JPH0522022Y2 - - Google Patents

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a horizontal attitude control device for a riding-type seedling planting machine such as a rice transplanter.

[Problems to be solved by the prior art and the invention] In general, in this type of riding-type seedling planting machine, in order to make the working depth uniform on both sides, the working part is fixed to the unevenness of the tiller and the rolling phenomenon of the machine body. It is necessary to maintain a horizontal state regardless of the

Therefore, conventionally, a gravity-type horizontal detection sensor such as a spirit level or a pendulum has been used to detect the levelness of the working part, and the leveling control has been performed based on this. However, since these horizontal detection sensors are gravity-based, there is a limit to their detection accuracy and they cannot detect at minute angles.For this reason, the wider the number of working strips, the greater the horizontal working depth. Not only does the problem become uneven, making it impossible to work at a uniform depth, but also the problem of not being able to perform stable, smooth, and highly accurate sensing due to the hunting phenomenon that cannot be avoided with gravity-type devices. There is also.

On the other hand, as shown in Japanese Utility Model Application Publication No. 61-131711, a configuration has been proposed in which the ground pressure of the left and right floats provided in the working section is detected, and the horizontal posture of the working section is controlled based on the detection results. has been done.
However, with this product, the amount of change in ground pressure when the working part is tilted from side to side varies depending on the hardness and softness of the field surface, so it is not constant, and in order to accommodate this, the sensitivity must be adjusted each time according to the hardness and softness of the field surface. Not only is it troublesome and complicated, but since the ground pressure detection position is approximately the same as the seedling planting position by the planting claw, the timing of horizontal posture control operation accompanying ground pressure detection can be adjusted. Another problem is that I tend to be late.

[Means for solving the problem] The present invention was created in view of the above-mentioned circumstances with the aim of providing a horizontal attitude control device for a riding-type seedling planting machine that can eliminate these drawbacks. A working part in which a seedling platform for supplying seedlings for planting and a planting tool for planting the seedlings supplied from the seedling platform in the field are arranged in the front and back is connected via an elevating link mechanism. In a riding-type seedling planting work unit which is attached to a traveling aircraft body, in configuring the work unit to perform horizontal attitude control based on a control command from a control unit, on both left and right sides of the work unit, and A height detection mechanism is installed in front of the planting work position of the planting tool to detect height changes from the field scene on both the left and right sides of the work unit, and the detection results from both height detection mechanisms are The present invention is characterized in that it is configured to perform horizontal attitude control based on the horizontal attitude control.

With this configuration, the present invention makes it possible to accurately and reliably control the horizontal posture of the working section.

[Example] Next, an example of the present invention will be described based on the drawings. In the drawings, reference numeral 1 denotes a traveling body of a riding type rice transplanter, and a planting work section 2 is provided at the rear of the traveling body 1 via a three-point link mechanism 3 so as to be vertically movable. In this three-point linkage mechanism 3, a horizontal first hydraulic cylinder 4 is interposed in an inclined manner between left and right lower links 3a, 3a, and each link 3a, 3a, 3b is connected to a longitudinal axis 3 on both the front and rear sides.
c and 3d, so that it can freely swing left and right, and as will be described later, the planting work section 2 is moved in parallel in the left and right direction by the expansion and contraction operation of the first hydraulic cylinder 4. Furthermore, 6 is a second hydraulic cylinder, and this second hydraulic cylinder 6 is interposed between the link support 3e to which each link 3a, 3a, 3b is connected and the locking part 2a on the planting work part 2 side. has been done. Then, as will be described later, the second hydraulic cylinder 6 expands and contracts, so that the planting work section 2 connects the link support 3e and the planting work section 2.
It is designed to be able to swing in the left-right direction using a connecting shaft 7 that rotatably connects the two as a fulcrum. still,
2b is a planting tool, 2c is a seedling stand, 2
d is a float.

Seedling detection sensors 5L and 5R for detecting the already planted seedling rows A are disposed on both left and right sides of the planting section 2, in front of the planting position and between the seedling platform and the lifting link. That is, a motor 9 is integrally fixed to the tip of a bracket 8 extending in both left and right directions from, for example, a gear case 2e of the planting section 2, as will be described later. The motor shaft of this motor 9 extends downward and is integrally fixed to the upper end of the helical shaft 10. Note that 8b is a boss through which the helical shaft 10 is freely rotatably supported. Further, the base body 11 is provided with a stroke sensor 12 (hereinafter referred to as left and right sensors 12L and 12R), which will be described later and is a linear potentiometer. The base 11 is connected to the motor 9 as described later.
As the base body 11 is driven forward and backward, it moves up and down in parallel while maintaining the same posture.The seedling detection sensors 5L and 5R are provided on this base body 11. In this embodiment, the seedling detection sensors 5L and 5R are constructed by using a total of six comb-shaped mounting bodies 5a and providing them with non-contact sensors consisting of light emitting and light receiving elements. . And now, from the right side, connect each of these sensors to S ₁ , S ₂ , ...S ₅
Assuming that, in each of these sensors S ₁ , S _{2 ,} . The planted seedling row A is detected by blocking this light emitted by the already planted seedlings.

