JP2013128445A - Riding rice transplanter - Google Patents

Abstract

PROBLEM TO BE SOLVED: To solve problems that a manufacturing cost rises when separate sensors are mounted in order to perform each control and an influence of reduction in accuracy of horizontal control is caused by vibration occurring due to change of movement direction of a seedling stand in a transverse feed control.SOLUTION: An end detection sensor 29 is provided. Based on detection of the movement end of the seedling stand 13 by the end detection sensor 29, controls of reciprocating movement and planting apparatus stop of the seedling stand 13, operation start of a chemical spraying apparatus 36, etc., are carried out and the horizontal control of the planting apparatus 12 by the horizontal control part of the planting apparatus is changed by a movement end control part.

Description

  The present invention relates to a riding rice transplanter in which a planting device is disposed behind a traveling machine body so as to be tiltable to the left and right, and more particularly to control of a planting device accompanying detection of a moving end of a seedling platform by a sensor.

  In general, a planting device for planting seedlings in a farm field is provided behind the traveling body of the riding rice transplanter, and the planting device has a seedling platform for placing the seedlings to be planted. . This seedling platform is controlled to reciprocate in the left-right direction perpendicular to the traveling direction of the traveling machine body (transverse feed control), and the planting work was placed on the seedling platform that reciprocates. The matted seedlings are scraped off by the planting part.

  Also, in planting work, the traveling machine body may be tilted due to unevenness of the tiller, etc. If the planting device tilts with the traveling machine body, it becomes difficult to plant seedlings correctly. A sensor is provided, and the inclination sensor detects the right / left inclination of the planting device and controls the planting device to be horizontal (planting device horizontal control).

  By the way, in recent years, it has come to apply medicine to the seedlings before planting from the viewpoint of disease prevention, etc., and when the seedling platform is moved to the left and right moving end by lateral feed control, along the rail provided on the seedling platform A riding rice transplanter has been devised in which a spraying device moves and sprays chemicals onto seedlings placed on a seedling mount (see, for example, Patent Document 1).

  Also, conventionally, when refilling the mat-like seedling or shifting the reciprocating speed of the seedling platform, when the seedling platform moves to the left and right end of movement by lateral feed control, the movement is stopped and at the same time A riding rice transplanter has been devised that performs control (end shift control) so as to stop the operation of the planting portion by disengaging the clutch (see, for example, Patent Document 2).

Japanese Patent No. 3907354 JP 2006-61074 A

  However, the riding rice transplanter described in Patent Document 1 is configured to detect the end of movement of the seedling platform using a sensor provided on the belt drive shaft of the seedling feeding belt. The riding rice transplanter described in (1) is configured to be performed by a sensor provided on a support stay that supports the seedling platform. In this way, when the riding rice transplanter is configured to perform any control of drug spraying and end feed control, if control is performed based on each sensor, it is necessary to provide a plurality of sensors, The manufacturing cost will increase by that amount.

  Further, when the seedling platform is moved to the left and right end of movement by the lateral feed control, vibrations are generated in accordance with switching of the moving direction, and these vibrations have an influence such as lowering the accuracy of the horizontal control of the planting device.

  Furthermore, when the spraying device moves the seedling table, the right and left gravitational balance of the seedling table is disrupted, which has the effect of reducing the accuracy of the horizontal control of the planting device.

  Therefore, the present invention is provided with an end detection sensor for detecting the moving end of the seedling platform, and performs each control by the end detection sensor function, and changes the control of the planting device horizontal control unit by the end detection. It aims at providing the riding rice transplanter which solved the above-mentioned subject.

The present invention relates to a traveling machine body (5), a seedling stage (13) supported so as to be movable up and down at the rear of the traveling machine body, and a planting plant for seedlings placed on the seedling stage (13). A planting device (12) having an attachment portion (15), a drug spraying device (36) for spraying a drug on the seedling while moving along the seedling mount (13), and the traveling machine body (5). An actuator (59) that is interposed in the planting device (12) and tilts the planting device (12) left and right, and operates the actuator (59) to hold the planting device (12) horizontally. In the riding rice transplanter (1) comprising a planting device horizontal control unit,
An end detection sensor (29) for detecting a left and right moving end of the seedling mount (13);
By detecting the end of the seedling table (13) by the end detection sensor (29), the reciprocating movement of the seedling table (13) is stopped, the planting part (15) is stopped, and the medicine A moving end control unit (77) for starting the operation of the spraying device (36) and further changing the control of the planting device horizontal control unit (76) including stopping the planting device horizontal control unit (76); It is characterized by comprising.

