JP2006325521A - Working machine - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a working machine with which the rolling control of a seedling planting device is carried out while making floating seedlings caused by lateral inclination hardly occur in the seedling planting device. <P>SOLUTION: The working machine has a constitution that a control means 50 operates the rolling motor 41 of a rolling driving mechanism based on information detected by an inclination angle sensor 51 for detecting the lateral inclination angle of the seedling planting apparatus and an angular velocity sensor 52 for detecting the angular velocity of the lateral inclination of the seedling planting device and the rolling driving mechanism operates the rolling of the seedling planting device in a set attitude. When the detected values of the inclination angle sensor 51 and the angular velocity sensor 52 are off from a set dead zone, the control means 50 operates the vertical cylinder 5 and the vertical cylinder 5 operates the seedling planting device downward. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention includes a rolling drive mechanism for performing a rolling operation of the ground work device with respect to the traveling vehicle body, and a control means for operating the rolling drive mechanism so that the ground posture of the ground work device in the lateral direction of the machine body becomes a set posture. Relates to a working machine equipped with

Conventionally, for example, Patent Document 1 discloses a work machine.
The one disclosed in Patent Document 1 includes a seedling planting unit 4 as a ground working device, a left / right tilt angle sensor 54 that detects the right / left tilt angle of the seedling planting unit 4, and the left / right sides of the seedling planting unit 4. An inclination angular velocity sensor 39 as an angular velocity sensor for detecting inclination acceleration is provided, hydraulic oil is supplied to a rolling hydraulic cylinder 50 by a hydraulic pump 53 driven by a motor 52, and the seedling planting unit 4 is connected by the rolling hydraulic cylinder 50. A rolling drive mechanism is configured to perform a rolling operation around the shaft 44, and the output amount to the motor 52 is determined from the detection value of the tilt angular velocity sensor 39 and the detection value of the left and right tilt angle sensor 54. Control means is configured to roll the seedling planting unit 4 so as to be within the dead zone of a predetermined target value.

JP 2001-116586 (paragraphs [0012]-[0022], FIG. 1-5)

  In the work machine, when the ground work device is tilted left and right outside the set posture, the posture of the ground work device is corrected by rolling control by the control means. However, conventionally, if the inclination angle when the ground work device deviates from the set posture and tilts left and right is large, one end side in the lateral width direction of the ground work device is set to the set ground height even though posture correction is performed by rolling control. If a situation where the ground working device is raised is a seedling planting device, an operation failure may occur, for example, floating seedlings may be generated on one side of the seedling planting device.

  An object of the present invention is to provide a work machine in which the above-described work failure is less likely to occur with respect to the size of the tilt angle even when the ground work device is greatly deviated from the set posture and tilted left and right.

In the first aspect of the invention, the rolling drive mechanism includes a rolling drive mechanism that performs a rolling operation of the ground work device with respect to the traveling vehicle body, and the rolling drive mechanism so that the ground posture of the ground work device in the lateral direction of the machine body becomes the set posture. In a working machine equipped with a control means for operating
A tilt angle sensor for detecting the left and right tilt angle of the ground work device, and an angular velocity sensor for detecting the angular velocity of the left and right tilt of the ground work device,
An elevating drive mechanism for elevating the ground work device with respect to the traveling vehicle body;
The control means;
Based on the detection results of the tilt angle sensor and the angular velocity sensor, the rolling drive mechanism is operated to maintain the ground posture in the lateral direction of the machine body of the ground work device at a set posture, and the tilt angle When the detection value of the sensor or the angular velocity sensor deviates from the dead zone set by the dead zone setting means, the elevating drive mechanism is operated to the working device lower side.

  That is, when the ground work device is tilted to the left and right, rolling control is performed in which the control means operates the rolling drive mechanism based on information detected by the tilt angle sensor and the angular velocity sensor, so that the ground work device is in the set posture. The posture of the working device is corrected. At this time, when the detected value of the tilt angle sensor or the angular velocity sensor deviates from the setting dead zone, the control means performs the lowering control in which the lifting drive mechanism is operated to the lower side of the work device, and the left / right tilt angle generated in the ground work device is large. However, the posture correction of the ground work device is performed while it is difficult to generate a situation in which the horizontal one end side of the ground work device rises higher than the set ground height due to the left and right inclination of the ground work device.

  Therefore, according to the first aspect of the present invention, even if the ground work device is tilted to the left or right greatly deviating from the set posture, the situation where the lateral end of the ground work device rises higher than the set ground height is It is unlikely to occur for the size of the left / right tilt angle of the device, and if it is a rice transplanter, floating seedlings are less likely to occur regardless of the large left / right tilt of the seedling planting device. Therefore, it is possible to perform an operation that achieves a good finished state.

