JPH0646616A - Rolling controlling mechanism of rice transplanter - Google Patents

Abstract

PURPOSE:To prevent damage to an electrically-driven actuator for driving and rolling a device for transplanting seedlings before it happens and to continue rolling control operation without troublesomeness of handling. CONSTITUTION:A device for transplanting seedlings is connected to a traveling machine body in such a way that the device can be driven and rolled around the center of a longitudinally shaft by an electrically-driven motor 10b and the electrically-driven motor 10b is driven and controlled in order to maintain the ground attitude of the device for transplanting seedlings in a given target control state based on the detected result of a horizontality sensor 16 for discovering a ground right and left inclination amount of the device for transplanting seedlings. Continuation of supply of a driving signal to the electrically-driven motor 10b for >= a given time is checked and prevented. When the detected value of the horizontality sensor 16 is discovered to approach the above-mentioned given target control state by a set amount from a detected value at a point of time when the driving signal is stopped, supply of the driving signal to the electrically-driven motor 10b is reopened.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a detection sensor for connecting a seedling planting device to a traveling machine body by an electric actuator so that the seedling planting device can be freely rolled around the longitudinal axis, and detects the amount of inclination of the seedling planting device with respect to the ground. The present invention relates to a rolling control mechanism of a rice transplanter including a rolling control means for driving and controlling the electric actuator so as to maintain the ground posture of the seedling planting device in a predetermined control target state based on a detection result.

[0002]

2. Description of the Related Art In the rolling control mechanism of a rice transplanter described above, conventionally, when the detection value of the detection sensor is largely different from the target value in the control target state, a drive current is supplied to the electric actuator, and the detection value is the target value. When the values almost match, the current supply is stopped and the control is performed to maintain the state.

[0003]

In the conventional structure described above, even if the traveling machine body traveling on the tiller tilts to the left or right due to the unevenness of the tiller, the seedling planting device has a predetermined anti-mud surface posture. The planting depth in each planting line is always kept constant. However, when the unevenness of the cultivator is severe and exceeds the operation stroke of the electric actuator, or when the posture control of the seedling planting device is maintained in an absolutely horizontal state, the mud is hard and the driving force of the electric actuator is used. If the mud cannot be pressed against, the electric current may continue to be supplied to the electric actuator for a long time. Then, the exciting coil in the electric actuator may be burned and the subsequent operation may be disabled, and there is room for improvement. The present invention aims to eliminate the above-mentioned problems.

[0004]

According to a characteristic configuration of the present invention, in the rolling control mechanism of the rice transplanter described at the beginning, a rolling operation for preventing the drive signal to the electric actuator from being continuously applied for a predetermined time or longer. With the restraint means, the detection value of the detection sensor,
When it is detected that the control target state is approached by a set amount more than the detection value at the time when the drive signal is stopped, rolling operation return means for controlling to restart the drive signal supply to the electric actuator is provided. is there.

[0005]

[Function] For example, when the unevenness of the cultivator is too large and the operation amount of the seedling planting device to the mud surface control target position exceeds the operation stroke of the electric actuator, the stroke end is reached. Even if it is operated, it does not reach the control target position, so the control operation signal to the electric actuator will continue to be supplied.However, if such current supply continues for a predetermined time or longer, the drive signal supply is automatically No electric current is forcibly supplied to the electric actuator that is stopped and is in an inoperable state. In addition, if the work status changes while the signal supply is stopped and the detection value returned by the detection sensor returns to the normal control operation area, the control signal supply to the electric actuator is automatically The normal control operation is resumed.

[0006]

Therefore, when the control target position of the seedling planting device exceeds the mechanical limit, the exciting coil is burned without supplying excessive current to the electric actuator. It is possible to prevent adverse effects such as
When the work situation changes to a state where normal control is possible, the original rolling control operating state is automatically restored, so the rolling control itself is stopped, and the operator is based on a dedicated operation while watching the work situation. There is no troublesome operation as in the case of performing the returning operation by the operator, and the worker can concentrate on the traveling operation of the machine, resulting in excellent workability.

[0007]

Embodiments will be described below with reference to the drawings. Figure 4
Shows the rear part of the riding type rice transplanter. This rice transplanter is constructed by connecting a seedling planting device 4 to the rear portion of the riding type traveling body 1 via a parallel four-link mechanism 3 so as to be able to move up and down and roll around a front and rear axis P freely. The seedling planting device 4
Is a seedling stand 5 that moves laterally back and forth with a constant stroke, a planting mechanism 6 that takes out one seedling from the lower end of the seedling stand and plants it in the field, and a plurality of leveling floats 7 etc. are also used as frames for planting transmission. The lift cylinder 2 is provided in the case 9 and is supported by the lift cylinder 2 attached to the link mechanism 3 so as to be driven up and down while maintaining a substantially parallel posture. Also, the planted transmission case 9 is attached to the rear link 3a of the link mechanism 3.
Are connected so as to be rotatable relative to each other around the front-rear axis, and can be driven and rolled by a rolling actuating mechanism 10 interposed between the upper side of the rear link 3a and the left and right sides of the rear surface of the seedling stand 5. There is. The rolling operation mechanism 1
As shown in FIG. 3, a screw shaft 10c is rotatably mounted on the left and right brackets 10a, 10a which are erected from the upper side of the rear link 3a, and the screw shaft 10c is an electric motor 10b capable of rotating in the forward and reverse directions. A support rod 1 configured to be driven and rotated by an example of an electric actuator and interlockingly connected to a female screw member 10d screwed to a screw shaft 10c.
The left and right both sides of 2 are interlockingly linked to the upper side of the vertical frame rods 11 and 11 which are erected from the planting transmission case 9 on the left and right sides of the rear surface side of the seedling stand 5 through the stroke absorbing springs 13. is there. That is, by rotating the electric motor 10b, the female screw member 10d is screwed and the whole seedling planting device relatively rolls around the axis P.
In the figure, 15 is a spring for correcting the left-right weight balance caused by the movement of the center of gravity accompanying the lateral movement operation of the seedling stand 5.

