CN101044813B - Swing controlling device for working machine - Google Patents

Abstract

The present invention provides a swing-control equipment for the task machine, it avoids dilapidation of the task equipment manipulation structure's motivate implement which is supported at the machine body and make the pose of task machine varying at liberty. The swing-control equipment includes: a swing-freely task equipment which is supported at the running machine body(5),a motivate implement which is used to drive the task equipment mentioned(53),slope-measure machines(61,62) that test the right and left slope angle(B) of the running task machine. the operation signal of the mentioned motivate machine(53) is controlled by test result of the mentioned test organ(61,62) and warp of the object's slope angle, make the task machine's right and left slope angle close to the objective angle, therein, contains the load-testing organ which tests the drive load of the mentioned motivate equipment, and protective organ controlling the operation signal of the mentioned motivate equipment and maintaining the mentioned drive load to the objective extent.

Description

The swing controlling device of workover rig

Technical field

The present invention relates to a kind of swing controlling device that is used on the agricultural working machines such as rice transplanter or agricultural tractor.In detail, the apparatus for work operating structure that relates to Operation Van, this Operation Van possesses the posture that is supported on the body, makes apparatus for work and freely changes (for example lifting or wave), changes the actuator of the posture of apparatus for work, thereby changes the posture of apparatus for work with respect to body.

Background technology

In riding type rice transplanter as an example of workover rig, open shown in the 2002-84829 communique as the spy of Japan, possess and support seedling-planting device and make it wave freedom, seedling-planting device is waved the actuators such as for example electro-motor of driving, and to the control device of actuator output function signal.

So, the posture change of seedling-planting device and body irrespectively is maintained in level, and to actuator output function signal, actuator moves from control device, by seedling-planting device is maintained in level, the depth of planting of the seedling at the right side of seedling-planting device and place, left side maintains set depth.

In this case, departing from the big more actuator high speed motion that makes of degree of level in order to make seedling-planting device, make seedling-planting device turn back to level as early as possible, is the operation signal high speed motion of actuator according to control device mostly.

Open shown in the 2002-84829 communique as the spy of Japan, under the situation that constitutes the posture that changes apparatus for work by actuator, owing to make the actuator high speed motion, the frequency of actuator high speed motion is big more, on actuator, applied big load, so must possess the mechanism that prevents the actuator breakage.

Be under the situation of electro-motor at actuator for example, when the frequency that makes the electro-motor high speed motion increased, the temperature of electro-motor rose and develops into inner sintering such as contact.So, for example the spy of Japan opens shown in the flat 6-261610 communique, constitute possess temperature sensor on electro-motor (Reference numeral 21 among Fig. 4 of patent documentation 2) and cooling fan, rise to design temperature when above in the temperature of electro-motor, cooling fan automatically moves.But, if this structure, then owing to the increase of number of spare parts and the complicated room for improvement that exists of mechanism.

Summary of the invention

The objective of the invention is to; freely change (for example lifting or wave) possessing the posture that is supported on the body, makes apparatus for work; in the apparatus for work operating structure of the Operation Van of the actuator of the posture of change apparatus for work; possess the output function signal and make the actuator action; so that apparatus for work maintains the ability of posture control mechanism of prescribed form; actuator is according to the operation signal high speed motion of ability of posture control mechanism; in this case, need not to possess the breakage that special actuator protection mechanism such as temperature sensor and cooling fan promptly can prevent actuator.

The swing controlling device of workover rig involved in the present invention, comprise: wave the apparatus for work that is supported on freely on the body that travels, drive the actuator that waves of described apparatus for work, the tilt detection mechanism at the angle of inclination of the body left and right directions that travels of detection apparatus for work; The operation signal of described actuator is by the testing result of described tilt detection mechanism and the Deviation Control at target angle of inclination; the angle that tilts that makes apparatus for work is near the target angle of inclination; it is characterized in that; have the load detector structure of the driving load that detects described actuator and control described operation signal, make described driving load maintain protection mechanism in the setting range.

And; in above-mentioned structure; preferably; described actuator is an electro-motor; described operation signal is the drive current of described electro-motor; when the testing result of described load detector structure surpassed described setting range, described protection mechanism limited the output of described drive current to described electro-motor.

According to above-mentioned structure, when the driving load of the electro-motors such as rocking action resistance increase that detect apparatus for work arrives the boundary of setting range, the drive current that suppresses the control electro-motor, flow into electro-motor so that suppress the above electric current of the magnitude of current in this moment, do not make the driving load of electro-motor depart from setting range.That is to say that the drive current sustainable supply becomes free swinging condition can be under the situation of blocking-up energising to electro-motor, apparatus for work can be with to detect the angle of inclination irrelevant and arbitrarily tilt because of the destruction of weight balancing etc.

Drive that load alleviates and when turning back to setting range, return to common state of a control when detecting, with based on detecting the magnitude of current that the angle of inclination draws to the electro-motor control of switching on, the angle of inclination of apparatus for work is promptly near the target angle of inclination.

Therefore, owing to realized the heat protection and the overload protection of electro-motor or its controller, and apparatus for work can arbitrarily not tilt because of the blocking-up energising, so the control of waving after alleviating of can lingeringly not loading rapidly.

In above-mentioned structure, preferably, described actuator is an electro-motor, and the drive current of described electro-motor is controlled by dutycycle, and possesses the sensor of the operating position that waves driver part that detection moves under the effect of described electro-motor; Described load detector structure is based on the driving output duty cycle of the drive current of the described electro-motor of control and the driving load that described shift in position of waving driver part is inferred described electro-motor.

According to above-mentioned structure, because it is more little with respect to the shift in position speed of a certain magnitude of current to wave driver part, it is big more to drive load, so, can infer the driving load of electro-motor by comparing with the speed of waving the shift in position of driver part based on the view data etc. of input in advance driving output duty cycle to the decision magnitude of current.In this case, because waving the position of driver part can be detected simply by the sensor of cheapnesss such as potentiometer, so can cross the driving load that the structure of the cheapness that does not adopt load detection sensors such as torque sensor obtains electro-motor, prevent overladen suitable energising control.

In above-mentioned structure, preferably, set the described actuating range that waves driver part, detect the described driver part that waves when having arrived the boundary of described actuating range at described sensor, to the electro-motor control of switching on, maintain limit positions will wave driver part, up to the rocking action instruction of sending return action scope direction.

According to above-mentioned structure, can utilize the actuating range that waves driver part as the positional information restriction of waving driver part of inferring the data that drive load, need not to determine to wave the limit switch etc. of the actuating range of driver part, can reduce the quantity of sensor class and implement at an easy rate.

In above-mentioned structure, preferably, limit the maximum of described driving output duty cycle.

According to above-mentioned structure; though along with the deviation that detects angle of inclination and target angle of inclination increases; be used to increase towards the driving output duty cycle of the magnitude of current of electro-motor also big; but be restricted owing to drive the maximum of output duty cycle; so do not have excessive electric current, realized the heat protection of electro-motor or its driver towards electro-motor.

The swing controlling device of workover rig involved in the present invention, comprise: wave the apparatus for work that is supported on freely on the body that travels, drive the actuator that waves of described apparatus for work, the tilt detection mechanism at the angle of inclination of the body left and right directions that travels of detection apparatus for work, the output function signal makes described actuator action, described apparatus for work is maintained the ability of posture control mechanism at target angle of inclination; Described ability of posture control mechanism with big more, the described actuator of deviation at the angle of inclination of described apparatus for work and target angle of inclination more with the mode output function signal of high-speed driving, it is characterized in that, possesses inhibition mechanism, when the operation signal of described ability of posture control mechanism surpasses the threshold value of regulation, drive described actuator with the operation signal of the low speed action side of the operation signal that is lower than the output of described ability of posture control mechanism.

