JP2001169626A - Rice transplanter - Google Patents

Abstract

PROBLEM TO BE SOLVED: To carry out a highly accurate lifting and lowering control for regulating the transplanting depth of a transplanter so as to be constant by a simply constituting means. SOLUTION: This rice transplanter having a hydraulic upwardly and downwardly controlling structure (28) for controlling a transplanting part (15) upper and lower has a float angular velocity sensor (73) for detecting the angular velocity of the float (73) of the transplanting part (15), installed therein, and the lifting and lowering control of the transplanting part (15) is carried out based on the detected value of the angular velocity sensor (73) to keep the transplanting depth constant.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a rice transplanter that drives and controls a hydraulic lifting / lowering control mechanism based on a change in a tilt angle of a float supported by a planting section to maintain a constant planting depth.

[0002]

Conventionally, there is a means for detecting the inclination of the center float with an inclination sensor to drive and control the hydraulic lifting control mechanism. However, when the body is started, stopped, suddenly accelerated or decelerated, etc. , The tilt sensor is affected by the acceleration,
There has been a problem that accurate planting depth control of the planting portion cannot be accurately performed based only on the inclination of the center float.

[0003]

SUMMARY OF THE INVENTION Accordingly, the present invention provides a rice transplanter having a hydraulic elevation control mechanism for controlling the elevation of a planting section, comprising a float angular velocity sensor for detecting an angular velocity of a float of the planting section. Based on the detection of the sensor, control the raising and lowering of the planting part to keep the planting depth constant,
Improve the accuracy of the vertical movement control of the planting section by detecting the accurate float inclination that is not affected by acceleration such as when starting, stopping, sudden acceleration / deceleration, etc. of the aircraft with extremely simple configuration means using an angular velocity sensor It is intended.

In addition, the inclination angle of the float is calculated from the angular velocity detected by the angular velocity sensor, and the planting section is controlled to move up and down based on the inclination angle or the inclination angle and the angular velocity, so that the output level of the angular velocity sensor is small. When the change in the planting depth is small, accurate planting elevating control without hunting or the like based on only the change in the tilt angle of the float is performed. By using the above angular velocity together, the planting elevating control is performed so as to favorably follow the change in the planting depth, thereby improving the control accuracy.

[0005]

Embodiments of the present invention will be described below in detail with reference to the drawings. FIG. 1 is a side view of a riding rice transplanter, and FIG. 2 is a plan view of the same. In FIG. 1, (1) is a traveling vehicle on which an operator rides, and an engine (2) is mounted on a body frame (3). A front axle case (5) is supported in front of a case (4) via a front axle case (5), and a rear axle case (7) is connected to a rear portion of the transmission case (4). 7) Support the paddy field rear wheel (8). Then, a spare seedling mounting table (10) is mounted on both sides of the hood (9) covering the engine (2) and the like, and the step of getting on and off (1) is performed.
The transmission case (4) and the like are covered by a body cover (12) on which an operator rides via 1), and a driver's seat (13) is mounted on the upper part of the body cover (12), and the driver's seat (13) is located in front of the driver's seat (13). Then, a steering handle (14) is provided at the rear of the hood (9).

[0006] In the figure, reference numeral (15) denotes a planting portion provided with a seedling mounting table (16) for six-row planting and a plurality of planting claws (17). Forward tilting seedling platform (1
6) is supported on a planting case (20) via a lower rail (18) and a guide rail (19) so as to be reciprocally slidable right and left, and a rotary case (21) is rotated at a constant speed in one direction. A pair of claw cases (22) and (22) are supported at the case (20) and symmetrically positioned around the rotation axis of the case (21), and the claw case (22) is provided.
(22) Attach the planting claws (17) and (17) to the tip. A hitch bracket (24) is provided on the front side of the planting case (20) via a rolling fulcrum shaft (23), and a hitch bracket (27) including a top link (25) and a lower link (26) is provided. A hitch bracket (24) is connected to the rear side of the traveling vehicle (1), and the link mechanism (2)
7) A piston rod (28a) of a hydraulic elevating cylinder (28), which is a hydraulic elevating control mechanism for elevating and lowering the planting section (15), is connected to a lower link (26), and the front and rear wheels (6) and (8) are connected. ) Is driven and moved, and at the same time, the seedlings for one plant are taken out from the seedling mounting table (16), which is reciprocally slid left and right, with the planting claws (17), and the seedlings are continuously planted. .