In the second aspect of the invention, the rolling drive mechanism includes a rolling drive mechanism that performs a rolling operation of the ground work device with respect to the traveling vehicle body, and the rolling drive mechanism so that the ground posture in the lateral direction of the ground work device becomes the set posture. In a working machine equipped with a control means for operating
A tilt angle sensor for detecting the left and right tilt angle of the ground work device, and an angular velocity sensor for detecting the angular velocity of the left and right tilt of the ground work device,
An elevating drive mechanism for elevating the ground work device with respect to the traveling vehicle body;
The control means;
Based on the detection results of the tilt angle sensor and the angular velocity sensor, the rolling drive mechanism is operated to maintain the ground posture in the lateral direction of the machine body of the ground work device at a set posture, and the tilt angle When the detection values of the sensor and the angular velocity sensor deviate from the dead zone set by the dead zone setting means, the elevating drive mechanism is operated to the working device lower side.

  That is, when the ground work device is tilted to the left and right, rolling control is performed in which the control means operates the rolling drive mechanism based on information detected by the tilt angle sensor and the angular velocity sensor, so that the ground work device is in the set posture. The posture of the working device is corrected. At this time, if the detected values of the inclination angle sensor and the angular velocity sensor deviate from the setting dead zone, the control means performs the lowering control in which the elevating drive mechanism is operated to the lowering side of the work device, and the left / right inclination angle generated in the ground work device is large. However, the posture correction of the ground work device is performed while it is difficult to generate a situation in which the horizontal one end side of the ground work device rises higher than the set ground height due to the left and right inclination of the ground work device.

  When the left-right inclination generated in the ground work device is a small inclination angle, when the descending control of the ground work device is performed, the work depth of the ground work device may become too deep. The descending control is performed by the detection values of the inclination angle sensor and the angular velocity sensor being out of the setting dead zone, so that the working depth is prevented from becoming excessively deep due to inappropriate descending control of the ground working device. The lowering control of the working device can be performed.

  Therefore, according to the second aspect of the present invention, even if the ground work device is tilted to the left or right greatly deviating from the set posture, the situation where the lateral end of the ground work device is raised from the set ground height is high. If it is a rice transplanter, it is unlikely to occur for the size of the right / left tilt angle of the device, and the ground work device is controlled to descend, but the work depth is unlikely to become too deep. Excellent finishing condition regardless of the relatively large horizontal tilt of the ground work equipment, such as floating seedlings are hardly generated regardless of the large right and left tilt of the seedling planting device, and deep planting is difficult to occur regardless of the descending control of the seedling planting device. Can be done.

In the third aspect of the invention, in the configuration of the first or second aspect of the invention, the apparatus includes a work depth detection means for detecting a ground work depth of the ground work device,
The control means;
Based on the detection information of the work depth detection means, the lift drive mechanism is operated so that the detection value of the work depth detection means becomes a set value, and the work depth detection means By changing and setting the setting control target position for raising / lowering control of the ground working device based on the detection result, the raising / lowering driving mechanism is operated to the working device lowering side based on the detection information of the tilt angle sensor and the angular velocity sensor. It is constituted as follows.

  That is, when the ground work device is tilted to the left and right, the control means changes and sets the control target position for the lift control based on the detection information from the tilt angle sensor and the angular velocity sensor, and thereby the lift drive mechanism is activated to perform the ground work. Lower the device. Thus, only by performing information processing for changing and setting the setting control target position of the lifting control for maintaining the working depth of the ground working device at the set depth, the lifting control is used as the lowering control means and the left and right of the ground working device are set. The descent control accompanying the inclination can be performed.

  Therefore, according to the third aspect of the present invention, the structure in which the descending control according to the left / right inclination of the ground working device is performed can be easily obtained by using the ascending / descending control as the descending control means, and the setting control of the ascending / descending control. It is only necessary to perform simple information processing for changing and setting the target position, which can be advantageously obtained from an economic viewpoint.

  In the fourth aspect of the invention, in the configuration of the third aspect of the invention, after the control means operates the elevating drive mechanism to the work apparatus lowering side based on the detection information of the inclination angle sensor and the angular velocity sensor. When the set time elapses, the change of the setting control target position of the lift drive mechanism is canceled.

  Even if the change of the control target position that was done to lower the ground work device is canceled, if the ground work device is in an unstable state due to inertia such as rolling control, this is detected by the tilt angle sensor or angular velocity sensor Hunting that the operation occurs and the control target position is changed again is likely to occur. In the fourth aspect of the invention, by properly setting the set time, posture correction is performed by rolling control of the ground work device, and the posture correction of the ground work device is completed, and the ground work device is set to the set posture. This stabilizes the tilt angle sensor and the angular velocity sensor so that abnormal detection operations due to vibrations are less likely to occur, and then the control target position change is canceled and the above-described hunting is unlikely to occur. Control can be performed.

  Therefore, according to the fourth aspect of the present invention, although the descending control of the ground work device is performed by changing the control target position of the lifting control, hunting due to the cancellation of the change of the control target position is difficult to occur. From the surface, it is possible to perform work with a good finished state.