The seedling planting device 4 is constructed so that it is always maintained in an absolute horizontal posture during planting work. In other words, the wheels of the traveling body run on a hard cultivator below the soft mud layer, and the seedling planting device 4 plants seedlings in the mud layer, so that the posture against mud is always kept constant. Although necessary, the surface of the mud is considered to be almost horizontal, and the seedling planting device 4 is maintained and controlled in a horizontal posture. More specifically, as shown in FIG. 1, the rolling operation electric motor 10d is configured to be controlled and driven by a control device 8 equipped with a microcomputer, and the control device 8 is controlled from the absolute horizontal posture of the seedling planting device 4. The detection result of the weight type horizontal sensor 16 [an example of the detection sensor] that detects the inclination angle of the seedling planting device 4 is input based on the detection result, and the seedling planting device 4 is electrically operated to maintain the ground posture of the planting device 4 in a predetermined control target state. A rolling control means A for driving and controlling the motor 10d is provided in a control program format. Further, the control device 8 has
The rolling operation restraint means B for restraining the driving signal for the electric motor 10d from being continuously applied for a predetermined time or longer, and the detection value of the horizontal sensor 16 are set by a set amount more than the detection value at the time when the driving signal is stopped. When it is detected that the control target state is approached, the electric motor 10
A rolling operation returning means C for controlling to restart the supply of the drive signal to d is provided in the form of a control program. That is, the control device 8 executes control as follows.

FIG. 2 shows a rolling control procedure during work traveling. The detection value of the horizontal sensor 16 is read, and it is determined from the detection result that the seedling planting device 4 deviates from the horizontal posture, that is, the detection value of the horizontal sensor 16 deviates from the predetermined dead zone width with respect to the absolute horizontal value. Then, [steps 1 and 2], a motor drive signal is supplied in a predetermined direction so as to drive the electric motor 10d so that the detected value falls within the dead zone width [step 3]. At the same time, the electric motor 10d starts to be driven. Start the timer operation,
When the detection value of the horizontal sensor 16 falls within the dead zone width before the lapse of a predetermined time, the electric motor 10d is stopped and controlled [step 4]. After the lapse of the predetermined time, the motor drive signal is stopped [step 7] even if the above-described motor stop control is not performed, and
If it is determined from the detection value of the horizontal sensor 16 at that time that the seedling planting device 4 is out of the horizontal posture, the detection value of the horizontal sensor 16 at that time is stored in the memory 17,
The electric motor 10d maintains the state [steps 8 and 9]. Then, the work traveling is continued as it is, and the detection value of the horizontal sensor 16 changes due to the change of the field condition,
It is judged whether or not the detected value has returned to the horizontal posture side by a set amount or more with respect to the stored value, and if not restored, the signal stop state is maintained in step 9, and if restored, the above is performed. Then, the normal rolling control is returned to [Step 10]. The electric motor 1 in step 9
The operation of maintaining the drive stopped state of 0d is configured to be automatically reset when the seedling planting device 4 is largely lifted in the headland, and is controlled to return to step 1. The steps 6 to 9 constitute the rolling operation restraining means B, and the step 10 constitutes the rolling operation returning means C.

It should be noted that reference numerals are added to the claims to facilitate the comparison with the drawings, but the present invention is not limited to the configurations of the accompanying drawings by the entry.

[Brief description of drawings]

FIG. 1 is a control block diagram.

[Fig. 2] Control flowchart

FIG. 3 is a rear view of the rolling operation mechanism.

[Figure 4] Side view of the rear part of the rice transplanter

[Explanation of symbols]

 4 Seedling planting device 10b Electric actuator 16 Detection sensor A Rolling control means B Rolling operation restraint means C Rolling operation return means

Claims (1)

[Claims] 1. A seedling planting device (4) is connected to a traveling machine body by an electric actuator (10b) around a longitudinal axis so as to be freely rolling, and the amount of tilt of the seedling planting device (4) to the left and right to the ground is detected. Based on the detection result of the detection sensor (16), the electric actuator (10b) so as to maintain the ground posture of the seedling planting device (4) in a predetermined control target state.
A rolling control mechanism of a rice transplanter equipped with a rolling control means (A) for driving and controlling a rolling actuation check means for restraining a drive signal to the electric actuator (10b) from being continuously applied for a predetermined time or longer. (B), the electric actuator (10b) detects that the detection value of the detection sensor (16) is closer to the control target state by a set amount than the detection value at the time when the drive signal is stopped. The rolling control mechanism of the rice transplanter, which is provided with rolling operation return means (C) for controlling so as to restart the supply of the drive signal.