JPH0673408B2 - Control device for paddy field vehicle - Google Patents

Description

TECHNICAL FIELD The present invention relates to a control device for a paddy field vehicle such as a passenger rice transplanter, and more specifically, a working unit is installed on a traveling machine body so as to be swingable in the lateral direction of the machine body. Also, the present invention relates to a control device for a paddy work vehicle configured so that the working unit can be rocked in the lateral direction of the machine body by a rocking actuator.

(B) Conventional Technology Generally, in a paddy field vehicle, for example, a rice transplanter, a planting portion is supported by a traveling machine body so as to be able to move up and down through a link, and by appropriately operating the link by operating a hydraulic actuator, The planting part is controlled to move up and down in response to the operation of the lifting operation lever. The planting part is swingably supported by the rolling fulcrum shaft at the rear end of the link, and is biased and held by a spring so as to be substantially horizontal. However, the mat seedlings placed on the seedling stand are sequentially planted by a large number of driven planters.

However, in the above-mentioned conventional rice transplanter, since the wheels travel on the cultivator in the field, the traveling machine body tilts irregularly during rice transplanting work, so that the planting part floats on the field scene in the float. However, the vehicle tilts slightly in the same direction as the vehicle tilts. For this reason, some planters arranged in the horizontal direction may float up and be planted shallowly, or some may be submerged and planted deeply.

Therefore, a horizontal detection sensor that detects the levelness of the planting unit is installed, and a rice transplanter configured to perform horizontal control for maintaining the planting unit in a horizontal state by a signal from the control unit based on the horizontal detection sensor. Horizontal control devices have been proposed.

(C) Problems to be Solved by the Invention However, although the horizontal control device of the rice transplanter described above can perform the planting work while keeping the planting part horizontal and following the field scene, the rice paddle is scratched. Since there are slopes and steps due to traces, etc., simply controlling the planting part horizontally by horizontal control during planting work may cause problems such as shallow planting and floating seedlings depending on the condition of the rice field. There is.

(D) Means for Solving the Problems The present invention is intended to solve the above problems, and for example, referring to FIG. 1 and FIG. 2, the traveling machine body (5) ( Install the working part (10) on the rolling fulcrum shaft (21) in the left and right direction of the machine (see FIG. 8),
In addition, the working unit (1
0) is a paddy work vehicle (1) configured to be swingable in the left-right direction of the machine body, including a horizontal detection sensor (60) for detecting the levelness of the working part (10), and Field detecting sensors (67a) and (67b) for detecting are provided, and the swing actuator (65) is controlled so that the signal from the horizontal detecting sensor (60) reaches a set target value, and the target is also detected. The value is controlled so as to be corrected based on the difference in the left-right direction due to the signals from the rice field detection sensors (67a, 67b).

(E) Action Based on the above configuration, when performing work such as planting using the paddy field vehicle (1), the working unit (10) has a horizontal detection sensor (60).
It is based on the fact that the rocking actuator (65) is operated to maintain the horizontal position based on the detection of, and for example, when there is a slope or step due to scratching on the rice field, the rice field detection sensors (67a), (67b) The target value of the horizontal detection sensor (60) is appropriately corrected based on the detection of the inclination, the step, etc., whereby the working unit (10) is controlled so as to follow the field, that is, Tadaira.

Note that the reference numerals in parentheses do not limit the configuration in any way.

(F) Example Hereinafter, an example according to the present invention will be described with reference to the drawings.

As shown in FIG. 8, the riding rice transplanter 1 has a traveling machine body 5 supported by front wheels 2 and rear wheels 3, and an engine 6 is mounted on the front part of the front wheel of the traveling machine body 5. At the same time, the driver's seat 9 is arranged so that the seat 7 is positioned in the middle portion between the front and rear wheels, that is, the center of gravity of the machine. Furthermore, a planting part is provided behind the traveling machine body 5 via an elevating link 8.
10 is supported so as to be able to move up and down, and a large number of planters 11, ..., Side floats 14a, 14b and center float 1 are attached to the planting section 10.
Float 14 consisting of 4c (see Fig. 2) and seedling stand 12
Is provided. Further, a lifting hydraulic actuator 19 is arranged between the front mission case 16 of the traveling machine body 5 and the bracket 17 fixed to the link 8, and the planting portion 10 is moved up and down based on its expansion and contraction. .

