JPH0135129Y2 - - Google Patents

Description

[Detailed Description of the Invention] The present invention relates to a straight-line control device for a riding rice transplanter.

As a straight line control device for this type of riding rice transplanter, there are two types: one that operates the steering mechanism of the traveling machine to control the direction of the entire machine, and one that controls only the seedling planting section horizontally with respect to the traveling machine. Types that control movement in the same direction have been proposed in the past.

However, in models that control the direction of the entire aircraft, the center of rotation is located away from the seedling planting section, for example on the rear wheels, so the seedling planting section may swing in the opposite direction to the steering direction. As a result, there is a drawback of overswing in that the undulations of the travel trajectory are amplified.

In addition, in the case of a type in which only the seedling planting part is moved laterally, when the seedling planting position moves to the wheel trace, the seedlings are stirred by the soft wheels immediately after the wheels pass. Since the seedlings are planted on the same site, there is a drawback that the planted seedlings may fall over.

The present invention has been devised in view of the above-mentioned conventional situation and to eliminate the drawbacks, and it is possible to control the horizontal movement of the seedling planting section along the row of already planted seedlings, and to control the horizontal movement of the seedling planting section. To provide a straight-line control device for a riding rice transplanter that can plant seedlings at a position avoiding the wheel marks of a traveling machine.

A straight-line control device for a riding rice transplanter according to the present invention that achieves the above object moves a seedling planting section connected to a traveling machine body having a steering mechanism via a parallel lateral movement mechanism to a seedling position that detects a row of already planted seedlings. In addition to controlling the horizontal movement along the already planted seedling rows based on the detection signal of the detection sensor,
A lateral movement amount detection sensor is connected to the seedling position detection sensor to detect a limit position at which the seedling planting position of the seedling planting section approaches the wheel track of the traveling body, and a limit position signal of the lateral movement amount detection sensor is provided. Based on the detection, the steering mechanism is driven to control the direction of the entire aircraft until the detection signal of the lateral movement command from the seedling position detection sensor disappears, and the seedlings are planted in a position that avoids wheel marks.

Hereinafter, the drawings showing one embodiment of the present invention will be described.

FIG. 1 is a plan view showing the entire riding rice transplanter. The seedling planting section B is connected to the seedling planting section B via a parallel lateral movement mechanism C, and the seedling planting section B detects already planted seedling rows 3 provided on the left and right sides of the seedling planting section B. It is configured to be able to move laterally so as to follow the already planted seedling row 3 by means of a parallel-lateral movement mechanism C that moves laterally in parallel in response to detection signals from the seedling position detection sensors 4, 4.

In the embodiment, the parallel lateral movement mechanism C employs a parallel link mechanism, which includes a lateral front link 5 fixed to the traveling body A side and a lateral front link 5 fixed to the seedling planting part B side. At both left and right ends of the rear link 6,
Left link 7 and right link 8 arranged in the front-rear direction
A hydraulic expansion/contraction mechanism 9 is provided between the left link 7 on the movable side and the front link 5 on the fixed side, which is comprised of an oblique hydraulic cylinder and a piston that expands and contracts within the hydraulic cylinder. , the operation of this hydraulic expansion/contraction mechanism 9, that is, contraction of the hydraulic expansion/contraction mechanism 9, causes the seedling planting section B to move to the right side, and expansion causes the seedling planting section B to move to the left side.
The entire structure is designed to move horizontally in parallel.

Between the horizontally moving seedling planting part B and the traveling machine body A, there is a displacement amount of the seedling planting part B with respect to the traveling machine body A,
In other words, the seedling planting position 12 of the seedling planting part B is the wheel mark 1
A lateral movement amount detection sensor 10 is provided for detecting a lateral movement limit position approaching 1, and in the embodiment, this lateral movement amount detection sensor 10 is connected to the parallel movement mechanism C.
It is configured by a potentiometer provided above.

Steering wheel 1 is on the steering wheel 1, 1 side.
3 is replaced by a hydraulic telescopic mechanism 14 consisting of a hydraulic cylinder and a piston that expands and contracts within the hydraulic cylinder.The operation of this hydraulic telescopic mechanism 14 causes the steered wheels 1, 1 to move together with the knuckle arm 16. A steering mechanism D for steering wheels that rotates in the left and right directions about a vertical axis is provided to change the direction of the entire traveling aircraft A, and this knuckle arm 16 is equipped with a steering angle detection sensor 15. The steering angle detection sensor 15 is constituted by a potentiometer in the embodiment.

