JP6150223B2 - Rice transplanter - Google Patents

Description

  The present invention relates to a rice transplanter for planting seedlings at a predetermined interval with respect to a farm scene.

  The field where rice planting is carried out is muddy, and the vehicle body travels at a certain depth from the surface of the field. In recent years, it has been an important issue to reduce the weight of the main body of a rice transplanter installed at the rear part of a traveling vehicle body via a link mechanism. However, in the current riding type rice transplanter, the power transmission mechanism that transmits the power from the traveling vehicle body to the rice transplanter side is complicated, and the mechanism for planting the seedlings of the rice transplanter in response to requests such as the interval adjustment and speed adjustment of the seedling planting Is also complicated. For this reason, the weight is increased.

  For example, in the technique of Patent Document 1, in order to transmit the power from the traveling vehicle body to the planting claws, a belt transmission device, a sub gear transmission mechanism, a stock transmission mechanism, a transmission shaft, a telescopic shaft transmission mechanism, a seedling table lateral feed The mechanism, chain, and planting drive shaft are intricately combined to transmit power.

Japanese Patent No. 3559476

  In order to respond to seedling planting interval adjustment and speed adjustment by the power transmission mechanism by the combination of gears as described above, the mechanism itself becomes complicated and the weight of the rice transplanter increases. This is one factor that hinders the weight saving of rice transplanters.

  This invention is made | formed in view of the said subject, and is providing the rice transplanter which simplified the mechanism.

Rice transplanter of the present invention, possess a planting claw portion, and a drive mechanism for driving the planting claw portion, a planting unit provided with a drive mechanism includes a drive motion motor, the rotation of the drive motor has a transmitting portion for transmitting a force to the planting claw portion, planting unit, have a motor control unit for controlling the drive motor, the planting unit is rotated forward or reverse rotation of the drive motor And the motor control unit includes a rotation angle origin detecting means for detecting a rotation angle origin of the planting claw based on a change in the required torque in the planting unit. Have .

Preferably, the planting unit includes a plurality of planting units and further includes a main control unit electrically connected to the plurality of planting units.
Preferably, the drive motor is formed by a synchronous motor.

  Preferably, the synchronous motor is a flat type.

  Preferably, the planting claw has a right planting claw on the right side in the traveling direction and a left planting claw on the left side in the traveling direction, and the drive mechanism unit is a plane on which the right planting claw rotates. The left planting claw is located between the rotating plane.

Preferably, at least half or more of the drive mechanism portion is formed when the surface on which the right planting claw rotates is one bottom surface of the cylinder and the surface on which the left planting claw rotates is the other bottom surface of the cylinder. It is arranged in the internal space of the cylinder.

  Preferably, the rotation plane of the drive motor and the plane on which the right planting claw and the left planting claw rotate are parallel to each other.

  Preferably, the transmission unit is a gear unit, and a rotation plane on which the gear in the gear unit rotates and a plane on which the right planting claw and the left planting claw rotate are parallel to each other.

  Preferably, the motor control unit is disposed in the same case as the case accommodating the drive motor, and the case is formed of a material having heat conductivity.

  Preferably, the motor control unit receives a control signal from a main control unit that controls the whole rice transplanter, and controls at least the rotation angle of the drive motor in accordance with the control signal.

  Preferably, the control signals are a target angle signal and a target speed signal.

  Preferably, the motor control unit includes an electrical angle detection unit and a rotation angle detection unit of the drive motor.

  Preferably, the rotation angle detection means obtains the rotation angle by integrating the electrical angles detected from the electrical angle detection means, starting from the origin detected by the rotation angle origin detection means for detecting the rotation angle origin.

Preferably, the planting claw portion or transmitting portion, when the drive motor was rotated forward or reverse rotation, is configured to the required torque is varied in accordance with the rotation angle.

  Preferably, the rotation angle origin detection means utilizes a characteristic that does not rotate before the operating position of the push arm of the planting claw when the drive motor is rotated in the reverse direction. Is detected.

  Preferably, the rotation angle origin detecting means is configured such that when the planting claw part is rotated forward, the torque sharply decreases at a specific angle. Detect the rotation angle origin.

Preferably, the motor control unit controls the rotation of the drive motor based on the estimated rotation angle detected by the counter electromotive voltage and the Hall sensor caused by rotation of the drive movement motor.

  The rice transplanter according to the present invention can provide a rice transplanter with a simple mechanism and a light weight.