On the other hand, as shown in FIG. 5, the planting part 10 has a planting part frame which is swingably supported by a rolling fulcrum shaft 21 on a link holder 20 attached to the rear end of the lifting link 8, and A seedling stand 12 is installed on the attachment part 10 so as to be movable in the left-right direction via a support frame having one end attached to the planting part frame. Further, a drive case 22 is installed on the back surface of the seedling stand 12, and a shaft case 23 is provided extending from the lower side of the case 22 to the left and right, and a large number of planter cases 25 are provided via the shaft case 23. ... is arranged, and further, a propeller shaft is provided in the drive case 22 for the traveling vehicle body 5.
Extending from.

Further, the planter case 25 is supported via a plate 26 by a rotation shaft 29 that can be rotated by a planting depth lever 27, and a support shaft 30 projects from the plate 26 in the planting part width direction. Have been fixed. Further, one end of a rotating arm 31 is rotatably supported on the support shaft 30, and a potentiometer base 33 having a float potentiometer 15 fixed thereto is rotatably supported via a pipe 32. Further, a pin 28 is fixed to the arm fixed to the rotating shaft 29, and the pin 28 is fitted into a long hole 33a formed in the potentiometer base 33, whereby a planting depth lever 27 is formed. The base 28 can be rotated about the support shaft 30 by a predetermined amount by the pin 28 that moves in an arc shape along with the rotation shaft 29 that is rotated by the operation. Further, the potentiometer base 33 is formed with a groove 33b at its downwardly facing end portion, and the groove 33b is supported by a bolt 34 and a spring washer w to prevent it from swinging.

The center float 14c has a float base 3 on its upper surface.
5, 36 are fixedly mounted, and an L-shaped arm 37 is rotatably supported by a pivot shaft 39 at one end of the float base 35, and is rotated by a stopper 38 by a predetermined amount or more. It is regulated. Further, a rod is provided at one end of the L-shaped arm 37.
One end of 40 is pivotally supported, and the other end of the rod 40 is pivotally supported at the other end of the rotating arm 31. Also, the rotating arm
A pin 41 is fixed to one end of the float 31 so as to project to one side, and the pin 41 is a rotary shaft of the float potentiometer 15.
It is fitted and inserted into a sliding groove 43a of a sensor arm 43 fixed to 42. Further, the other end of the L-shaped arm 37 is hooked at the other end of a relief spring 45 having one end hooked at the float base 35. A link 47 pivotally supporting one end of a link 46 is rotatably supported on the pivot shaft 39.
The other end of the link 46 is pivotally supported on the lower portion of the drive case 22.

Further, one end of a link 49 is rotatably supported on the float base 36 by a pin 50 that serves as a swing fulcrum of the float,
And the other end of the link 49 is connected to the planter case through the support shaft 54.
It is pivoted to 25. Further, the other end of the link 53 pivotally supported at its long hole 53a by a pin 52 at the other end of the planting depth adjusting arm 51 whose one end is welded to the rotary shaft 29 is rotated at the support shaft 54. The link 53 is freely supported, and the other end of the link 53 is the link.
It is welded to the other end of 49. And pin 52 and plate
A spring 60 is stretched between 26. Further, a spring 59 is provided between one end of the base 33 and the bracket 57.
Is stretched.

Further, since the urging force of the escape spring 45 is made larger than the urging force of the float urging spring 55 stretched between the lower portion of the drive case 22 and the sensor arm 43, normally only the spring 55 expands and contracts. Therefore, the vertical movement of the float 14 is transmitted to the sensor arm 43 via the L-shaped arm 37, the rod 40, the rotating arm 31, and the pin 41.
As a result, the earth pressure is detected by the float potentiometer 15. Further, a horizontal detection sensor 60 that detects the absolute horizontal degree in an analog manner is installed coaxially with the rolling fulcrum shaft 21. Reference numeral 61 in the figure is a lever guide.

