JPH0767337B2 - Tilt control device for agricultural machinery - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention provides an agricultural working machine such as a rice transplanter or a seeder on a tow vehicle so that the left and right sides can swing up and down. The present invention relates to a tilt control device for an agricultural work machine, which is rolling-controlled by a motor that is normally or reversely rotated by a control signal from a tilt detection sensor such as a horizontal detection sensor of the agricultural work machine itself.

2. Description of the Related Art Heretofore, there has been a rolling control device for a rice transplanter as disclosed in JP-A-59-34812. In this conventional device, a rice transplanter is mounted on a tow vehicle so that it can be rolled, and a soil-to-soil inclination detection sensor that detects a state in which the rice transplanter is inclined with respect to the soil surface by a grounding body that slides on the soil surface of the paddy field is used. It was a control device for rolling control the rice transplanter by a control signal or a control signal from a horizontal detection sensor that detects whether the rice transplanter is in a horizontal state.

Problems to be Solved by the Invention In the conventional technology, even if the rice transplanter is controlled to be tilted to the full rolling range with respect to the towing vehicle, the control signal for further rotation is provided. However, there is a problem that the control drive motor is damaged or the control circuit is damaged.

Means for Solving Problems The present invention has taken the following technical means in order to solve the above problems.

That is, according to the present invention, the agricultural work machine 17 side is mounted so as to be able to roll left and right with respect to the tow vehicle body 1 side, and an appropriate control signal is received between the tow vehicle body 1 side and the agricultural work machine 17 side to forward / reverse. The rotating motor 38a is interposed, and this motor 38a is used to
In the control device for rolling control of the agricultural working machine 17, when the control signal is issued beyond the rolling possible range of the agricultural working machine 17, the tilt control device of the agricultural working machine is configured to be cut.

According to the present invention, according to the present invention, when the agricultural working machine 2 exceeds the rotation range of the towing vehicle 1 and a control signal is issued to control the rotation further, the control signal is cut, Further rotation control is not performed, the drive motor and control circuit are protected, and they are not damaged.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described in detail with reference to the drawings. 1 is a towing vehicle body, and a front axle case 3 is rotatable left and right behind a front mission case 2 serving as a main mission case and below a left and right center. A tubular frame 5 is extended rearward through a supporting frame 4 that surrounds and supports it, a rear mission case 6 is fixed to the rear end thereof, and rear axle cases 7, 7 are integrally projected on both sides thereof, Wheel transmission cases 9 and 9 that support the rear wheels 8 and 8 so as to transmit and rotate are provided at each tip, and front wheel transmission cases 10 and 10 that can be steerably rotated are provided at both left and right ends of the front axle case 3. The front wheels 11 and 11 are supported, and the engine 12 is mounted on the upper part of the front and rear intermediate parts of the frame 5, so that the engine and the upper part of the front mission case are covered on these running bodies. The step floor 13 forming the bulge portion is provided, and control handle 14 at the top of the expanded portion, the cockpit 15 provided. Reference numeral 16 is a column that is erected on the upper part of the rear mission case 6.

Reference numeral 17 is an agricultural work machine, which is a rice transplanter in this embodiment.

This rice transplanter 17 will be described in detail. A main case 18a in which a planting portion is installed as a main transmission mechanism in the center of the front left and right, and cylindrical cases 18b and 18b and a main case 18 protruding from the case 18a to the left and right.
In the upper part of the planted transmission case 18 consisting of a and the sub cases 18c, 18d, 18d extending rearward from the tip side of the tubular cases 18b, 18b,
The bottom plate and the side plate, the seedling table 19 in which a part of the bottom plate is cut out and the transfer belt is stretched there is supported so that the front side can be reciprocally moved left and right in an appropriately inclined form so that the front side is higher, On the rear side surface of the sub-cases 18c, 18d, 18d, the rotary case 21 in which the transplant tools 20, 20 are mounted in a swinging state is supported, and the paddy topsoil is placed on the lower side and the lower left and right sides of the planted transmission case 18. The ground leveling floats 22a, 22b, 22c as grounding bodies that come into contact with the surface are attached to the planted transmission case 18 side by the rear swing adjustment link 23 and the front expansion / contraction link 24, and each by the rear swing adjustment link 23. The upper and lower reference heights of the floats can be adjusted, the planting depth can be adjusted, and the front side of each float can be freely moved up and down. Reference numeral 25 in the drawing denotes a lower rail that supports the lower back surface of the seedling placing table 19 and guides it movably, and is attached to the sub cases 18c, 18d, 18d. Reference numeral 26 is a seedling receiver provided integrally with the lower rail 25, which is formed in a substantially L shape so as to receive the bottom surface and the lower end surface of the seedling, and is provided on the lower end side of the seedling mounting table 19. In the implant 20
A seedling dividing port is formed through which the transplanted nails of (1) pass. An upper rail 27 is attached to a connecting rod 29 for connecting the front ends of the support rods 28, 28, which have bases fixed to the front ends of the cylindrical cases 18b, 18b and extend forward and upward.