It is a figure which shows the whole passenger rice transplanter containing the rice transplanter and traveling vehicle body which concern on embodiment of this invention. 1 is an overall simplified view of a rice transplanter according to an embodiment of the present invention. It is an expansion perspective view of the planting unit of the rice transplanter concerning the embodiment of the present invention. It is an expansion perspective view of the planting unit of the rice transplanter concerning the embodiment of the present invention. It is a figure for demonstrating control of the rice transplanter which concerns on embodiment of this invention. It is a figure for demonstrating in detail the control of the rice transplanter which concerns on embodiment of this invention. It is sectional drawing of the planting nail | claw part of the rice transplanter which concerns on embodiment of this invention. It is the figure which removed the cover of the case which accommodates the control part of the drive motor of the rice transplanter concerning the embodiment of the present invention. It is the figure which removed the cover of the case which accommodates the drive motor and speed-reduction mechanism of the rice transplanter which concerns on embodiment of this invention. It is an internal structure figure of the drive motor of the rice transplanter concerning the embodiment of the present invention.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  The rice transplanter of this invention is a rice transplanter attached to the rear part of a traveling vehicle body. FIG. 1 is a diagram showing an entire riding rice transplanter including a rice transplanter 100 and a traveling vehicle body 10 according to an embodiment of the present invention. The entire riding rice transplanter including the traveling vehicle body 10 will be described with reference to FIG.

  The entire passenger rice transplanter includes a traveling vehicle body 10 and a rice transplanter 100. An operator gets on the driver's seat 11 of the traveling vehicle body 10. An engine 12 is mounted on the traveling vehicle body 10. The vehicle body frame 13 that holds the engine 12 is provided with a mission case 14, and a paddy field traveling front wheel 16 is supported via a front axle case 15. Further, a paddy field traveling rear wheel 18 is supported via a rear axle case 17.

  The engine 12 and the like are covered with a bonnet 19, and the mission case 14 and the like are covered with a vehicle body cover 20 having a step 20a. A driver's seat 11 is attached to the upper part of the vehicle body cover 20, and a handle 21 is provided in front of the driver's seat 11.

  A rice transplanter 100 is provided behind the traveling vehicle body 10 via an elevating link mechanism including a top link 22 and a lower link 23. The hydraulic cylinder (not shown) interposed between the rear portion of the traveling vehicle body 10 and the lower link 23 is configured to be movable up and down. The rice transplanter 100 is provided with a seedling stage 24 for multi-row planting, a plurality of planting units 200, and the like. The planting unit 200 includes a drive mechanism unit 210 and a planting claw unit 220 including a planting claw 221.

  A rectangular plate-shaped forward tilting seedling mount 24 having a front front and a lower rear is connected to a drive mechanism unit 210 provided at the center and left and right of the rice transplanter 100 via a lower guide rail 25 and an upper guide rail 26. It is supported so as to be slidable to the left and right. Below the drive mechanism 210, the center and left and right planting equal floats 27 are supported via a planting depth adjusting member and the like. The planting depth of the seedling taken out from the seedling mat on the seedling mounting table 24 is set by lowering the rice transplanter 100 and landing the planting uniform float 27 on the field scene.

  FIG. 2 is an overall simplified view of the rice transplanter 100 according to the embodiment of the present invention. The rice transplanter 100 will be briefly described with reference to FIG.

  The planting units 200 and 201 of the rice transplanter 100 are electrically connected to the control units 302 and 301, respectively. Moreover, the control parts 303 and 304 which control the horizontal feed and the vertical feed of the seedling mounting base 24 of the rice transplanter 100 are connected. These control units 301, 302, 303, and 304 are electrically connected to the main control unit 300 and controlled by the main control unit 300. The main control unit 300 outputs control signals according to position information from GPS (Global Positioning System) and information from the left and right wheel rotation angle sensors 18LS and 18RS of the traveling vehicle body 10. Thereby, it becomes possible to maintain and control the set planting interval (between stocks) without being affected by the difference in the slip rate due to the difference in the working conditions.

  The planting unit 200 includes a drive mechanism unit 210 and a planting claw unit 220 including a planting claw 221. The drive mechanism unit 210 includes a drive motor 211 and a transmission unit 212. The drive motor is formed by a synchronous motor and is a flat type. Thus, a large torque can be obtained even in a small space.

  The drive motor 211 of the planting unit 200 is connected to the control unit 302 and controlled. The control units 301, 302, and 303 are respectively disposed in the same case as the case that houses the drive motor, and the case is formed of a material having heat conductivity. Moreover, all the control parts 301,302,303,304 receive the control signal from the main control part 300 which controls the whole rice transplanter 100, and control the rotation angle of a drive motor at least according to the said control signal. The main control unit 300 outputs a control signal according to position information from the GPS, information from the left and right wheel rotation angle sensors 18LS and 18RS of the traveling vehicle body 10, and a signal from the operation panel, for example.