Further, as shown in FIGS. 1 to 3, the rocking hydraulic actuator is located in the planting portion 10 between the bracket 62 fixed to the link holder 20 and the planting portion frame 63.
65 is provided, and the operation of the actuator 65 is configured to roll the planting portion 10 left and right. Further, between the side float 14a and the center float 14c, and between the side float 14b and the center float 14c, a left and right paddle surface detection sensor that detects the clearance between the planting part 10 and the ground in an analog manner by changing the angle of the potentiometer. 67a and 67b are installed.

Then, the rice field detection sensors 67a, 67b are arranged as shown in FIGS.
Case 69 fixed to shaft case 23 as shown
And a bow-shaped sled member 72 whose one end is rotatably supported by a pin 71 inside the case 69. Then, the sled member 72
An arm 75 is welded to one end of the arm through a pipe 73, and the arm 75 has a pin 76 at its tip.
Engages with the notch 77a of the sensor arm 77 attached to the rotary shaft 70a of the potentiometer 70 protruding inward of the case 69. Therefore, when the planting part 10 touches down, the sled member along the paddy field
The operation of 35 is the rotation axis 70 via the arm 75 and the sensor arm 77.
It is configured to be transmitted to a, so that the unevenness of the rice field is detected by the potentiometer 70.

Further, as shown in FIG. 6, a microcomputer (hereinafter referred to as a microcomputer) 80 has a sensitivity adjusting volume 81 for adjusting the control sensitivity of the planting section 10 and a planting section automatic control switch 82.
Also, a signal from the horizontal control switch 83 is input, and when the automatic control switch 82 is turned on, the lift automatic lamp 84 is turned on. Further, the microcomputer 80 includes a detection signal from a lever potentiometer 85 for detecting each inclination θ _L of the planting part elevation operation lever 89, a detection signal from a float potentiometer 15 for detecting an angle θ _{F of the} float 14, and a slot detection switch. The detection signals from 86 are input respectively. Further, the lifting electromagnetic switching valve 87 for operating the lifting hydraulic actuator 19 for lifting the planting section 10 includes a lever potentiometer 85 and a float potentiometer 15.
When a signal from the microcomputer 80 based on the detection signal from the microcomputer 80 is issued, it corresponds to each operation position U (up position), N (fixed position), D (down position), A (automatic position) of the lifting operation lever 89. The hydraulic actuator 19 is controlled to operate. Further, when the planting part 10 is raised corresponding to the raised position U of the lifting operation lever 89, when the planting part upper limit switch 90 installed above the planting part 10 is turned on, the on operation is performed. Is input to the microcomputer 80, which switches the electromagnetic switching valve 87 and stops the hydraulic actuator 19.

Further, the tilt angle θ _S due to the swing of the planting section 10 is detected by the tilt potentiometer 91 and input to the microcomputer 80.
Further, a horizontal angle detection signal from the horizontal sensor 60 is input to the microcomputer 80, and a signal is transmitted to the swing electromagnetic switching valve 92 based on the signal, whereby the swing hydraulic actuator 65 expands and contracts. The section 10 is controlled so that it is always horizontal. Further, the microcomputer 80 has a left ground distance θ _A and a right ground distance θ detected by the field detection sensors 67a and 67b.
_B is input. In the figure, 93 is a horizontal center correction volume, and 95 is a horizontal control lamp.