According to above-mentioned structure, be supported on the body freely in the apparatus for work posture changing (for example lifting or wave), and possess in the apparatus for work operating structure of Operation Van of actuator of the posture that changes apparatus for work, even the operation signal of ability of posture control mechanism surpasses the setting operation signal and is displaced to the high speed motion side, actuator is also with the responsiveness action of the low speed of the operation signal that is lower than ability of posture control mechanism output, thereby the breakage that can prevent the actuator high speed motion and cause, the durability of raising actuator.

And, owing to need not to possess special actuator protection mechanism (also scale is less even possess special actuator protection mechanism) such as temperature sensor or cooling fan, be favourable aspect near number of spare parts the reduction actuator and the designs simplification.

And, even for example apparatus for work has departed from prescribed form, the operation signal of ability of posture control mechanism surpasses the setting operation signal and is displaced to the high speed motion side, do not keep the state that apparatus for work is the function halfway interruption of prescribed form owing to can not produce, so can not follow the performance reduction that apparatus for work is maintained the function of prescribed form.

In above-mentioned structure, preferably, when the operation signal of described ability of posture control mechanism was displaced to the low speed action side of the threshold value that is lower than regulation, described inhibition mechanism stopped.

According to above-mentioned structure, if the operation signal of ability of posture control mechanism surpasses the setting operation signal and is displaced to low speed action side, then return to the state of actuator with the responsiveness action of the operation signal of ability of posture control mechanism, thereby can avoid apparatus for work is turned back to slow this state of operation of prescribed form, can suppress apparatus for work is maintained the performance reduction of the function of prescribed form.

In above-mentioned structure, preferably, with current time and the mean value that has only passed through the operation signal of the described ability of posture control mechanism between the setting-up time compare as the operation signal and the described threshold value of described ability of posture control mechanism.

According to above-mentioned structure, can reduce the frequency of actuator with the responsiveness action of the low speed of the responsiveness of the operation signal that is lower than ability of posture control mechanism, can avoid slow this state of operation of making apparatus for work turn back to prescribed form, the performance that can suppress apparatus for work is maintained the function of prescribed form reduces.

In above-mentioned structure, preferably, the a plurality of described setting-up time of different length is set, and different a plurality of threshold values mutually are set according to each setting-up time, the mean value and the corresponding threshold of the operation signal in each setting-up time are compared, when at least one operation signal is displaced to the high speed motion side above corresponding threshold, described inhibition mechanism action.

So, a plurality of mean values of the operation signal by ability of posture control mechanism, can be corresponding with various job states, the breakage that the actuator high speed motion causes can be prevented, the frequency of actuator can be reduced with the responsiveness action of the low speed of the responsiveness of the operation signal that is lower than ability of posture control mechanism.

Therefore, a plurality of mean values of the operation signal by ability of posture control mechanism, can be corresponding with various job states, can prevent the breakage that the actuator high speed motion causes, improve the durability of actuator, avoid slow this state of operation of making apparatus for work return prescribed form, the performance that suppresses apparatus for work is maintained the function of prescribed form reduces.

In above-mentioned structure, preferably, in described a plurality of setting-up times and threshold value, short more its threshold value of setting-up time of length is set in the high speed motion side more, and its threshold value of setting-up time that length is long more is set in low speed action side more.

Even the operation signal of bigger ability of posture control mechanism, as long as this state is temporary transient, promptly can judge the load that is applied on the actuator can be very not big.

So, according to the 5th feature of the present invention, by setting operation signal for relatively shorter setting-up time setting high-speed action side, prevented on relatively shorter setting-up time, only owing to temporarily produced the operation signal of bigger ability of posture control mechanism, the state that actuator promptly moves with the responsiveness of the low speed of the responsiveness of the operation signal that is lower than ability of posture control mechanism.

On the other hand, even the operation signal of smaller ability of posture control mechanism when this state continues for a long time, also can be judged the load that is applied on the actuator and increase.

So, by setting smaller setting operation signal for long setting-up time, prevented that on long setting-up time the operation signal of smaller ability of posture control mechanism produces for a long time, the load that is applied on the actuator increases this state.

Therefore, only can prevent owing to temporarily produced the operation signal of bigger ability of posture control mechanism, actuator is promptly with the state of the responsiveness action of the low speed of the responsiveness of the operation signal that is lower than ability of posture control mechanism, and the long-time generation of the operation signal of smaller ability of posture control mechanism, the load that is applied on the actuator increases this state, can suppress apparatus for work is maintained the performance reduction of the function of prescribed form, improve the durability of actuator.

In above-mentioned structure, preferably, described actuator is an electro-motor, and the operation signal of described ability of posture control mechanism is the dutycycle when making the electric current that supplies to described electro-motor variable by dutycycle control.

Make the electric current that supplies to electro-motor (actuator) variable by dutycycle control (dutycycle), thus the control of the responsiveness of electro-motor (actuator) carry out easily, can realize that the performance that apparatus for work is maintained the function of prescribed form improves.

In above-mentioned structure, preferably, described tilt detection mechanism has the angular transducer at the angle of inclination of detecting left and right directions and detects the angular-rate sensor of the inclination angle speed of left and right directions, be provided with the transmission case of transmission from the operation usefulness power of the body derivation of travelling wave fulcrum in apparatus for work near, described angular-rate sensor installing also is supported on this transmission case.

Though angular-rate sensor does not have the detection of delay,, need take detection signal is added in the filter to remove the not countermeasure of signal because the response height is also sensed interference such as vibration sensitively.Therefore, shown in this structure,, can not have the induction of flase drop geodetic, need not filter process etc. and can carry out high-precision angle and detect by angular-rate sensor being installed and is supported on the rigidity height, being difficult on the transmission case of vibration.

Description of drawings

Fig. 1 is the unitary side view of rice transplanter.

Fig. 2 is the whole vertical view of rice transplanter.

Fig. 3 is the rearview during from body forward observation seedling-planting device.

Fig. 4 is the longitudinal sectional view that waves driving mechanism.

Fig. 5 is the block diagram of expression control system integral body.

Fig. 6 is the block diagram that waves control system.

Fig. 7 is the flow chart that waves control system.

Fig. 8 is the flow chart that waves boundary control.

Fig. 9 is expression lifting and the flow chart that waves the relevant action of control.

Figure 10 is the accompanying drawing of the relation of potentiometer, rising and decline control valve, hydraulic cylinder, inclination sensor, inclination setting apparatus and the electro-motor of expression the 1st embodiment.

Figure 11 is expression the 1st, 2,3 setting-up times, the 1st, 2,3 setting operation signals, and the accompanying drawing of the relation of the 1st, 2,3 moving averages.

Figure 12 waves the accompanying drawing of the flow process of control for expression.

Figure 13 for expression from the control device accompanying drawing of the relation of the differential seat angle under the state of output duty cycle and dutycycle intactly.

Figure 14 is the accompanying drawing of the relation of differential seat angle under the state of the dutycycle of expression after the control device output revisal and dutycycle.

Figure 15 is the end view of the seedling-planting device of the 2nd embodiment.

Figure 16 is the rearview of expression inclination angle testing agency mounting structure.

Figure 17 is the exploded perspective view of inclination angle testing agency mounting structure.

Figure 18 is the unitary side view of the rice transplanter of the 3rd embodiment.

Figure 19 is the place ahead front view of seedling-planting device.

Figure 20 is the end view of seedling-planting device.

Figure 21 is the end view of the supporting construction of expression whole ground floating drum and rice shoot mounting table bottom.

Figure 22 is the transverse sectional view of depth of planting adjusting rod.

Figure 23 adjusts the front view of preceding mud slinger for the expression profile.

Figure 24 is the vertical profile end view of the top mounting structure of expression mud slinger.

Figure 25 is the vertical profile end view of the bottom mounting structure of expression mud slinger.

Figure 26 is the place ahead front view of seedling-planting device that the mud slinger of other embodiment has been installed.