In the fifth aspect of the present invention, in any one of the first to fourth aspects of the present invention, the vehicle includes a vehicle speed detecting means for detecting the traveling speed of the traveling vehicle body,
The control means is configured to change and set the setting dead zone by the dead zone setting means based on the detection result by the vehicle speed detection means.

  That is, as the traveling speed of the traveling vehicle body increases, abnormal vibrations are more likely to occur in the tilt angle sensor and the angular velocity sensor due to the fact that the traveling vibration is more likely to occur and is likely to increase. Based on the detection result of the detection means, the setting dead zone by the dead zone setting means is changed to a wide dead zone, so that the rolling control and the descending control are performed in response to the detection information of the tilt angle sensor and the angular velocity sensor. When the vehicle is traveling at a low speed, the dead zone set by the dead zone setting unit is changed to a narrow dead zone based on the detection result by the vehicle speed detection unit, and the rolling control and the descent control are performed by the tilt angle sensor. In addition, adjustment can be made so that the detection is performed in response to the detection information of the angular velocity sensor.

  Therefore, according to the fifth aspect of the present invention, even when traveling at a variable speed, the rolling control and the descending control of the ground work device based on the detection information of the tilt angle sensor and the angular velocity sensor are performed with the highest possible response and the highest possible precision. It is possible to work in a good finished state so that the working depths on both sides of the device are as uniform as possible and the change in depth due to the left-right inclination of the ground working device is as small as possible.

Embodiments of the present invention will be described below with reference to the drawings.
[First embodiment]
As shown in FIG. 1, it is comprised so that it may be self-propelled by a pair of left and right steering operations and a front wheel 1 that can be driven, and a pair of left and right drive wheels 2 and is located on the side of the driving unit. The seedling planting device 10 is connected to the rear portion of the vehicle body frame 4 of the traveling vehicle body provided with the preliminary seedling platform device 3 via the link mechanism 6 provided with the elevating cylinder 5, and the driving force of the engine 7 located at the driving portion is connected. Is transmitted to the feed case 11 of the seedling planting device 10 via the rotating shaft 8, and a fertilizer application device 20 including a fertilizer tank 21 is provided on the rear side of the driving seat 9 of the traveling vehicle body. A rice transplanter with fertilizer application is constructed.

  This rice transplanter performs the operation of planting rice seedlings and supplying fertilizer to the planted seedlings. When the elevating cylinder 5 is expanded and contracted, the elevating cylinder 5 moves the link mechanism 6 up and down relative to the vehicle body frame 4. Swinging operation, a plurality of grounding floats 13 positioned in the lateral direction of the seedling planting device 10 below the planting machine body 12 are in a descending work state in which the seedling planting device 10 is grounded on the ground. The grounding float 13 is moved up and down to the non-working state in which the grounding float 13 is lifted from the ground. When the seedling planting device 10 is in the descending operation state and the traveling vehicle body is traveled, the seedling planting device 10 levels the farm scene by the leveling portion provided in each grounding float 13 and is arranged in the lateral direction of the planting machine body at the rear of the planting machine body 12. A plurality of seedling planting mechanisms 14 are used to plant seedlings at a leveling site by a grounding float 13 in a farm scene. The fertilizer application device 20 feeds granular fertilizer from the fertilizer tank 21 by a feeding device (not shown) connected to the lower portion of the fertilizer tank 21, and fertilizer is fed by the conveying wind supplied by the electric blower 22. Through a plurality of fertilizer hoses 23 extended from the feeding device, the fertilizer is supplied to a plurality of fertilizer applicators 24 dispersedly supported by the respective grounding floats 13. The plurality of fertilizer applicators 24 are arranged one by one in the vicinity of each seedling planting mechanism 14 and are arranged in the lateral direction of the seedling planting device 10. Each fertilizer applicator 24 is a seedling planting mechanism 14 in a farm scene. A groove is formed near the lateral side of the seedling planting place, and fertilizer from the fertilizer hose 23 is supplied into the groove.

The seedling planting device 10 will be described in more detail. The seedling planting device 10 is configured as shown in FIGS.
That is, the main frame 15 made of a square steel pipe along the lateral direction of the seedling planting device 10, the feed case 11 connected to the central portion of the main frame 15, and the rear of the seedling planting device 10 from a plurality of locations of the main frame 15. The planting machine case 12 is configured by a planting drive case 16 or the like extended in the direction, and the seedling planting mechanism 14 is provided on both sides of the rear end portion of each planting drive case 16 so as to be freely driven. 12 on the upper side in front of each of the seedling planting mechanisms 14, a seedling stand 17 is provided in a state of rising upward and located at a higher arrangement height on the front end side, and the respective grounding floats are provided below the planting machine body 12. 13 is supported.

  As shown in FIGS. 1 and 2, the lower end side of the seedling placing table 17 is slidably supported by a guide rail 18 supported by the planting machine body 12 near the front side of each seedling planting mechanism 14. The upper end side of 17 is a pair of left and right planting vertical pits 19a erected on the main frame 15 of the planting machine body 12, and a horizontal planting ridge 19b fixed to the upper end side of both vertical culverts 19a. The seedling support 17 is supported so as to slide along the guide rail 18 in the lateral direction of the planting machine body 12. ing.

