JPH09103138A - Rice transplanter - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a rice transplanter designed to prevent a rolling member from malfunctioning due to the abnormal output of an angular velocity sensor and deal with such an unfavorableness to interrupt a planting work due to the failure of the angular velocity sensor. SOLUTION: In a rice transplanter equipped with an angular velocity sensor 57 and a tilt sensor 56 each to detect the rolling operation of a planting part and a rolling member 48 to correct the right/left inclination of the planting part based can the results from both the sensors 56 and 57, there is also equipped a controller 63 to actuate the rolling member 48 by the output alone from the tilt sensor 56 when the output from the angular velocity sensor 57 is abnormal.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a rice transplanter equipped with, for example, a seedling mount and a planting claw for continuously performing seedling planting work.

[0002]

Conventionally, the rolling motion of the planting part is detected by detecting the rolling motion of the planting part by an inclination sensor and automatically controlling the rolling member to correct the lateral inclination of the planting part. There is a problem that the correcting operation of the rolling member is delayed with respect to the operation. Therefore, it is possible to reduce the correction operation delay of the rolling member by detecting the rolling operation direction of the planting part with the angular velocity sensor and operating the rolling member, but even if the output of the angular velocity sensor is abnormal, the sensor output value Based on this, there is a problem that the rolling member operates and the planting part is maintained in a state of being tilted left or right. Further, since the angular velocity sensor produces an output only while the body is tilting,
When the angular velocity sensor is attached to the machine body, there is a problem that the operation of the angular velocity sensor cannot be easily checked.

[0003]

Therefore, according to the present invention, an angular velocity sensor and an inclination sensor for detecting the rolling motion of the planting portion are provided, and the lateral inclination of the planting portion is corrected based on the detection result of each sensor. A rice transplanter equipped with a rolling member is provided with a controller that activates the rolling member only by the output value of the tilt sensor when the output value of the angular velocity sensor is abnormal. This makes it easy for the rolling member to malfunction due to an abnormal output of the angular velocity sensor. Even if the angular velocity sensor becomes abnormal, the inclination correction automatic control of the rolling member can be continued, and the trouble that the planting work is interrupted due to the failure of the angular velocity sensor can be eliminated.

Further, a controller is provided which operates the rolling member only with the output value of the inclination sensor when the output value of the angular velocity sensor changes outside the temperature drift range. Even if the output value of the angular velocity sensor changes with ambient temperature, It is possible to prevent the rolling member control by the angular velocity sensor from being interrupted.

Further, a controller is provided which operates the rolling member only by the output value of the inclination sensor when the output value of the angular velocity sensor changes outside the temperature drift range for a certain period of time. Even if an abnormal condition occurs, the rolling member control by the angular velocity sensor can be prevented from being interrupted when the normal condition is restored.

An angular velocity sensor is detachably attached to the inside of a lid that can be opened and closed approximately on the center line of the machine. By opening the lid and taking the angular velocity sensor out of the machine, only the angular velocity sensor is removed. It can be rotated to check the operation.

[0007]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described in detail below with reference to the drawings. FIG. 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. In the drawing, (1) shows a traveling vehicle on which an operator rides, and an engine (2). ) Is mounted above the front of the body frame (3),
A front paddle traveling wheel (6) is supported in front of a gear transmission case (4) via a front axle case (5), and a rear axle case (7) is connected to the rear of the gear transmission case (4). The rear axle case (7) supports a rear traveling wheel (8) for traveling in paddy fields. Then, the spare seedling mounts (10) are attached to both sides of the bonnet (9) that covers the engine (2) and the like, and step (1)
The gear shift case (4) and the like are covered by a body cover (12) on which an operator rides via 1), and a driver's seat (13) is mounted on the upper part of the body cover (12). A steering handle (14) is provided in front of and behind the hood (9).

Further, (15) in the figure is a planting section equipped with a seedling table (16) for planting 6 rows, a plurality of planting claws (17), etc. Forward tilting seedling stand (1
6) is supported on the planting case (20) through the lower rail (18) and the guide rail (19) so as to be slidable left and right, and at the same time, the rotary case (21) is rotated at a constant speed in one direction. The pair of claw cases (22) and (22) are supported at the case (20), and a pair of claw cases (22) and (22) are arranged symmetrically around the rotation axis of the case (21).
(22) Attach the planting claws (17) (17) to the tip. Further, 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) for connecting a support frame (24) to the rear side of the vehicle (1) and lifting and lowering the planting part (15) through the link mechanism (27).
Is connected to a lower link (26), and the front and rear traveling wheels (6) and (8) are driven to move, and at the same time, seedlings for one plant are planted from a seedling stand (16) that slides back and forth from side to side. The nails (17) are taken out and the seedlings are continuously planted.