Since the present embodiment has the above-described configuration, when performing rice planting work using the riding rice transplanter 1, the operator operates the driver's seat 9
Then, the planting part automatic control switch 82 is turned on, and the planting part raising / lowering operation lever 89 is moved to the raised position U. Then, the lever potentiometer 85 detects the tilt angle of the operation lever 83,
The detection signal is sent to the microcomputer 80,
A signal is transmitted from 80 to the electromagnetic switching valve 87. As a result, the valve 87 is actuated to move the lifting hydraulic actuator.
19 is extended and the planting part 10 is raised. Then, in a state where the planting section 10 is held at a predetermined raised position, the riding rice transplanter 1
Is operated to the rice-planting start position in the field, and the operation lever 89 is lowered to the position D at that position. Then, based on the lever potentiometer 85 detecting the tilting angle of the lever 89, a signal is output from the microcomputer 80 to the electromagnetic switching valve 87. As a result, the valve 87 operates, the actuator 19 is contracted, the planting part 10 is slowly lowered, and the float 14 comes into contact with the field scene and stops.

Then, when the planting part elevating / lowering operation lever 89 is operated to the automatic position A, a large number of planters 11 ... of the planting part 10 are driven, and the tilt angle θ _{L of the} lever 89 is further detected by the lever potentiometer 85. When the signal is input to the microcomputer 80, the electromagnetic switching valve 87 is actuated based on the earth pressure acting on the float 14, and the automatic raising / lowering control of the planting unit for properly holding the planting unit 10 at the planting position is performed. .

Further, when the horizontal control is started, the swing electromagnetic switching valve 92 is operated by a signal from the microcomputer 80 based on the horizontal angle detection by the horizontal detection sensor 60, whereby the swing hydraulic actuator 65 expands and contracts to be planted. The part 10 is always maintained so as to be horizontal with respect to the field scene, but the microcomputer 80 receives the left ground distance θ _A and the right ground distance θ _B of the float 14 from the left and right rice field detection sensors 67a, 67b, Based on this, the correction value for the target value of the horizontal detection sensor 60 is calculated (S
1) Since the value of the horizontal detection sensor 60 is corrected (S
2), on the slope or step of the rice field due to scratching,
When the right ground distance θ _B is large and the left offset of the planting part 10 is detected, the swing electromagnetic switching valve 92 is activated by the signal of the microcomputer 80 (S3), and the swing hydraulic actuator 65
Is controlled so that the planting part 10 is imitated by the flatness of the rice field, that is, it is set to Tadaira so that the planter 11 can plant seedlings at an appropriate planting depth. Further, when the left ground distance θ _A is large and the right offset of the planting part 10 is detected, the electromagnetic switching valve 92 is activated by the signal of the microcomputer 80 (S4),
The hydraulic actuator 65 is contracted to control the planting part 10 so as to follow the flatness of the rice field, that is, to make it flat, so that the planter 11 can plant a seedling at an appropriate planting depth. When the difference between the left ground distance θ _A and the ground distance θ _B is small,
The swing electromagnetic switching valve 92 is turned off (S5), and the swing hydraulic actuator 65 is deactivated. On the other hand, when the start condition of the horizontal control is not satisfied, the planting unit 10 is controlled in parallel with the traveling machine body 5 based on the detection of the tilt potentiometer 91 (S6). Further, the left and right paddy detecting sensors 67a, the left side float 14a and the right side float 14b.
Rice planting machine 1
It will not be damaged or deformed while driving.

In this embodiment, the left and right rice field detection sensors 67a, 67b,
It was provided between the left side float 14a and the center float 14c, and between the right side float 14b and the center float 14c, respectively, but the installation location of the rice field detection sensors 67a, 67b is in the vicinity of the left and right side floats 14a, 14b. Other portions may be provided as long as the portions except the wheel marks may be provided, and the left and right side floats 14a and 14b themselves may be provided.