  As shown in FIG. 2, a seedling lateral feed mechanism 30 is provided on the back side of the seedling mount 17. This seedling horizontal feed mechanism 30 is a cylindrical lateral feed body 32 connected via a connecting member 31 to a seedling stand frame (not shown) located on the back side of the seedling stand 17, and this horizontal feed body 32. Is configured to engage with a spiral groove provided on the peripheral surface of the lateral feed shaft 33 (not shown). And the transverse feed shaft 33 is rotationally driven in conjunction with the drive of each seedling planting mechanism 14 by a drive mechanism (not shown) located inside the feed case 11 to form the spiral groove. By moving the transverse feed body 32 back and forth along the transverse feed shaft 33 by the action of the piece body, the seedling placing stand 17 is laterally moved in conjunction with driving of each seedling planting mechanism 14. .

  That is, the seedling placing stand 17 is reciprocated in the lateral direction of the planting machine body 12 along the guide rail 18 in conjunction with the seedling planting movement of each seedling planting mechanism 14 by the seedling lateral feed mechanism 30, and a plurality of seedling planting mechanisms. The mat-like seedlings placed side by side on the seedling platform 17 so as to be separately supplied to the seedling platform 14 are fed to a seedling outlet (not shown) formed by a notch hole provided in the guide rail 18. The seedling planting machine 12 is configured to reciprocate in the lateral direction. Thereby, each seedling planting mechanism 14 cuts and removes one block of block seedlings from the lower end of the mat-like seedling at the seedling outlet corresponding to each seedling planting mechanism 14 by the planting claws 14a (see FIG. 1), That is, the matted seedlings are taken out in a state of sequentially moving relative to the lower end portion of the matted seedlings from the lateral one end side to the other end side, and the taken out block seedlings are lowered and conveyed to the rice field.

  As shown in FIGS. 1 and 2, the planting machine body 12 of the seedling planting device 10 is provided with a connecting portion 11 a protruding forward from the feed case 11, and the connecting portion 11 a is a lower link of the link mechanism 6. 6a and a rear link 6c connected to each other between the rear ends of the upper link 6b. The seedling planting device 10 travels around the rolling axis P of the connecting portion 11a in the longitudinal direction of the machine body. It is designed to roll against the aircraft.

  As shown in FIGS. 1 and 2, a rolling drive mechanism 40 for rolling the seedling planting device 10 with respect to the traveling machine body is provided at the rear end of the link mechanism 6, and as shown in FIG. The control means 50 is linked to the 40 rolling motors 41 and the elevating cylinder 5, and the control means 50 includes an inclination angle sensor 51, an angular velocity sensor 52, a vehicle speed detection means 54, a planting depth detection means 55, and a planting. The depth setting means 56 and the stroke sensor 53 of the rolling drive mechanism 40 are linked.

  As shown in FIGS. 2 and 3, the rolling drive mechanism 40 is swingably supported by a support 42 fixed to the upper end side of the rear link 6 c of the link mechanism 6 via a rotation support shaft 43. A rolling operation arm 44, an arm operation gear 45 coupled to the rotation support shaft 43 so as to be integrally rotatable, a small-diameter transmission gear 49 meshed with the arm operation gear 45, and a rotation support shaft 48 of the small-diameter transmission gear 49. The large-diameter transmission gear 47 and the rolling motor 41 constituted by an electric motor supported by the support 42 in a state where the output gear 41a is engaged with the large-diameter transmission gear 47 are provided.

The rolling operation arm 44 is connected to both end sides of the horizontal bar 19b of the seedling support frame 19 via connection springs 46, and when the rolling motor 41 is driven in the forward rotation direction or the reverse rotation direction. The rolling motor 41 is driven by the output gear 41a to rotate the arm operation gear 45 via the transmission gears 48 and 49, and the rolling operation arm 44 is swung around the axis of the rotary support shaft 43 in the front-rear direction. Then, the rolling operation arm 44 pulls the one end side of the horizontal bar 19b of the seedling stand support frame 19 through one connection spring 46, or the other side of the horizontal bar 19b through the other connection spring 46. Pull the end side.
As a result, the rolling drive mechanism 40 is driven via the one connection spring 46 by the rolling operation arm 44 that is driven and swung by the rolling motor 41 when the rolling motor 41 is driven in the forward rotation direction or the reverse rotation direction. By pulling one end side of the planting machine body 12 in the lateral direction or pulling the other end side of the planting machine body 12 via the other connecting spring 46, the seedling planting device 10 is moved around the rolling axis P. To roll the vehicle.

  The inclination angle sensor 51 includes a weight and a potentiometer (not shown) and is supported by an intermediate portion of the main frame 15 of the seedling planting machine body 12 as shown in FIG. When the planting machine body is tilted in the left-right direction, the inclination direction and the tilt angle of the seedling planting device 10 are detected by the operation of the weight and the potentiometer accompanying this tilting, and the detection result is output to the control means 50 as an electrical signal.