[0007] In the figure, (29) is the main shift lever, (3)
0) is a planting lever which is also a sub-transmission lever, (31) is a sensitivity setting device, (32) is a main clutch pedal, (33) (3)
3) is a left and right brake pedal, (34) is a two-floor leveling center float, (35) is a two-floor leveling side float, and (36) is a six-floor side fertilizer.

Further, as shown in FIGS. 3 and 4, the vehicle body frame (3) is tilted to a front low and rear high (inclination angle of about 4 degrees).
The gantry (37) is fixed integrally on the front upper surface, and the gantry (3)
7) On the upper surface of the anti-vibration rubber (38) and the engine stand (3)
9) The engine (2) is mounted on the engine, and a fuel tank (40) is mounted on the left side of the engine (2), and a muffler (41) is mounted on the right side of the engine (2).
A battery (43) is mounted substantially at the center on the front end side of the body frame (3).

Further, a case base (44) is integrally fixed to the body frame (3), a steering case (45) is mounted on the case base (44), and a handle cylinder (4) is mounted.
6) The steering shaft (14a) of the steering handle (14) to be inserted into the steering case (45) is set up on the upper surface of the steering case (45) substantially at the center between the left and right body frames (3) and (3). ) Output shaft (4
7), and a steering arm (48) for turning the left and right front wheels (6) and (6) is attached to the output shaft (47).

A substantially horizontal cylindrical bearing body (49) is welded and fixed to the lower side of the engine stand (39) below the engine (2), and a countershaft (49) is attached to the bearing body (49). The counter pulley (5) is provided at the front end of the counter shaft (50) for inserting and supporting the bearing body (49) forward.
1) Attach, and right and left body frames (3) (3)
An engine output shaft (52) protrudes in front of the engine (2) at substantially the upper center therebetween, and an output pulley (53) is attached to the output shaft (52). The output pulley (53) is connected to the counter pulley (53). 51) via a V-belt (54).

Further, a rear axle case (7) is bolted and fixed to the rear end of the vehicle body frame (3), and a transmission case (4) rear surface is connected and fixed to a front surface of the rear axle case (7). ), A clutch case (55) is integrally formed on the right front surface, a continuously variable belt transmission case (56) right rear surface is fitted and fixed to the front surface of the clutch case (55), and a hydraulic pump (actuated by a lifting cylinder (28)). 57) is fixed to the left rear surface of the belt transmission case (56), and the respective cases (4), (55) are located lower than the upper surface between the left and right body frames (3) (3) in the form of a square pipe. (56) and the hydraulic pump (57) are suspended and fixed, and the transmission shaft (58) with universal joint is connected to the counter shaft (5).
0) It is provided between the rear end and the belt transmission case (56) to transmit the output of the engine (2) to the belt transmission case (56), and between the front axle case (5) and the transmission case (4). ) Is provided to transmit the shift output of the transmission case (4) to the front and rear wheels (6) and (8) via the respective axle cases (5) and (7).

As shown in FIGS. 5 to 7, a pitching fulcrum shaft (60) for swingably supporting the front portion of the center float (34) up and down is provided on a bracket (61) on the rear upper surface of the float (34). The base of a planting depth adjusting link (63) is fixedly mounted on a planting depth adjusting fulcrum shaft (62) rotatably supporting the planting case (20). ) Is connected to the pitching fulcrum shaft (60).

[0013] The link (66) is rotatably supported at the center of a link (66) on a support shaft (65) supported through a fixed arm (64) on the side of the planting case (20).
2) The rear end of the link (66) is connected to the distal end of the swing arm (67) having the base end fixed thereto via a connecting pin (68), and is connected to the shaft (69) at the front end of the link (66). Bracket (7) fixed to the front upper surface of the center float (34)
The shaft (71) of (0) is connected via a lifting link (72).

An angular velocity sensor (73) is provided substantially at the center of the upper surface of the front part of the center float (34) so that the center float (34) swings up and down about the fulcrum shaft (60). And the link (66) has an operating body (72) of a lifting link (72).
A horizontal switch (74) for contacting the switch operation piece (74a) is provided in a), and the substantially horizontal state (the inclination angle is substantially 0 °) of the center float (34) is detected by the ON operation of the horizontal switch (74). It is configured as follows.

As shown in FIGS. 6 and 8, the fulcrum shaft (6
2) A planting depth adjusting lever (75) for setting a standard planting depth fixed to the base end is appropriately driven and controlled by a planting depth motor (76), and a central planting case (20). A motor mount (80) is fixed to the transmission pipe (77) on the right side via a mounting plate (78) and a side plate (79), and the rotary screw shaft (8) of the motor (76) of the motor mount (80) is fixed.
The adjustment lever (7) is attached to the moving element (82) to be connected to 1).
5) is engaged and connected, and when the mover (82) moves up and down along the screw shaft (81) by driving of the motor (76), the adjusting lever (75) is swung up and down. The fulcrum shaft (62) is rotated to adjust the reference planting depth.