Further, in this embodiment, the planting depth adjusting arm 51 is rotated by operating the planting depth lever 27, and the vertical position of the pin 50 is changed via the link 53 to change the swing fulcrum position of the center float 14c. However, as shown in FIG. 9, the left side float 14a and the right side float 14b are
Links 51 'and 51 "are welded to both ends of the rotating shaft 29 extending to the upper side, and these links 51' and 51" are respectively connected to the links 53 and 5 ".
3, The left and right planter cases 25 ', 25 ″ are connected via the support shafts 54, 54, and the tips of the links 53, 53 are respectively attached to the float base 3 of the left side float 14a by the pins 50 ′, 50 ″.
A center float 14c which is rotatably supported by the float base 36 ″ of the 6 ′ and right side floats 14b, and moves the swinging fulcrum up and down via the links 51 and 53 when adjusting the planting depth by the planting depth lever 27. The rocking fulcrums of the left and right side floats 14a, 14b are configured to move up and down in synchronization with the above, so that the wheel marks can be leveled on the left and right side floats 14a, 14b in the same manner as the paddy field where the center float 14c is located. In addition, the center float 14c is properly supported from the left and right by the left and right side floats 14a and 14b whose swing fulcrums are synchronized with each other so that hunting does not occur even if the dead zone of the float potentiometer 15 is reduced. It may be configured to increase accuracy.

(G) Effect of the Invention As described above, according to the present invention, the horizontal detection sensor (6) is detected based on the detection of the rice field detection sensors (67a), (67b).
Since the work unit (10) is controlled by correcting the target value of (0), the work unit horizontal control based on the horizontal detection sensor (60) is used as a base, and the slope or step on the rice field The working unit (10) can be controlled so as to follow the paddy field, and stable and highly accurate work can be performed by eliminating shallow planting and deep planting.

Further, since the rice field detection sensors (67a) and (67b) function as auxiliary sensors for correcting the target value of the horizontal detection sensor (66), the signal from the rice field detection sensor immediately responds to the swing actuator (65). It is possible to perform smooth and stable rolling control without doing so.

Furthermore, the rice field detection sensors (67a, 67b) are equipped with dedicated sled members (7
Since it has 2), it can accurately detect the distance to the rice field on the left and right of the aircraft, and outputs the flatness of the rice field to the control unit (80) as an accurate value to output the signal from the horizontal detection sensor (60). In addition, accurate rolling control can be performed.

[Brief description of drawings]

FIG. 1 is a side view showing a rice field detection sensor installed in a planting part according to the present invention, FIG. 2 is a plan view thereof, FIG. 3 is a view seen from the front of the fuselage, and FIG. 4 is a detailed view of the rice field detection sensor. Sectional drawing shown, FIG. 5 is a side view showing the main part of the planting section, FIG. 6 is a system configuration diagram of this embodiment, FIG. 7 is a flow chart showing its operation, and FIG. 8 is a riding rice transplanter. It is the whole side view shown. FIG. 9 is a plan view showing another embodiment in which the left and right side floats operate in synchronization with the center float. 1 …… Paddy field vehicle (passenger rice transplanter), 5 …… Traveling vehicle, 10
…… Working part (planting part), 21 …… Rolling fulcrum shaft, 60…
… Horizontal detection sensor, 65 …… Swing actuator (hydraulic hydraulic actuator), 67a, 67b …… Paddy surface detection sensor (left and right paddy surface detection sensor), 72 …… Sliding member, 80 …… Control unit (microcomputer).

Continuation of the front page (56) References JP-A-59-34812 (JP, A) JP-A-63-254908 (JP, A)

Claims (1)

[Claims] 1. A paddy work vehicle in which a working unit is installed on a traveling machine body so as to be swingable in the lateral direction of the machine body by a rolling fulcrum shaft, and the working unit is swingable in the lateral direction of the machine body by a swing actuator. There is a horizontal detection sensor that detects the levelness of the working section, and sled members that are placed on the left and right sides of the aircraft and are dedicated to the detection of the rice field.
A rice field detection sensor that detects the flatness of the rice field in the left-right direction based on the difference in distance between the sled members and the rice field, and the swing actuator so that the signal from the horizontal detection sensor reaches a set target value. And a control unit that corrects the target value based on a difference in the left-right direction based on a signal from the rice field detection sensor, and a controller for a paddy field vehicle.