  In the present embodiment, the control units 301 and 302 control the planting units 201 and 200, respectively, and the control unit 303 controls the lateral feed drive motor 307 of the lateral feed drive unit 310 of the seedling stage 24 and the lateral feed left / right limit. The switches 304 and 306 are controlled, and the control unit 304 controls the vertical feed drive motor 312 of the vertical feed drive unit 311 of the seedling stage 24. The lateral feed drive unit 310 is driven by a lateral feed drive motor 307 controlled by a signal from the control unit 303 and a gear 308 that is rotated by the lateral feed drive motor 307. The lateral feed left and right limit switches 305 and 306 are configured to be pushed when driven to the left and right limit positions of the lateral feed drive unit 310.

  The control unit 304 controls the vertical feed drive motor 312 of the vertical feed drive unit 311 of the seedling stage 24 to drive the vertical feed of the seedling stage 24 by two or one line.

  Next, the planting unit 200 of the rice transplanter 100 according to the embodiment of the present invention will be described with reference to FIGS. 3 and 4. 3 and 4 are enlarged perspective views of the planting unit 200 of the rice transplanter according to the embodiment of the present invention.

  The planting unit 200 includes a drive mechanism unit 210 and a planting claw unit 220. The drive mechanism unit 210 includes a drive motor 211 and a transmission unit 212. The planting claw 220 has a right planting claw 221R on the right side in the traveling direction and a left planting claw 221L on the left side in the traveling direction. The drive mechanism unit 210 including the drive motor 211 and the transmission unit 212 is between a surface 221RC (see FIG. 4) on which the right planting claw 221R rotates and a surface 221LC (see FIG. 4) on which the left planting claw 221L rotates. It is provided so that it may be located.

  Further, at least half of the drive mechanism 210 has a surface 221RC (see FIG. 4) on which the right planting claw 221R rotates as one bottom surface of the cylinder, and a surface 221LC (see FIG. 4) on which the left planting claw rotates. When the bottom surface of the cylinder is used, it is arranged in the internal space of the formed cylinder. The rotation plane of the drive motor and the planes 221RC and 221LC around which the right planting claw 221R and the left planting claw 221L rotate are parallel to each other.

  An AC motor is used as the drive motor 211. For this reason, sensorless vector control can be performed, and position detection can be accurately performed during high-speed rotation. In particular, an outer rotor type permanent magnet synchronous motor (PMSM) is used. Since the outer rotor type permanent magnet synchronous motor is provided with a coil on the stator side, it can be a flat and large-diameter motor. Since the motor has a large diameter, a high torque can be obtained even at a low speed. For this reason, the speed reduction mechanism can be simplified. Further, since the motor has a flat shape, both the motor and the simplified reduction mechanism can be accommodated in a space with a narrow case width. For this reason, it is possible to accommodate the motor and the speed reduction mechanism in place of a portion where the power transmission mechanism has existed conventionally.

  In this embodiment, a unit in which a motor, a speed reduction mechanism, and a control unit (control board) are integrated is used. Thereby, a power transmission part and wiring can be omitted, and manufacture and maintenance become easy. Further, it is possible to perform synchronous control such as power supply and horizontal feeding and vertical feeding of the planting units 200 and 201 and the seedling stage 24 with simple wiring.

  Next, control of the rice transplanter according to the embodiment of the present invention will be described. First, an outline of a method for controlling the drive motor 211 of the planting unit 200 will be described. The rotation control of the drive motor 211 uses vector control, which is one of the control methods of the permanent magnet synchronous motor, and control according to the signal detected by the Hall sensor. Specifically, when the drive motor 211 rotates at a medium or high speed, control is performed so that the control based on the estimated rotation angle estimated from the back electromotive voltage generated by the rotation of the drive motor becomes dominant, and the drive motor 211 operates at a low speed. At the time of rotation / stop, control is performed so that control based on the estimated rotation angle detected by the Hall sensor is dominant.

  In the vector control, the torque generation current IQ and the magnetic flux generation current ID can be controlled independently by adjusting the torque voltage VQ and the magnetic flux voltage VD. When the drive motor 211 is driven in the high speed rotation range, the drive voltage and the counter electromotive voltage are balanced, and the rotation speed cannot be increased any more. However, the rotational speed can be increased by increasing the magnetic flux generating current ID (usually ID = 0, canceling the counter electromotive voltage, and weakening magnetic flux control). Thereby, the phase shift due to the control delay is corrected in a short time, and highly accurate rotation control can be performed.

  When the drive motor 211 is driven in the middle speed rotation region, the three-phase current is measured by the current sensor on the control board, and the counter electromotive voltage is estimated from the relationship between the output voltage and the current to obtain the electrical angle of the rotor. Thus, rotation control (sensorless vector control) can be performed without providing an external sensor such as an encoder.