  The angular velocity sensor 52 is a vibrating gyroscopic angular velocity sensor supported by the main frame 15 of the seedling planting machine body 12 as shown in FIG. 2, and detects the angular velocity of the right and left tilt of the seedling planting device 10 and the detection result as an electric signal. And output to the control means 50.

As shown in FIG. 4, the planting depth detection means 55 is composed of a rotary potentiometer, and a swingable operation arm 55 a of the rotary potentiometer is a central portion of the plurality of grounding floats 13 in the lateral direction of the planting machine body. The center ground float 13 located at the front end of the center ground float 13 is interlocked via an interlocking rod 57.
The plurality of grounding floats 13 are supported so as to swing up and down with respect to the planting machine body separately around the shaft core 13 a facing the planting machine body located on the rear end side of the grounding float 13. When the height with respect to the mud surface of the field changes, the front end side of the center grounding float 13 swings up and down with respect to the planting machine body 12 around the shaft core 13 a, and the operation arm 55 a is swung through the interlocking rod 57. It has become so.
Thereby, the planting depth detection means 55 uses the center grounding float 13 as a sensor float, detects the seedling planting depth of the seedling planting mechanism 14 based on the vertical swing angle of the sensor float with respect to the planting machine body 12, and detects this The result is converted into an electrical signal and output to the control means 50.

  As shown in FIG. 3, the stroke sensor 53 is a potentiometer linked to the rotation support shaft 43 of the rolling operation arm 44, and detects the operation stroke of the rolling operation arm 44 based on the rotation angle of the rotation support shaft 43. The detection result is output as an electrical signal to the control means 50.

  The vehicle speed detecting means 54 is composed of a rotation sensor provided in a traveling transmission system for transmitting the driving force of the engine 7 to the rear wheel 2 so as to detect the driving rotational speed of the rear wheel 2, and based on the driving rotational speed of the rear wheel 2. Then, the traveling speed of the traveling vehicle body is detected, and the detection result is output to the control means 50 as an electrical signal.

  The planting depth setting means 56 is composed of a potentiometer provided so as to be artificially rotated by the operating unit, and the seedling planting depth to be maintained by the lifting control of the seedling planting device 10 described later is a control target position for the lifting control. This is set as fm, and the set control target position fm is output as an electrical signal to the control means 50.

  The control means 50 is configured using a microcomputer, and includes detection information by the inclination angle sensor 51, angular velocity sensor 52, vehicle speed detection means 54, planting depth detection means 55, and setting information by the planting depth setting means 56. Based on this, the operation is performed as shown in FIGS.

  That is, the control unit 50 includes a dead zone setting unit 58, which sets the dead zone θε corresponding to the detection information by the planting depth detection unit 55 based on the vehicle speed V detected by the vehicle speed detection unit 54. The setting dead zone θa corresponding to the detection information by the tilt angle sensor 51 and the setting dead zone αa corresponding to the detection information by the angular velocity sensor 52 are set variably, and the seedling planting device 10 is subjected to rolling control and elevation control. The setting dead zone .theta..epsilon., The tilt setting dead zone .theta.a and the setting dead zone .alpha.a are set by the dead zone setting means 58. The larger the detected vehicle speed V by the vehicle speed detecting means 54, the wider the setting dead zones .theta..epsilon., .Theta.a and .alpha.a. The dead zone is set.

The control means 50 performs rolling control as shown in FIGS.
That is, the control unit 50 calculates the calculated tilt angle θs by calculating the detected tilt angle θg by the tilt angle sensor 51 and the detected angular velocity α by the angular velocity sensor 52, and the calculated tilt angle θs is set by the dead band setting unit 58. It is determined whether or not it is outside θε. When it is determined that the calculated tilt angle θs is out of the set dead zone θε, the control target position θm of the rolling operation arm 44 of the rolling drive mechanism 40 is set as the control target position of the seedling planting device 10 based on the calculated tilt angle θs. Then, the rolling motor 41 is driven so that the detection result by the stroke sensor 53 becomes the control target position θm.