In the drawing, (29) is the main speed change lever, (3)
(0) is a sub-shift lever for planting up / down and work traveling gear shifting, (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 side-row fertilizer for six rows.

Further, as shown in FIGS. 4 and 5, an engine (2) is mounted on a front portion of a 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 mounted on the lower surface of the body frame (3) (3) behind the engine (2). A continuously variable 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.

Left and right supports (40) and (40) are erected on the upper surfaces of the rear end portions of the left and right body frames (3) and (3), and upper ends of the left and right supports (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 vehicle body frame (3) and the middle of the horizontal frame (41), sub-frames (43) and (43) which incline to the front low and rear high are installed.
Lift 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 fixed to the stay (46) via a support shaft (47). The middle is rotatably attached, and right and left seedling support columns (49) and (49) for fixing the lower ends to the left and right planting cases (20) and (20) are erected and slidably engaged with the guide rail (19). Slider to be inserted (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 the rolling cylinder (48), a manual tilt switch (55) for manually operating the rolling cylinder (48), and a plant A pendulum type inclination sensor (56) provided in the attached case (20) for detecting the left and right inclination of the planting part (15), and a left and right inclination speed of the traveling vehicle (1) provided in the traveling vehicle (1). speed)
Gyro-type angular velocity sensor (57), a fine adjustment volume (58) for manually adjusting the horizontal output reference value of the tilt sensor (56), and a hydraulic rolling valve (60) are switched to operate the rolling cylinder (48). The electromagnetic left and right tilt solenoids (61) (62) are connected to a controller (63) for rolling control formed by a microcomputer, and the sensors (56) (5) are connected.
Based on the detection result of 7), each solenoid (61) (62) is operated by the pulse-rolling drive signal output from the controller (63) to the left or to the right, and the rolling cylinder (48) is operated by the pulse drive. When the traveling vehicle (1) tilts to the left or right due to the unevenness of the field cultivator in which the left and right rear running wheels (8) (8) roll, the planting section (15) is corrected. The left and right inclination angle of the vehicle 15 is 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 5.
It is configured to be detected by 7).

Further, as shown in FIGS. 8 and 9, an opening (64) is formed in the vehicle body cover (12) below the driver's seat (13) before the driver's seat (13) is rotatably attached to the front side. The opening (64) is arranged between the part fulcrum bracket (65) and the left and right cushion rubbers (66) (66) with which the lower surface of the driver's seat (13) is abutted, and the upper surface of the vehicle body cover (12) is covered from above. (67) is fixed by opening and closing the wing nuts (68) (68). Further, a driver's cab frame (69) supporting the driver's seat (13) is extended to the lower surface side of the vehicle body cover (12), and the fulcrum bracket (6)
5) and a cushion cover (66) or the like to support the driver seat (13) on the frame (69), and a control box (70) in which the angular velocity sensor (57) and controller (63) are installed. It is detachably fixed to the upper surface of the frame (69) inside the opening (64) by bolts (71). The driver seat (13) is rotated forward around the fulcrum bracket (65), and the wing nut (68) is rotated. ) Operation to remove the lid (67) and the bolt (71) operation to remove the control box (70).
0) is taken out of the machine through the opening (64).

Further, as shown in FIG. 1, a self-diagnosis light emitting diode (72) and an operation check coupler (73) for connecting an angular velocity sensor check meter (not shown),
An operation check light-emitting diode (74) is connected to the controller (63), the lid (67) is opened, the control box (70) is taken out of the machine, and the angular velocity sensor check meter is connected to the coupler (73). By connecting the controller (63) to the angular velocity sensor (57) and rotating the angular velocity sensor (57), the operation check light emitting diode (74) is turned on by the output of the sensor (57), and the sensor (57) operates normally. The self-diagnosis light emitting diode (72) is lit by the output of the controller (63) that operates the solenoids (61) and (62), and the controller (63) operates normally. The angular velocity sensor (57) can be checked for operation.

