JP3489758B2 - Rice transplanter - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a rice transplanter having, for example, a seedling mounting table and planting claws for continuously performing seedling planting operations. 2. Description of the Related Art Conventionally, as disclosed in Japanese Patent Application Laid-Open No. Sho 61-177906, there has been a technique of attaching a planting portion to a traveling vehicle so as to be able to move up and down and tilt left and right. [0003] In the prior art, since the rolling control of the planting portion by the tilt sensor and the rolling member is performed with a constant sensitivity, when the inclination change is large or the inclination frequency is high. There is a problem that the rolling control is easily performed too sensitively, and the rolling control is easily performed insensitively when the change in the left-right inclination is small or the frequency of the left-right inclination is small. In addition, the operator can operate the manual switch to change the dead zone width of the rolling control, thereby changing the sensitivity of the rolling control.However, the operator visually observes unevenness of the field plow, which causes the traveling vehicle to tilt left and right. Since it cannot be confirmed, there is a problem that an appropriate rolling control sensitivity cannot be easily obtained. SUMMARY OF THE INVENTION Accordingly, the present invention is directed to a tilt sensor for mounting a planting portion on a traveling vehicle via a rolling fulcrum shaft so as to be freely rotatable, and detecting a lateral inclination of the traveling vehicle. An angular velocity sensor for detecting the left and right inclination speed of the traveling vehicle, and a rolling member for inclining the planting portion to the left and right with respect to the traveling vehicle, and a rice transplanter for automatically controlling the planting portion for rolling. Enter the output of the traveling vehicle inclination speed.
While reducing the dead zone width of
When it is large, the dead band width of the rolling control is
Automatically adjusts the left and right inclination of the planting part by inputting the inclination sensor output
The modification eliminates the need for manual adjustment of the rolling control sensitivity which is likely to be performed improperly, and can easily improve the rolling control function and the handling operability. Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. 1 is a rolling control circuit diagram of a planting section, FIG. 2 is a side view of a riding rice transplanter, and FIG. 3 is a plan view of the same, and FIG.
Is a traveling vehicle on which an operator rides. The engine (2) is mounted above the front part of the vehicle body frame (3), and a front traveling for paddy field traveling is performed through a front axle case (5) in front of a gear shift case (4). In addition to supporting the wheels (6), a rear axle case (7) is connected to the rear of the gear transmission case (4), and the rear axle case (7) supports the rear traveling wheels (8) for paddy field traveling. And the engine (2)
A spare seedling mount (10) is attached to both sides of the hood (9) that covers the gear shift case and the like, and the gear shift case (4) and the like are covered with a body cover (12) on which an operator rides via a step (11). A driver's seat (13) is mounted above the vehicle body cover (12), and a steering handle (14) is provided in front of the driver's seat (13) and at the rear of the hood (9). [0008] In the drawing, (15) is a planting section provided with a seedling mounting table (16) for planting six rows and a plurality of planting claws (17). Forward tilting seedling platform (1
6) is supported on a planting case (20) via a lower rail (18) and a guide rail (19) so as to be reciprocally slidable right and left, and a rotary case (21) is rotated at a constant speed in one direction. A pair of claw cases (22) and (22) are supported at the case (20) and symmetrically positioned around the rotation axis of the case (21), and the claw case (22) is provided.
(22) Attach the planting claws (17) and (17) to the tip. A support frame (24) is provided on the front side of the planting case (20) via a rolling fulcrum shaft (23), and travels via a link mechanism (27) including a top link (25) and a lower link (26). A hydraulic lifting cylinder (28) that connects a support frame (24) to the rear side of the vehicle (1) and raises and lowers the planting section (15) via the link mechanism (27).
Is connected to a lower link (26), and the front and rear running wheels (6) and (8) are driven and moved, and at the same time, seedlings for one strain are planted from a seedling mounting table (16) that reciprocates right and left. It takes out with a nail | claw (17), and it is comprised so that a seedling planting operation | work may be performed continuously. In the figure, (29) is a main shift lever, (3)
0) is a sub-shift lever for planting elevating and working travel shifting, and (3)
1) is a planting sensitivity adjusting lever, (32) is a main clutch pedal, (33) and (33) are left and right brake pedals, (3)
4) is a center float for two-row equalization, (35) is a side float for two-row equalization, and (36) is a six-row side fertilizer. Further, as shown in FIGS. 4 and 5, an engine (2) is mounted on a front portion of the pair of left and right rectangular cylindrical body frames (3) (3), and front axles (37) (37) are mounted. A front axle case (5) for supporting the left and right front running wheels (6) and (6) through the engine (2) is attached to the lower surface of the body frame (3) (3) behind the engine (2). A continuously variable belt transmission case (38) is provided between the body frames (3) and (3), and the continuously variable transmission case (3) is provided.