  When the drive motor 211 is driven in the low-speed rotation region or when it is stopped, the counter electromotive voltage becomes small and it becomes difficult to detect the electrical angle of the rotor. For this reason, Hall sensor control is performed. Three hall sensors are arranged inside the drive motor 211 to detect and control the electrical angle of the rotor (see FIG. 10).

  The rotation angle of the planting claw is obtained by integrating the electrical angle from the origin position detected by the rotation angle origin detection means in consideration of the number of motor poles and the gear ratio.

  It is possible to synchronize the rotation angle of the motor for each planting unit by sending the target angle signal as needed via the bus line. If the angle signal transmission frequency is low, the target angle will be updated intermittently, resulting in awkward rotational motion. For this reason, smooth angle control is performed by transmitting and filtering the target speed in addition to the target angle.

  Next, control of the rice transplanter 100 according to the present embodiment will be described with reference to FIGS. FIG. 5 is a diagram for explaining control of the rice transplanter according to the embodiment of the present invention. FIG. 6 is a diagram for explaining in detail the control of the rice transplanter according to the embodiment of the present invention. FIG. 5 simply shows the relationship between the control unit and the motor related to the control of the rice transplanter. The main control unit 300 outputs a target angle signal and a target speed signal as control signals to the motor control unit 301 in accordance with a vehicle speed signal from the vehicle speed sensor 30 and a signal from the user input unit 31. The motor control units 301, 302, and 303 perform the feedback according to the signals given to the drive motors 301M, 302M, and 303M that perform control and the signals from the main control unit 300, respectively, while performing feedback. Control the rotation angle of 303M. The motor control units 301, 302, and 303 have a drive motor electrical angle detection unit and a rotation angle detection unit, as will be described below.

  Next, according to FIG. 6, the control of the drive motor of the planting unit of the rice transplanter according to the present embodiment will be described in detail by taking the drive motor 301M of the motor control unit 301 as an example. The drive motor 301M is controlled by being supplied with a U-phase voltage, a V-phase voltage, and a W-phase voltage from the vector control unit 301V. The vector control unit 301V that directly controls the drive motor 301M operates as follows.

  The current flowing through the U-phase coil and V-phase coil of the three-phase coil of the drive motor 301M is detected, and the W-phase current, the V-phase current, and the subtractor 401 calculate the difference between the U-phase current and the V-phase current. The phase current is input to the UVW-αβ conversion unit 402. The converted signal is output to the αβ-dq conversion unit 403 as an α-axis current and a β-axis current, the α-axis current is output to the coil resistance value 501 and the coil inductance value 503, and the β-axis current is converted to the coil resistance value 505 and the coil. Output to the inductance value 507.

  The difference between the d-axis current converted by the αβ-dq conversion unit 403 and the target d-axis current output from the target d-axis current output unit 404 is taken by the adding unit 405. The difference is obtained by adding the signal that has passed through the integral control gain 406 and the signal that has passed through the proportional control gain 407 by the adder 408, and is output to the dq-αβ converter 413. On the other hand, a difference between the q-axis current converted by the αβ-dq conversion unit 403 and the target q-axis current is obtained by the adding unit 409. The difference is obtained by adding the signal that has passed through the integral control gain 410 and the signal that has passed through the proportional control gain 411 by the adder 412, and is output to the dq-αβ converter 413. The α-axis voltage and β-axis voltage that are converted and output by the dq-αβ conversion unit 413 are output to the αβ-UVW conversion unit 414, the α-axis voltage is supplied to the addition unit 502, and the β-axis voltage is added to the addition unit 506. Is output. The αβ-UVW converter 414 supplies the U-phase voltage, the V-phase voltage, and the W-phase voltage to the drive motor 301M, and controls the rotation angle.

  Next, a process until the α-axis current, β-axis current, α-axis voltage, and β-axis voltage output from the vector control unit 301V are processed and converted into a mechanical angle used in the angle control unit 301A will be described. A coil voltage value obtained by converting the α-axis current by the coil resistance value 501 and the coil inductance value 503 is subtracted from the α-axis voltage by the adding unit 502 and the adding unit 504, and an estimated α-axis back electromotive voltage is output. The coil voltage value obtained by converting the β-axis current by the coil resistance value 505 and the coil inductance value 507 is subtracted from the β-axis voltage by the adding unit 506 and the adding unit 508, and the estimated β-axis back electromotive voltage is output.