The control means 50 performs the elevation control as shown in FIGS.
That is, the control unit 50 determines whether or not the detected tilt angle θg detected by the tilt angle sensor 51 is out of the set dead zone θa set by the dead band setting unit 58, and the detected angular velocity α detected by the angular velocity sensor 52 is set by the dead band set unit 58. It is determined whether or not it is deviated from αa, it is determined that neither the detected inclination angle θg nor the detected angular velocity α is deviated from the set dead zones θa and αa, and the planting depth fk by the planting depth detection means 55 is the planting depth. When it is determined that it is out of the set control target position fm by the height setting means 56, the elevating cylinder is set such that the planting depth fk detected by the planting depth detecting means 55 becomes the set control target position fm by the planting depth setting means 56. 5 is expanded and contracted. If it is determined that the detected tilt angle θg detected by the tilt angle sensor 51 is out of the set dead zone θa by the dead zone setting means 58, or the detected angular velocity α detected by the angular velocity sensor 52 is out of the set dead band αa by the dead band setting means 58. The setting control target position fm by the depth setting means 56 is set by changing the setting control target position fm to the change setting control target position fmd corresponding to deep planting rather than the setting control target position fm, and the planting depth detected by the planting depth detection means 55 The elevating cylinder 5 is expanded and contracted so that fk becomes the change setting control target position fmd. When the detected tilt angle θg detected by the tilt angle sensor 51 falls within the set dead zone θa by the dead zone setting means 58 and the detected angular velocity α detected by the angular velocity sensor 52 falls within the set dead zone αa by the dead band setting means 58, the planting depth setting means. The change setting setting target position fm to the change setting control target position fmd is canceled, and the planting depth fk detected by the planting depth detection unit 56 becomes the setting control target position fm by the planting depth setting unit 56. The elevating cylinder 5 is telescopically operated.

  In other words, if the work is performed with the rolling control and the elevation control by the control means 50 turned on, the seedling planting depth by the seedling planting device 10 is planted even if there are irregularities, front and rear tilts, and left and right tilts on the tiller and the mud surface. While maintaining the set planting depth set by the height setting means 56 or a planting depth close thereto, and so that the seedling planting depths on the left and right sides of the seedling planting device 10 are the same or close to each other Furthermore, the seedling planting operation can be performed while avoiding the generation of floating seedlings due to the right and left inclination of the seedling planting device 10.

  That is, when the traveling vehicle body tilts back and forth, the center grounding float 13 swings up and down and the planting depth detection unit 55 operates, and the control unit 50 moves the lifting cylinder based on the information detected by the planting depth detection unit 55. 5 is operated to the extension side or the shortening side to raise or lower the seedling planting device 10 with respect to the traveling vehicle body, and the detection result by the planting depth detection unit 55 becomes the set control target position fm by the planting depth setting unit 56. Then, the control means 50 stops the raising / lowering cylinder 5 to stop the raising / lowering operation of the seedling planting apparatus 10, and the seedling planting mechanism 14 of the seedling planting apparatus 10 corresponds to the seedling planting depth set by the planting depth setting means 56. The seedling planting depth set by the planting depth setting means 56 is maintained at or near the mud surface, regardless of whether the seedling planting depth by the seedling planting device 10 is the forward or backward inclination of the traveling vehicle body. It is maintained at a depth or its close seedlings planted depth.

  When the traveling vehicle body or the seedling planting device 10 tilts left and right, and the calculated inclination angle θs calculated by the control means 50 from the information detected by the inclination angle sensor 51 and the angular velocity sensor 52 deviates from the set dead zone θε, the control means 50 causes the rolling drive mechanism. When the rolling drive mechanism 40 drives the seedling planting device 10 around the rolling axis P by the rolling operation arm 44 by driving the 40 rolling motor 41, and the detection result by the stroke sensor 53 reaches the set control target position θm, The control means 50 stops the rolling motor 41, the rolling drive mechanism 40 stops the rolling operation of the seedling planting device 10, and the seedling planting device 10 has a horizontal or almost horizontal posture as viewed from the front and back of the planting machine as a set ground posture. The posture is corrected.

  At this time, the control unit 50 makes the set dead zone θε by the dead zone setting unit 58 a wider set dead zone as the vehicle speed V detected by the vehicle speed detection unit 54 is higher, and sets the set dead zone θε based on the detected vehicle speed V. When the traveling vehicle body is traveling at a low speed, the control means 50 responds sensitively even if the seedling planting device 10 is tilted slightly to the left or right or relatively gently tilts to the left or right. When the rolling control of the seedling planting device 10 is performed and the posture correction of the seedling planting device 10 is performed with high accuracy and the traveling vehicle body is traveling at a high speed, the seedling planting device 10 is relatively largely inclined to the left or right. Rolling control of the seedling planting device 10 is performed so that the driving operation of the rolling motor 41 by the control means 50 is performed by tilting right and left suddenly. Done sensitive, posture correction of the seedling planting apparatus 10 is carried out while avoiding that the rolling control is performed by the operation of the tilt angle sensor 51 and the angular velocity sensor 52 due to the travel vibration.

  At this time, the seedling planting device 10 is largely tilted from the set ground posture to the left and right, the angle deviation with respect to the set ground posture of the seedling planting device 10 is large, and the detected tilt angle θg by the tilt angle sensor 51 is the set dead zone θa by the dead zone setting means 58. If the seedling planting apparatus 10 is tilted to the left or right suddenly and the angular velocity α detected by the angular velocity sensor 52 deviates from the set dead zone αa by the dead zone setting means 58, the control means 50 will set the planting depth setting means. The change setting control target position fmd is set by changing the setting control target position fm for normal raising / lowering control set by 56 to the shallow planting side from this setting control target position fm, and is detected by the planting depth detection means 55. The elevating cylinder 5 is operated so that the result becomes the change setting control target position fmd. That is, the control means 50 avoids the occurrence of floating seedlings on the lateral end side due to the height of the mud surface on the lateral end side of the seedling planting device 10 being increased due to the left-right inclination of the seedling planting device 10. The rolling control is performed so that the posture of the seedling planting device 10 is corrected to the set posture (horizontal posture as viewed in the front-rear direction) while the seedling planting device 10 is controlled to descend.