Reference numeral 30 denotes an elevating link, which is an upper link of the upper link 31a, the lower link 31b of which the base side is pivotally attached to the column 16 on the side of the towing body 1, the lower link 31b, and the rear link 31c which pivotally connects the rear ends of the both links 31a, 31b
The reference numeral 31a is connected to a hydraulic cylinder device 32 whose base is pivotally attached to the rear transmission case 6 side and is configured to be rotated up and down. A rolling metal 33 is provided integrally with the rear link 31c, and a protruding shaft 34 integral with the planting transmission case 18 of the rice transplanter 17 is rotatably inserted into and supported by the metal 31c. That is, the front part of the center of the rice transplanter 17 in the left-right direction is rotatably attached to the rear link 31c of the elevating link 30.

Reference numeral 35 is a hydraulic switching valve, which is provided in the middle of the piping between the hydraulic cylinder device 32 and the hydraulic pump, and is configured to be operated by the operating lever 36 near the control seat 15 so that the elevating link 30 can be arbitrarily operated up and down. The central leveling float 22
The float is provided so as to be switchable from the a side via an interlocking link mechanism 37 assembled by using the pivot shaft of the lifting link 30.
When the front part of 22a moves upwards out of a predetermined height, the piston of the hydraulic cylinder device 32 projects to lift the lifting link 30 and lift the rice transplanter 17, and conversely moves down below a predetermined height and moves down. The piston of the hydraulic cylinder device 32 retracts to lower the lifting link 30 to lower the rice transplanter 17, and the rice transplanter 17 is always controlled to a height above the surface of the paddy field suitable for planting. .

Reference numeral 38 denotes an electric cylinder as a driving force of the rolling operation mechanism, and a piston 38b is configured to move by a forward / reverse rotation type motor 38a. The cylinder 38 is placed above the rear link 31c such that the direction of movement of the piston 38b is left and right. It is installed so as to be oriented horizontally, and expandable / contractible connecting members 39a and 39b (coil springs in the embodiment) are interposed between the tip side of the piston 38b and the left and right support rods 28 and 28 of the seedling mounting table 19. ing.

Incidentally, 40 is a support base of the electric cylinder 38, which is integrally attached to the upper portion of the rear link 31c.

41, 41 are coil springs, which are the support base 40 and the seedling stand.
By connecting the right and left side of 19 to appropriate places, when the seedling placing table 19 reciprocates laterally to the left and right, the moving side is gradually pulled up strongly to balance the laterally biased load. .

42 and 42 are coil springs. When the rice transplanter 17 is moved up and down by the elevating link mechanism 30, the rice transplanter 17 is pulled to the link side so that the rice transplanter 17 does not tilt to the left and right when ascending, and freely rolls when planting when descending. It is stretched between the rear end side of the upper link and the planting gear box 18 of the rice transplanter 17 so as to release the attraction so as to form a c shape when viewed from the back.

Reference numeral 43 is a horizontal detection sensor, which is attached to the upper part of the planted gear box, and when the rice transplanter leans to the left or right by about 2 to 5 degrees, the switches SW ₁ and SW ₂ on the side leaning downward turn on and The motor 38a is configured to rotate forward / backward.

Reference numeral 44 is an anti-soil detection sensor, which is interlocked with the rise of the side leveling floats 22b and 22c that occurs when the rice transplanter 17 tilts left and right 58
Turn on and off switches SW ₃ and SW ₄ via a and 58b
38a is configured to rotate forward / backward.

FIG. 7 shows a motor control circuit, in which each sensor 4
Output signals from the 3 and 44 sides are delayed by the delay circuits 45 and 45 and the oscillation circuit 4
6. Wired to the relays L and R for rotating the motor 38a forward and backward through the amplifier circuit 47. Then, the relay contacts L ₁ and R ₁ of the motor rotating circuit shown in FIG. 8 are closed and opened by the relays L and R so that the motor 38a is normally and reversely rotated.

The number of oscillations of the oscillation circuit 46 can be changed and adjusted by an oscillation number changing circuit 48, so that the rotation speed of the motor 38a can be increased or decreased.