8) A gear transmission case (4) is provided between the rear left and right body frames (3) (3), and the rear axles (39) (39)
Rear axle cases (7) for supporting the left and right rear running wheels (8) and (8) via the rear wheels are fixed to the lower surfaces of the rear ends of the left and right body frames (3) and (3), and the output of the engine (2) is changed to each shift case 38) Each axle case via (4) (5) (7)
To the front and rear traveling wheels (6) (8)
Is configured to be driven. Further, left and right columns (40) and (40) are erected on upper surfaces of rear end portions of the left and right body frames (3) and (3), and upper ends of the left and right columns (40) and (40) are connected by a horizontal frame (41). The column (40) and the horizontal frame (41) are integrally fixed to form a portal shape in a front view. And, between the brake pedal receiving shaft (42) in the middle of the body frame (3) and the middle of the horizontal frame (41), the sub-frames (43) and (43) which incline to the front low and rear high are installed.
Elevating cylinder (2) between subframes (43) and (43)
8), and a link mechanism (27) formed by a top link (25) and a lower link (26) is attached to each frame (3) (41) via support shafts (44) (45). (28) Link mechanism (27)
Is pivoted to raise and lower the planting section (15). Further, as shown in FIGS. 6 and 7, a stay (46) is integrally fixed to the support frame (24), and a hydraulic rolling cylinder (48) is attached to the stay (46) via a support shaft (47). The middle is rotatably mounted, and the right and left seedling stand posts (49, 49) for fixing the lower ends to the left and right planting cases (20, 20) are erected, and are slidably engaged with the guide rail (19). Slider (50) (5
0) is attached to the upper ends of the columns (49) and (49), and the left and right columns (49) and (49) are connected by a connecting rod (51), and both sides of the piston (52) of the rolling cylinder (48) are connected to the connecting rod (51). ) Via brackets (53) and (53), and as shown in FIG. 7, the planting portion (15) is tilted left and right around the rolling fulcrum shaft (23) by the control of the rolling cylinder (48). It is composed. Further, as shown in FIG. 1, an on / off type automatic switch (54) for automatically controlling and operating the rolling cylinder (48), and a variable resistance type manual inclination setting device (5) for manually operating the rolling cylinder (48).
5) a pendulum-type inclination sensor (56) provided on the traveling vehicle (1) to detect the left-right inclination of the traveling vehicle (1); and the traveling vehicle (1).
A gyro-type angular velocity sensor (57) for detecting the right and left inclination speed (speed of inclination operation) of the traveling vehicle (1), a horizontal output of the inclination sensor (56) and an angular velocity sensor (5).
7) Fine adjustment volume (58) for manual adjustment of zero output
(59) and an electromagnetic type leftward and rightward solenoid (61) (62) for switching the hydraulic rolling valve (60) to operate the rolling cylinder (48) by a microcomputer formed by a microcomputer.
3), and based on the detection results of the sensors (56) and (57), the solenoids (61) and (62) are actuated by a left-down or right-down pulse rolling drive signal output from the controller (63), The rolling cylinder (48) is operated by pulse driving to set the planting portion (1).
It is configured to correct the left-right inclination of 5). In addition,
The sensors (56) and (57) are mounted on the upper surface of the body cover (12) behind the driver's seat (13) and above the rear running wheel (8) in the center of the left and right width of the running vehicle (1). (8)
The traveling vehicle (1) due to the unevenness of the field plow where the (8) rolls
When the vehicle is tilted left and right, the left and right inclination angles of the traveling vehicle (1) are detected by the inclination sensor (56), and the left and right inclination speed of the traveling vehicle (1) is detected by the angular velocity sensor (57). I have. Then, as shown in FIGS. 8, 9 and 10, the planting portion (15) is mounted on the traveling vehicle (1) via a rolling fulcrum shaft (23) so as to be freely rollable.