On the other hand, reference numeral 13 denotes a non-contact height detection sensor that transmits and receives ultrasonic waves, for example, which is disposed at both left and right ends of the seedling detection sensors 5L and 5R in the machine body direction. Hereinafter, the left and right ones are distinguished as 13L and 13R), which capture and receive the emitted ultrasonic waves reflected from the rice field.
It is configured to measure and detect the time from this emission to reception.

Next, the control relationship between the seedling detection sensors 5L, 5R, the stroke sensors 12L, 12R, and the height detection sensors 13L, 13R will be explained using a block diagram. Here, 14 is a control unit configured using a microcomputer, and 15 is an electromagnetic valve for expanding and contracting the first hydraulic cylinder 4, which is configured by an expansion side solenoid 15a and a contraction side solenoid 15b. 16 is an electromagnetic valve that expands and contracts the second hydraulic cylinder 6, and also an expansion side solenoid 1.
6a and a reduction side solenoid 16b. The control unit 14 includes seedling detection sensors 5L, 5R, stroke sensors 12L, 12
R, and left and right height detection sensors 13L, 13R
The control commands are input to the left and right motors 9L, 9R and electromagnetic valves 15, 16 based on the judgment results based on these input signals.

First, regarding the detection results by the seedling detection sensors 5L and 5R, if the detection signal is _S3 in the center, it is determined that the planting section 2 is located at the appropriate position, and therefore the solenoid valve 15 is connected to which solenoid. However, if the detection results are S ₁ and S ₂ on the right side, it is determined that the working part 2 is on the left side, and therefore the solenoid valve 15 is turned off.
On the other hand, the extension side solenoid 15a is controlled to be ON and the contraction side solenoid 15b is OFF, thereby extending the first hydraulic cylinder 4 and displacing the working part 2 to the right. When the detection result is S ₄ and S ₅ on the left side, conversely, the extension side solenoid 15a is turned OFF, the contraction side solenoid 15b is turned ON, and the first hydraulic cylinder 4 is turned off.
is reduced, and the planting section 2 is displaced to the left. In this way, the automatic left-right displacement control of the planting section 2 is performed, and automatic seedling planting operation that follows the already planted seedling row A can be performed. It's getting old.
In addition, this automatic displacement of the planting work section 2 from side to side is as follows:
This can also be done by using an automatic steering mechanism configured to automatically steer the steering wheels based on the detection results from the seedling detection sensors 5L and 5R.

Next, the relationship between the stroke sensors 12L, 12R and the height detection sensors 13L, 13R will be described with reference to a flow chart. The sensors 5L and 5R detect vertical movement amounts nl and nr, and the height detection sensors 13L and 13R detect the seedling detection sensor 5 based on the time from emission of ultrasonic waves to reception of reflected waves.
It detects the detected heights Ml and Mr from the field scene of L and 5R, and these constitute a height detection mechanism. The control unit 14 inputting these detection results controls the stroke sensors 12L and 1.
Detection results by 2R nl, nr, height detection sensor 13
The detection results ml, mr by L, 13R and the fixed values a, b are added to calculate the calculated values Xl, Xr (Xl=
a+b+nl+mr, Xr=a+b+nr+mr), and based on the result of comparing and determining these, a control command is issued so that the left and right sides are constant (Xl=Xr).

That is, when the calculated values Xl and Xr are different in magnitude (Xl < Xr or Xl > is the solenoid valve 1
Solenoids 16a and 16b are turned on for 6,
The OFF switching control is performed to control the expansion and contraction of the second hydraulic cylinder 6, and thereby the planting work section 2
A left and right rocking displacement is achieved using the connecting shaft 7 as a fulcrum,
Control is performed so that the planting section 2 is in a left-right horizontal posture together with the seedling detection sensors 5L and 5R.

Furthermore, in this embodiment, the height detection sensor 13L,
Based on the detection result by 13R, it is determined whether the seedling detection sensors 5L and 5R are located at a preset detection height, and it is determined that they do not match (NO).
In this case, the motors 9L and 9R are controlled in forward and reverse directions so that they match, and in this way the seedling detection sensor 5
L and 5R are set to be located at substantially constant detection heights from the rice field.