  The estimated α-axis counter electromotive voltage and the estimated β-axis counter electromotive voltage are output as an estimated d-axis counter electromotive voltage and an estimated q-axis counter electromotive voltage by the αβ-dq converter 509. The estimated q-axis back electromotive force is multiplied by a constant 510 to be converted into an estimated electrical angular velocity, and input to the adder 514. The multiplication unit 512 multiplies the value obtained by converting the estimated electrical angular velocity into a code by the sign function 511 and the estimated d-axis back electromotive voltage, multiplies the estimated electrical angle correction gain 513, and inputs the result to the adder 514. The output of the adder 514 is integrated by the integrator 515, and an estimated electrical angle is output.

  Further, a value obtained by calculating a stepped electrical angle in units of 60 degrees from Hall sensor information, a difference between the estimated electrical angles, and a Hall correction gain 517 are input to the adding unit 514. That is, the output of the estimated electrical angular velocity, the estimated electrical angle correction gain 513, and the output of the hall correction gain 517 are added by the adding unit 514, and this sum is integrated by the integration control unit 515 to output the estimated electrical angle. . The estimated electrical angle is fed back to the dq-αβ conversion unit 509 and simultaneously used as an estimated electrical angle for vector control αβ-dq conversion and dq-αβ conversion.

  The estimated electrical angle is accumulated in consideration of the number of motor poles and the gear ratio in the electrical angle-mechanical angle conversion unit 518, converted into a mechanical angle, and output to the planting claw angle control unit 301A as a planting claw angle. Is done. The estimated electrical angular velocity is converted into a mechanical angular velocity by the electrical angular velocity-mechanical angular velocity conversion unit 518 in consideration of the number of motor poles and the gear ratio, and is output as a planting claw velocity to the planting claw angle control unit 301A.

  In addition, since the back electromotive force is large in the addition unit 514 when the rotation of the drive motor is medium / high, the correction from the output of the estimated electrical angle correction gain 513 is dominant, and the rotation of the drive motor is in the low / stop state. In this case, the correction from the output of the Hall correction gain 517 becomes dominant, so that the motor control unit 301 performs control based on the estimated rotation angle estimated from the back electromotive voltage when the drive motor rotates at medium or high speed. When the drive motor rotates at a low speed and stops, the control based on the estimated rotation angle detected by the Hall sensor is controlled to be dominant.

  Next, the operation of the motor control unit 301 in the angle control unit 301A will be described. The main control unit 300 transmits a target angle signal and a target speed signal to the angle control unit 301A of the motor control unit 301. When the transmission cycle of the target angle signal and the target speed signal is slow, the target angle signal changes stepwise, which may cause a problem in angle control in the motor control unit 301. Therefore, the motor control unit 301 integrates the received target speed signal with the integration unit 521 so as to output a smooth angle signal.

  The difference between the output of the integrator 521 and the received target angle signal is taken by the adder 522 for the purpose of eliminating the integral drift that occurs at this time, multiplied by the filter gain 519, and fed back to the integrator 521 via the adder 520. As a result, the output of the integration unit 521 becomes a smoothly filtered target angle signal, which substantially matches the target angle signal before being transmitted from the main control unit. When the transmission cycle of the target angle signal and the target speed signal is slow, the average error between the original smooth target angle signal and the transmitted stepwise target angle signal becomes large, and the angle control signal in the motor control unit 301 is delayed.

  Therefore, when the main control unit 300 transmits the target angle signal, the half of the product of the target speed signal and the transmission period (performed by the period conversion unit 608) is added to the target angle signal by the addition unit 609 and transmitted. By doing so, the average error between the original target angle signal and the transmitted target angle signal is made zero. The output of the integration unit 521, which is the target angle signal filtered so as to be smooth, is subtracted from the output of the electrical angle-mechanical angle conversion unit 518 by the addition unit 523, and an angle deviation signal is output. The angle deviation signal is input to the adder 527 through the integral control gain 524 and the proportional control gain 525, respectively. On the other hand, the target speed signal from the main control unit 300 is subtracted by the planting claw speed signal passing through the LPF (low-pass filter) 528 from the electrical angular velocity-mechanical angle conversion unit 518 and the adding unit 530. Here, speed feedback can be performed by the LPF 528 and the adder 530, thereby increasing the response speed. Further, at the time of sparse planting, control for rotating the planting claw speed at an unequal speed is possible without a high-resolution angle sensor or speed sensor.

  The speed deviation is multiplied by the differential control gain 526 and input to the adder 527. The output of the adder 527 passes through an LPF (low-pass filter) 529, is output to the vector controller 301V as a target q-axis current, and is controlled so that the rotation angle of the motor matches the target value.

