since the control output frequency is within a certain range with respect to the hardness of the field, the hunting does not occur responsively to small irregularities in the field scene, and the control delay occurs when the field scene is soft. It does not become. In addition, there is no need to calculate the attenuation rate for overshoot, and control can be easily performed. Therefore, the operator does not need to manually adjust the sensitivity, and the burden on the operator is reduced. The operator does not need to adjust the sensitivity, can always raise and lower properly even in a large partitioned field, and can perform an accurate planting operation.

[Brief description of the drawings]

FIG. 1 is an overall side view of a riding rice transplanter.

FIG. 2 is an overall plan view of the riding rice transplanter.

FIG. 3 is a side view showing a power transmission configuration.

FIG. 4 is a side view of a center float provided with an angle sensor.

FIG. 5 is a block diagram of a sensitivity adjustment mechanism of the present invention.

FIG. 6 is an explanatory diagram of a center float.

FIG. 7 is a flowchart of the sensitivity adjustment mechanism of the present invention.

[Explanation of symbols]

 15 Planting part 28 Hydraulic cylinder 34 Center float 44 Controller 97 Angle sensor 108/109 Solenoid valve 113 Speed sensor

Claims (2)

[Claims] 1. A rice transplanter having a mechanism for mounting a planting portion on a traveling vehicle so as to be able to move up and down, supporting a float below the planting portion, and raising and lowering the planting portion according to the inclination angle of the float. Automatic sensitivity adjustment of a rice transplanter characterized by judging the hardness of the field scene based on the output frequency of a control signal for raising and lowering the planting section, and adjusting the dead width so that the control output frequency is within a certain range. apparatus. 2. A rice transplanter having a mechanism for mounting a planting portion on a traveling vehicle so as to be able to move up and down, supporting a float below the planting portion, and raising and lowering the planting portion according to the inclination angle of the float. And
The hardness of the field scene is determined by the output frequency of the control signal for raising and lowering the planting part, and the amount of oil supply to the hydraulic cylinder that drives the planting part is controlled so that the control output frequency is within a certain range. Characteristic automatic rice transplanter sensitivity adjustment device.