The adjusting lever (75) is disposed in a cover (83) which is fixed to the motor mount (80) so as to be openable and closable, and the adjusting lever (75) is mounted on the motor mount (80).
A potentiometer type planting depth sensor (85) for detecting the moving position of the fixing pin (84) is provided to detect the planting depth position.

When the planting depth is changed about the fulcrum shaft (62) by the planting motor (76) or the adjusting lever (75), the pitching fulcrum shaft (60) is vertically changed, and the front end of the link (66) is changed. The vertical change position of the shaft (69) is made substantially the same so that changing the planting depth does not affect the detection of the horizontal switch (74).

On the other hand, the input shaft of the transmission case (56) is provided with an engine sensor (86), which is an engine rotation sensor for detecting the number of rotations from the engine (2) transmitted through the transmission shaft (58). The input shaft of the front axle case (5) is provided with a vehicle speed sensor (87) for detecting a traveling output from the transmission case (4) transmitted via a transmission shaft (59), and a left body frame (3). Lower link (26) to sensor mounting plate (88)
A link sensor (90) for detecting a moving position of a lift arm (89) connected to the plant is provided so as to detect a vertical position of the planting section (15).

As shown in FIG. 9, a supply hydraulic circuit of a hydraulic pump (91) driven by the engine (2) branches into a high-pressure oil passage (92) and a low-pressure oil passage (93), and the steering handle (14) is turned on. ) To operate a steering cylinder (94), and a lifting cylinder (28) by operating a solenoid type ascending and descending valve (96) (97).
And a solenoid valve (100) for horizontal operation of a horizontal cylinder (99) that controls the horizontal inclination of the planting section (15) is provided with a low-pressure oil. (93) and the planting section (1
The lifting and lowering control of 5) is configured to be performed by the raising and lowering solenoids (101) and (102) of the valves (96) and (97).

Then, as shown in FIG. 10, the shallow and deep side circuits (103) and (104) of the planting motor (76).
And a controller (105) for output connection to the solenoids (101) and (102), and a potentiometer-type lever sensor for detecting a position where the planting lever (30) is lowered, raised, and the clutch is engaged. (10
6) and a planting depth switch (10) for starting planting depth control.
7), a sensitivity setting device (31) for setting the hydraulic sensitivity (target value) of the lifting cylinder (28) according to the field surface hardness, the horizontal switch (74), and the sensors (73) (85)
(86) (87) (90) and controller (105)
Is connected so that the drive control of the planting motor (76) and the elevating valve (98) is performed.

The present embodiment is configured as described above, and as shown in FIGS. 11 to 14, integrates the output signal of the angular velocity sensor (73) (either a software processing or an integration circuit configuration by hardware). ) To convert the inclination angle of the center float (34) to a target value (hydraulic sensitivity) by driving the elevation valve (98) to control the elevation of the planting section (15), The planting depth control is performed by the planting depth motor (76) so as to maintain the set planting depth constant.

The engine sensor (94) detects the proper rotation state of the engine (2), and the sensitivity setting device (3)
1) Each value of the vehicle speed sensor (87), the link sensor (90), and the lever sensor (106) is the controller (105).
The angular velocity sensor (73) detects that the planting section (15) is lowered and the center float (34) is in the ground contact state.
When the detection is made, the control shifts to the elevating control mode, and the target inclination angle (oil pressure sensitivity) serving as the target value of this control is calculated. The tilt angle is determined.

Then, the center float (34) about the fulcrum shaft (60) is detected by the angular velocity sensor (73).
When the angular velocity at which the oscillates vertically is detected,
As shown in FIG. 13, by integrating this angular velocity, the inclination angle of the float (34) (relative angle with respect to this machine)
Is reset to the reference angle (for example, 0 ° (horizontal)) every time the horizontal switch (74) is turned on. When the inclination angle is deviated from the reference angle by a fixed value (a), the reference sensitivity is reset. After correction and update, the inclination angle of the float (34) about the reference angle is calculated. It also has a canceling effect when a startup drift or a temperature drift occurs in the tilt angle.