Embodiment

Fig. 1 is that its vertical view is shown in Fig. 2 as the end view of the riding type rice transplanter that has fertilizer apparatus of an example of agricultural working machine involved in the present invention.The structure of this riding type rice transplanter is, rear portion at the body 3 that travels that possesses front-wheel 1 and trailing wheel 2, can four wheel drive travels, lifting links freely via the linkage 4 of parallel four-bar linkage structure the seedling-planting device of four seedling road specifications (apparatus for work) 5, be equipped with fertilizer apparatus 6 at After-Body, and about front part of a body, possesses preparation rice shoot mounting table 7, swing up and down by driving aforementioned link mechanism 4, can control seedling-planting device 5 liftings with hydraulic cylinder 8.Seedling-planting device 5 waves on the rearward end that is attached at linkage 4 freely around fore-and-aft direction fulcrum X, and seedling-planting device 5 by linkage 4 upper rear end possessed waves driving mechanism 9 and be driven according to mode described later and wave.

The front portion that engine 10 carries at the above-mentioned body 3 that travels, but its output is delivered on the infinite variable speed Hyaulic infinite variable speed mechanism in forward-reverse ground (HST) 11 stepless speed change devices such as grade, its speed change is input to gearbox 12, undertaken after the gear graduation by not shown secondary speed-changing device, be delivered to be supported on the gearbox 12 about front-wheel 1, and the driving system power that rearward takes out from gearbox 12 is delivered to rear portion transmission case 14 via power transmission shaft 13, and be delivered to be supported on the rear portion transmission case 14 about trailing wheel 2.Be delivered to forward rotation masterpiece in the speed change power output of gearbox 12 from Hyaulic infinite variable speed mechanism 11 and be operation with power and branch, speed change gear has carried out after the gear graduation between the interior not shown strain that is contained in the gearbox 12, take out from the rear of gearbox 12, be delivered to seedling-planting device 5 via power transmission shaft 15 and flexible power transmission shaft 16.

As Fig. 2, shown in Figure 3, above-mentioned seedling-planting device 5 comprises: the framework 21 of planting of the square tube of growing crosswise shape, accept the operation of taking out from the body 3 of travelling and present case 22 with power, with the rice shoot mounting table 23 that moves back and forth about certain stroke, eight groups rotary planting mechanism 24, and four planting boxes 25 that about the rear portion, possess two above-mentioned planting mechanisms 24 respectively, the position of planting of field face T is become smooth five whole ground floating drums 26 etc. wholely.

The whole ground floating drum of the central authorities in five whole ground floating drums 26 that are equipped with side by side is used to detect the grounding sensor SF of seedling-planting device 5 with respect to the height of field face T.As shown in Figure 5, electrically detect the swing up and down displacement of above-mentioned grounding sensor SF by potentiometer 27 around rear portion fulcrum b, it detects information input controller 28 and carries out calculation process, electromagnetic type control valve 29 actions of the action by being used in above-mentioned hydraulic cylinder 8 make that grounding sensor SF's swing up and down posture for setting posture, the height dimension of seedling-planting device 5 with respect to field face T is held in necessarily, carries out and keep the stable automatic depth of planting control of the depth of planting.

As shown in Figure 4, wave driving mechanism 9 by can be around front and back towards fulcrum x be supported on with swinging and wave driver part 51 on the carriage 50 of the upper rear end that is linked to linkage 4, and constitute via the electro-motor 53 (example of actuator) that gear reduction 52 drives its swings.As shown in Figure 3, carriage 55 transverse strands are located at the upper end of the upright pillar of establishing 51 from about the above-mentioned framework 21 of planting, be installed in guide member 56 on the position, the left and right sides of this carriage 55 and be fastened on the double as reinforced bulkhead and laterally set up on the guide rail 57 at the back that is attached at rice shoot mounting table 23, the top of rice shoot mounting table 23 can be stuck to move left and right guiding.Above-mentionedly wave the top free end of driver part 51 and the position, the left and right sides of above-mentioned carriage 55 links together via general spring 58.

According to this structure, seedling-planting device 5 via general spring 58 can the regulation among a small circle in freedom unsteadily with respect to waving driver part 51 resiliency supported, under the state of seedling-planting device 5 via whole ground floating drum 26 and field face T ground connection, body 3 more or less tilts even travel, seedling-planting device 5 also can be in elasticity scope in one's power thereupon with field face T ground connection.

The electro-motor 53 that waves driving mechanism 9 is based on from the detection information control of the inclination angle described later testing agency of being equipped on the seedling-planting device 5 and move, body 3 tilts because of the concavo-convex grade of ploughing dish even travel, seedling-planting device 5 also tilts, seedling-planting device 5 also is controlled so as to its direction that tilts to recover is waved, and all-the-time stable maintain setting wave posture (being generally level), therefore, carry out on the depth of planting that each planting mechanism 24 carries out difference planting seldom.Above-mentioned swing position of waving driver part 51 is detected by potentiometer 60, when waving the swing position of driver part 51 arrival settings, electro-motor 53 energising control makes and waves driver part 51 and maintain its swing position, and the hunting range of waving driver part 51 is restricted.

The position, the left and right sides of the above-mentioned guide rail 57 on the back side of the above-mentioned carriage 50 of the upper rear end that is linked to linkage 4 and rice shoot mounting table 23 has been set up and has been recovered with spring 59, by laterally moving of rice shoot mounting table 23, the recovery of moving direction one side uses spring 59 to extend, by recovering to bring correction along with the laterally rotation of the direction of waving the destruction of using fulcrum X weight balancing on every side of mobile generation of rice shoot mounting table with spring 59.

Mechanism as the angle of inclination of the left and right directions that detects seedling-planting device 5, utilized the angular transducer 61 of gravity type, with the angular-rate sensor 62 of the oscillation gyro type of the angular speed that detects left and right directions, be installed near the framework 21 of planting the fulcrum X that waves usefulness.Shown in the control block diagram of Fig. 6, be input to above-mentioned control device 28 from the detection signal of two sensors 61,62, calculate in the following manner and be used to control the detection tilt angle theta that seedling-planting device 5 waves, carry out and wave control.

The detected value θ g of above-mentioned angular transducer 61 feeds low pass filter 63 and only obtains its low-frequency component, and, the detected value e of angular-rate sensor 62 carries out integrated after by high-pass filter 64, calculate the inclination angle, this operation values and then feed high-pass filter 65 and only obtain its radio-frequency component, the tilt angle theta 1 of the low-frequency component that the detected value θ g based on angular transducer 61 is obtained then, add with the tilt angle theta 2 of the radio-frequency component of obtaining based on detected value e, should be worth as detecting tilt angle theta from angular-rate sensor 62.

In addition, owing to disturb and be removed because of the part of the radio-frequency component of the smoothness properties detection signal of gravity type sensor self becomes from the detected value θ g of angular transducer 61, so import the corresponding high-pass filter of characteristic of characteristic and angular transducer 61 in order to replenish this radio-frequency component of removing.And the property settings of high-pass filter 65 becomes to replenish the radio-frequency component of being removed by low pass filter 63.

Promptly, when seedling-planting device 5 tilts rapidly, wait the interference that causes owing in detected value θ g, contain vibration, and under the influence of inertia, export reciprocal signal, so the value that will remove behind the radio-frequency component that comprises above-mentioned factor obtains as tilt angle theta 1 from angular transducer 61.And, in order to replenish the radio-frequency component removed after the change of inclination angle, add the tilt angle theta 2 of counting the radio-frequency component that the detected value e computing based on angular-rate sensor 62 obtains in, calculate the detection tilt angle theta by good as a whole response and high accuracy.