  In the main control unit 300, the signal from the vehicle speed sensor 30 is counted by the pulse count unit 601 and output as an angle, while the signal from the vehicle speed sensor 30 is measured by the pulse interval measurement unit 602 and output as a speed. . The speed passes through an LPF (low-pass filter) 603, the difference between the output integrated by the integration unit 604 and the angle is taken by the addition unit 605, multiplied by the filter gain 606, and fed back to the integration unit 604 via the addition unit 607. Further, half of the product of the target speed signal and the transmission period is added by the period conversion unit 608 and transmitted by the addition unit 609. As described above, the target angle signal and the target speed signal are output from the main control unit 300 to the angle control unit 301A of the motor control unit 301 via CAN communication.

  The control method of the motor control unit 301 is performed in the same manner for the motor control units 302 to 303. By controlling as described above, the angle estimated from the back electromotive voltage and the angle calculated from the signal detected by the Hall sensor can be appropriately combined and controlled according to the rotational speed of the motor while performing synchronous control. it can.

  Next, the planting claw 220 of the rice transplanter 100 according to the embodiment of the present invention will be described. FIG. 7 is a cross-sectional view of the planting claw 220 of the rice transplanter 100 according to the embodiment of the present invention. The planting claw portion 220 includes a planting claw 221, a pushing claw 222, a push rod 223 that pushes out the pushing claw 222, and a push arm 224 that drives the push rod 223. A chain joint 225 is pivotally attached to the base of the push rod 223, and is configured to transmit the force of the push spring 226 via the spring receiver 227. One end of the push arm 224 is fixed to the push rod 223 and the other end is rotatably attached to the shaft 229.

  Note that the rotation angle origin of the planting claw is detected by rotating the drive motor 211 at the time of activation or the like. For this purpose, a planting claw or transmission unit configured so that the required torque changes according to the rotation angle when the drive motor 211 is rotated forward or backward is used. Detects the rotation angle origin of the claw.

  As an example, when the drive motor 211 is rotated in the reverse direction, it does not rotate before the discontinuous portion of the cam 228 that is the operating position of the push arm 224 of the planting claw (uses infinite torque). Can be used. For this, a method can be used in which the drive motor 211 is driven with constant torque and the position where the planting claw is stopped is used as the origin, or the position where the torque is greater than the threshold for a certain time after driving at constant speed is used as the origin. .

  As an example, when the drive motor 211 is rotated forward, the torque is adjusted to a specific angle by devising the shape of the cam 228 of the planting claw or the shape of the cam for removing the backlash provided in the transmission unit. The rotation angle origin of the planting claw is detected using this. For this, a method can be used in which the drive motor 211 is driven at a constant speed and the position where the torque becomes smaller than the threshold value for a certain time is used as the origin.

  Next, the case 302C that houses the control unit of the drive motor 211 of the rice transplanter 100 according to the embodiment of the present invention will be described. FIG. 8 is a diagram in which a cover of the case 302C that houses the control unit of the drive motor 211 of the rice transplanter 100 according to the embodiment of the present invention is removed.

  The control unit 302 is provided in the case 302C. In the figure, a drive shaft 210a is a shaft of a gear portion 210g that fits with a rotor of the drive motor 211, and this drive shaft 210a is connected to the transmission portion 212 and drives the planting claw 221.

  Next, the case 211C that houses the rotor 211R and the gear part 210g of the drive motor 211 of the rice transplanter 100 according to the embodiment of the present invention will be described. FIG. 9 is a view in which the lid (case 302C) of the case 211C that houses the rotor 211R and the gear portion 210g of the drive motor 211 of the rice transplanter 100 according to the embodiment of the present invention is removed.

  The drive mechanism unit 210 includes a gear unit 210g, a rotation plane on which the gear in the gear unit 210g rotates, and planes 221RC and 221LC (see FIG. 4) on which the right planting claw 221R and the left planting claw 221L rotate. Are parallel. A motor shaft 211a is located at the center of the rotor 211R of the drive motor 211, and is engaged with the gear portion 210g. There is a drive shaft 210a at the center of the gear part 210g, which is connected to the transmission part 212 and drives the planting claw 221.

  As described above, the control unit 302 including the control board is disposed in the same case as the cases 302C and 211C that house the drive motor 211, and the cases 302C and 211C are formed of a material having heat conductivity. By doing in this way, the control part 302 which consists of the drive motor 211 and a control board can be unitized, and it can be made compact. In addition, only power lines and wirings for transmitting control signals are provided from the unit, so that the assembly at the time of rice transplanter manufacture and the attachment / detachment of the unit at the time of failure are facilitated. Furthermore, when a motor or a control unit that easily generates heat is planted, it is cooled by the outside air together with the heat-conducting case.

  Next, an internal structure diagram of the drive motor 211 of the rice transplanter 100 according to the embodiment of the present invention will be described. FIG. 10 is an internal structure diagram of the drive motor 211 of the rice transplanter 100 according to the embodiment of the present invention.