Further, the manual switch SW ₅ is configured such that the left and right rollings can be held in a neutral state in a horizontal state by a manual operation so that the motor 38a can freely rotate in forward and reverse directions.

In addition, reference numeral 50 in the figure denotes a power supply circuit, and 51, 52, 53, 54 and 55 denote relay coils.

The switches SW ₆ and SW ₇ are switches for turning off the automatic control, and when the switches SW ₆ and SW ₇ are turned on, the rolling control becomes ineffective from that point. The switches SW ₆ and SW ₇ are attached to a support base 40 of the transmission cylinder 38 when the piston 38b is projected to the maximum and retracted to the maximum, and a switch pressing member 38c fixed to the piston 38b is provided. The switch SW ₆ and SW ₇ are provided so as to be turned on by contacting them.

Left and right monitor lamps La and Ra provided on the steering post 14a of the tow vehicle body 1 are provided so that they are turned on at the same time when SW ₆ and SW ₇ are turned on.

Reference numeral 57 is a manual switch box that is mounted near the cockpit 15 or on the handle support panel, and is mounted on the step floor 13 behind the cockpit in the illustrated example. The switch box 57 is provided with a switch for starting automatic control and a variable lever for changing the number of oscillations.

Explaining the action of the above example in detail, first put a riding rice transplanter into a paddy field, put a mat-shaped seedling with soil on each seedling mounting table 19, switch the hydraulic valve 35 with the operation lever 36, each leveling float 22a, The piston of the hydraulic cylinder device 32 is retracted and the rice transplanter 17 is descended via the ascending / descending link 30 so that 22b and 22c contact the surface soil surface of the paddy field. Then, the leveling float 22a in the center is moved upward by the contact pressure on the topsoil with the rear part as the fulcrum, and the hydraulic valve 35 is switched to the neutral position via the interlocking mechanism 37, at which point the rice transplanter 17 is lowered. Be stopped. At this time, the ground pressure of the leveling float 22a becomes appropriate for seedling planting work.

In this way, while the rice transplanter 17 is being lowered, the towing body 1 is propelled and power is transmitted to the rice transplanter 17 side to drive and rotate the respective parts. In addition, the switch button for starting the automatic control of the switch box 57 is switched so that the rolling automatic control is activated.

Then, the seedling mounting table 19 moves laterally back and forth, and the seedlings are transferred to the seedling receiver 26.
Are successively fed to the divided mouths, separated by the transplanter 20 and transplanted to the lower surface soil surface.

During this seedling transplanting operation, the left and right reciprocating movement of the seedling placing table 19 tends to disturb the left and right balance of the rice transplanter 17, but this is prevented to some extent by the coil spring 41. However, the rice transplanter 17 tilts left and right due to the fluctuation of the weight of the seedling itself placed on the seedling mounting table. At this time, the ground leveling float 22b or 22c on the side which is inclined and lowered is pushed upward by the ground pressure,
The switch SW ₃ or SW ₄ is turned on via the interlocking rods 58a and 58b. More specifically, when the left side turns downward in the traveling direction, the front part of the left ground leveling float 22b is pushed up by the paddy field topsoil.
The switch SW _{3 of} 44 is turned on, the motor 38a rotates normally, and the piston 38b is retracted in the direction of arrow (a). Accordingly, the coil spring 39a on the left side is strongly stretched and the coil spring 39b on the right side is loosely tensioned, and the left side of the rice transplanter 17 is forcibly pulled up. And gradually the leveling float on the left side
The ground pressure of 22b decreases and it moves downwards with respect to the machine frame.Switch SW ₃
When is turned off, the rotation of the motor 38a is stopped at this point.

Conversely, if the right side rotates downward, the right side leveling float 22
The switch SW ₄ is turned on by c, the motor 38a is reversely rotated, the piston 38b projects in the direction opposite to the arrow (a), and the coil spring 3 on the right side
9b is strongly tensioned, on the contrary, the tension of the left coil spring 39b is loosened, and the right side of the rice transplanter 17 is forcibly pulled up.

The rotation of the motor 38a at this time is stopped when gradually downward switch SW ₄ is turned OFF with respect to ground contact pressure of the right leveling the float 22c is reduced machine frame.

In this way, the rolling control motor 38a is automatically controlled by the action of the surface soil detection sensor 44 to keep the left and right seedling planting depths within a certain range.