The detection tilt angle theta of calculating like this compares computing with the target tilt angle theta of being set by angle of inclination setting apparatus 66 0, when both deviations | θ 0-θ | during the insensitive band ε that sets greater than input in advance, electro-motor 53 is switched on and is controlled to above-mentioned deviation and is converged in the insensitive band.Thereby seedling-planting device 5 stably maintains target tilt angle theta 0.

In addition, in rice transplanter, because all basically field face T are levels, so by setting above-mentioned target tilt angle theta 0 for level, seedling-planting device 5 can be maintained with field face T parallel flat-hand position, make the depth of planting in all seedling roads even, but on ridge, in the operation of planting at the ridge place in the paddy field that field face T tilts, by adjusting angle of inclination setting apparatus 66, the inclination that target tilt angle theta 0 is adjusted to field face T is complementary, and parallel the planting of field face T that can carry out and tilt realizes depth of planting homogenising.

The driver 70 of above-mentioned electro-motor 53 constitutes based on from the instruction of control device 28 drive current of electro-motor 53 being carried out dutycycle control.Shown in the flow chart of Fig. 7, deviation according to above-mentioned detection tilt angle theta that calculates and target tilt angle theta 0 | θ 0-θ | big or small computing drive output duty cycle T1 (S01, S02), it is big more to drive output duty cycle T1, and the magnitude of current that flows through electro-motor 53 is just big more.Wherein, the maximum that drives output duty cycle T1 is predefined, does not make excessive electric current flow into CD-ROM drive motor 53 or driver 70.

According to from the detected value of the above-mentioned potentiometer 60 change speed with respect to the driving output duty cycle that calculates, the driving load (load torque) of inferring CD-ROM drive motor 53 (S03).That is to say, in the driving under certain magnitude of current, the translational speed of waving driver part 51 is more little, and it is big more to drive load, by in the view data be benchmark in the future the change speed of the detected value of self-potential 60 compare with driving output duty cycle T1, infer the driving load of electro-motor 53.

Differentiate the driving load of inferring out and whether be positioned at predefined permissible range (S04), when reaching the boundary of permissible range, have precedence over according to target tilt angle theta 0 and the deviation that detects tilt angle theta | θ 0-θ | the above-mentioned driving output duty cycle T1 that calculates of size, driving output duty cycle T1 ' energising control electro-motor 53 by keeping the boundary value that drives load (S05, S06).Compare (S07) when being lower than ormal weight (hysteresis) with the boundary of permissible range when recognizing the driving load of inferring, return to according to target tilt angle theta 0 and the deviation that detects tilt angle theta | θ 0-θ | the driving output duty cycle T1 that calculates of size to the common state of a control of CD-ROM drive motor 53 energisings.

Shown in the flow chart of Fig. 8, when waving driver part 51 when arriving the left of predefined actuating range or right-hand boundary, information based on potentiometer 60 detects this situation, before the rocking action instruction of sending return action scope direction,, maintain limit positions will wave driver part 51 to electro-motor 53 control of switching on.

Shown in the flow chart of Fig. 9, the seedling-planting device 5 that rises to the upper limit is dropped under the situation of field face T, even the operation person sends the decline instruction and begins to descend, can not carry out immediately yet and wave control, detect before grounding sensor SF touched field face T changing according to the output of potentiometer 27, wave driver part 51 and keep the position that descends when beginning, seedling-planting device 5 descends while the posture of keeping when descending beginning, when grounding sensor SF touches field face T, when on potentiometer 27, producing the output variation, judge seedling-planting device 5 ground connection, carry out the common control of waving after this.

In the body direction conversion at ridge place etc., the climb command of sending based on the operation person at seedling-planting device 5 and when forcing to rise, waving control carries out linkage 4 and rises to the upper limit, till upper limit limit switch 30 is connected, even, rise while seedling-planting device 5 is also kept flat-hand position because of the left and right sides weight balancing of the seedling-planting devices 5 such as consumption situation that are placed on the rice shoot on the rice shoot mounting table 23 destroys.Arrive in limited time detecting according to upper limit limit switch 30, control valve 29 automatically carries out neutrality and recovers to control, and the rising of seedling-planting device 5 stops, and waves control simultaneously and also stops.In addition, the seedling-planting device 5 of the arrival upper limit is parallel posture because of mechanically being fixed on respect to the body 3 that travels with linkage 4 butts, at will waves in having prevented to travel.

In addition, in the above-described embodiment,, can on the output shaft of electro-motor 53 etc., equip torque sensor, directly detect the driving load torque as the mechanism of the driving load that detects electro-motor 53.

[the 1st embodiment]

In the related working in paddy field of present embodiment, as shown in figure 10, the rear portion of the ground connection floating drum 26 of central authorities swingingly is supported around the transverse axis core b of seedling-planting device 5 easy on and off, possess and detect the potentiometer 27 of central ground connection floating drum 26 with respect to the height of seedling-planting device 5, the detected value of potentiometer 27 is input to control device 28.Along with advancing of body, central authorities ground connection floating drum 26 always with field face ground connection, detect the height of the ground connection floating drum 26 of central authorities by detected value, can detect height from field face (the ground connection floating drums 26 of central authorities) to seedling-planting device 5 with respect to seedling-planting device 5 according to potentiometer 27.

As shown in figure 10, possess the rising control valve 29a that supplies with action oil to hydraulic cylinder 8, and from the decline control valve 29b of hydraulic cylinder 8 discharging operation oil, rise and decline control valve 29a, 29b according to the manipulation signal of control device 28.When action oil supplies to hydraulic cylinder 8 by rising control valve 29a, hydraulic cylinder 8 contractive action, seedling-planting device 5 rises, when action oil by decline control valve 29b when hydraulic cylinder 8 is discharged, hydraulic cylinder 8 elongation actions, seedling-planting device 5 declines.

As shown in figure 10, rising control valve 29a free operant is to supply position and these two positions of blocking position of action oil, constitute solenoid operated, decline control valve 29b free operant constitutes solenoid operated to oil extraction position and these two positions of blocking position of action oil.Rise and decline control valve 29a, 29b travel to and fro between the dutycycle control of supplying with position (drain position) and blocking position operation at high speed, by change with respect to the unit interval operate the time of supplying with position (drain position) ratio, be dutycycle, can change the flow (flow of the action oil of discharging from decline control valve 29b) of the action oil of supplying with from rising control valve 29a.

In this case, dutycycle is set by control device 28, operation signal (dutycycle) by control device 28, rise and decline control valve 29a, 29b travel to and fro between at a high speed with supplying with position (drain position) and blocking position and be operated, rise and the flow-control of the action oil of decline control valve 29a, 29b.

As shown in figure 10, based on the ground connection floating drum 26 of central authorities height (height) from field face (the ground connection floating drums 26 of central authorities) to seedling-planting device 5 with respect to seedling-planting device 5, operation signal (dutycycle) operation by control device 28 is risen and decline control valve 29a, 29b, seedling-planting device 5 is maintained height from field face setting (detected value of potentiometer 60 (the ground connection floating drum 26 of potentiometer 27 and central authorities between the upper and lower every) is maintained setting value), hydraulic cylinder 8 expanding-contracting actions, seedling-planting device 5 lifting automatically (above is that automatic lifting is controlled).

In this case, rise and the flow-control of the action oil of decline control valve 29a, 29b so that seedling-planting device 5 departs from setting height is big more, in the hydraulic cylinder 8 for the flow of the action oil of row's operation just big more (hydraulic cylinder 8 is expanding-contracting action at high speed).

Below, the structure of waving of seedling-planting device 5 is illustrated.As shown in figure 10, carry out being repeated at a high speed the dutycycle control of supply condition and halted state operation from the electric current that control device 28 supplies to electro-motor 53 (example of actuator).Time by changing supply condition with respect to the ratio of unit interval, be dutycycle T1, (dutycycle T1 is big more can to change the current value that supplies to electro-motor 53, current value is big more, and the responsiveness of electro-motor 53 is big more), can control the responsiveness of electro-motor 53.