Moreover, the said planting apparatus horizontal control part (76) performs planting apparatus horizontal control based on the angular velocity sensor (56) which detects the angular velocity of the said planting apparatus (12),
The moving end control unit (77) controls the planting device horizontal control unit (76) so as to absorb the change when the angular velocity changes with the start of the operation of the medicine spraying device (36). It is corrected.

  In addition, although the code | symbol in the said parenthesis is for contrast with drawing, it does not have any influence on description of a claim by this.

  According to the first aspect of the present invention, an end detection sensor for detecting the end of movement of the seedling table is provided, and based on the detection of the end of the seedling table by the end detection sensor, the movement of the seedling table and the operation of the planting device are performed. Each control, such as stopping and starting the operation of the medicine spraying device, and further changing the control of the planting device horizontal control unit, such as stopping the planting device horizontal control unit, it is possible to perform multiple controls with a single sensor it can. Thereby, although the manufacturing cost can be suppressed as compared with the case where a plurality of sensors are provided, the interlocking of the respective controls can be facilitated.

  In addition, the moving end control unit changes the control by the planting device horizontal control unit when the end detection sensor detects the moving end of the seedling stand, so the planting device horizontal control unit controls the planting device. Control suitable for the end of movement can be achieved, and the planting device horizontal control can be performed with high accuracy while suppressing the influence of vibration and the like associated with switching of the moving direction at the end of movement of the seedling platform.

  According to the second aspect of the invention, since the moving end control unit corrects the horizontal control by the planting device horizontal control unit based on the change in the angular velocity accompanying the start of operation of the drug spraying device, the drug is absorbed. Highly accurate planting device horizontal control corresponding to fluctuations in the left and right gravity balance of the seedling platform due to movement of the spraying device can be performed.

The side view of the riding rice transplanter which concerns on this Embodiment. The side view of the planting work machine with which a passenger rice transplanter is mounted | worn. The front view. The perspective view of a lateral feed end detection sensor. The front view of a horizontal control apparatus. The side view. The block diagram of a control part. The flowchart which shows the horizontal control of a planting work machine. The flowchart which shows control of a spreading device.

  Hereinafter, riding rice transplanter 1 concerning an embodiment of the invention is explained along a figure. As shown in FIG. 1, the riding rice transplanter 1 has a traveling machine body 5 supported by a front wheel 2 and a rear wheel 3, and an engine ( (Not shown) is arranged. A driving operation unit 10 including a steering handle 7 and a driver's seat 9 is provided behind the engine, and a planting device is provided behind the driving operation unit 10 via an elevating link 11. (Hereinafter referred to as a planting work machine) 12 is provided so as to be movable up and down.

  As shown in FIG. 2, the planting work machine 12 is supported by a horizontal frame 16 arranged in the left-right direction orthogonal to the traveling direction, and a left and right vertical frame 17 extending upward from the horizontal frame 16. The planting work machine 12 is mainly composed of a seedling stage 13 supported by the vertical frame 17 and a planting unit 15 supported by the horizontal frame 16. Further, the horizontal frame 16 is connected to the elevating link holder 49 via the rolling shaft 50 so as to be tiltable to the left and right (see FIG. 5).

  The planting part 15 has a plurality of planter cases 19 extending rearward from the horizontal frame 16, and is supported at the tip of the planter case 19 by a rotary drive shaft (not shown). Thus, a pair of left and right rotary cases 20 are provided. Planter arms 22... Having planting claws 21... Are rotatably provided at both end sides of the rotary case 20. Meanwhile, a float 23 for adjusting the planting depth of the seedling is provided so as to be swingable in the vertical direction.

  As shown in FIG. 3, a seedling platform 13 formed in a rectangular shape in a front view is arranged above the planting portion 15, and a seedling feeding belt 25. A plurality are provided. Moreover, the lower end part of the seedling mount 13 is fitted to an apron 18 provided in the planter case 19 and is slidably supported (see FIG. 2).

  As shown in FIG. 4, a support stay 26 is provided at the upper end of the vertical frame 17 in the left-right direction perpendicular to the traveling direction. A slide piece 27 is extended upward on one end of the support stay 26, and at the approximate center of the support stay 26 is a laterally moving end (hereinafter referred to as a lateral feed) in the moving direction of the seedling table 13. An end detection sensor (hereinafter referred to as a lateral feed end detection sensor) 29 for detecting an end) is disposed via a bracket 30.