  A stator (coil) 211 </ b> K is wound around the drive motor 211. Three hall sensors are provided in the circumferential direction of the drive motor 211. A plurality of pairs of rotors (permanent magnets) 211M are provided along the inner periphery of the drive motor 211 so that the magnetic poles alternate between N and S. In the present embodiment, three hall sensors and ten permanent magnet sets (20 pieces) will be described.

  An electrical angle of 360 ° is given with one set of N and S magnets as one cycle, and three Hall sensors are provided with phases shifted by 120 °, so six combinations are possible (N-N-N And SSS are not possible). By providing 10 sets of one set of N and S magnets, 360 ° is divided by 10 and, further, 6 degrees of discrimination accuracy is obtained. This is sufficiently accurate as control during low-speed rotation and start from stop.

<Configuration and Effect of Embodiment>
The rice transplanter of the present invention has at least two planting units each including a planting claw portion and a drive mechanism unit for driving the planting claw portion, and is electrically connected to a plurality of planting units. The drive mechanism portion provided for each planting unit includes a drive motor, and a transmission unit for transmitting the rotational force of the drive motor to the planting claw unit, The planting unit has a motor control unit that controls each drive motor.

  By adopting such a configuration, it can be simplified, and heat generated in the control unit can be dispersed.

  Preferably, the drive motor is formed by a synchronous motor.

  With such a configuration, control with high response performance can be performed.

  Preferably, the synchronous motor is a flat type.

  With such a configuration, the drive mechanism can be made compact and have high output.

  Preferably, the planting claw has a right planting claw on the right side in the traveling direction and a left planting claw on the left side in the traveling direction, and the drive mechanism unit is a plane on which the right planting claw rotates. The left planting claw is located between the rotating plane.

  By setting it as such a structure, the whole planting unit can be simplified and made compact.

  Preferably, at least half or more of the drive mechanism portion is a cylinder formed when the surface on which the right planting claw rotates is one bottom surface of the cylinder and the surface on which the left planting claw rotates is the bottom surface of the cylinder. Arranged in the interior space.

  With such a configuration, the drive mechanism can be simplified and made compact.

  Preferably, the rotation plane of the drive motor and the plane on which the right planting claw and the left planting claw rotate are parallel to each other.

  With such a configuration, the drive mechanism can be simplified and made compact.

  Preferably, the transmission unit is a gear unit, and a rotation plane on which the gear in the gear unit rotates and a plane on which the right planting claw and the left planting claw rotate are parallel to each other.

  With such a configuration, the drive mechanism can be simplified and made compact.

  Preferably, the motor control unit is disposed in the same case as the case accommodating the drive motor, and the case is formed of a material having heat conductivity.

  By adopting such a configuration, heat generated from the motor and the control unit can be effectively eliminated and the housing can be stored in a compact manner.

  Preferably, the motor control unit receives a control signal from a main control unit that controls the whole rice transplanter, and controls at least the rotation angle of the drive motor in accordance with the control signal.

  With such a configuration, the control can be easily performed with a simple wiring.

  Preferably, the control signals are a target angle signal and a target speed signal.

  By adopting such a configuration, smooth and stable angle control can be performed even if the communication frequency between the main control unit and the motor control unit is low.

  Preferably, the motor control unit includes an electric angle detection unit and a rotation angle detection unit of the drive motor.

  With such a configuration, the motor control unit can be responsible for controlling the motor.

  Preferably, the rotation angle detection means obtains the rotation angle by integrating the electrical angles detected from the electrical angle detection means, starting from the origin detected by the rotation angle origin detection means for detecting the rotation angle origin.

  With such a configuration, the rotation angle can be easily obtained.

  Preferably, the rotation angle origin detection means uses a planting claw portion or a transmission portion configured such that the required torque changes according to the rotation angle when the drive motor is rotated forward or backward. The origin of the rotation angle of the planting claw is detected using the characteristics.

  With such a configuration, the origin can be detected easily and at low cost.

  Preferably, the rotation angle origin detection means utilizes a characteristic that does not rotate before the operating position of the push arm of the planting claw when the drive motor is rotated in the reverse direction. Is detected.

  With such a configuration, the origin can be detected easily and at low cost.

  Preferably, the rotation angle origin detecting means is configured such that when the planting claw part is rotated forward, the torque sharply decreases at a specific angle. Detect the rotation angle origin.

  With such a configuration, the origin can be detected easily and at low cost.

  Preferably, the motor control unit is predominantly controlled based on the estimated rotation angle estimated from the back electromotive voltage generated by the rotation of the drive motor when the drive motor rotates at medium or high speed. When the motor rotates at low speed or stops, control based on the estimated rotation angle detected by the Hall sensor is dominant.

  With this configuration, highly accurate angle control can be performed without using a high-resolution sensor.