In this case, under the state continuum of states that stops, being in the halted state of electro-motor 53 at dutycycle T1 (0%), is under the condition of supplying continuum of states in dutycycle (100%), is in the state that electro-motor 53 at full throttle moves.When dutycycle T1 be on the occasion of the time, electro-motor 53 moves to positive veer, for example driving seedling-planting device 5 waves to the direction that is viewed as the bottom right from the rear, when dutycycle T1 is negative value, electro-motor 53 for example drives seedling-planting device 5 and waves to the direction that is viewed as the lower-left from the rear to the reverse directions action.

Below, the first half that waves control (being equivalent to ability of posture control mechanism) that control device 28 is possessed is illustrated.

As shown in figure 10, detect seedling-planting device 5 with respect to level to the left and right the inclination sensor 61 of the tilt angle theta of direction be attached on the support frame 87, the detected value of inclination sensor 61 is input to control device 28.Possesses setting with respect to the level inclination setting apparatus 90 at the angle of inclination of direction to the left and right, the setting value input control device 28 of inclination setting apparatus 42, by operator's manual operation inclination setting apparatus 42, the seedling-planting device 5 that should the keep level tilt angle theta of direction is to the left and right set as target tilt angle theta 0 (being equivalent to prescribed form).

As shown in figure 12, when the action of waving control, through detecting tilt angle theta and input control device 28 (step S1) each blink.When detecting a tilt angle theta, in control device 28, calculate the differential seat angle B1 (step S2) of tilt angle theta and target tilt angle theta 0, set dutycycle T1 (operation signal that is equivalent to ability of posture control mechanism) (step S3) according to differential seat angle B1, calculate the quadratic power (step S4) of dutycycle T1.

In this case, shown in the solid line of Fig. 3, when differential seat angle B1 be on the occasion of the time, for example being judged as, seedling-planting device 5 is the state of lower-left with respect to target tilt angle theta 0, setting makes the positive dutycycle T1 of electro-motor 53 to positive veer action, waves to the direction that is viewed as the bottom right from the rear to drive seedling-planting device 5.On the contrary, when differential seat angle B1 is negative value, for example be judged as that seedling-planting device 5 is the state of bottom right with respect to target tilt angle theta 0, set and make the negative dutycycle T1 of electro-motor 53, wave to the direction that is viewed as the lower-left from the rear to drive seedling-planting device 5 to the reverse directions action.Set the approaching more zero dutycycle T1 of differential seat angle B1 for more near 0%, and the absolute value of setting differential seat angle B1 for the absolute value just big more (absolute value of the maximum of dutycycle T1 is 100%) of big space rate T1 more.

As shown in figure 12, when calculating the quadratic power of dutycycle T1 (step S4), with the current time (detecting current time) of setting this dutycycle T1 corresponding to the tilt angle theta of dutycycle T1 as benchmark, calculate the 1st moving average C1 (being equivalent to mean value) of the quadratic power of dutycycle T1, the 2nd moving average C2 (being equivalent to mean value) of the quadratic power of dutycycle T1, and the 3rd moving average C3 (being equivalent to mean value) of the quadratic power of dutycycle T1 (step S5, S7, S9).

In this case, as shown in figure 11, set the 1st setting-up time D1 (being equivalent to setting-up time), the 2nd setting-up time D2 (being equivalent to setting-up time), and the 3rd setting-up time D3 (being equivalent to setting-up time) (magnitude relationship of D3＞D2＞D1), with current time and only pass by the mean value of quadratic power of a plurality of dutycycle T1 between the 1st setting-up time D1 and calculated as the 1st moving average C1.Equally, with current time and only pass by the mean value of quadratic power of a plurality of dutycycle T1 between the 2nd setting-up time D1 and calculated as the 2nd moving average C2, with current time and only pass by the mean value of quadratic power of a plurality of dutycycle T1 between the 3rd setting-up time D3 and calculated (step S5 as the 3rd moving average C3, S7, S9).

As shown in figure 11, set the 1st setting operation signal CA1 (being equivalent to the setting operation signal) with respect to the 1st setting-up time D1, set the 2nd setting operation signal CA2 (being equivalent to the setting operation signal) with respect to the 2nd setting-up time D2, set the 3rd setting operation signal CA3 (being equivalent to the setting operation signal) with respect to the 3rd setting-up time D3.In this case, in the 1st, 2,3 setting operation signal CA1, CA2, CA3, (the 1st setting operation signal CA1 is set in high speed motion one side to be set as the magnitude relationship of CA1＞CA2＞CA3, the 2nd setting operation signal CA2 is set in middling speed and moves a side, and the 3rd setting operation signal CA3 is set in low speed and moves a side).

So, at the 1st moving average C1 be (low speed move a side) (step S6) below the 1st setting operation signal CA1, the 2nd moving average C2 is the 2nd setting operation signal CA2 following (low speed move a side) (step S8), and when the 3rd moving average C3 is the 3rd setting operation signal CA3 following (low speed move a side) (step S10), based on Figure 13, dutycycle T1 intactly outputs to electro-motor 53 (step S11) from control device 28, electro-motor 53 is with the responsiveness action based on dutycycle T1, and seedling-planting device 5 tilt angle theta of direction to the left and right maintains target tilt angle theta 0 (being equivalent to suppress the halted state of mechanism).

Below, the latter half that waves control (being equivalent to ability of posture control mechanism) that control device 28 is possessed is illustrated.

As shown in figure 12, (to high speed motion one side displacement time) (step S6) when the 1st moving average C1 surpasses the 1st setting operation signal CA1, perhaps (to high speed motion one side displacement time) (step S8) when the 2nd moving average C2 surpasses the 2nd setting operation signal CA2, perhaps (to high speed motion one side displacement time) (step S10) when the 3rd moving average C3 surpasses the 3rd setting operation signal CA3 transfers to step S12.

In step S12, shown in the solid line of Figure 14, set lower higher limit TA1 with respect to dutycycle T1, dutycycle T1 based on the solid line of Figure 14 by revisal, output to electro-motor 53 (step S12) based on Figure 14 by the dutycycle T1 of control device 28 revisals, electro-motor 53 is with based on the action of the responsiveness of the dutycycle T1 after the revisal, and seedling-planting device 5 tilt angle theta of direction to the left and right maintains target tilt angle theta 0 (being equivalent to make with the low responsiveness of responsiveness than the operation signal of ability of posture control mechanism the operating state of the inhibition mechanism of actuator action).

In this case, as shown in figure 11, set the 1st bigger setting operation signal CA1 with respect to the 1st relatively shorter setting-up time D1, the 2nd setting-up time D2 with respect to the centre sets the 2nd middle setting operation signal CA2, sets the 3rd smaller setting operation signal CA3 with respect to the 3rd long setting-up time D3.

Even from the bigger dutycycle T1 of control device 28 outputs, as long as this state is temporary transient, the heating that then can judge electro-motor 53 just can very big (load that is applied on the electro-motor 53 be not too large), so set the 1st bigger setting operation signal CA1 with respect to the 1st relatively shorter setting-up time D1.So, prevented in the 1st relatively shorter setting-up time D1, only owing to promptly transfer to this state of step S12 from the bigger dutycycle T1 of control device 28 temporary transient outputs.

On the contrary, even from the smaller dutycycle T1 of control device 28 outputs, because if this state continuance is long-time, the calorific value that then can be judged as electro-motor 53 increases (load that is applied on the electro-motor 53 increases), so set the 3rd smaller setting operation signal CA3 with respect to the 3rd long setting-up time D3.So, prevented in the 3rd long setting-up time D3 that from the smaller dutycycle T1 of control device 28 long-time outputs, the calorific value of electro-motor 53 increases (load that is applied on the electro-motor 53 increases) this state.

