JP3138328B2 - Rolling control mechanism of paddy working machine - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a rolling control mechanism used in a paddy field working machine such as a rice transplanter or a paddy field direct sowing machine.

[0002]

2. Description of the Related Art As the above-mentioned rolling control mechanism, a working device such as a seedling planting device rotatably connected to a traveling vehicle body and an actuator for driving the working device in a rolling manner are connected via a spring. It is known that a tilt sensor that detects a tilt is provided with a control device that controls the operation of the actuator in a direction to return the detected tilt to a position within the dead zone when the tilt sensor detects a tilt that deviates from the dead zone. As described above, when the rolling drive actuator and the working device are connected by a spring, the working device can freely roll to the traveling vehicle body to some extent, so that the working device can follow the ground even if the traveling vehicle body is slightly inclined. In addition, the stability is improved as compared with the case where the rolling drive actuator is directly connected to the working device.

[0003]

However, in the prior art, when detecting the inclination that deviates from the dead zone and controlling the operation of the actuator in a direction to return the detected inclination to the inside of the dead zone, the detected inclination is determined at the neutral point of the dead zone. Since the operation of the actuator was stopped at the time when the condition was reached, the following problems occurred. In other words, according to this configuration, when the operation of the actuator is controlled to return the detection inclination to within the dead zone, the spring interposed between the actuator and the working device is slightly elastically deformed by the rolling resistance of the working device, and the working device is moved. As a result of the rolling operation, the working device rolls a little more with the restoring force of the spring from the time the actuator is stopped. Therefore, if the actuator is stopped when the detected inclination reaches the neutral point of the dead zone, the working device will roll to a position further beyond the neutral point of the dead zone. That is, the rolling control is excessively performed. An object of the present invention is to enable appropriate rolling control without causing such a problem.

[0004]

A feature of the present invention is that a working device rotatably connected to a traveling vehicle body and an actuator for driving this working device by rolling are connected via a spring, and the working device is tilted left and right. When the inclination sensor that detects the inclination is detected to be out of the dead zone, in the rolling control mechanism of the paddy working machine including the control device that controls the operation of the actuator in a direction to return the detected inclination to the dead zone, the actuator is operated. Thereafter, the control device is configured to stop the operation of the actuator when the inclination detected by the inclination sensor enters the dead zone and reaches a set amount before the neutral point of the dead zone. The effect is as follows.

[0005]

According to the above construction, when the inclination sensor for detecting the inclination of the working device in the left-right direction detects an inclination outside the dead zone, the operation of the actuator is controlled to return the detected inclination into the dead zone. At this time, the working device is rolled while the spring interposed between the actuator and the working device is slightly elastically deformed by the rolling resistance of the working device. Then, when the inclination detected by the inclination sensor enters the dead zone and reaches a set amount before the neutral point of the dead zone, the operation of the actuator is stopped, and then, the working device further rolls a little by the restoring force of the spring. Become. Here, by associating the set amount from the neutral point of the dead zone to the position where the operation of the actuator is stopped with the inclination amount of the working device due to the restoring force of the spring, the inclination of the working device after the rolling control is performed. It will be located at the neutral point of the dead zone.

[0006]

That is, according to the present invention, by performing the rolling control in consideration of the elastic deformation of the spring, it is possible to suppress the excessive rolling of the working device and to enhance the stability.

[0007]