  The lateral feed end detection sensor 29 is formed in a U-shape when viewed from the side with the upper side opened. Further, one end of both ends on the open side of the lateral feed end detection sensor 29 constitutes a light emitting unit 31 that emits light, and the other end has a light receiving unit 32 that receives light from the light emitting unit 31. It is composed. Then, when the light receiving unit 32 becomes unable to receive light from the light emitting unit 31 (blocked), the lateral feed end detection sensor 29 is configured to be in an ON state.

  The upper end of the slide piece 27 is inserted into a slide rail 33 that is attached to the back surface of the seedling table 13, and the slide rail 33 is provided so as to reciprocate with the slide piece 27 as a fulcrum. The seedling stage 13 is supported by the slide rail 33 and the apron 18 so as to reciprocate in the left-right direction. Further, the slide rail 33 is provided with one end portions of a left end detection plate 35L and a right end detection plate 35R formed in an L shape in a side view, respectively. The left end detection plate 35L and the right end detection plate The other end of 35 </ b> R is configured to move between the light emitting unit 31 and the light receiving unit 32 as the slide rail 33 moves.

  A medicine spraying device 36 is arranged above the planting unit 15 and close to the seedling mount 13 (see FIG. 2). The medicine spraying device 36 has a tank 37 for storing and storing medicine, and an upper portion of the tank 37 is covered with a lid 39 that opens and closes the inside of the tank 37. Moreover, the lower end side of the tank 37 is supported by the traveling drive device 40, and the traveling drive device 40 includes a spraying device moving motor 43, a spraying motor 75 for spraying the medicine, and traveling wheels 41 and 42 disposed above and below. Etc. Of the traveling wheels 41, 42, the traveling wheel 41 disposed on the upper side is provided to be rotationally driven by the driving force of the driving motor 42. Further, the upper and lower traveling wheels 41 and 42 sandwich a rail 45 arranged along the width direction of the seedling platform 13 orthogonal to the traveling direction, and the medicine spraying device 36 is driven by the traveling wheels. 45 so as to move along 45. In addition, spray device position detection switches 71 and 72 for detecting the position of the drug spray device 36 are provided on both left and right ends of the rail 45.

  As shown in FIGS. 5 and 6, the planting machine 12 is provided with a horizontal control device 47. The horizontal control device 47 has a mast member 51 provided along the elevating link holder 49, and a rack 52 is provided on the upper end side of the mast member 51 in parallel with the horizontal frame 16. ing. One end of a spring 53 and a plate 55 is attached to the left and right ends of the rack 52, and the other end of the spring 53 and the plate 55 is attached to the horizontal frame 16. Further, a horizontal control sensor (tilt sensor) 56 for detecting the tilt (angular velocity) of the lateral frame 16 tilted to the left and right is provided above the rolling shaft 50, and the tilt sensor 56 is composed of an angular velocity sensor. Has been. Further, an actuator (hereinafter referred to as a horizontal control motor) 59 is disposed so as to be close to the rack 52 so as to be interposed between the traveling machine body 5 and the planting work machine 12. It is configured to tilt by the output.

  The control unit 60 of the riding rice transplanter 1 is composed of a microcomputer (hereinafter simply referred to as a microcomputer). The planting device horizontal control unit 76 that holds the planting work machine 12 horizontally, the seedling platform edge-adjustment control, and the medicine spraying It has a moving end control unit 77 that performs spraying device control by the device.

  On the input side, as shown in FIG. 7, a work implement preparation switch 61, a planting work implement operating tool 62, a work implement operating cam potentiometer 63, a lift angle potentiometer 65, a horizontal control sensor (angular velocity sensor) 56, a lateral feed An end detection sensor 29, an end alignment control start operation tool 69, a spray switch 70, a spray device position detection switch (right) 71, a spray device position detection switch (left) 72, and the like are connected. The machine operation cam motor 73, the horizontal control motor 59, the spray motor 75, and the spray device moving motor 43 are connected to various motors. And the control part 60 becomes a structure which outputs the signal which operates or stops various motors based on the signal input from various sensors and switches.

  Next, the operation of the riding rice transplanter 1 configured as described above will be described. The planting operation is performed while scraping the mat-like seedlings placed on the seedling placing table 13 with the planting claws 21 of the planting unit 15, and during this time, the seedling placing table 13 is orthogonal to the traveling direction by the lateral feed control. It reciprocates in the left / right direction (hereinafter simply referred to as moving in the left / right direction). When the end portion of the seedling table 13 moves to the end position in the moving direction, the control unit 60 (the moving end control unit 77) controls the spraying device, and is placed on the seedling table 13 by the medicine spraying device 36. Drugs are sprayed on the seedlings.

