JPH02222606A - Operation posture controller for seedling planter or the like - Google Patents

Abstract

PURPOSE:To reduce erroneous control or hunting operation due to local vertical movement of floats by sensing an extent of vertical rocking for a prescribed time of the floats and carrying out pitching or rolling control of a working device for a car body. CONSTITUTION:Floats 1 slide on a soil surface to sense height of a car body and a working device from the soil surface. The vertical rocking of the floats 1 is sensed as an extent of vertical rocking for a prescribed time and compared with the set standard. If sensed values are larger than the standard value, relative postures of the car body and working device are changed or regulated by pitching or rolling control.

Description

[Detailed description of the invention] Industrial applications The present invention relates to a working posture control device for a seedling planting machine or the like.

Conventional technology and problems to be solved by the invention A system for detecting the amount of vertical swing caused by a float sliding on the soil surface and controlling the height of a traveling vehicle body to maintain a constant working height, depth, etc. In pitching control and rolling control, erroneous control is less likely to be performed due to this local vertical movement of the float, and hunting operations are more likely to occur.

Means for Solving the Problems This invention detects the amount of vertical swing per hour of a float (1) sliding on the soil surface, and adjusts the working depth by raising and lowering the working device (3) relative to the vehicle body (2). A seedling planting machine, etc., characterized in that it performs pitching control to maintain a constant height, or rolling control to maintain the working posture horizontally horizontally by tilting the working device (3) horizontally relative to the vehicle body (2). The working posture control device has the following configuration.

Functions and Effects of the Invention When a working machine such as a seedling transplanter runs, the float (1) slides on the soil surface, thereby detecting the height of the vehicle body (2) and the working device (3) relative to the soil surface. . The vertical movement of the float (1) is detected as the amount of vertical movement per certain period of time, and this amount of vertical movement per time is compared with a set standard and used as a control output. The relative posture between the vehicle body (2) and the working device (3) is changed or adjusted by pitching control or rolling control, and the work is performed in an appropriate working posture.

In this way, the pitching control or rolling control of the work equipment R (3) with respect to the vehicle body (2) is performed by detecting the vertical swing amount per unit of time of the float (1). -Even if there is a large vertical movement over time, or a large change due to riding on the edge of a ridge, for example, if it does not directly affect the amount of vertical movement per hour, pitching control or rolling control is performed immediately. The control output is performed based on the average amount of rocking of the float (1), and stable control can be performed.

Embodiment On the park side, the tractor body (4) is provided with a front wheel (6) that can be freely steered by a control handle (5) at the front, a rear wheel (7) at the rear, and a driver's seat. (8
) and engine (9), and has a four-wheel drive configuration. The seedling planting device is used as a working device (3), and the vehicle body (4
) is connected to the rear end of the rear elevating link (10), and the vehicle body (
4), connect the lifting link (lO) to the hydraulic cylinder (1
1) Pitching is controlled by elevating and lowering by the expansion and contraction.

The seedling planting device consists of a seedling tank (12) that stores seedlings, and a planting device (13) that separates and transplants the seedlings supplied from the seedling tank (12). A float (1) that slides on the soil surface is provided. The body (14) of this planting device consists of a transmission case as a main body and a vehicle body (4).
The seedling tank (1) receives power from the power take-off shaft (15).
2), the planting device (13), and other parts are configured to transmit power.

The rolling shaft (16) at the front end of this aircraft (14) is
Vertical link (1) provided at the rear end of link (10)
7) so as to be rotatable in a rolling manner with respect to a rolling boss (18) that is integrated with the link (17), and the upper part of this link (17) and the
14) and an arm (19) projecting upward,
A rolling cylinder (20) that expands and contracts with hydraulic pressure is installed, and by controlling the expansion and contraction of this rolling cylinder (20), the seedling planting device is rotated around the rolling axis (16), horizontally horizontally with respect to the soil surface. Rolling control is performed to maintain this posture.

Pitching control is performed by a center float (1) placed at the left and right center so as to be able to swing up and down, and by a control device (21) having an interlocking mechanism (21) and a microcomputer.
Lift control valve (22) switched via CPJJ-)
When the center float (1) moves up beyond the neutral area, it raises the seedling planting device, and conversely, when it moves down beyond the neutral area, it raises the seedling planting device. A foot control valve (22) that moves downward is switched to maintain and control the seedling planting device so that it is always propelled at a constant height regardless of changes in soil depth.

Further, rolling control is performed by detecting inclination of more than a certain area on the left or right side of the aircraft (14) on the soil surface using a horizontal sensor (23) provided on the aircraft (14) that detects horizontal horizontal and inclination. The control device (CPU) switches the rolling control valve (24) that controls the expansion and contraction of the rolling cylinder (20) to rotate the seedling planting device around the rolling axis (16) regardless of the left-right inclination of the vehicle body (4). It is controlled to maintain a horizontal position by rotating it to the left and right.

The control device (CPU) detects the vertical movement (Fig. 3) of the float (1) over a certain period of time (T), and
This amount of oscillation is integrated as electrical resistance (R), this integrated value is compared with a freely adjustable reference value (25), and the absolute value of this integrated value is determined as the base r! (+Q (25) area (neutral position)
When the change is greater than that, an upward/downward output is output to the lift control valve (22). In addition, in rolling control, the detection angle of the horizontal sensor (23) is detected over a certain period of time,
It is integrated as electrical resistance, and this integral value is compared with a freely adjustable reference value (26), and the absolute value of this integral value is determined as the reference value (26).
26) When it changes more than the region (neutral position Wt),
Rolling is output to the rolling control valve (24).

[Brief explanation of the drawing]

The drawings show one embodiment of the present invention; FIG. 1 is a side view, FIG. 2 is a block diagram, and FIG. 3 is a waveform diagram. In the figure, reference numeral (1) indicates a float, (2) a vehicle body, and (3) a working device.

Claims (1)

[Claims] Pitching control or car body that detects the vertical swing amount per hour of the float (1) sliding on the soil surface and maintains this working depth constant by raising and lowering the working device (3) relative to the car body (2). A working posture control device for a seedling planting machine, etc., characterized in that rolling control is performed to maintain the working posture horizontally horizontally by tilting the working device (3) horizontally relative to (2).