JP3661415B2 - Straight ahead device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention is effectively used for rice transplanters and other mobile agricultural machines.
[0002]
[Prior art]
When the aircraft is supported by three or more wheels, and the aircraft tilts to the left or right down due to the inclination of the ground, the steering wheel of the above wheels is turned to the right or left by operating the steering wheel. Steer in the direction to change and move the aircraft straight.
[0003]
[Problems to be solved by the invention]
Conventionally, the deviation of the course of the aircraft due to the inclination of the ground has been corrected by the steering wheel operation by the operator, so the steering wheel operation is troublesome, and it is difficult for an unfamiliar operator to transplant seedlings in a straight line, for example. there were.
[0004]
[Means for Solving the Problems]
In order to solve the above-mentioned problem, the present invention is provided with a tilt sensor 30 for inputting a lateral tilt to the control device 28 to the fuselage 10 supported by three or more wheels 6 and 7, and the fuselage 10 is left-handed. When the vehicle is tilted downward , the steering wheel 6 driven by the power of the wheels 6 and 7 operates in a direction to change the course of the aircraft 10 to the right by the output from the control device 28 , and the aircraft 10 tilts downward to the left. When the steering wheel 6 returns to the horizontal state, the steering wheel 6 operates in a direction to change the course of the airframe 10 to the left which is the opposite direction by the output from the control device 28, and when the airframe 10 tilts to the right, the steering wheel 6 is operated in a direction to change the course of the fuselage 10 to the left by the output from the control device 28, and when the fuselage 10 returns to the horizontal from the state inclined downward to the right, the steering wheel 6 is shortened by the output from the control device 28. Change the course of the time body 10 to the right in the opposite direction It was straight device provided to operate the direction.
[0005]
BEST MODE FOR CARRYING OUT THE INVENTION
Next, an embodiment of the present invention will be described.
A seedling planting device 2 is mounted after the traveling vehicle body 1 to form a rice transplanter (FIGS. 1 and 2).
The traveling vehicle body 1 is configured as follows. A front wheel 6 and a rear wheel 7 are arranged outside the main gear box 4 and the rear wheel gear box 5 attached to the front and rear of the frame 3. An engine 8 is mounted on the frame 3, and its power is transmitted to the front wheels 6 and the rear wheels 7 via the transmission in the main gear box 4, and these are rotated on the paddy field and the traveling vehicle body 1 is It has come to move forward. A floor 9 is integrally mounted on the main gear box 4 and the frame 3 to form a body 10. A cover 11 protruding from the floor 9 covers the engine 8 and a seat 12 is provided thereon. A handle frame 13 is provided at the front portion of the floor 9, and a steering wheel 15 is disposed on a steering post 14 (FIG. 3) therein. A steering shaft 16 integrated with the steering wheel 15 extends downward through the steering post 14, and the lower arm 17 operates the rod 18 by its rotation. The left and right front wheels 6 are steered wheels and are provided so as to swing around the vertical axis. The end of the rod 18 is connected to this, and the steering wheel (front wheel) 6 is operated by operating the steering wheel 15. The course of the traveling vehicle body 1 is changed by being steered.
[0006]
A drive gear 20 is slidably attached to the shaft 19a of the steering motor 19 (FIG. 3). The shifter 23 operated by the switching solenoid 21 and the spring 22 is engaged with the drive gear 20, and the drive gear 20 is engaged with or separated from the driven gear 24 integrated with the steering shaft 16 by the operation of the switching solenoid 21. It has become.
[0007]
That is, when the drive gear 20 bites the driven gear 24, the steered wheel 6 is steered by the power of the steering motor 19, and when the meshing is released, the steered wheel 6 is steered by manipulating the steering wheel 15 by human power. Is done.
The metal 25 disposed in the steering post 14 is screwed into the male screw 16a of the steering shaft 16, the pin 25a projects out of the long hole 14a of the steering post 14, and the metal 25 moves up and down as the steering shaft 16 rotates. (Fig. 3). A steering angle sensor (potentiometer) 26 is attached to the steering post 14, and a fork 27 fixed to the shaft 26a is engaged with the pin 25a, and the control device 28 (FIG. The input to 6) changes (FIG. 4).
[0008]
A support column 29 extends upward from the rear portion of the frame 3, and a tilt sensor 30 attached to the upper end of the support column 29 inputs the lateral tilt of the body 10 to the control device 28.
The support column 29 and the subsequent lifting frame 31 are connected by a parallel link 32. The front end of the elevating cylinder 33 is attached to the frame 3, and then the projecting end of the piston rod that protrudes obliquely upward is connected to the lower end of the arm 34 that extends downward from the upper link 32. 31 can be moved up and down while maintaining the same posture.