  Further, at this time, the control unit 50 sets the set dead zone θa so that the set dead zone θa and the set dead zone αa set by the dead zone setting unit 58 become wider as the vehicle speed V detected by the vehicle speed detecting unit 54 increases. When the set dead zone αa is changed and set based on the detected vehicle speed V and the traveling vehicle body is traveling at a low speed, the seedling planting device 10 is tilted slightly to the left and right, and the detected tilt angle θg by the tilt angle sensor 51 is set. Decrease by the control means 50 accompanying the left-right inclination of the seedling planting device 10 when the seedling planting device 10 deviates from the dead zone θa, or the angular velocity α detected by the angular velocity sensor 52 deviates from the set dead zone αa. When the control is performed and the traveling vehicle body is traveling at a high speed, the seedling planting device 10 tilts relatively horizontally and tilts to the tilt angle. The detection tilt angle θg detected by the sensor 51 deviates from the set dead zone θa, or the seedling planting device 10 tilts to the left and right relatively rapidly and the angular velocity α detected by the angular velocity sensor 52 deviates from the set dead zone αa. The lowering control is performed by the control means 50 in accordance with the left / right inclination.

[Second Embodiment]
FIG. 9 shows a flow of raising / lowering control of the seedling planting apparatus 10 by the control means 50 having another embodiment. In this control means 50, the detected inclination angle θg by the inclination angle sensor 51 is the dead zone setting means 58. And whether the angular velocity α detected by the angular velocity sensor 52 deviates from the setting dead zone αa by the dead zone setting means 58, and the detected inclination angle θg by the inclination angle sensor 51 is determined. When it is determined that one or both of the angular velocities α detected by the angular velocity sensor 52 do not deviate from the set dead zones θa and αa, the planting depth fk detected by the planting depth detection unit 55 is maintained by the planting depth setting unit 56 in the elevation control. It is determined whether or not the set control target position fm set as the planting depth to be made is detected, and the detected planting depth fk is When it is determined that it is out of the set control target position fm, the elevating cylinder 5 is expanded and contracted so that the planting detection depth fk matches the set control target position fm.
Then, it is determined that the detected tilt angle θg detected by the tilt angle sensor 51 is out of the set dead zone θa by the dead zone setting means 58, and the detected angular velocity α detected by the angular velocity sensor 51 is out of the set dead zone αa by the dead band setting means 58. If it is determined, the set control target position fm for normal elevation control set by the planting depth setting means 56 is changed to the set control target position fmd corresponding to planting deeper than the set control target position fm. And determining whether the planting depth fk detected by the planting depth detection means 55 is out of the change setting control target position fmd, and if the detection planting depth fk is out of the change setting control target position fmd If it is determined, the elevating cylinder 5 is operated so that the detected planting depth fk becomes the change setting control target position fmd. When the detected tilt angle θg detected by the tilt angle sensor 51 falls within the set dead zone θg and the detected angular velocity α detected by the angular velocity sensor 52 falls within the set dead zone αa, the setting control target position fm is changed to the changed setting control target position fmd. The raising / lowering cylinder 5 is operated so that the setting is canceled and the planting depth fk detected by the planting depth detecting means 55 becomes the set control target position fm.

FIG. 10 further shows a flow of raising / lowering control of the seedling planting apparatus 10 by the control means 50 having another embodiment. In this control means 50, the detected inclination angle θg by the inclination angle sensor 51 is set as a dead zone. If it is determined that the set dead zone .theta.a by the means 58 does not deviate from the set dead zone .alpha.a, and the detected angular velocity .alpha. It is determined whether or not the depth fk is out of the set control target position fm set as the planting depth to be maintained by the raising / lowering control by the planting depth setting means 56, and the detected planting depth fm is set to the set control target position fm. If it is determined that the lifting / lowering cylinder 5 is extended and retracted, the planting detection depth fk matches the set control target position fm. To.
Then, it is determined that the detected tilt angle θg detected by the tilt angle sensor 51 is out of the set dead zone θa by the dead zone setting unit 58, or the detected angular velocity α detected by the angular velocity sensor 52 is out of the set dead zone αa by the dead band setting unit 58. If it is determined that there is, the setting control target position fm for normal elevation control set by the planting depth setting means 56 is changed to the setting control target position fmd corresponding to planting deeper than the setting control target position fm. And determining whether the planting depth fk detected by the planting depth detection means 55 is out of the change setting control target position fmd, and the detection planting depth fk is out of the change setting control target position fmd. If it is determined, the elevating cylinder 5 is operated so that the detected planting depth fk becomes the change setting control target position fmd. The change setting control target position fmd is set until the elapsed time after starting the operation of the elevating cylinder 5 reaches the set elapsed time t while operating the elevating cylinder 5 and measuring the time. When the elapsed time since the start of the operation 5 (the elapsed time since the change setting control target position fmd was set and the elevating cylinder 5 was operated to the seedling planting device lowering side) reached the set elapsed time t, The change setting from the control target position fm to the change setting control target position fmd is canceled and the elevation control is performed.
As the set elapsed time t, after the rolling control of the seedling planting device 10 is started, after the posture correction by the rolling control of the seedling planting device 10 is completed, the seedling planting device 10 is stabilized so that there is no posture change due to inertia. The time required for the tilt angle sensor 51 and the angular velocity sensor 52 to be in a stable state so as not to generate an abnormal detection operation due to vibration is set.