  Here, spraying device control is demonstrated based on FIG. When the operator turns on the spraying switch 70, the moving end control unit 77 performs the planting work while performing the spraying device control (STEP1, hereinafter simply referred to as SOO).

  With the start of the planting operation, the seedling stage 13 moves in the left-right direction, and one end of the left end detection plate 35L and the right end detection plate 35R moves between the light emitting unit 31 and the light receiving unit 32 as the seedling mounting table 13 moves. Pass between. In the light receiving unit 32, the light from the light emitting unit 31 is blocked by the passage of the left end detection plate 35L and the right end detection plate 35R, and the lateral feed end detection sensor 29 is turned on and the lateral feed end is detected at the same time. Then, when the lateral feed end is detected for an arbitrarily set number of times N, the spray flag is moved. At this time, when the medicine spraying device is located at the right end, the spraying flag is moved to the left of the spraying, and a signal is output from the moving end control unit 77 to the spraying motor 75 and the spraying device moving motor 43, and the medicine spraying device 36. Moves to the left along the rail 45 while spraying the medicine on the mat-like seedlings placed on the seedling table 13 (YES in S2, YES in S3, YES in S4, S5). Simultaneously with the start of the movement of the medicine spraying device, the number of detections of the lateral feed end is reset (S5).

  Similarly, when the medicine spraying device 36 is located on the right side of the seedling stage, the spray flag is moved to the right when the lateral feed end detection sensor 29 detects the set number N of the lateral feed end. The medicine spraying device 36 moves rightward along the rail 45 while spraying the medicine (YES in S6, YES in S7, YES in S8, S9). Also at this time, the number of detections of the lateral feed end is reset simultaneously with the start of movement of the medicine spraying device 36 (S9).

  When the medicine spraying device 36 moves to the opposite end after the start of movement, the position of the medicine spraying device 36 is detected by the spraying device position detection switches (right) (left) 71 and 72, and the spraying flag changes to stop. The medicine spraying device 36 stops at the opposite end (S10). Then, the medicine spraying device 36 repeats the above steps again when the lateral feed end detection sensor 29 detects the lateral feed end by the lateral feed control for the set number of times.

  The planting operation is performed while spraying the drug on the seedlings placed on the seedling table 13 by the drug spraying control as described above, but the control unit 60 controls the spraying device and the planting work machine 12 Planting work while performing horizontal control to be horizontal.

  Here, planting work machine (planting device) horizontal control will be described with reference to FIG. The planting work is performed by operating the planting work machine 12 after lowering the planting work machine 12 to a predetermined height which is the height of the planting work. At this time, the planting device horizontal control unit 76 determines whether or not the planting work machine 12 is at a predetermined height based on a signal input from the lift angle potentiometer 65. Control is started (S11).

  The planting device horizontal control unit 76 reads the tilt data (angular velocity) detected by the tilt sensor 56 with the start of the horizontal work, and the operator turns the lateral feed end detection sensor 57 in the OFF state. When the flag is a comparison process, it is determined how long the output waiting timer remaining time set in the control unit 60 is (S12, S13, S14, S15).

  If the remaining time of the output waiting timer is 0, the output direction of the horizontal control motor 59 necessary for leveling the planting work machine 12 based on the tilt data input from the tilt sensor 56 and its output The output time is calculated (S16). At this time, when the spraying flag by the above-mentioned spraying device control is stopped, the control flag is output processing, and the planting device horizontal control unit 76 sends the signal of the calculated output direction and output time to the horizontal control motor 59. Output (S17, S18).

  The horizontal control motor 59 operates based on the input signal, and the output of the horizontal control motor 59 is transmitted to the rack 52. The rack 52 tilts toward the output direction of the horizontal control motor 59, and the planting machine 12 becomes horizontal.

  Further, when the operator performs the planting work with the lateral feed end detection sensor 29 in the ON state, when the lateral feed end of the seedling stage 13 is detected by the lateral feed end detection sensor 57, the moving end control unit 77 sets a waiting time of a predetermined time by the output waiting timer. During the set waiting time, the horizontal control by the planting device horizontal control unit 67 is stopped (S14, S25).