Inclination sensor (56) for detecting left and right inclination of traveling vehicle (1)
And a rolling cylinder (4) which is a rolling member for inclining the planting portion (15) left and right with respect to the traveling vehicle (1).
8), in a rice transplanter that automatically controls the rolling of the planting section (15), calculates the amplitude (B) of the left-right tilt output of the tilt sensor (56) to reduce the amplitude (B). A controller (63) for changing the sensitivity of the rolling control by the rolling cylinder (48) is provided based on the magnitude of the output amplitude (B) of the inclination sensor (56) which changes substantially in proportion to the unevenness of the field cultivator. The rolling control sensitivity of the rolling cylinder (48) is automatically changed to prevent the rolling control from being performed excessively due to the large traveling vehicle (1) left-right inclination change, and the small traveling vehicle (1) the rolling control due to the left-right inclination change. Is configured so as to be prevented from being performed insensitively. As shown in the flow chart of FIG. 8, when the automatic switch (54) is off, the rolling cylinder (48) is operated by the manual rolling adjustment by the operator's operation of the manual inclination setting device (55), and the planting section is operated. (15) is tilted left and right to a desired angle. The automatic switch (5)
4) is on, the tilt sensor (5) shown in FIG.
6) The traveling vehicle (1) receives the tilt angle output and inputs the difference (A1-A2) between the maximum output (A1) and the minimum output (A2) of the tilt sensor (56) within the unit time (T) set initially. Then, the amplitude (A) is calculated based on. In addition, the number of output fluctuations (T1, T2) of the inclination sensor (56) when the inclination direction changes due to leftward to rightward or reverse operation within the unit time (T).
2, T3, T4, T5,..., Tn) to calculate the frequency (F). And when the frequency (F) is smaller than or equal to the initially set reference value (F0),
When the amplitude (A) is smaller than or equal to the initially set reference value (A0), that is, when the unevenness of the field cultivator is small, the dead zone width of the rolling control shown in FIG. 10 is reduced, and the sensitivity of the rolling control is reduced. Sensitive. On the other hand, when the frequency (F) is larger than the reference value (F0) and the amplitude (A) is larger than the reference value (A0), that is, when the unevenness of the field tillage is large, the rolling control shown in FIG. The width of the dead zone is increased, and the sensitivity of the rolling control is reduced. When only one of the frequency (F) and the amplitude (A) is smaller or larger than the reference value (F0) (A0), the dead zone width of the rolling control is maintained at the previous control width, and the rolling control is performed. Keep the sensitivity at the previous control sensitivity. Further, the dead band width of the rolling control in FIG. 10 is changed between the initially set maximum width and the minimum width, and the reduction or enlargement of the dead band width in one control is performed by the maximum width and the minimum width. The difference is changed by a control width (D) per one time divided into a plurality of times, and reaches a maximum width or a minimum width by a plurality of controls performed at regular time intervals, thereby preventing a sudden change in the dead zone width. In. The dead band width control (sensitivity adjustment) performed by using both the amplitude (A) and the frequency (F) has the highest accuracy, but the dead band width is controlled only by one of the amplitude (A) and the frequency (F). Control can be performed. For example, when the amplitude (A) is smaller than the reference value (A0), the dead band width is reduced, and when the amplitude (A) is larger than the reference value (A0), the dead band width is enlarged. Can be adjusted. When the frequency (F) is smaller than the reference value (F0), the dead band width is reduced, and when the frequency (F) is larger than the reference value (F0), the dead band width is increased. Can be adjusted. Further, as described above, the dead zone width adjustment of the rolling control, which is automatically reduced or enlarged, is performed, and the inclination sensor (56) for detecting the left-right inclination angle of the traveling vehicle (1).