[0009]
The seedling planting device 2 is configured as follows. The gear box 35 is attached to the rear portion of the elevating frame 31 so as to swing around the rolling shaft 36 (FIG. 5) in the front-rear direction. Three implantation frames 37 extend from the gear box 35 and the sleeve 38 protruding leftward and rightward at equal intervals later. An oval rotating case 39 is attached to both sides of the rear portion of each implantation frame 37 and is rotated counterclockwise by the power of the engine 8 when viewed from the right (FIG. 1). A pair of implantation rods 40 are attached to the respective rotating cases 39, and the planetary gears therein turn around the same posture based on the above rotation.
[0010]
A seedling receiving plate 41 having six seedling inlets 41a is fixed to the planting frame 37, and the seedling inlets 41a are alternately arranged at the beginning of the lowering of the turning of the pair of implantation rods 40. It has come to pass.
The support column 42 extends obliquely upward from the front part of the left and right implantation frames 37, and the upper ends of the support columns 42 are connected to each other by a horizontal rod 43. A rail 45 is fixed to the rear surface of the seedling table 44, and the roller 43 a of the horizontal rod 43 enters the rail 45, and the rear end of the seedling table 44 overlaps with the front portion of the seedling receiving plate 41, so that the seedling table 44 Slides to the left and right. A laterally moving rod 45 that reciprocates left and right with the power of the engine 8 protrudes left and right from the gear box 35, and its protruding end is connected to the seedling table 44 by a hook 46. The seedling stage 44 is inclined forward and is divided into six sections by five partition walls between the left and right side walls, and a belt conveyor 47 is disposed in each section. The mat-like group seedlings are placed on the respective sections with the rear end portion protruding on the seedling receiving plate 41. When the seedling on the seedling receiving plate 41 comes on the seedling receiving port 41a due to the lateral movement of the seedling placing table 44, one stock is cut off at the tip of the planting basket 40. The cut off seedlings are lowered together with the planting ridge 40 and transplanted so as to pierce the mud surface of the paddy field at the lower end of the turning. When the seedling stage 44 comes to the left (or right) end and the seedling of the right (or left) end on the seedling receiving plate 41 is finished, the belt conveyor 47 is operated to collect the group seedlings. It extends to the 41 side and the seedling stage 44 starts moving to the right (or left). By repeating this, the seedlings are transplanted into the six strips as the traveling vehicle body 1 advances.
[0011]
Floats 48 are disposed under the respective planting frames 37 and support the seedling planting device 2 to slide on the mud surface. A clutch case 49 is attached to the support column 29, and the power of the engine 8 enters the gear box 35 via the planting clutch therein and is transmitted to the planting basket 40 and the seedling table 44.
The changeover switch 50 is attached to the meter panel or the control panel, and the “ON” and “OFF” are input to the control device 28 (FIG. 6).
[0012]
The control device 28 outputs to the switching solenoid 21 and the steering motor 19 as shown in FIG. 7 in response to inputs from the tilt sensor 30, the steering angle sensor 26, and the changeover switch 50. Note that “neutral” in the figure is a state in which the steering wheel 6 moves the vehicle body 10 straight on a flat ground.
(1) When the changeover switch 50 is “OFF”, the changeover solenoid 21 separates the drive gear 20 from the driven gear 24. Therefore, the steering wheel 6 is steered by the steering wheel 15 (manual).
[0013]
(2) When the changeover switch 50 is “ON” and the aircraft 10 is tilted downward (or downward to the left), the neutral target value of the steering angle sensor 26 is corrected from the middle to the left (or right), The steering motor 19 is operated so as to match the neutral target value obtained by correcting the input value. Then, the driving gear 20 is engaged with the driven gear 24 (automatic), and the steering wheel 6 is steered to the right (or left) by the steering motor 19, and the change in the course due to the inclination of the airframe 10 is compensated.
[0014]
Instead of the changeover switch 50, the changeover solenoid 21 can be turned “ON” or “OFF” by “ON” or “OFF” of the planting clutch in the clutch case 49. When the planting clutch is set to “disengaged”, the steered wheel 6 steered by the steering motor 19 can be automatically returned to the “neutral” position. The correction amount of the neutral target value can be changed according to the inclination angle of the airframe 10.
[0015]
As shown in FIG. 8, when the airframe 10 tilted to the right or left moves forward and returns to the horizontal direction, the steering wheel 6 can be switched back in the reverse direction for a short time. In this case as well, the magnitude of the switchback angle should be changed according to the inclination angle of the airframe 10 as described above.
In a seedling transplanter in which the seedling table 44 reciprocates left and right, there is a risk that straightness may be reduced due to the lateral movement of the center of gravity based on the lateral movement. According to the following configuration, the fear is eliminated (in this case, the tilt sensor 30 is not used).