The steering shaft 17 of the steering wheel 13 is pivotally supported by a lower gear case 18,
A sector gear 20 fixed to a sector shaft 19 that is pivotally supported by the gear case 18 is meshed with a worm gear 21 fixed to the steering shaft 17. , a disk 2 connected to the hydraulic expansion and contraction mechanism 14 and fixed on the sector shaft 19.
3 is provided with a hole 27 into which a core 26 of a solenoid 25, which is fixed by a bracket 24 fixed to the gear case 18 at the straight position of the knuckle arm 16, is fitted. is energized in the direction of the arrow.

Therefore, by energizing the solenoid 25, the core 26 of the solenoid 25 protrudes as shown in FIG. By controlling the control state and de-energizing the solenoid 25, the solenoid 25 is activated as shown in FIG. 4b.
The core 26 exits from the hole 27 of the disk 23 under the force of the tension spring 28, and the sector shaft 19
It is possible to switch to a manual steering control state that releases the fixed state.

The left and right seedling position detection sensors 4, 4 are attached to brackets 31 that are arranged horizontally to project outward from the left and right floats 29 sliding on the rice field surface of the seedling planting section B, respectively. It is constructed by fixing four sensor covers 30 each having built-in light emitting/receiving elements at predetermined intervals S1, S2, and S3.

When a seedling 32 of the already planted seedling row 3 passes through any one of the intervals S1, S2, and S3 between the four sensor covers 30, the seedling position detection sensor 4 detects a signal at that point, that is, the interval After passing S2, S2
The signals S1 and S1 detected by the left and right seedling position detection sensors 4 are
S2 and S3 are input to the control section 33 as shown in the control block diagram of FIG.
A manual/automatic switching signal 32 is input to this control section 33 .

Further, the control unit 33 receives detection signals from the lateral movement amount detection sensor 10 and the steering angle detection sensor 15 of the seedling planting unit B, and is connected to a solenoid 25 that fixes and releases the sector shaft 19. The hydraulic expansion and contraction mechanism 9 is a solenoid valve 3.
The solenoid valve 34 is connected to the control unit 33 via a solenoid valve 37, and the solenoid valve 34 is operated by an expansion solenoid 35 or a contraction solenoid 36. This electromagnetic valve 37 is operated by an expansion side solenoid 38 or a contraction side solenoid 39.

In the present invention configured as described above, when the manual/automatic steering changeover switch 32 is in the manual position, the hydraulic expansion/contraction mechanism 14 of the steering mechanism D is fixed;
By turning off the solenoid 25, the fixation of the sector shaft 19 is released, so that the traveling aircraft A can perform normal steering operations using the steering wheel 13.

Next, in the automatic position by switching the manual/automatic steering selector switch 32, the sector shaft 19 is fixed by the ON state of the solenoid 25, and the steering mechanism D
The hydraulic expansion/contraction mechanism 14 becomes extensible.

In this automatic position, the seedling detection signal of the already planted seedling row 3 by the seedling position detection sensor 4 is transmitted to the control unit of the control circuit.
3 is input. At this time, if there is a planted seedling row 3 on the right side of the traveling direction of the traveling machine A as shown in FIG. 1, a signal from the right seedling position detection sensor 4 is input, and if the seedling position is S1, the seedling Since it is determined that the planting part B is on the left side, the seedling planting part B moves in parallel to the right side due to the contraction of the hydraulic expansion and contraction mechanism 9, and this rightward movement of the seedling planting part B is caused by the seedling position detection sensor. 4
This continues until the S2 signal is input and the seedling position is determined to be in the center.

Note that when the seedling 32 is detected at the S3 position,
This detection signal S3 causes the seedling planting section B to move to the left.

