JPH06237610A - Rolling-controlling apparatus for ground working machine - Google Patents

Abstract

PURPOSE:To smooth the rolling controlling action as far as possible while preventing the interference between the ground working machine and the ground surface. CONSTITUTION:A ground working apparatus is connected to a mobile machine body in a state to enable free driving and rolling with an electric motor M around a longitudinal shaft. The electric motor M is controlled to keep the horizontal posture of the ground working apparatus 3 based on the information on the lateral inclination angle detected by a level sensor 14 relative to the horizontal posture. When the ground height of either one of the right and left sides of the ground working apparatus 3 is lowered below a preset level, the drive control signal circuit to the electric motor M is opened with a switch 16R or 16L.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a rolling control device for a ground working device in a riding type rice transplanter or the like, and more particularly, to a ground working device which can be driven and rolled around a longitudinal axis by a drive mechanism with respect to a traveling machine body. While connecting
A ground work device including rolling control means for controlling the drive mechanism so as to maintain the ground work device in the horizontal attitude based on the detection information of the horizontal tilt angle of the ground work device from the horizontal attitude by the angle detection sensor. The present invention relates to a rolling control device.

[0002]

2. Description of the Related Art In the rolling control device of a rice transplanter as the above-mentioned ground working device, in the past, for example, in the actual open sho 58-
As disclosed in Japanese Patent No. 110215, there is a configuration in which an electric motor as a drive mechanism is drive-controlled so that a horizontal sensor arranged on the side of the seedling planting device as a ground working device always detects the horizontal state. .

[0003]

In the conventional structure described above, the seedling planting device always keeps the ground field even when the traveling machine running on the tiller tilts left and right due to the unevenness of the tiller. The rolling control is performed so that the work traveling can be performed while following the ground contact. In this case, the seedling planting device is always controlled in a horizontal posture regardless of the field scene, but in a paddy field, it can be considered that the surface of the mud layer is in a substantially horizontal posture. However, when the weight of the seedlings is different and the driving load on the electric motor changes with the work, such as the riding type rice transplanter, the electric motor operates smoothly even if the working device has the maximum weight. Although it is necessary to configure it, when the seedlings are consumed with the work and the load on the electric motor is reduced, the operating speed of the electric motor becomes higher than the set speed, and the horizontal posture is exceeded during rolling operation. May overrun.
In addition, when the field scene has irregularities, the lower part of the seedling planting apparatus controlled in a horizontal position may push the field scene convex portion mud. In that case, there is a possibility that problems such as the mud soil being washed away by the grounding float and the planted seedlings may be pushed down, or the planting depth of the seedlings may be different between left and right, and there was room for improvement. INDUSTRIAL APPLICABILITY The present invention is capable of performing smooth rolling control while avoiding instability of the posture due to fine unevenness in a field scene while the ground work apparatus is running while following the ground contact with the field scene. However, it is an object of the present invention to provide a work structure which can avoid an overrun of rolling drive and a work defect due to a large unevenness in a field by a simple structural improvement.

[0004]

According to a characteristic configuration of the present invention, in the rolling control device for a ground work device described at the beginning, the ground height of either one of the left and right sides of the ground work device is set to a value not more than a set value. In that case, a switch for cutting off the drive control signal path to the drive mechanism is provided.

[0005]

In the work traveling in the field, when the ground work device tilts left and right due to the tilt of the traveling machine body, the angle detection sensor detects the tilt information from the horizontal posture, and the detected information indicates the situation of the field. Instead, the drive mechanism is controlled so that the ground work device always maintains the horizontal posture. Then, due to a change in the load condition on the drive mechanism such as a change in weight of the ground work device, when the operation by the drive mechanism excessively works beyond the horizontal posture and overruns, or the field scene itself When the horizontal one side of the ground work device plunges into a field scene when the horizontal posture control (rolling control) operation as described above is performed due to inclination, during the horizontal posture control operation by the drive mechanism described above, , If the ground level on the lower level side of the left and right side parts of the ground work device becomes less than or equal to the set value, the drive control signal path to the drive mechanism is cut off. The drive mechanism stops operating immediately. Therefore, the adverse effects such as the ground work device plunging into the field scene can be prevented, and the posture can be set substantially along the field scene.

[0006]

Therefore, in normal work, by maintaining and controlling the ground work device in a horizontal posture, for example, ground-following height detection sensors are provided on both left and right sides, and the ground work device is determined from the ground based on the detected information. Compared to the control to maintain the posture, it suppresses the drive rolling operation of the ground work device due to the fine unevenness in the field scene, and enables the rolling control as smooth as possible. As described above, it is possible to prevent the adverse effects such as the interference with the field scene of the ground work device due to the change in the load condition or the field condition in the horizontal attitude control. In order to obtain the same effect as the above effect, sensors for detecting the height of the ground are provided on both left and right sides of the ground working device, and control is performed to correct the control target in the rolling control means based on the detected information. Although a configuration may be considered, with such a configuration, a control response delay may occur between the time when one of the sensors reaches a predetermined level and the drive mechanism operates, which may cause an overrun. In the present invention, since the signal path to the drive mechanism is directly cut off, there is no response delay and quick operation can be stopped.
Moreover, the structure can be improved simply by providing two switches.