DESCRIPTION OF SYMBOLS 10 Running body 11 Driver's seat 12 Engine 13 Body frame 14 Mission case 15 Front axle case 16 Paddy field traveling front wheel 17 Rear axle case 18 Paddy field traveling rear wheel 18LS, 18RS Wheel rotation angle sensor 19 Bonnet 20 Body cover 20a Step 21 Handle 22 Top Link 23 Lower link 24 Seedling stand 25 Lower guide rail 26 Upper guide rail 27 Equal float 100 for planting Rice transplanter 200, 201 Planting unit 210 Drive mechanism 210g Gear 210a Drive shaft 211, 307, 312 Drive motor 211R Rotor 211a Motor shaft 212 Transmitter 220 Planting claw 221 Planting claw 221R Right planting claw 221L Left planting claw 221LC, 221RC Plane 222 Pushing claw 223 Push rod 224 Push arm 225 Chain joint 226 Push spring 300 Main control unit 301, 302, 303, 304 Motor control unit 302C Case 305, 306 Horizontal feed left / right limit switch 308 Gear 310 Horizontal feed drive unit 311 Vertical feed drive unit

Claims (17)

A planting claw portion, wherein the planting claw portion drive mechanism for driving the unit, the planting unit comprise possess,
Before Symbol drive mechanism,
And the dynamic motor drive,
A transmission unit for transmitting the rotational force of the drive motor to the planting claw unit;
Have
The planting unit is
Have a motor controller for controlling the pre-SL drive motor,
The planting unit is configured such that a required torque changes according to a rotation angle when the drive motor is rotated forward or backward.
The said motor control part is a rice transplanter which has the rotation angle origin detection means which detects the rotation angle origin of a planting nail | claw based on the change of the required torque in the said planting unit . The planting unit comprises a plurality of planting units,
  A main control unit electrically connected to the plurality of planting units;
  The rice transplanter according to claim 1. The rice transplanter according to claim 1 or 2 , wherein the drive motor is formed by a synchronous motor. The rice transplanter according to claim 3 , wherein the synchronous motor is a flat type. The planting claw is
On the right side of the direction of travel,
On the left side of the direction of travel,
Have
The rice transplanter according to any one of claims 1 to 4 , wherein the drive mechanism is located between a plane on which the right planting claw rotates and a plane on which the left planting claw rotates. At least half of the drive mechanism is
When the surface on which the right planting claw rotates is one bottom surface of the cylinder, and the surface on which the left planting claw rotates is the other bottom surface of the cylinder,
The rice transplanter according to claim 5 , wherein the rice transplanter is disposed in an internal space of a formed cylinder. A rotation plane of the drive motor;
The rice transplanter according to claim 5 , wherein the right planting claw and the plane on which the left planting claw rotates are parallel to each other. The transmission unit is a gear unit,
The rice transplanter according to any one of claims 5 to 7 , wherein a rotation plane in which the gear in the gear portion rotates and a plane in which the right planting claw and the left planting claw rotate are parallel to each other. The motor control unit is disposed in the same case as the case that houses the drive motor,
The rice transplanter according to any one of claims 1 to 8 , wherein the case is formed of a material having heat conductivity. The motor controller is
Receiving a control signal from the main control unit for controlling the whole rice transplanter;
The rice transplanter according to claim 2 or 3 , wherein at least a rotation angle of the drive motor is controlled according to the control signal. The rice transplanter according to claim 10 , wherein the control signals are a target angle signal and a target speed signal. The rice transplanter according to any one of claims 1 to 11 , wherein the motor control unit includes an electrical angle detection unit and a rotation angle detection unit of the drive motor. The rotation angle detecting means, as a starting point the origin detected by the rotational angle origin detecting means for detecting a rotational angle origin, by integrating the electrical angle detected from the electrical angle detecting means, according to claim 12 for obtaining a rotation angle Rice transplanter as described in The pawl portion or the transmission unit planting, when the drive motor was rotated forward or reverse rotation, any one of claims 1 to 13 which is configured to the required torque is varied in accordance with the rotation angle Rice transplanter as described in The rotation angle origin detection means uses the characteristic that the rotation angle origin of the planting claw is not rotated before the operating position of the push arm of the planting claw when the drive motor is rotated in reverse. The rice transplanter according to claim 14 to be detected. The rotation angle origin detection means is configured such that when the planting claw is rotated forward, the torque is suddenly reduced at a specific angle. The rice transplanter according to claim 14 , wherein the origin is detected. The motor control unit, in any one of claims 1 to 16 for controlling the rotation of the drive motor based on the estimated rotation angle detected by the counter electromotive voltage and the Hall sensor caused by rotation of the front Stories drive motor The rice transplanter described.

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