When the output is input, it is determined whether the left and right inclination of the traveling vehicle (1) is leftward or rightward based on the dead zone width and the input of the sensor (56). The left or right tilt solenoids (61) and (62) are actuated by the output of the rolling drive signal to switch the rolling valve (60) to raise or lower the rolling cylinder (48) to the left or right of the planting portion (15). It is configured to automatically correct the inclination. Further, as shown in FIGS. 11 and 12, the amplitude (B) of the right and left inclination speed output of the angular velocity sensor (57)
And a controller (63) for changing the sensitivity of the rolling control by the rolling member (48) based on the magnitude of the amplitude B) is provided, and the angular velocity sensor ( The rolling control sensitivity of the rolling member (48) is automatically changed according to the magnitude of the output amplitude (B) of (57), and the frequency (G) of the left / right tilt speed output of the angular velocity sensor (57) is calculated. A controller (63) for changing the sensitivity of the rolling control by the rolling member (48) based on the magnitude of the frequency (G) is provided, and an angular velocity sensor (57) that changes substantially in proportion to the frequency of the unevenness of the field tillage. The rolling control sensitivity of the rolling member (48) is automatically changed according to the magnitude of the output frequency (G). As shown in the flow chart of FIG. 11, when the automatic switch (54) is turned off, the rolling cylinder (48) is operated by the manual rolling adjustment by the operator's operation of the manual inclination setting device (55), and the planting section is operated. (15) is tilted left and right to a desired angle. The automatic switch (5)
When 4) is ON, the traveling vehicle (1) inclination speed output of the angular velocity sensor (57) as shown in FIG. 12 is input, and the maximum left inclination of the angular velocity sensor (57) within the initially set unit time (T). The sum (B) of the output (B1) and the maximum rightward tilt output (B2)
The amplitude (B) is calculated based on 1-B2). Also, the number of output fluctuations (T1, T2, T3, T4, T5,..., Tn) of the angular velocity sensor (57) when the inclination direction changes due to leftward to rightward or reverse operation within the unit time (T) is counted. To calculate the frequency (G). When the frequency (G) is smaller than or equal to the initially set reference value (G0), and when the amplitude (B) is smaller than or equal to the initially set reference value (B0), When the unevenness of the tillage is small, the dead zone width of the rolling control shown in FIG. 10 is reduced, and the sensitivity of the rolling control is increased. On the other hand, when the frequency (G) is larger than the reference value (G0) and the amplitude (B) is larger than the reference value (B0), that is, when the unevenness of the field tillage is large, the rolling control shown in FIG. The width of the dead zone is increased, and the sensitivity of the rolling control is reduced. Further, only one of the frequency (G) and the amplitude (B) is the reference value (G0) (B
If 0 or smaller than 0), the dead zone width of the rolling control is maintained at the previous control width, and the sensitivity of the rolling control is maintained at the previous control sensitivity. Note that, similarly to the above-described embodiment, the maximum width or the minimum width is reached by performing the control a plurality of times to prevent the dead zone width of the rolling control from suddenly largely changing. The dead band width control (sensitivity adjustment) performed by using both the amplitude (B) and the frequency (G) has the highest accuracy, but the dead band width is controlled only by one of the amplitude (B) and the frequency (G). Control can be performed. For example, when the amplitude (B) is smaller than the reference value (B0), the dead band width is reduced, and when the amplitude (B) is larger than the reference value (B0), the dead band width is enlarged. Can be adjusted. When the frequency (G) is smaller than the reference value (G0), the dead band width is reduced, and when the frequency (G) is larger than the reference value (G0), the dead band width is enlarged. Can be adjusted. By performing the dead zone width adjustment of the rolling control that is automatically reduced or enlarged as described above, the inclination sensor (56) that detects the left-right inclination angle of the traveling vehicle (1) as in the above-described embodiment. An output is input and a leftward or rightward solenoid (61) (6
According to 2), the rolling valve (60) is switched, the rolling cylinder (48) is raised left or right, and the left and right inclination of the planting portion (15) is automatically corrected. Further, as shown in FIGS. 13 and 14, when the automatic switch (54) is off, the rolling cylinder (48) is operated by the manual rolling adjustment by the manual inclination setting device (55) by the operator. The planting section (15) is tilted left and right to a desired angle. The automatic switch (5)
4) is ON, the inclination sensor (5) shown in FIG.