Further, as shown in FIG. 10, the angular velocity sensor (57) produces an output proportional to the angular velocity which is the rotational velocity of the rotating machine body, and the zero point (the output voltage when the angular velocity is zero = Since there is a temperature drift that changes about 2.5 volts, for example, the sensor (57) output is counted N times (N >> 10000) at 1 millisecond intervals, and the average value of the sensor (57) output is calculated. This average value is used as the temperature drift correction value, and the correction value is set to the control dead zone width (for example, 2
.About.3 volts) or more, the change in the leftward tilt or the change in the rightward tilt is detected, and the solenoids (61, 62) are selectively actuated.

The angular velocity sensor (5
7) When the output falls below the temperature drift range (V1 = 0.5 V or less) and continues for a certain time (T1) or more,
When the output of the sensor (57) is determined to be abnormal and the output of the angular velocity sensor (57) exceeds the temperature drift range (V2 = 4.5 V or more) due to a short circuit or the like and continues for a certain time (T2) or more. , It is determined that the sensor (57) output is abnormal. When the output of the sensor (57) is abnormal, the control of the solenoids (61) (62) based on the detection result of the sensor (57) is stopped, and the solenoids (61) (62) are controlled only by the output value of the tilt sensor (56). Is automatically controlled to correct the lateral inclination of the planting part (15).

As is apparent from the above, the planting part (15)
An angular velocity sensor (57) and an inclination sensor (56) for detecting the rolling motion of the
6) In the rice transplanter provided with the rolling cylinder (48) which is a rolling member for correcting the lateral inclination of the planting part (15) based on the detection result of (57), the angular velocity sensor (5
7) The rolling cylinder (48) is operated only by the output value of the tilt sensor (56) when the output value is abnormal.
A controller (63) is provided which operates the rolling cylinder (48) only by the output value of the tilt sensor (56) when the output value of the angular velocity sensor (57) changes outside the temperature drift range for a certain period of time or longer. By the abnormal output of (57), the rolling cylinder (4
8) is prevented from malfunctioning, and the problem that the planting work is interrupted due to a failure of the angular velocity sensor (57) is eliminated. Further, even when the output value of the angular velocity sensor (57) changes due to the ambient temperature, the control of the rolling cylinder (48) by the angular velocity sensor (57) is prevented from being interrupted, and the output value of the angular velocity sensor (57) is temporarily changed. Even if something goes wrong, it prevents the rolling cylinder (48) control by the angular velocity sensor (57) from being interrupted when it returns to its normal state. The angular velocity sensor (57) is detachably attached to the inside of 67), the lid (67) is opened, and the angular velocity sensor (57) is taken out of the machine.
It is configured so that only 7) can be rotated to check the operation.

This embodiment is constructed as described above, and is shown in FIG.
As shown in the flow chart of No. 1, automatic switch (54)
When is off, the rolling cylinder (48) is operated by the rolling manual adjustment by the operator's operation of the manual tilting switch (55), and the planting part (15) is tilted left and right at a desired angle. Further, when the automatic switch (54) is turned on, the output of the angular velocity sensor (57) for inputting the traveling vehicle (1) tilt angular velocity output of the angular velocity sensor (57) as shown in FIG. Is calculated to obtain the temperature drift correction value, and when the correction value is within a predetermined range (greater than V1 and less than V2), the correction value is smaller than the zero point (about 2.5 volts). It is determined whether the vehicle tilts to the left or to the right, and when the left tilt change is detected based on the output of the angular velocity sensor (57), the left tilt solenoid (61) is controlled to control the rolling cylinder. When the rightward tilt change operation is detected based on the output of the angular velocity sensor (57) while the left tilt correction operation of the planting section (15) of (48) is started, the right tilt solenoid (6
2) is controlled to start the right tilt correction operation of the planting portion (15) of the rolling cylinder (48).

The output of the tilt sensor (56) is input substantially at the same time as the start of the operation for correcting the left tilt or the right tilt, and the left tilt solenoid (6) is detected by detecting the left tilt of the tilt sensor (56).
1) is controlled to cause the planting portion (15) of the rolling cylinder (48) to move to the left and the tilt sensor (5)
6) The right tilt solenoid (62) is controlled by the right tilt detection of 6) to cause the planting part (15) of the rolling cylinder (48) to move to the right, and the detection results of the angular velocity sensor (57) and the tilt sensor (56). Based on the above, the rolling cylinder (48) is actuated, and the rolling cylinder (48) is actuated early so that the tilt control delay with respect to the actual tilting of the planting part (15) is reduced as compared with the control of only the tilt sensor (56). Rolling control.