As shown in FIG. 14, when the target inclination angle is 0 ° (horizontal), the inclination angle is in the dead zone (± 0.
5 °) or more and the angular velocity is more than constant (more than ± 4 deg / s)
At the time of planting part (15) based on inclination angle and angular velocity
The center float (34) performs stable ascending and descending control without hunting based on only the inclination angle when the angular velocity is equal to or less than a constant (± 4 deg / s or less). Is maintained at the target inclination angle.

As described above, when the output level of the angular velocity sensor (73) in the forward ascending or forward descending direction is large, even if the current inclination angle of the float (34) is in the forward descending or forward ascending direction, the planting section is not required. (15) rise (float (34)
Is moved forward (downward) or descends (upwardly rises the float (34)), and the element in the direction of rotation is taken into account to perform control with good responsiveness without time delay.

In this embodiment, an example of the structure of the elevation control of the planting section (15) based on the inclination angle and the angular velocity has been described. However, the elevation of the planting section (15) is based only on the inclination angle. A configuration for performing control may be used. Further, an acceleration sensor for detecting acceleration when the float (34) swings up and down around the fulcrum axis (60) is provided, and the angular velocity is calculated by integrating the detected acceleration. Is further integrated to calculate the inclination angle, and the planting portion (1) similar to that described above is calculated based on the angular velocity and the inclination angle.
A configuration for performing the elevation control of 5) may be used.

As shown in FIG. 12, the planting depth control is performed when the planting depth switch (107) is turned on during the raising and lowering control of the planting section (15) in the raising and lowering control mode. The values of the setting device (31), the vehicle speed sensor (87), and the planting depth sensor (85) are read, and the planting depth switch (1) is read.
When a value within a certain range of the planting depth sensor (85) is set as the planting depth setting value (V1) by turning on the button (07), the target planting depth value (V2) is corrected by performing vehicle speed and oil pressure sensitivity. Calculated and detected value (V3) of the working depth sensor (85)
When the deviation (| V2-V3 |) between the plant depth value (V2) and the plant depth value (V2) is larger than a certain value (dead zone) and V3> V2, the planting depth motor (76)
Is controlled to the deep planting side, and when V2> V3, the planting depth motor (76) is controlled to the shallow planting side to maintain the planting depth constant.

FIGS. 15 to 17 show a shaft (69) at the front end of the link (69) and a center float (34).
An example of a configuration in which an air damper (air cylinder) (108) is interposed between the shaft (71) of the bracket (70) and a screw-in type pressure sensor (109) for detecting the internal pressure of the air damper (108) Is provided on the damper (108),
A pressure (load) corresponding to the contact state of the float (34) or the surface hardness of the field is set as a pressure sensor (10) just below the damper (108) as a contact point (load point) of the float (34).
It is configured to detect in 9). That is, when the swing amount of the float (34) is large in a hard field, the detection pressure of the pressure sensor (109) is large, and when the swing amount of the float (34) is small in a soft field, the pressure sensor (10) is small.
The control of raising and lowering the planting section (15) is performed by keeping the set pressure at a low level by reducing the detected pressure of 9). As shown in FIG. 17, the sensitivity setting device (31) sets the damper (108) at the set pressure. ) Allows the support load to be easily changed,
When increasing the supporting load (insensitive), the front and rear wheels (6)
(8) Irregularities such as traces are to be leveled cleanly.

In FIGS. 18 and 19, an acceleration sensor (110) for detecting the longitudinal acceleration of the machine is arranged at the rear center of the traveling vehicle (1), and the fulcrum shaft (60) is used as a center. The tilt sensor (111) for detecting the vertical tilt of the center float (34) is disposed substantially at the center of the front upper surface of the float (34), and the float (34) detected by the tilt angle sensor (111) is provided. 19), the planting / elevating control by the elevating / lowering valve (98) is performed. When the acceleration sensor (110) outputs an acceleration or deceleration signal of a certain level or more, the elevating / lowering output (A) in FIG. ), The planting section (1) is used for a certain time (T1).
5) Ascending and descending signals are prohibited from being output, and the response of the inclination sensor (111) is prevented from being deteriorated by the influence of acceleration. In the lifting output (B) of FIG. 19, a rising and falling signal for raising and lowering the planting section (15) at a minimum speed in a direction for canceling the acceleration for a certain time (for example, T1) is output. Changes in the attitude of the machine during acceleration / deceleration of the motor will affect the set hydraulic pressure sensitivity (target tilt angle).
For example, when the machine heads up when the machine starts (accelerates) and the hydraulic sensitivity becomes insensitive, the planting section (15) for a certain period of time
Is controlled to stably maintain the planting accuracy.
The elevation output (B) has better convergence to the dead zone of the tilt sensor (111) than the elevation output (A).