[Another Example]
The present invention can also be applied to a working machine that performs various operations other than rice planting, such as a working machine in which a seeder for directly sowing seed pods in a paddy field is connected to a traveling vehicle body, instead of a seedling planting device. Accordingly, the rice transplanter, the seeder, etc. are collectively referred to as a work machine, the seedling planting device 10, the seeder, etc. are collectively referred to as the ground work device 10, and the planting depth detection means 55 is used as the work depth detection means. It is called 55.

  The object of the present invention can also be achieved by adopting elevating means for elevating and lowering the working device using a motor instead of the elevating cylinder 5. Accordingly, the lifting cylinder 5 and the motor are collectively referred to as the lifting drive mechanism 5.

Side view of the whole rice transplanter with riding fertilizer Front view of seedling planting device Cross section of rolling drive mechanism Block diagram of lifting control and rolling control Explanatory diagram showing processing of detection information Attitude control flowchart Rolling control flow diagram Elevating control flow chart Flow chart of raising and lowering control by control means with another embodiment Flow chart of raising and lowering control by control means with another embodiment

Explanation of symbols

DESCRIPTION OF SYMBOLS 5 Lift drive mechanism 10 Ground working apparatus 40 Rolling drive mechanism 50 Control means 51 Inclination angle sensor 52 Angular velocity sensor 54 Vehicle speed detection means 55 Work depth detection means 58 Dead zone setting means

Claims (5)

A work comprising a rolling drive mechanism for rolling the ground work device with respect to the traveling vehicle body, and a control means for operating the rolling drive mechanism so that the ground posture of the ground work device in the lateral direction of the machine body becomes a set posture. Machine,
A tilt angle sensor for detecting the left and right tilt angle of the ground work device, and an angular velocity sensor for detecting the angular velocity of the left and right tilt of the ground work device,
An elevating drive mechanism for elevating the ground work device with respect to the traveling vehicle body;
The control means;
Based on the detection results of the tilt angle sensor and the angular velocity sensor, the rolling drive mechanism is operated to maintain the ground posture in the lateral direction of the machine body of the ground work device at a set posture, and the tilt angle A working machine configured to operate the elevating drive mechanism toward the lowering side of the working device when a detection value of the sensor or the angular velocity sensor deviates from a dead zone set by the dead zone setting means. A work comprising a rolling drive mechanism for rolling the ground work device with respect to the traveling vehicle body, and a control means for operating the rolling drive mechanism so that the ground posture of the ground work device in the lateral direction of the machine body becomes a set posture. Machine,
A tilt angle sensor for detecting the left and right tilt angle of the ground work device, and an angular velocity sensor for detecting the angular velocity of the left and right tilt of the ground work device,
An elevating drive mechanism for elevating the ground work device with respect to the traveling vehicle body;
The control means;
Based on the detection results of the tilt angle sensor and the angular velocity sensor, the rolling drive mechanism is operated to maintain the ground posture in the lateral direction of the machine body of the ground work device at a set posture, and the tilt angle A working machine configured to operate the elevating drive mechanism toward the lowering side of the work device when detection values of the sensor and the angular velocity sensor deviate from a setting dead zone by the dead zone setting means. Work depth detection means for detecting the ground work depth of the ground work device,
The control means;
Based on the detection information of the work depth detection means, the lift drive mechanism is operated so that the detection value of the work depth detection means becomes a set value, and the work depth detection means By changing and setting the setting control target position for raising / lowering control of the ground working device based on the detection result, the raising / lowering driving mechanism is operated to the working device lowering side based on the detection information of the tilt angle sensor and the angular velocity sensor. The working machine according to claim 1 or 2, which is configured as described above.   When a set time elapses after the control means operates the elevating drive mechanism to the work apparatus lowering side based on detection information of the inclination angle sensor and the angular velocity sensor, the setting control target position of the elevating drive mechanism is changed. The work machine according to claim 3, wherein the work machine is configured to be eliminated. Vehicle speed detection means for detecting the traveling speed of the traveling vehicle body,
The work machine according to any one of claims 1 to 4, wherein the control unit is configured to change and set a setting dead zone by the dead zone setting unit based on a detection result by the vehicle speed detection unit.

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