[0007]

Embodiments will be described below with reference to the drawings. Figure 2
Shows a riding type rice transplanter. In this rice transplanter, a seedling planting device 3 (an example of a ground work device) is connected to a rear portion of a riding type traveling body 1 via a link mechanism 2 so as to be able to move up and down and roll around a longitudinal axis Y. The seedling planting device 3 includes a seedling stand 4 and a seedling stand 4 that move laterally back and forth with a constant stroke.
It is equipped with a planting mechanism 5 for taking out the seedlings from the lower end of the plant one by one and planting them in the field, and three ground floats 6a, 6b, 6c and the like that are swingably supported around the rear horizontal axis X. It is supported by a lift cylinder 7 so that it can be driven up and down, and is supported by an electric motor M [an example of a drive mechanism] so that it can be driven and rolled around a front-rear axis Y.

During the planting work, regardless of the subsidence of the traveling machine body 1 traveling on the tiller into the mud layer,
The raising / lowering control means A for driving and controlling the lift cylinder 7 so that the seedling planting device 3 is always maintained at a predetermined height with respect to the mud surface [field scene], and the seedling planting device 3 regardless of the lateral inclination of the traveling machine body 1. A rolling control means B for driving and controlling the electric motor M to maintain the horizontal position is provided in the control device 8 equipped with a microcomputer in a control program format. That is, as shown in FIG. 1, a potentiometer-type float sensor 9 for detecting a vertical movement amount based on a front side ground pressure fluctuation in a ground float 6b located at the center of the left and right is provided, and a detection value of the float sensor 9 is a potentiometer. The controller 8 switches and controls the lift cylinder electromagnetic hydraulic control valve V so as to match the set value by the mold sensitivity adjuster 10, so that the seedling planting device 3 is maintained at a predetermined ground level. As shown in FIG. 3, the screw shaft 11 is rotatably supported over the left and right stays 2a that are continuously provided on the upper portion of the link mechanism 2, and the electric motor M is configured to rotate and drive the screw shaft 11. , The female screw member 12 screwed to the screw shaft 11 and the left and right vertical frames 3a of the seedling planting device 3,
3a is interlocked with each other via a buffer spring 13, and the electric motor M is driven in the forward and reverse directions so that the seedling planting device 3 can be horizontally rolled around the longitudinal axis Y with respect to the link mechanism 2, that is, the machine body 1. I am doing it. Then, the rolling operation electric motor M is drive-controlled by the control device 8 based on the inclination angle information from the horizontal state by the horizontal sensor 14 (an example of an angle detection sensor) arranged on the seedling planting device 3 side, and the seedling planting is performed. The attachment device 3 is controlled so as to be always maintained in the horizontal posture. When the female screw member 12 reaches the stroke ends of the left and right ends of the screw shaft 11, a pair of limit switches 15R, 15L are provided to detect the fact by a contacting action. The limit switches 15R, 15L are normally closed type. Therefore, it is constructed so as to be opened by the contact action, and as shown in FIG. 1, it is interposed in the wiring for transmitting the drive control signal from the control device 8 to the electric motor M. Therefore, when the female screw member 12 reaches the stroke end, the control device 8
Even when the drive control signal is transmitted from the device, the wiring is forcibly cut off and the driving of the electric motor M is stopped.

Then, switches 16R and 16L are provided for cutting off the drive control signal path to the electric motor M when the ground height of either one of the left and right sides of the seedling planting device 3 becomes less than a set value. The vertical frame 3 is provided via the elongated hole links 17 so that the front portions of the grounding floats 6a and 6c located on both the left and right sides can freely swing within a predetermined range.
A limit switch 16 that is suspended and supported by a pin 18 fixed to a and 3a, and is normally closed in the middle of the left and right vertical frames 3a and 3a and that is opened by abutting action.
When R and 16L are provided and the grounding floats 6a and 6c are relatively elevated and the ground height is below a predetermined value, the link 17
Is in contact with the limit switches 16R and 16L, and the limit switches 16R and 16L are opened. The limit switches 16R and 16L are
As shown in FIG. 1, the limit switch 16R on the right side is provided on the signal path L1 for the relay circuit 19R for driving the electric motor M in the drive control signal path for the electric motor M to the right tilt side, The left limit switch 16L is provided in the signal path L2 to the relay circuit 19L for driving the switch. When the rolling control is actuated and the electric motor M is actuated in either the left or right direction, and the limit switch located on the lower side in the tilt operation direction is actuated, the electric motor M is irrespective of the presence or absence of a drive signal from the control device 8. Instead, it is forcibly stopped to prevent excessive rolling action and prevent mud pushing.

It should be noted that reference numerals are added to the claims to facilitate the comparison with the drawings, but the present invention is not limited to the configurations of the accompanying drawings by the entry.

[Brief description of drawings]

FIG. 1 is a control block diagram.

[Figure 2] Side view of rice transplanter

FIG. 3 is a front view showing a rolling control drive structure.

[Explanation of symbols]

 1 Traveling Aircraft 3 Ground Working Device 14 Angle Detection Sensor 16R, 16L Switch B Rolling Control Means M Drive Mechanism

Claims (1)

[Claims] 1. A drive mechanism (M) for the traveling vehicle (1)
The ground working device (3) is connected by means of a drive roll around the front-and-rear axis center by means of an angle detection sensor (14).
The ground working device (3) based on the detection information of the horizontal tilt angle from the horizontal posture of the ground working device (3) by
A rolling control device for a ground working apparatus, comprising a rolling control means (B) for controlling the drive mechanism (M) so as to maintain a horizontal posture of the ground working apparatus (3). When one of the ground heights becomes lower than the set value, switches (16R), (1) for cutting off the drive control signal path to the drive mechanism (M).
6L) a rolling control device for a ground work device.