FIG. 20 shows a center float (3
4) The planting / elevating control by the elevating valve (98) is performed based on the detection value of the inclination angle sensor (111) provided in 4), and the inclination angle sensor (111) is determined by the vehicle speed detected by the vehicle speed sensor (87). 3) shows an example of a configuration for correcting the detected value. The inclination angle of the center float (34) is also temporarily changed by acceleration / deceleration at this time due to a large change in vehicle speed within a certain period of time (T2) (T3) during work. When the inclination angle sensor greatly changes, the vehicle speed within the predetermined time (T2) (T3) is differentiated, extracted as an acceleration value, and the acceleration value is added to the fluctuation value of the inclination angle to cancel out the inclination angle sensor. (111) can perform highly accurate planting elevating control based on only the output of the normal inclination signal.

[0031]

As is apparent from the above embodiments, the present invention relates to a rice transplanter provided with a hydraulic raising / lowering control mechanism (28) for raising and lowering the planting section (15). 34) A float angular velocity sensor (73) for detecting the angular velocity is provided, and based on the detection of the angular velocity sensor (73), the raising and lowering control of the planting section (15) is performed to maintain a constant planting depth. From the above, the inclination of the float (34) which is not influenced by the acceleration such as when starting, stopping, sudden acceleration / deceleration, etc. of the body is detected by an extremely simple constitution means using the angular velocity sensor (73), and the planting is detected. It is possible to improve the accuracy of the elevation control of the attachment (15).

The inclination angle of the float (34) is calculated from the angular velocity detected by the angular velocity sensor (73), and the planting section (1) is calculated based on the inclination angle or the inclination angle and the angular velocity.
Since the elevation control of 5) is performed, when the output level of the angular velocity sensor (73) is small and the change in the planting depth is small, occurrence of hunting or the like based only on the change in the inclination angle of the float (34) is generated. In addition to performing accurate planting elevating control with no planting, when the output level is large and the change in planting depth is large, the angular velocity of the float (34) is used in combination so that the planting plant can follow the change in planting depth well. With the lifting control
This is to improve control accuracy.

[Brief description of the drawings]

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

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

FIG. 3 is an explanatory side view of the traveling vehicle body.

FIG. 4 is an explanatory plan view of a traveling vehicle body.

FIG. 5 is an explanatory side view of the planting section.

FIG. 6 is an explanatory plan view of a float portion.

FIG. 7 is an explanatory side view of a center float portion.

FIG. 8 is an explanatory side view of a planting depth adjusting unit.

FIG. 9 is a hydraulic circuit diagram.

FIG. 10 is a control circuit diagram.

FIG. 11 is a flowchart of lifting control.

FIG. 12 is a flowchart of planting depth control.

FIG. 13 is an output diagram of an angular velocity sensor.

FIG. 14 is an explanatory diagram of control based on an angular velocity and an inclination angle.

FIG. 15 illustrates a configuration example using a pressure sensor.

FIG. 16 is an explanatory sectional view of an air damper.

FIG. 17 is a diagram showing a relationship between a load of an air damper and a sensitivity setting device.

FIG. 18 is an overall side view including a tilt sensor and an acceleration sensor.

FIG. 19 is a diagram showing a relationship between a tilt and acceleration sensor and a lifting output.

FIG. 20 is an output diagram of a tilt sensor and a vehicle speed sensor.

[Explanation of symbols]

 (15) Planting part (28) Lift cylinder (lift control mechanism) (34) Float (73) Angular velocity sensor

 ────────────────────────────────────────────────── ─── Continued on the front page F term (reference) 2B062 AA05 AA12 AB01 AB07 BA62 CA03 CA04 CA05 CA06 CA07 CA10 CA14 CA15 CA19 CA25 CB03 CB04 CB11 2B063 AA10 AB01 AB03 AB08 BB08 BB21 CA04 CA07 CA10 CA11 CA35 CB01 CB06 CB11

Claims (2)

[Claims] 1. A rice transplanter having a hydraulic raising and lowering control mechanism for controlling the raising and lowering of a planting part, a float angular velocity sensor for detecting an angular velocity of a float of the planting part, and a planting part based on the detection of the angular velocity sensor. A rice transplanter, which is provided so as to maintain the planting depth at a constant level by controlling the vertical movement of the rice transplanter. 2. The apparatus according to claim 1, wherein the inclination angle of the float is calculated based on the angular velocity detected by the angular velocity sensor, and the elevation of the planting section is controlled based on the inclination angle or the inclination angle and the angular velocity. 1. The rice transplanter according to 1.