JPH0260512A - Traveling apparatus for seedling transplantation machine or the like - Google Patents

Abstract

PURPOSE:To simultaneously determine the control rates of various factors and to perform quick control of the objective apparatus by controlling the supported height of a working machine relative to the traveling wheels by the vertical oscillation of a pair of right and left grounding sensors and, at the same time, outputting the control signal while adjusting a variable resistor according to the extent of the vertical oscillation. CONSTITUTION:A pair of right and left grounding sensors 4, 5 are vertically moved by the inclination or vertical motion of a moving body of a transplantation machine. For example, the upward motion of the left-side grounding sensor 4 to a prescribed level is equivalent to the leftward inclination of the machine body. In such a case, the left-side, grounding sensor 4 detects the definite inclination and transmits a control signal to a control circuit 3 to vary the relative height of the working machine to the wheel 1. A variable resistor 6 is operated according to the extent of the upward motion of the grounding sensor 4 and the control signal corresponding to the resistance is outputted to lift the left-side wheel 1 or roll the working machine 2 rightward relative to the machine body. The height and lateral horizontal posture of the working machine 2 can be maintained by the above controlling procedures.

Description

[Detailed Description of the Invention] Industrial Application Field The present invention relates to a traveling device such as a seedling transplanter, a combine harvester,
It can also be used for tillage equipment, etc.

Problems to be Solved by the Prior Art and the Invention For example, a seedling planting device that can be rolled freely relative to a vehicle body is operated by detecting the left and right inclination angles with respect to the soil surface using float sensors on both the left and right sides of the seedling planting device. While controlling the switching of the rolling valve in the circuit, rolling control is performed to maintain the seedling planting device horizontally on the left and right with respect to the soil surface. In this type of system, a rolling control valve is operated by a float sensor that is grounded on the soil surface, and the hydraulic circuit is switched.
Control tends to be delayed. For this reason, it is difficult to perform quick control in response to the tilt of the aircraft body.

Means for Solving the Problems This invention provides a control circuit (3) that changes and controls the relative support height of the working device (2) with respect to the axle (1), and a pair of left and right ground sensors f4) that touch the soil surface. (4) Variable resistor f61 (
7) The configuration of a traveling device such as a seedling planting machine is provided with the following.

Functions and Effects of the Invention The seedling planting machine performs seedling planting work using the work bag W (2) while being propelled by the transmission rotation of the axle (11). When moving up and down, a pair of left and right ground sensors (404) (
5) is moved up and down. For example, the left ground sensor (4)
When the aircraft is moved up a certain amount, it is in the same state as tilting to the left, so this left ground sensor (4)
detects this certain amount of inclination, causes the control circuit (3) to perform control input, controls to change the relative support height of the working device (2) with respect to the wheel (1), and at the same time Variable resistance (6) according to the amount of upward movement of the ground sensor (4)
is activated and a controlled output is generated based on this resistance value, and the left wheel (1) is raised by the drive of a control motor or the like, or the working device (2) is rolled to the right with respect to the machine body, etc. , the working device (2) is controlled to be maintained at a constant height, left and right horizontal posture, etc.

In this way, by vertically swinging the pair of left and right ground sensors (41(5)), the running wheel (1) and the working device (2
) At the same time as control detection to change and control the relative support height with respect to
), the control amount is determined at the same time, speedy control can be performed, and the configuration is simple.

Embodiment In addition, in turning, the ground sensors (41+4) (5) are installed as side floats located on both left and right sides of the seedling planting device, which is the working device (2).
The float is pivoted (9) to the rear working body (8) so that it can move up and down, and its front end moves up and down.

When moving a certain amount upward from the reference position, the census inch (
l[I (Ill) is configured to turn on, and at this time, the resistance values of the variable resistors (61 (6), (7)) are sequentially decreased depending on the amount of upward movement of each ground sensor (4) (4) (5) float. Census inch (Il(
lυ turns on and off relay contact 07J (+3), and by turning on this relay contact 021 (13), a circuit 041 having the variable resistances (6) and (7) is configured to operate the stepping motor (M). It is configured to rotate under control. By rotating this stepping motor (M) in the forward and reverse directions, the rolling cylinder (19) is extended and contracted to roll the working device (2) relative to the vehicle body (16) side in the left-right direction.

This rolling cylinder (19 is provided telescopically with a screw between the elevating link (■) on the vehicle body +1119 side and the rotating arm (old) that can freely rotate left and right with respect to this elevating link (1η), The motor (M) can be expanded and contracted by turning the screw of this rolling cylinder (19), and is attached to one end of the rolling cylinder (1!9).The left float ground sensor (4) moves upward.

When the sensor switch (1ω) is turned ON, the stepping motor (M) is rotated in the forward direction to control the rolling cylinder (19) to extend, and conversely, the right ground sensor (5) float moves upward. Census inch (11
) is turned ON, the stepping motor (M) is electrically rotated in the opposite direction to control the rolling cylinder (ISI) to be shortened.