FIG. 5 shows a riding type rice transplanter as a representative of a paddy field working machine. The riding type rice transplanter is constructed by connecting a seedling planting device 4 as a working device to a rear portion of a traveling vehicle body 1 that is driven for riding via a link mechanism 3 that is driven up and down by a hydraulic cylinder 2. 3, a seedling planting device 4 is supported so as to freely roll around the longitudinal axis P. The seedling planting device 4 includes a seedling stand 5 that reciprocates and moves laterally with a constant stroke, and a plurality of rotary seedlings that cut out seedlings placed on the seedling stand 5 one by one from the lower end of the seedling stand and plant the rice seedlings. A planting mechanism 6, a plurality of grounding floats 7 for leveling a planted rice field, a fertilizer 8 for burying fertilizer beside the planted seedlings, and the like are used, and one grounding float 7 is used as a grounding sensor to plant seedlings. An elevation control mechanism for controlling the expansion and contraction of the hydraulic cylinder 2 so that the device 4 maintains a predetermined height with respect to the rice field surface, and a rolling control mechanism for maintaining the seedling planting device 4 horizontally horizontally are provided. In the present invention, the rolling control mechanism is configured as described below. As shown in FIGS. 1 and 2, a transmission case 9 of the seedling planting device 4 is connected to a lower portion of a rear vertical link 3 a of the link mechanism 3 so as to be rotatable around the longitudinal axis P. An actuator 10 for rolling control is provided above the rear vertical link 3a. The actuator 10 includes a frame 10a fixed to the rear vertical link 3a, a frame 10
The electric motor 10b is connected to the side of a, a screw shaft 10c which is rotated forward and reverse by the electric motor 10b, and a movable member 10d which is screwed left and right by the screw shaft 10c. And a frame 9 integrated with the transmission case 9
The seedling support column 11 erected on the left and right of a is connected to a movable member 10 d of the actuator 10 via a connecting rod 12 and left and right springs 13. Incidentally, 14 in FIG. 2 is a seedling stand lateral feeder provided in the transmission case 9,
Reference numeral 15 denotes a spring that extends between the left and right members 5a of the seedling rest 5 and the link mechanism 3. The spring 15 moves the lateral movement of the seedling rest 5 to break the right and left weight balance by the elastic restoring force of the spring 15. It is configured to correct. The seedling rest 5
A tilt sensor 16 for electrically and continuously detecting the left-right tilt of the seedling planting device 4 is attached to the upper rear surface of the actuator 10 as shown in FIG. Electric motor 10b
Is connected to a control device 17 using a microcomputer so as to control the operation of the microcomputer. The control device 17 incorporates a calculating means for comparing a signal from the tilt sensor 16 with a previously input dead zone value, a means for outputting a control signal to the electric motor 10b based on the calculation result, and the like. As shown in the time chart of FIG. 4, when it is determined that the inclination detected by the inclination sensor 16 deviates from a certain dead zone W where the horizontal angle is the neutral point n, the detected inclination falls within the dead zone W. The electric motor 10b is operated and controlled to return, and when the detected inclination returns within the dead zone W, the electric motor 10b is stopped when the detected inclination reaches the set point a from the neutral point n. ing. When the actuator 10 is activated, the set amount a is determined by the spring 13 that connects the actuator 10 and the seedling planting device 4.
Is set to the amount of inclination of the seedling planting device 4 corresponding to the amount of elastic deformation, and when the detected inclination returns to the dead zone W as described above, the detected inclination reaches the neutral point n by the set amount a before the neutral point n. When the electric motor 10b is stopped at this point, the seedling planting device 4 rolls slightly further by the elastic restoring force of the spring 13 and the detected inclination coincides with or substantially coincides with the neutral point n.

Since the amount of elastic deformation of the spring 13 when the actuator 10 is activated increases as the total weight of the seedling planting device 4 increases, the amount of seedlings is detected and automatically determined based on the detection result. If the set amount a is changed and corrected (the set amount a increases as the seedling amount increases), more accurate rolling control becomes possible.

In the claims, reference numerals are provided for convenience of comparison with the drawings, but the present invention is not limited to the configuration shown in the attached drawings.

[Brief description of the drawings]

FIG. 1 is a side view showing a seedling planting section of a riding type rice transplanter.

FIG. 2 is a front view showing a rolling connection part of the seedling planting apparatus.

FIG. 3 is a block diagram of a rolling control mechanism.

FIG. 4 is a time chart illustrating the operation of rolling control.

FIG. 5 is an overall side view of a riding rice transplanter.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Running vehicle body 4 Working device 10 Actuator 13 Spring 17 Control device a Set amount n Neutral point W Dead zone

Claims (1)

(57) [Claims] A work device (4) rotatably connected to a traveling vehicle body (1) and an actuator (10) for driving the work device (4) to roll are connected via a spring (13) to perform work. When the inclination sensor (16) for detecting the left-right inclination of the device (4) detects an inclination that deviates from the dead zone (W), the control device (10) controls the operation of the actuator (10) in a direction to return the detected inclination to the dead zone. 17)
In the rolling control mechanism of the paddy working machine having the above, after the actuator (10) is operated, the inclination detected by the inclination sensor (16) enters the dead zone (W) and the neutral point (n) of the dead zone (W). A rolling control mechanism for a paddy working machine, wherein the control device (17) is configured to stop the operation of the actuator (10) when the set amount (a) is reached before the set amount (a).