The step S1 of Figure 12～S12 is passing through the stipulated time and is carrying out when promptly detecting tilt angle theta and being input to control device 28 according to every at every turn.So, promptly transfer to step S11, detect next tilt angle theta, transfer to the state of step S12 by the 1st, 2,3 moving average C1, C2, C3 but also exist even detect a tilt angle theta.On the contrary, promptly transfer to step S12 even detect a tilt angle theta, detect next tilt angle theta but also exist, to transfer to the state (operation signal that is equivalent to ability of posture control mechanism surpasses and suppresses the state that mechanism stops when the setting operation signal is displaced to low speed and moves a side) of step S11 by the 1st, 2,3 moving average C1, C2, C3.

In addition, also can constitute in the step S12 of above-mentioned Figure 12 not realization revisal dutycycle T1 based on Figure 14, in the step S12 of Figure 12, dutycycle T1 is intactly from control device 28 outputs, by suppressing electric current at control device 28 and the electro-motor 53 middle current control devices (being equivalent to controlling organization) (not shown) that possessed.

In aforesaid [embodiment], can also constitute and replace electro-motor 53 and use hydraulic cylinder (being equivalent to actuator) (not shown), and possess the oily control valve that supplies, arranges the solenoid operated of operating hydraulic cylinder of action, the electric current that supplies to control valve is carried out dutycycle control.

[the 2nd embodiment]

In the above-described embodiment, the angle of inclination testing result is preferably by following setting.Promptly, shown in Figure 15～17, be equipped with angular transducer 61 and angular-rate sensor 62, the transverse strands establishing has the support frame 87 of the tubular of growing crosswise on the paddy-field-working device, the operation that transmission is derived from the body that travels is attached on the support frame 87 with the transmission case 14 of power, and with angular transducer 61 and angular-rate sensor 62 installations and be supported near the waving the fulcrum of support frame 87.

Specifically, binding is fixed with the carriage 82 that is used for sensor installation on the upper surface of above-mentioned transmission case 14, and angular-rate sensor 62 and angular transducer are installed on this carriage 82.Carriage 82 constitutes the high rigid element that steel plate is flexed into the case shape that opens wide backward, and its base plate 82a is securely fixed on the upper surface of transmission case 14 by pair of bolts 83.Above-mentioned angular-rate sensor 62 is fixed on the back side of the preceding board 82b on this carriage 82 by 84 bindings of two bolts, and angular transducer 61 is fixed on the outside of another side plate 82c on the carriage 82 with the prescribed form binding by an alignment pin 85 and a bolts 86.The installing hole that is formed on the base plate 82a of carriage 82 is bigger slightly than the diameter of bolt, and the mounting position of carriage 82 is finely tuned, and the inductive axis of angular-rate sensor 62 can be felt at ease and dress up correctly towards the body fore-and-aft direction.

Though angular-rate sensor 62 does not have the detection of hysteresis, because response is higher, wait interference so also sense vibration sensitively, take detection signal is added on the filter to remove the countermeasure of signal not.But, as mentioned above, by angular-rate sensor 62 being installed in the rigidity height, being difficult on the transmission case 14 of vibration, can not can the induction of flase drop geodetic, need not filter process etc. and can carry out high-precision angle and detect.In this case, also can in Figure 12, omit low pass filter 63 and high-pass filter 64.

And angular transducer and angular-rate sensor also can be installed on the support frame 84.Support frame 84 firmly constitutes for the various device that supports transmission case 14 operations such as grade and use or structure.Therefore, on the support frame 14 of the rigidity height is installed and be supported on to angular-rate sensor 62, being difficult for vibrating, the influence of the hard to bear vibration of energy is responded to lessly.

[the 3rd embodiment]

Figure 18 and Figure 19 illustrate the riding type rice transplanter that has fertilizer apparatus as an example of working in paddy field involved in the present invention.This riding type rice transplanter constitutes 6 hedge planting road specifications, possessing front-wheel 1 and trailing wheel 2, the rear portion of the body 3 that travels of four-wheel driving type, be equipped with the lifting linking member mechanism 4 of the parallel four-bar linkage structure that drives by hydraulic cylinder 8, seedling-planting device 5 around front and back towards fulcrum x wave freely and to link the rear end lower that is supported on this lifting linking member mechanism 4, and be equipped with fertilizer apparatus 6 at the rear portion of the body 3 that travels.

Above-mentioned seedling-planting device 5 comprises: place the pad form rice shoot of 6 amounts and the rice shoot mounting table 23 that back and forth laterally moves with certain stroke, cut out the rice shoot of a strain amount from the lower end of this rice shoot mounting table 23 and be planted in 6 groups of revolving planting mechanisms 24 the face T of field, make position leveling ground three the whole ground floating drums 26 of configuration side by side of planting of field face T, and the pair of right and left scriber 31 etc. that on the face T of field, forms the datum line that travels of next stroke.

The preceding side lower part on the seedling-planting device 5 be equipped with the aluminium extrusion molding is formed about the framework 21 of planting of long square tube shape, this framework 21 of planting waves the rear end lower that is attached at above-mentioned lifting linking member mechanism 4 freely via presenting case 22.Accept from the power of the body 3 that travels present case 22 be attached at the framework 21 of planting about near the central authorities, and planting box 25 with support to back single-arm shape be attached at framework 21 back of planting about four positions, above-mentioned planting mechanism 24 is installed in the two ends, the left and right sides of the driving shaft 32 of planting that laterally sets up on the rearward end ground that connects each planting box 25.

On planting mechanism 24, possess: link the end be fixed on the above-mentioned driving shaft 32 of planting, with the rotary box 33 of the driving shaft 32 one rotation of planting, and can on each pawl case 34, be equipped with plant pawl 35 and rice shoot pushing piece 36 around the pawl case 34 of transverse axis heart rotation ground pivotal support lateral outer side at both ends on this rotary box 33.

Revolve to turn around and link with the constant speed direction of rotation (being counter clockwise direction in Figure 18) of marching forward under the effect of the driving shaft 32 of planting with rotary box 33, pawl case 34 under the interior effect that is contained in the variable speed gear drive (not shown) in the rotary box 33 with variable speed to opposite spin one circle, so, the pawl 35 of planting circulates mobile in the mode of drawing from the rice shoot conveying end of rice shoot mounting table 23 lower ends to the front end rotary motion trace S of the lengthwise of field face T.The rice shoot that will cut out from the lower end of rice shoot mounting table 23 and keep at the pawl 35 of planting takes the moment on the face T of field to, and rice shoot pushing piece 36 moves highlightedly to the pawl front side, and the rice shoot that keeps is separated and inserts the ground from the pawl 35 of planting.

Shown in Figure 20,21, position above planting box 25, transverse strands is provided with slide rail 38, and this slide rail 38 bears and supports the bottom of rice shoot mounting table 23, and it is horizontally slipped freely.This slide rail 38 via guide rod 39 can the incline direction top offset of rice shoot mounting table 23 be supported, by slide rail 38 is carried out position adjustments, rice shoot mounting table 23 is moved up and down with respect to front end rotary motion trace S, can change and regulate the rice shoot taking-up amount of the pawl 35 of planting.The position adjustments of slide rail 38 adopts the rice shoot taking-up amount adjusting rod 40 around fulcrum a swinging operation, by the rice shoot taking-up amount adjusting rod after the oscillation adjustment 40 card is ended on the recess 42 of the bar guide 41 that is possessed on the framework 21 of planting, slide rail 38 is fixedly remained on arbitrarily on the adjusting position.