The seedling transplanter is equipped with an elevating cylinder (elevating link arm 121 whose elevation is controlled depending on the field) at the rear of the vehicle body (16), and an elevating link (elevating link arm 121 provided at the rear end of this elevating link arm 12G).
16) In (7), it is configured to be able to roll left and right around the rolling axis Q1) in the front-rear direction.

The tractor body + IQ is the steering handle (215
It has a pair of left and right front wheels (23) and a pair of left and right rear wheels (1) that can be steered by ) is configured to be driven by transmission.

The vehicle body (IS) is equipped with a front axle case (5) on the front side of the mission case 2e, and the transmission of the front wheels is transmitted from the transmission device of the mission case 12e through the differential transmission, the front axle, etc. The power steering wheel (2 m) is connected to the steering wheel (2 m) around the shaft (21) through the drag rod 0υ of the pitman arm O, the drag arm ■, etc. 03 is the steering shaft, ( B) is a connecting plate.

In addition, the rear wheels (
1) A rear wheel transmission case is installed on the shaft, and this rear wheel transmission case and transmission case c! A tower-shaped engine frame OQ is installed across the engine frame OQ, and a cockpit +24) (5) is installed on this engine frame OQ, and the engine 241 and this fuel tank are integrated on the lower side to form a hanger ( Attach by hanging from (to). The crankshaft (toward) of the engine Q4 is connected to the input shaft 14G at the rear of the mission case 12e via a universal joint.
The front end of the transmission case 129 and the rear end of the transmission case 129 are connected by rotating vibration-proof rubber @l).

The front end of the elevating link arm 12G is pivotally supported f4 relative to the engine frame Oe so as to be able to rise and fall freely. The elevating cylinder (191) is configured to be hydraulically expanded and contracted between the engine frame OQ and the elevating link arm a!O by an elevating control valve of a hydraulic circuit.

The seedling planting device, which is the work equipment W (2), has seedling planting devices (G) arranged in multiple rows at the rear of the body (8), and a seedling tank facing each seedling planting device n3 at the top. The seedlings to be supplied to the seedling tank (b) are separated by the seedling planting device 03, and the center float area and the left and right ground sensors f41 (f4) (5) are arranged to move horizontally and reciprocally. Plant the cuttings on a level soil surface.

The center float 09 is located between the left and right side floats, that is, the ground sensors (41 (5) floats, and its front end moves up and down around the same pivot point (9). Elevation is controlled by the up and down movement of the center float area above a certain level. By switching the valve -0, the lifting cylinder (1) is controlled to raise and lower, and the seedling planting device is always maintained at a constant height with respect to the soil surface, so that the seedling planting depth is maintained constant.

The rolling control device includes the ground sensor (4) (5)
This is to maintain and control the working device (2) in a horizontal position on the left and right sides despite the left and right inclination of the vehicle body flGl. The rotating arm (Ill) and the spring (2) are tensioned by the spring (Ill), and the working machine (8) is elastically biased so that it always rotates to the neutral position. ) is a support frame (to) that is integrated with the fuselage (8)
The seedling tank (441) is provided between the left and right WJ ends of the rotary arm (IEI), and the upper end of the seedling tank (441) is supported by the upper end of this support frame (G) so as to be able to slide left and right. (4
)(5) Refraction link (g) connecting the front end of the float
, there is a lateral link stay (to) that is integrated with the aircraft (8).
A sensor switch (1 (11Cl11) and a variable resistor (61+6) (7) are provided between the two.

The stepping motor (M) may be configured to be electrically driven by a resistance difference between left and right variable resistors (6) and (7) of the circuit (+41) to perform rolling control.

In addition, variable resistors (61 (6) and (7) are used for rolling control, but they may also be used for lifting control by 19 with the lifting cylinder, for example, by turning, and by using the center float (g) as the lifting control valve). Instead of switching, when the left and right variable resistors f61 (6) and (7) are in the same direction, this overlapping resistance area is moved by extending and contracting the elevating cylinder (1 step) to operate the elevating cylinder, and the remaining resistance area is moved by rolling. Cylinder (1
4) It may be configured to perform rolling operation by expansion and contraction as described in (5).

[Brief explanation of the drawing]

The figures show one embodiment of the present invention, in which Fig. 1 is a control circuit diagram, Fig. 2 is a side view, Fig. 3 is a plan view of a portion thereof, and Fig. 4 is a partial slope view. . In the figure, (1) is the wheel, (2) is the working device, (3) is the control circuit, +41 (4) (5) is the ground sensor, (61
(6) (7) is a variable resistor, +1 (It (It1 is a sensor switch, (+2) (+3) 4 is a relay contact, (
1!9 indicates a rolling cylinder, and (M) indicates a stepping motor.

Claims (1)

[Claims] A control circuit (3) that changes and controls the relative support height of the working device (2) with respect to the wheels (1) is equipped with a control circuit (3) that changes and controls the relative support height of the working device (2) with respect to the wheels (1). A traveling device for a seedling planting machine, etc., which is provided with variable resistors (6) and (7) that perform control output.