Further, when the temperature drift correction value is obtained by inputting the output of the angular velocity sensor (57), when the correction value is outside a predetermined range (smaller than V1 or larger than V2),
The correction of the left tilt or right tilt of the planting part (15) by the angular velocity sensor (57) is stopped, the output of the tilt sensor (56) is input, and the left tilt or right tilt of the tilt sensor (56) is detected, so that each solenoid (61) (62) is detected. ) Is selectively operated to cause the rolling cylinder (48) to raise the planting part (15) leftward or rightward. The output of the angular velocity sensor (57) continues for a certain time or longer due to a disconnection or a short circuit. By maintaining the abnormal value, the rolling cylinder (48) is automatically controlled only by the output of the tilt sensor (56), and malfunction of the rolling cylinder (48) due to the abnormal output of the angular velocity sensor (57) is prevented.

[0022]

As is apparent from the above embodiments, the present invention is provided with the angular velocity sensor (57) and the inclination sensor (56) for detecting the rolling operation of the planting part (15), and the respective sensors (56). In the rice transplanter provided with the rolling member (48) for correcting the lateral inclination of the planting part (15) based on the detection result of (57), the angular velocity sensor (5
7) A controller (63) for operating the rolling member (48) only with the output value of the tilt sensor (56) when the output value is abnormal is provided, and the rolling member (48) is activated by the abnormal output of the angular velocity sensor (57). Can be easily prevented, and even if the angular velocity sensor (57) becomes abnormal, the inclination correction automatic control of the rolling member (48) can be continued, and the planting work can be performed due to the failure of the angular velocity sensor (57). It is possible to eliminate the problem of interruption.

Further, a controller (63) for operating the rolling member (48) only by the output value of the tilt sensor (56) when the output value of the angular velocity sensor (57) changes outside the temperature drift range is provided. Even if the output value of the angular velocity sensor (57) changes due to the temperature, the control of the rolling member (48) by the angular velocity sensor (57) can be prevented from being interrupted.

A controller (63) for operating the rolling member (48) only with the output value of the inclination sensor (56) when the output value of the angular velocity sensor (57) has changed outside the temperature drift range for a certain period of time or longer. Even if the output value of the angular velocity sensor (57) temporarily becomes abnormal, the rolling member (48) control by the angular velocity sensor (57) is interrupted when it returns to the original normal state. Can be prevented.

An angular velocity sensor (57) is detachably attached to the inside of a lid (67) which can be opened and closed approximately on the center line of the machine, and the lid (67) is opened to open the angular velocity sensor (57). It is possible to perform an operation check by rotating only the angular velocity sensor (57) by taking out the.

[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 plan view of an angular velocity sensor mounting portion.

FIG. 9 is a front view of the same.

FIG. 10 is an angular velocity sensor output diagram.

FIG. 11 is a flowchart of FIG. 1;

[Explanation of symbols]

 (15) Planting part (48) Rolling cylinder (rolling member) (56) Tilt sensor (57) Angular velocity sensor (63) Controller (67) Lid

Claims (4)

[Claims] 1. An angular velocity sensor for a rice transplanter, comprising an angular velocity sensor and a tilt sensor for detecting a rolling motion of a planting part, and a rolling member for correcting a lateral tilt of the planting part based on a detection result of each sensor. The rice transplanter is provided with a controller that operates the rolling member only by the output value of the tilt sensor when the output value is abnormal. 2. The rice transplanter according to claim 1, further comprising a controller that operates the rolling member only by the output value of the inclination sensor when the output value of the angular velocity sensor changes outside the temperature drift range. 3. The controller according to claim 1, further comprising a controller for operating the rolling member only with the output value of the inclination sensor when the state in which the output value of the angular velocity sensor changes outside the temperature drift range is continued for a certain time or longer. Rice transplanter described in. 4. The rice transplanter according to claim 1, wherein an angular velocity sensor is detachably attached to the inside of a lid that can be opened and closed substantially on the center line of the machine.