Lower front at planting box 25 flatly is equipped with floating drum fulcrum shaft 43, and above-mentioned whole ground floating drum 26 can link the rear end that is supported on from this floating drum fulcrum shaft 43 outstanding three groups of floating drum support arms 44 that are provided with towards the rear respectively around fulcrum b with swinging up and down.Operate and swing by the depth of planting adjusting rod 45 that extends to the front upper place from floating drum fulcrum shaft 43 around the floating drum support arm 44 that fulcrum c freely swings integratedly with floating drum fulcrum shaft 43, by floating drum support arm 44 is moved upward, the front end rotary motion trace S of pawl 35 of planting descends with respect to field face T, the depth of planting is deepened, and when making floating drum support arm 44 mobile downwards, above-mentioned front end rotary motion trace S rises with respect to field face T, and the depth of planting shoals.Depth of planting adjusting rod 45 only can block on the recess 46 of above-mentioned rail guidance device 41 and fixedly remain on adjusting position arbitrarily.In addition, as shown in figure 22, depth of planting adjusting rod 45 is to be flexed into the sheet material that the cross section is the コ font, with respect to the bending strength height of swinging operation direction, can block the ground connection load that ends and support all whole ground floating drums 26 securely.

The operation of taking out from the body 3 that travels is delivered to the above-mentioned case 22 of presenting with power via flexible power transmission shaft 16, be delivered under this dynamic action of presenting case 22, rice shoot mounting table 23 is driven and lateral transfer, and at each stroke terminal, the rice shoot conveyer belt 47 that driving rice shoot mounting table 23 is possessed is carried with certain spacing.Be input to the front portion of each planting box 25 from the transverse axis power of presenting case 22 taking-ups.

The upright pillar 54 that is provided with from about the framework 14 of planting, possess a plurality of deflector rolls 56 on the transverse frame 55 that is fixed on this pillar 54 setting up, these deflector rolls 56 are fastened on the guiding frame 57 that laterally sets up the top rear face that is attached at rice shoot mounting table 23, bear and support the top of the rice shoot mounting table 23 that maintains forward lean, make its can move left and right, move up and down.

Above the rear end of above-mentioned lifting linking member mechanism 4, be provided with yaw drive 81.Set up buffer spring 58 at operation cable 58 with the position, the left and right sides of above-mentioned transverse frame 55 from the lateral outer side derivation to the left and right of this yaw drive 81, by under the effect of electro-motor 47 to about operation cable 56 operate it come in and gone out on the contrary, the integral body that drives seedling-planting device 5 around front and back towards fulcrum P swing.Yaw drive 81 connects on the not shown inclination sensor that tilts that is stuck in detection seedling-planting device 5, when fluctuating or concavo-convex tilt of body 3 of travelling because of ploughing, when seedling-planting device 5 is followed, this situation is detected by inclination sensor, control electro-motor 47 moves, and seedling-planting device 5 is controlled to returns to the left and right horizontal posture.In addition, owing between yaw drive 81 and seedling-planting device 5, set up buffer spring 58, even so state that stops for action in yaw drive 81, seedling-planting device 5 also can be while making the free rocking action of buffer spring 58 distortion, body 3 more or less tilts even travel, and seedling-planting device 5 also can keep and field face T ground connection.

Balancing spring 59 has been set up at position, the left and right sides at the guiding frame 57 at the upper rear end of lifting linking member mechanism 4 and rice shoot mounting table back.Horizontal when mobile at rice shoot mounting table 23, balancing spring 59 elongations of an opposite side with its moving direction, the nosing force that spring tension produces is attached on the seedling-planting device 5, has prevented that automatically seedling-planting device 5 from tilting because of the variation of laterally moving the weight balancing that is produced of rice shoot mounting table 23.

Scriber 31 can rise and fall and swingingly be installed in the left and right end portions of the framework 21 of planting, support to swingably and can between effect posture of giving prominence to and the folding and unfolding posture that erects, switch, and the switching of above-mentioned two postures is undertaken by forward and reverse action of electro-motor 48 to lateral outer side.

Above-mentioned fertilizer apparatus 6 carries on the body 3 that travelling in the driver seat 37 and the mode between the above-mentioned seedling-planting device 5 at the rear portion that is provided in the body 3 that travels with major part, comprise: the fertiliser bucket 71 that stores the fertilizer of powder shape, send the rotary delivering mechanism 72 of the fertilizer in this fertiliser bucket 71, the fertilizer sent is transported to the electric blower 75 of the plough 74 that each whole ground floating drum 26 of seedling-planting device 5 possessed via supply pipe 73 with wind-force, and will distributes that to supply to two be the air-supply passage 76 etc. of three delivering mechanisms 72 disposing side by side of unit from the conveying wind of electric blower 75.

In the front portion of the seedling-planting device 5 that constitutes as mentioned above, the pair of right and left mud slinger 79 that blocks the mud of rearward upspringing from trailing wheel 2 is installed.This mud slinger 79 is to form tabular to the resin material blow molding, as shown in figure 24, on above-mentioned transverse frame 55, and the position, the left and right sides of mud slinger 79 bottoms utilizes the in-and-out bolt 78 that planting box 25 is linked on the framework 21 of planting fastening together via carriage 77 bolted at the position, the left and right sides of upper end.In addition, to be fastened to along the cross section that the framework 21 of planting is equipped be in the receiving plate 54 of L font to above-mentioned in-and-out bolt 78.

Each mud slinger 79 is opposed from rear and trailing wheel 2, form from about the front end of whole ground floating drum (side float) 10 near till the high position above the rear axis x above-below direction longer, and the wide cut of the whole ground floating drum 26 about repeating to from the place ahead.Dispose the electro-motor 48 of scriber 31 at the rear of the middle part up and down of mud slinger 79 79a.The mud of upspringing from trailing wheel 2 be blocked mostly from the 79a of middle part up and down of mud slinger 79 to below scope and flow down.

State is planted in surface planting below even whole ground floating drum 26 constitutes position adjustments, the lower end of mud slinger 79 also is positioned at the essentially identical height in upper end than the whole ground floating drum (side float) 10 that is positioned at its rear, preferably, prevent that the lower end of mud slinger 79 and the mud between the whole ground floating drum 26 from rearward dispersing than the low position, upper end of whole ground floating drum 26.

Peripheral position at each mud slinger 79 is formed with otch 80.Above-mentioned supply pipe 73 inserts in these otch 80, and card ends in the inboard of otch 80 under the effect of the elastic restoring force of pipe self, can the locality departs to move and be supported.In this case, also can replace otch 80 and form peristome, supply pipe 73 is inserted in these peristomes on the top of mud slinger 79.

About mud slinger 79 be to utilize the cover blank 79A of the left-right symmetry shape that goes out by identical die forming to make.On this cover blank 79A, be formed with thin-walled and cut off line h, cut off, can adjust its profile by cutting off line h along thin-walled, in this example, about mud slinger 79 be adjusted to about different shapes.

In the present embodiment, as mentioned above, the place ahead at above-mentioned paddy-field-working device, the mud slinger of the mud that the trailing wheel that blocks because of the body that travels is rearward dispersed is provided in near the top position of field face to rear axis, and this mud slinger is moved up and down with equidirectional along with the lifting of paddy-field-working device.

Therefore, for the paddy-field-working device is positioned at respect to the operation height of field face for regulation, in dark paddy field, make the paddy-field-working device and rise with respect to the body that travels, in shallow paddy field, make the paddy-field-working device and descend with respect to the body that travels, mud slinger is also along with the lifting of paddy-field-working device improves or decline.Therefore, regardless of the degree of depth in paddy field, mud slinger all can not be immersed in the paddy field from covering the top of rear axis near the face of field, stop because of the big up and down model C of trailing wheel and enclose the extending part, front that the mud that disperses adheres to and be deposited in the paddy-field-working device.

Therefore, can prevent from reliably to adhere to and be deposited on the paddy-field-working device because of mud that trailing wheel disperses up and down on a large scale towards the rear, can avoid mud attached on the sliding part and make its enhance faster wear, the resistance that perhaps moves increases and drives load and increase in possible trouble.Mud can thin attached to the mechanical device in the paddy-field-working device on, post-job cleaning is also easy.