[0016]
A lateral position sensor (linear potentiometer) 51 (FIG. 5) is provided between the gear box 35 and the seedling stage 44, and the lateral movement position of the seedling stage 44 is input to the control device 28. The control device 28 is configured to steer the steering wheel 6 to the right (or left) by the steering motor 19 when the seedling stage 44 is moved to the left (or right). The steering angle can be changed according to the amount of movement of the seedling table 44. Also, good results were obtained when the steering angle was maximized slightly before the end of the lateral movement of the seedling stage 44.
[0017]
In the seedling planting machine, the length of the group seedlings in the front-rear direction becomes shorter as the transplanting of seedlings proceeds. And it gets lighter as it gets shorter. Therefore, the cutting angle of the steering wheel 6 should be reduced as the number of seedlings is reduced (lightened) on the seedling stage 44.
[0018]
It can replace with the horizontal position sensor 51, and can be comprised as follows. Balance springs 53L and 53R are provided between the lifting frame 31 and the left and right stoppers 52L and 52R of the seedling table 44, and the seedling table 44 moves to the left (or right) and tilts to the left (or right). When trying to do so, the balance spring 53L (or 53R) is pulled back horizontally.
[0019]
A load cell 54 is attached to the end of the balance spring 53L, and its tension is input to the control device 28. The control device 28 reads the lateral movement position of the seedling table 44 with the input value, and steers the steering wheel 6 in the same manner as described above.
The seedling planting device 2 may be configured to be an automatic return type (auto-rolling). That is, the inclination sensor 55 (FIG. 5) is attached to the gear box 35 and the lateral inclination is input to the control device 28. A rolling cylinder 56 is attached to the elevating frame 31, and ends of the piston rod 57 projecting left and right are connected to the left and right columns 42 by springs 58L and 58R. When the gear box 35 (the seedling planting device 2) is tilted leftward (or rightward), the piston rod 57 protrudes to the right (or left) at the output of the control device 28, and the spring 58L (or 58R) The gear box 35 is drawn around the rolling shaft 36 in the clockwise direction (or counterclockwise direction) so that the inclination of the gear box 35 is restored to the horizontal. In this configuration, the steering wheel 6 can be automatically steered by the input value from the tilt sensor 55 as described above. Moreover, the steering wheel 6 can be similarly operated by inputting the load of the springs 58L and 58R to the control device 28 and reading the inclination based on the difference therebetween.
[0020]
The above configuration can also be applied to a seedling planting machine for field action. The steering motor 19 can be replaced with a hydraulic type.
[0021]
【effect】
As described above, according to the present invention, when the fuselage 10 tilts to the left, the steered wheel 6 driven by the power of the wheels 6, 7 moves the course of the fuselage 10 to the right by the output from the control device 28. When the airframe 10 returns to the horizontal from the state of leaning to the left, the steering wheel 6 changes the direction of the airframe 10 to the left which is the opposite direction by the output from the control device 28. When the airframe 10 is tilted downward to the right, the steering wheel 6 is actuated in a direction to change the course of the airframe 10 to the left by the output from the control device 28, and the airframe 10 returns to the horizontal from the state in which the airframe 10 is tilted downward to the right. Sometimes the steering wheel 6 is automatically steered by the output from the control device 28 in a direction that changes the course of the airframe 10 to the right, which is the opposite direction, so that it can easily go straight without the operator's operation. It is done.
[Brief description of the drawings]
1 is a side view of a rice transplanter according to the present invention. FIG. 2 is a plan view of the rice transplanter. FIG. 3 is a partially enlarged side view of the cut. FIG. 4 is a rear view. 6] Its block circuit diagram [FIG. 7] Its flowchart [FIG. 8] Its improved flowchart [Explanation of symbols]
6 wheels (steering wheels, front wheels)
7 wheels (rear wheels)
10 Airframe 28 Control Device 30 Inclination Sensor

Claims (1)

A tilt sensor 30 for inputting the lateral tilt to the control device 28 is attached to the fuselage 10 supported by three or more wheels 6 and 7, and when the fuselage 10 tilts leftward , Steering wheel 6 steered by the power of the motor operates in a direction to change the course of airframe 10 to the right by the output from control device 28, and steered wheel 6 when airframe 10 returns to the horizontal from the state of leaning leftward. Is operated in a direction to change the course of the airframe 10 to the left, which is the opposite direction, with the output from the control device 28, and when the airframe 10 tilts to the lower right, the steering wheel 6 is output from the control device 28 with the output of the airframe 10. The steering wheel 6 operates in a direction to change the course to the left and returns to the horizontal from the state where the aircraft 10 is tilted downward to the right, and the steering wheel 6 outputs to the right in the reverse direction the course of the aircraft 10 with the output from the control device 28. straight provided to operate in the direction of changing Location.

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