Rolling control signal (TR) (TR) until the rolling drive signal based on the tilt angle output is input and the rolling drive signal output from the left-up signal to the right-up signal or the reverse signal is inverted. TL) is calculated, and the average value (TA) of the initially set predetermined number (several times) of the rolling control durations (TR) (TL) is calculated. When the average value (TA) is smaller than the initially set reference lower limit value (T1), that is, when the unevenness of the field tillage is small, the dead zone width of the rolling control shown in FIG. Increase sensitivity. On the other hand, when the average value (TA) is larger than the reference upper limit value (T2), that is, when the unevenness of the field tillage is large, the dead zone width of the rolling control shown in FIG. I do. When the average value (TA) is equal to any one between the lower limit value (TA) and the upper limit value (T2), the dead zone width of the rolling control is maintained at the previous control width,
Keep the sensitivity of the rolling control at the previous control sensitivity. As in the above embodiment, the maximum width or the minimum width is reached by a plurality of controls to prevent the dead zone width from sharply changing. When the dead zone width adjustment of the rolling control, which is automatically reduced or enlarged, is performed as described above, the output of the inclination sensor (56) for detecting the left-right inclination angle of the traveling vehicle (1) is input. In the same manner as in the above embodiment, it is determined whether the left-right inclination of the traveling vehicle (1) is leftward or rightward based on the dead zone width and the input of the sensor (56), and the leftward or rightward solenoids (61), (62) are determined. Is operated, the rolling valve (60) is switched, and the rolling cylinder (48) is moved up or down to the right to move the planting section (1).
5) Automatically corrects the left-right inclination of the rolling cylinder (48) until the direction is reversed.
R) (TL), the sensitivity (dead zone width) of the rolling control is automatically changed to improve the accuracy of the rolling control. As is apparent from the above embodiments, the present invention provides a traveling vehicle (1) having a planting portion (15) mounted on a rolling support shaft (23) in a freely rolling manner.
Inclination sensor (56) for detecting left and right inclination of traveling vehicle (1)
And an angular velocity sensor (57) for detecting the left and right inclination speed of the traveling vehicle (1), and a rolling member (48) for inclining the planting portion (15) to the left and right with respect to the traveling vehicle (1). In the rice transplanter that automatically controls the rolling of the section (15), the output of the traveling vehicle (1) inclination speed of the angular velocity sensor (57) is input, and when the unevenness of the field tillage is small,
While reducing the dead zone width of
Is large, the dead band width of the rolling control is expanded,
The output of the inclination sensor (56) is input to the planting section (15).
Since the lateral inclination is automatically corrected, the need for manual adjustment of the rolling control sensitivity, which is likely to be improperly made, is eliminated, and the rolling control function and the handling operability can be easily improved. [0024]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a rolling control circuit diagram of a planting section. FIG. 2 is an overall side view. FIG. 3 is a plan view of the same. FIG. 4 is a side view of the traveling vehicle. FIG. 5 is a plan view of the same. FIG. 6 is a side view of the planting section. FIG. 7 is a front view of the same. FIG. 8 is a flowchart of FIG. FIG. 9 is an output diagram of an inclination sensor. FIG. 10 is a rolling control dead band width output diagram. FIG. 11 is a flowchart of FIG. 1; FIG. 12 is an output diagram of an angular velocity sensor. FIG. 13 is a flowchart of FIG. 1; FIG. 14 is a rolling drive signal output diagram of a controller. [Description of Signs] (1) Traveling vehicle (15) Planting part (23) Rolling fulcrum shaft (48) Rolling cylinder (rolling member) (56) Tilt sensor (57) Angular velocity sensor (63) Controller

──────────────────────────────────────────────────続 き Continued on front page (58) Field surveyed (Int.Cl. ⁷ , DB name) A01C 11/02 A01B 63/10

Claims (1)

(1) A traveling vehicle (1) is provided with a rolling fulcrum shaft (2).
The planting section (15) is installed so as to be freely rollable via 3), and an inclination sensor (56) for detecting the left-right inclination of the traveling vehicle (1) and a left-right inclination speed of the traveling vehicle (1). An angular velocity sensor (57) and a rolling member (48) for inclining the planting portion (15) to the left and right with respect to the traveling vehicle (1).
The provided, in rice transplanters for automatically rolling control the planting unit (15), the vehicle of the angular velocity sensor (57)
(1) Input the slope speed output, and the unevenness of the field tillage is small.
While reducing the dead band width of the rolling control,
Dead zone of rolling control when unevenness of field tillage is large
Enlarge the width and input the output of the tilt sensor (56) to plant
A rice transplanter characterized by automatically correcting the left-right inclination of the attachment part (15) .