And above-mentioned mud slinger is installed on the above-mentioned paddy-field-working device.Therefore, can mud slinger be moved up and down simply to equidirectional, can not can bring into play good desilt function because of mud slinger destroys face ground, field.

And, above-mentioned paddy-field-working device is to be equipped with the seedling-planting device that can regulate with respect to the whole ground floating drum of the height of planting mechanism, plant under the state for the surface planting below above-mentioned whole ground floating drum being adjusted to respect to planting mechanism, the lower end of above-mentioned mud slinger is positioned at the substantially the same position, upper end with the above-mentioned whole ground floating drum that is positioned at its rear.Therefore, even plant under the state in the surface planting of whole ground floating drum position adjustments below, also can prevent mud from the lower end of mud slinger with rearward disperse between the floating drum with putting in order, can irrespectively carry out suitable desilt with the depth of planting.

And above-mentioned mud slinger and trailing wheel are equipped with about opposed to each other a pair of.Therefore, by respectively with about the mud source (trailing wheel) of dispersing dispose mud slinger opposed to each other, even do not adopt whole the large-scale mud slinger that covers the paddy-field-working device can prevent effectively that mud from adhering to yet.

In above-mentioned [the 3rd embodiment], as shown in figure 26, under the situation that mud slinger 79 is formed widelyer, the depth of planting adjusting rod 45 as functional unit that insertion seedling-planting device 5 can be possessed is formed on the mud slinger 79 with the otch 57 of getting seedling amount adjusting rod 40.

And, also can replace the above-mentioned otch 57 that parts insert usefulness, the peristome that will be equivalent to bar guide 41 (recess 42) is formed on the mud slinger 79, and depth of planting adjusting rod 45 is inserted in this peristome to get seedling amount adjusting rod 40.

So, if form otch that parts passed through or the opening spread all over above-mentioned travel body and the outfit of above-mentioned paddy-field-working device ground, then can avoid spreading all over the travel parts such as tubing, lead class, cable class of body and the outfit of paddy-field-working device ground and at random be equipped with the big mud slinger of desilt area.

And, also above-mentioned mud slinger 79 can be installed on the rearward end of lifting linking member mechanism 4 and implement.

And extension is upward compared also on the top that also can constitute mud slinger 79 with guiding frame 57, cover guiding frames 57 by mud slinger 79.

And, in the seedling-planting device 5 that does not possess the framework 21 of planting, the bottom of mud slinger 79 can be attached at the front portion of presenting case 22 or planting box 25.

And, the rear guard 60 (with reference to Figure 18) that the mud slinger 79 that covers trailing wheel 2 from the rear is possessed from the rear portion, the left and right sides of the body 3 that travels extends near the face T of field, and make the lifting lifting in linkage of mud slinger 79 and seedling-planting device (paddy-field-working device) 5, make the lower end of mud slinger 79 can not be immersed in the position that is positioned at as close as possible field face T among the face T of field.

[other embodiments]

The present invention is not only applicable to drive the control of waving that apparatus for work waves around the axle center, front and back of body, is applicable to the lifting control that drives the apparatus for work lifting and maintain prescribed form yet.The present invention is not only applicable to riding type rice transplanter, also be applicable to rear portion, the lifting that is supported on body and wave freely wave tillage device agricultural tractor of (being equivalent to apparatus for work) and the Operation Vans such as combine that reaping part (being equivalent to apparatus for work) lifting are supported on freely the front portion of body.

And, though, except electro-motor, for example also can adopt hydraulic motor etc. to adopting electro-motor 53 to be illustrated as the example of actuator.

Claims (12)

1. the swing controlling device of a workover rig comprises:

Wave the apparatus for work (5) that is supported on freely on the body that travels,

Drive the actuator that waves of described apparatus for work,

The tilt detection mechanism at the angle of inclination (θ) of the body left and right directions that travels of detection apparatus for work;

Wherein, the operation signal of described actuator is by the testing result of described tilt detection mechanism and the Deviation Control of target angle of inclination (θ 0), and the angle that tilts (θ) that makes apparatus for work is near target angle of inclination (θ 0);

It is characterized in that,

Have the load detector structure of the driving load that detects described actuator and control described operation signal, make described driving load maintain protection mechanism in the setting range.

2. swing controlling device as claimed in claim 1 is characterized in that,

Described actuator is electro-motor (53), and described operation signal is the drive current of described electro-motor,

When the testing result of described load detector structure surpassed described setting range, described protection mechanism limited the output of described drive current to described electro-motor (53).

3. swing controlling device as claimed in claim 1 is characterized in that,

Described actuator is electro-motor (53), and the drive current of described electro-motor (53) is controlled by dutycycle, and possesses the sensor (60) of the operating position that waves driver part (51) that detection moves under the effect of described electro-motor;

Described load detector structure is based on the driving output duty cycle of the drive current of the described electro-motor of control (53) and the driving load that described shift in position of waving driver part (51) is inferred described electro-motor.

4. swing controlling device as claimed in claim 3 is characterized in that,

Set the described actuating range that waves driver part (51), detect the described driver part that waves when having arrived the boundary of described actuating range at described sensor (60), to electro-motor (53) control of switching on, maintain limit positions will wave driver part, up to the rocking action instruction of sending return action scope direction.

5. swing controlling device as claimed in claim 3 is characterized in that,

Limit the maximum of described driving output duty cycle.

6. the swing controlling device of a workover rig comprises:

Wave the apparatus for work (5) that is supported on freely on the body that travels,

Drive the actuator that waves of described apparatus for work,

The tilt detection mechanism at the angle of inclination of the body left and right directions that travels of detection apparatus for work, the output function signal makes described actuator action, described apparatus for work is maintained the ability of posture control mechanism at target angle of inclination;

Wherein, described ability of posture control mechanism with big more, the described actuator of deviation at the angle of inclination of described apparatus for work and target angle of inclination more with the mode output function signal of high-speed driving;

It is characterized in that,

Possess inhibition mechanism, when the operation signal of described ability of posture control mechanism surpasses the threshold value of regulation, drive described actuator with the operation signal of the low speed action side of the operation signal that is lower than the output of described ability of posture control mechanism.

7. swing controlling device as claimed in claim 6 is characterized in that,

When the operation signal of described ability of posture control mechanism was displaced to the low speed action side of the threshold value that is lower than regulation, described inhibition mechanism stopped.

8. swing controlling device as claimed in claim 6 is characterized in that,

With current time and the mean value that has only passed through the operation signal of the described ability of posture control mechanism between the setting-up time compare as the operation signal and the described threshold value of described ability of posture control mechanism.

9. swing controlling device as claimed in claim 8 is characterized in that,

The a plurality of described setting-up time of different length is set, and different a plurality of threshold values mutually is set according to each setting-up time,

The mean value and the corresponding threshold of the operation signal in each setting-up time are compared, when at least one operation signal is displaced to the high speed motion side above corresponding threshold, described inhibition mechanism action.

10. swing controlling device as claimed in claim 9 is characterized in that,

In described a plurality of setting-up times and threshold value, short more its threshold value of setting-up time of length is set in the high speed motion side more, and its threshold value of setting-up time that length is long more is set in low speed action side more.

11. as each described swing controlling device in the claim 6～10, it is characterized in that,

Described actuator is electro-motor (53), and the operation signal of described ability of posture control mechanism is the dutycycle when making the electric current that supplies to described electro-motor (53) variable by dutycycle control.

12. as claim 1 or 6 described swing controlling devices, it is characterized in that,

Described tilt detection mechanism has the angular-rate sensor (62) of the inclination angle speed of the angular transducer (61) at the angle of inclination of detecting left and right directions and detection left and right directions,

Be provided with the transmission case (14) of transmission from the operation usefulness power of the body derivation of travelling wave fulcrum in apparatus for work (5) near, described angular-rate sensor (62) is installed and is supported on this transmission case (14).

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