In the embodiment of the present invention configured as described above, the first hydraulic cylinder 4 is expanded and retracted based on the detection result of the already planted seedling row A by either the left or right seedling detection sensor 5L, 5R, as described above. As a result, the planting section 2 can perform seedling planting work that imitates the already planted seedling row A because the relative position from the already planted seedling row A is constant, but the seedling detection sensors 5L and 5R are The planted planting work section 2 is
The second hydraulic cylinder 6 expands and contracts based on the detection result of the height detection mechanism constituted by the height detection sensors 13L, 13R and the stroke sensors 12L, 12R, and is controlled to the left and right horizontal posture state. .

In other words, in the case where this invention is implemented,
Based on the detection results from the stroke sensors 12L and 12R and the height detection sensors 13L and 13R, the planting work section 2 is controlled to have a left and right horizontal posture. Instead of using a gravity-type horizontal detection sensor using a pendulum or the like, or based on ground pressure detection of a float, height detection a of the left and right sides of the planting work section 2 is performed using seedling detection sensors 5L and 5R. is used as a reference, and in the example, this motor 9 is
This is done by adding the amount of movement caused by L and 9R, comparing the calculated values on the left and right, and controlling them so that both become the same value, so hunting is not performed like a conventional gravity-type horizontal detection sensor. In addition to not causing any phenomena, there is no need to adjust the sensitivity every time according to the hardness or softness of the field unlike when detecting the ground pressure of a float, and the horizontal posture of the planting section 2 can be controlled with high precision.

Moreover, these height detection sensors 13L, 13R
is ahead of the planting work position of the planting claw 2b,
Since it is disposed between the seedling platform 2c and the lifting link mechanism 3, the height is detected at a position preceding the seedling planting work position by the planting claw 2b, and horizontal posture control is performed based on this. Therefore, it is possible to reliably avoid delays in the activation timing of the horizontal posture control, which is the case when inclination is detected at the seedling planting work position, and the planting performance is improved.

Moreover, in addition to the above-mentioned horizontal posture control, this device can also independently control the height of the seedling detection sensors 5L and 5R, so for example, when changing the planting depth by moving the float up and down, Therefore, when the amount of sinking of the float changes, even if the horizontal posture control is performed as described above, the detection heights of the seedling detection sensors 5L and 5R will differ, but in such a case, Height detection sensor 13L,
By height detection by 13R, the seedling detection sensor 5
It is determined whether L and 5R match the set values, and the motor 9 is driven so as to match the set values. Therefore, height control is performed simultaneously with horizontal attitude control. This makes it possible to perform ideal control.

[Operation and Effect] In summary, since the present invention is constructed as described above, the horizontal posture control of the working part is based on the detection result of the height detection mechanism that detects the height change on both the left and right sides of the working part. Because it is carried out based on the horizontal attitude control, it does not involve hunting phenomenon as is the case with conventional gravity-type horizontal sensors. There is no need to make troublesome and complicated sensitivity adjustments each time to accommodate the hardness or softness of the screen, resulting in excellent operability.

Moreover, the horizontal posture control based on the detection by both height detection mechanisms is based on the height detection by the height detection mechanism placed in front of the paddy field working position of the working section, so the horizontal posture control based on the height detection The timing of posture control activation can be adjusted without delay, unlike when detection is set near the planting tool, and as a result, detection accuracy is improved and horizontal posture control with high sensitivity is possible. This allows field work to be carried out in an orderly manner at a uniform depth.

[Brief explanation of the drawing]

The drawings show an embodiment of the horizontal attitude control device for a riding-type paddy field work unit according to the present invention, in which Figure 1 is a partially cutaway plan view of the rice transplanter, and Figure 2 is a side view of the work unit. 3 is a schematic rear view of the working section, FIG. 4 is a block diagram, and FIG. 5 is a flowchart. In the figure, 2 is the planting work part, 2b is the planting claw, 2c
is a seedling stand, 2d is a float, 3 is a lifting link mechanism, 5L, 5R are seedling detection sensors, 12 is a stroke sensor, 13L, 13R are height detection sensors, 1
4 is a control section.

Claims (1)

[Scope of Claim for Utility Model Registration] 1) A working unit in which a seedling stand for supplying seedlings for planting and a planting tool for planting the seedlings supplied from the stand for planting in a field are arranged in front and behind. , in a riding-type seedling planting work machine which is attached to a traveling machine body via an elevating link mechanism, in configuring the work part to perform horizontal posture control based on a control command from a control part, the work part Height detection mechanisms are installed on both the left and right sides of the work unit and located in front of the planting work position of the planting tool to detect height changes from the field scene on both left and right sides of the work unit. 1. A horizontal attitude control device for a riding-type seedling planting machine, characterized in that it is configured to perform horizontal attitude control based on detection results from the mechanism. 2) The height detection mechanism is disposed symmetrically at a position protruding outward from the left and right of the working part, Claim 1 of the first utility model registration claim.
A horizontal attitude control device for a riding-type seedling planting work machine as described in 2.