In this way, the seedling planting section B first moves horizontally to the left and right in response to the detection signal of the seedling position detection sensor 4, but at this time, the seedling planting section B moves with respect to the center of the traveling machine A. When the amount of lateral displacement, that is, the seedling planting position 12 of the moving seedling planting section B reaches the limit position of lateral movement where it approaches the wheel marks 11, it is detected by the lateral movement amount detection sensor 10, and this lateral displacement amount is detected by the lateral movement amount detection sensor 10. Based on the detection signal from the movement amount detection sensor 10, when the S1 signal from the seedling position detection sensor 4, that is, the detection signal of the lateral movement command remains, this S1 signal is sent to the hydraulic expansion and contraction mechanism 14 of the steering mechanism D. As a result, the hydraulic expansion and contraction mechanism 14 of the steering mechanism D extends with respect to the sector shaft 19 which is in a fixed state, and the steering wheels 1, 1 move to the right until the S1 signal, that is, the detection signal of the lateral movement command disappears. By being steered and moving the traveling body A to the right side, it is possible to prevent the seedling planting position 12 by the seedling planting part B from being on the wheel marks 11, thereby preventing the planted seedlings from falling down.

The direction control of the traveling body A by the hydraulic expansion/contraction mechanism 14 on the steering wheels 1, 1 side is such that even when the movement limit of the seedling planting section B, which moves laterally, is reached, the lateral movement command from the seedling position detection sensor 4 remains. During this time, as shown in FIG. 1, the following width Z between the seedling planting position 12 of the seedling planting section B and the wheel mark 11 is continued until the following width Z reaches the set width.

In short, the straight-line control device for a riding rice transplanter according to the present invention connects a seedling planting section connected to a traveling machine body having a steering mechanism via a parallel lateral movement mechanism to a seedling position detection sensor that detects rows of already planted seedlings. The horizontal movement is controlled by the detection signal of the seedling position detection sensor along the row of already planted seedlings, and the seedling position detection sensor detects the limit position where the seedling planting position of the seedling planting section approaches the wheel trace of the traveling machine. The steering mechanism is driven by the detection of the limit position signal of the lateral movement amount detection sensor, and the direction of the entire aircraft is controlled until the lateral movement command detection signal from the seedling position detection sensor disappears. Because the structure was designed to plant seedlings in a position that avoided
The straight-line control device of the riding rice transplanter is operated not only for parallel lateral movement of the seedling planting section based on the detection signal of the seedling position detection sensor, but also for the limit position of lateral movement where the seedling planting position of the seedling planting section approaches the wheel tracks. In addition to moving the seedling planting section in parallel and laterally, at the limit position of this lateral movement, the steering mechanism of the traveling aircraft controls the direction of the entire aircraft. It is possible to prevent the planted seedlings from lodging by making the following width relatively large between the wheel marks and planting the seedlings at a position that avoids the wheel marks.

Moreover, since the parallel lateral movement control of the seedling planting section is performed first, and the direction of the entire aircraft is controlled by the steering mechanism of the traveling body at the limit position of this lateral movement control, only the traveling body is steered and the direction of the entire aircraft is controlled. Overswing that occurs in the controlled object can be absorbed by the lateral movement of the seedling planting section, which precedes the directional control of the entire aircraft body.

[Brief explanation of the drawing]

The drawings show one embodiment of the present invention,
Figure 1 is a plan view showing the entire riding rice transplanter, Figure 2 is a perspective view showing the appearance of the seedling position detection sensor, Figure 3 is a side view showing the steering section, and Figure 4a is the fixed state of the sector shaft. 4b is a plan view of FIG. 3 showing the sector shaft in an unlocked state, FIG. 5 is a control block diagram, and FIG. 6 is a control flowchart. 1... Steering wheel, 2... Running wheel, 3... Already planted seedling row, 4... Seedling position detection sensor, 10... Lateral movement amount detection sensor, 11... Wheel trace, 12... Seedling planting Attachment position, 15...Steering angle detection sensor, A...Traveling body, B...Seedling planting section, C...Parallel lateral movement mechanism, D...Steering mechanism, Z...Following width.

Claims (1)

[Scope of utility model registration request] The seedling planting section, which is connected to a traveling machine with a steering mechanism via a parallel lateral movement mechanism, is controlled to move laterally along the row of already planted seedlings using a detection signal from a seedling position detection sensor that detects the row of already planted seedlings. At the same time, a lateral movement amount detection sensor is provided in conjunction with the seedling position detection sensor to detect a limit position where the seedling planting position of the seedling planting section approaches the wheel marks of the traveling body, and the lateral movement amount detection sensor is connected to the seedling position detection sensor. The above-mentioned steering mechanism is driven by the detection of the limit position signal, and the direction of the entire machine is controlled until the detection signal of the lateral movement command by the seedling position detection sensor disappears, so that the riding rice transplanter moves straight, planting the seedlings in a position that avoids wheel marks. Control device.