  Further, when the output direction of the horizontal control motor 59 and the output time thereof are calculated (S16), if the spray flag has been moved to the right by spraying device control, the moving end control unit 77 has already been calculated. Correction is performed to absorb (cancel) changes in angular velocity due to movement of the drug spraying device 36 by reducing the output ON time in the right direction from the output direction and output time of the horizontal control motor 59, and the corrected output direction and output. Output processing is performed in time (S17, S18, S19, S20).

  Similarly, when the output direction of the horizontal control motor 59 and the output time thereof are calculated (S16), if the spray flag is moved to the left by spraying device control, the moving end control unit 77 has already been calculated. The output ON time in the left direction is subtracted from the output direction and output time of the horizontal control motor to correct the change in the angular velocity due to the movement of the medicine spraying device 36, and output in the corrected output direction and output time. Processing is performed (S17, S18, S19, S21). S17 to S21 constitute the moving end control unit 77.

  When the operator raises the planting work machine 12 and the planting work machine 12 reaches a predetermined height or more, the planting device horizontal control unit 60 performs a planting work machine horizontal control stop process (S22) and tilts. After reading the data (S12), if the control flag is output processing, output processing to the horizontal control motor is performed based on the already calculated output direction and output time (S23, S24).

  As described above, the planting work machine 12 is provided with the lateral feed end detection sensor 29, and based on the lateral feed end of the seedling platform 13 by the lateral feed end detection sensor 29, the lateral feed control and the edge adjustment control of the seedling platform. Since each control such as a medicine spraying device system is performed, a plurality of controls can be performed with a single sensor. As a result, the manufacturing cost can be reduced as compared with the case where a plurality of sensors are provided, and at the same time, the structure of the device such as wiring can be simplified, and the interlocking of each control can be facilitated.

  Further, when the lateral feed end detection sensor 29 detects the lateral feed end of the seedling platform 13, the moving end control unit 77 is changed so that the horizontal control by the planting device horizontal control unit 67 is stopped. The planting work machine level control which suppresses the influence of the vibration etc. accompanying the switching of the moving direction at the movement end of the platform and maintains the level of the planting work machine during the planting work can be performed with high accuracy.

  Further, the horizontal control of the planting work machine is based on the change in the angular velocity of the seedling stage 13 accompanying the start of the operation of the medicine spraying device 36 by the medicine spraying device control so that the moving end control unit 77 absorbs the change. Since the correction for reducing the output time of the motor 59 is performed, it is possible to perform the planting machine horizontal control with high accuracy corresponding to the fluctuation of the left and right gravity balance of the seedling table 13 accompanying the movement of the medicine spraying device 36.

  In the present embodiment, the moving end control unit 77 is configured to stop the planting work machine horizontal control by the planting device horizontal control unit 76. However, the present invention is not limited to this. For example, the horizontal control motor 59 is output. The moving end control unit 77 may change the control of the planting device horizontal control unit 76 so as to cancel the vibration at the lateral feed end of the seedling stage 13.

1 Passenger rice transplanter 5 Traveling machine body 12 Planting device (planting machine)
13 Seedling stand 15 Planting part 29 End detection sensor (transverse feed end detection sensor)
36 medicine spraying device 56 angular velocity sensor (horizontal control sensor)
59 Actuator (Horizontal control motor)
76 Planting device horizontal control unit 77 Moving end control unit

Claims (2)

A traveling machine body, a seedling platform that is supported so as to be movable up and down at the rear of the traveling machine body, and a planting unit for planting seedlings placed on the seedling platform, and the seedling platform A medicine spraying device that sprays the seedlings while moving along the plant, an actuator that is interposed between the traveling machine body and the planting device, and that tilts the planting device left and right; In the riding rice transplanter provided with a planting device horizontal control unit that holds the planting device horizontally,
An end detection sensor for detecting a left and right moving end of the seedling platform;
By detecting the end of the seedling stage by the end detection sensor, the reciprocating movement of the seedling stage is stopped, the planting part is stopped, and the operation of the medicine spraying device is started. A moving end control unit for changing the control of the planting device horizontal control unit including the stop of the device horizontal control unit,
A riding rice transplanter characterized by that. The planting device horizontal control unit performs a planting device horizontal control based on an angular velocity sensor that detects an angular velocity of the planting device,
The moving end control unit is configured to correct the control of the planting device horizontal control unit so as to absorb the change when the angular velocity changes with the start of the operation of the medicine spraying device.
The riding rice transplanter according to claim 1.

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