However, if the surface soil of the paddy field is very soft or if the soil in the field is volcanic ash soil, the leveling floats 22a, 22b
Is subsided considerably below the topsoil surface, and the above-mentioned topsoil detection sensor
With the control signal from the leveling floats 22a and 22b side by 44, a situation occurs in which accurate rolling control cannot be performed. In such a case, rolling control is performed by a signal from the horizontal detection sensor 43 side.

That is, the rice transplanter 17 is tilted to the left, the left-side leveling float 22b is pushed up to some extent by the topsoil, and the rolling control is performed from the surface-to-soil detection sensor 44 side by the above-mentioned action, but the leveling float 22b is below the topsoil surface. If the left side of the rice transplanter 17 cannot be lifted up partway through and is not returning to the horizontal state, the switch on the horizontal detection sensor 43 side
Since SW ₁ is ON, the motor 38a rotates forward and the piston 38
The b is retracted in the direction of the arrow (a), the tension of the coil spring 39b becomes strong, and the rice transplanter 17 is returned to the horizontal state. When the rice transplanter 17 is tilted to the right, the switch SW ₂ is turned on, the motor 38a is reversely rotated, the piston 38b is projected in the direction opposite to the arrow (a), the coil spring 39b is strongly pulled, and the rice transplanter 17 is in the horizontal state. Return to.

When the rolling control is performed only on the side of the horizontal detection sensor 43, the higher the sensitivity of this sensor, the more easily the rolling hunting will occur and the left and right vibrations will occur. . Therefore,
It is difficult to perform accurate rolling control only with this horizontal detection sensor 43, and moreover, at the edge of the ridge, etc., the paddy field soil on the ridge side is often high,
It is difficult to keep the seedling planting depth constant on the left and right sides by simply horizontally controlling the rice transplanter 17, but in this embodiment, the rolling control is performed by both the horizontal detection sensor 43 and the surface soil detection sensor 44. Therefore, more precise rolling control is performed. Then, during such rolling control, when the piston 38b is maximally protruding, and when retracted maximally, switch SW _6, SW ₇ is O
Then, the control signal for the motor 38a is no longer output, and the situation in which 38a is damaged or the electric control circuit is damaged is prevented.

By the way, in the above-described embodiment, since the signal on the side of the horizontal detection sensor 43 is composed of an insensitive sensor, in reality, the signal from the side of the soil detection sensor 44 is preferentially controlled, and rarely. The opposite signal may be sent to the motor 38a. In such a case, in the above embodiment, the motor 38a is stopped and is not controlled.

If the control circuit shown in FIG. 7 is changed to that shown in FIG. 9 and a priority circuit A is provided to prioritize the signal from the surface-to-soil detection sensor 44 side over the signal from the horizontal detection sensor 43 side,
It is not necessary to make the horizontal detection sensor 43 side insensitive,
This can be dealt with only by delaying the signal on the sensor 43 side, and more accurate control can be performed.

Further, if the resistors in the delay circuits 45, 45 are variable resistors as shown in FIG. 9 and are arbitrarily changed, the delay time can be changed and the control sensitivity can be changed.

Furthermore, by adjusting the resistance of the oscillation frequency changing circuit 48, the rotation speed of the motor 38a can be adjusted by changing the pulse,
The control sensitivity can be changed and adjusted, and the control can be speeded up in the case of a paddy field where the unevenness of the cultivator is severe and highly precise rolling control can be performed.

[Brief description of drawings]

FIG. 1 shows an embodiment of the present invention. FIG. 1 is a side view of a riding rice transplanter, FIG. 2 is its plan view, FIG. 3 is a perspective view of a main part, and FIG. 4 is a main part. FIG. 5, FIG. 5 is a simplified rear view of essential parts, FIG. 6 is a hydraulic circuit diagram, FIG. 7 is an electric circuit diagram, FIG. 8 is an electric circuit diagram for motor transmission, and FIG. 9 is another example. Electric circuit diagram, FIG. 10 shows a block electric circuit diagram, and FIG. 11 shows a flow chart of the operation. Reference numeral 1 in the figure is a tow vehicle, 17 is a working machine, 38 is an electric cylinder, 38a
Indicates a motor.

Claims (1)

[Claims] 1. A farming machine 17 side is mounted so as to be able to roll left and right with respect to the towing vehicle 1 side, and forward / backward rotation is received by receiving an appropriate control signal between the towing vehicle 1 side and the farming machine 17 side. In the control device for interposing a motor 38a, which controls the rolling operation of the farm work machine 17 by the motor 38a, when the control signal is issued beyond the rolling possible range of the farm work machine 17, the control signal is cut. Tilt control device for farm work machines.