JP2000139139A - Traveling working machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To resolve a trouble wherein a working part resonances in according a vibration period of a traveling vibration of a machine body, a rise and down controlling vibration in a working part, an attitude controlling vibration of a balance elastic mast, etc., with a period of a natural vibration of the balance elastic part. SOLUTION: In this traveling working machine, an enforcing force controlling motor 17 controlling an enforcing force of a first balance elastic part 13 is provided in elastically supporting a planting work part 3 through right and left pair of balance elastic parts 13 and 14 and a resonance of the planting work part 3 is judged according to a detected signal of an operating pat inclining sensor 25 detecting a right or left inclining angle of the planting work part 3, then the enforcing force controlling motor 17 is automatically controlled in reciprocal driving according to the judgment of resonance.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention belongs to the technical field of working vehicles such as riding rice transplanters.

[0002]

2. Description of the Related Art In general, among such traveling vehicles, there is a traveling vehicle which elastically supports a working portion which is connected to a traveling machine body so as to be tiltable left and right through a pair of left and right balance elastics. In other words, at the time of work, while allowing the passive horizontal inclination of the working unit to improve the paddle surface followability, at the time of non-work (when the working unit is raised), the working unit is held in a substantially horizontal posture.
The biasing force of the balancing machine is set in advance according to the load of the working unit.

[0003]

However, since the working traveling vehicle contains vibration generating elements such as vibration of the body, control vibration of the lifting and lowering of the working unit, and posture control vibration of the balance elastic mast, the vibration is generated. If the cycle matches the natural oscillation cycle of the balance armature, there is a disadvantage that the working unit resonates and the working accuracy is reduced.

[0004]

SUMMARY OF THE INVENTION The present invention has been made in order to solve these problems in view of the above-mentioned circumstances, and has a working part which is connected to a traveling body so as to be tiltable left and right. A working vehicle that is elastically supported via a pair of left and right balance elastics;
An urging force adjusting mechanism that adjusts the urging force of the balance ammunition, a working unit attitude sensor that detects the left / right tilt angle or angular velocity of the working unit, and an automatic control of the urging force adjusting mechanism based on the detection signal of the working unit attitude sensor And a biasing force automatic control means. In other words, even if vibrations such as the running vibration of the fuselage, the lifting / lowering control vibration of the working unit, and the posture control vibration of the balance machine mast coincide with the natural vibration period of the balancing machine, resonance occurs in the working unit. Automatically adjusts the biasing force of the balance armature by detecting a change in posture, so that the swinging of the working unit due to resonance can be stopped, and as a result, the shaking of the working unit is reduced as much as possible and work accuracy is improved. You can measure improvement. Further, the biasing force automatic control means is characterized in that the biasing force of the balance armature is adjusted according to the number of times of swinging, the swinging width or the swinging speed of the working unit. That is, since the biasing force of the balance elastic machine is adjusted in accordance with the degree of swing of the working unit, the effect of preventing resonance can be enhanced. Further, the biasing force adjusting mechanism is characterized in that the mast length of the balance elastic mast that elastically supports the working unit via a pair of left and right balance elastics is changed. That is, the structure of the biasing force adjusting mechanism can be simplified as compared with the case where the biasing forces of the respective balance ammunition are individually adjusted.

[0005]

Next, one embodiment of the present invention will be described with reference to the drawings. In the drawings, reference numeral 1 denotes a traveling machine of a riding rice transplanter, and a planting work section 3 is connected to a rear portion of the traveling machine 1 via an elevating link mechanism 2. The planting work section 3 moves up and down with the hydraulic expansion and contraction operation of a lift cylinder (not shown), and these basic configurations are all conventional.

The planting work section 3 includes a working section frame 4 on which seedling support stands 4a are erected on both left and right sides, a drive case 5 integrally assembled with the working section frame 4,
A plurality of planter cases 6 projecting rearward from the drive case 5; a planter arm 7 attached to the rear end of the planter case 6; The working unit frame 4 includes a seedling table 8 that is forcibly fed laterally in accordance with the picking timing, and a float 9 that is provided below the drive case 5 so as to be vertically swingable.
Is supported by a link holder 10 connected to the rear end of the elevating link mechanism 2 via a rolling support shaft 11 so as to be tiltable left and right (rollable).

Reference numeral 12 denotes a balance elastic mast interposed between the link holder 10 and the planting work section 3. The balance elastic mast 12 is integrally formed at the lower end of the balance elastic mast 12 in the front-rear direction. The boss portion 12a is rotatably fitted to the boss portion 10a of the holder frame 10 that supports the rolling support shaft 11, so that the link holder 10 and the planting work portion 3 are balanced elastically. The left and right inclination of the machine mast 12 is allowed.

Reference numeral 13 denotes a pair of left and right first balance armatures (tensile coil springs).
Are interposed between the upper end of the balance machine mast 12 and the left and right ends of the seedling mounting table 8. That is, the first left and right balance machines 13 expand and contract reciprocally in accordance with the lateral feed of the seedling mounting table 8 to balance the eccentric load of the seedling mounting table 8, and based on this balance action, move the seedling mounting table 8. The horizontal inclination of the planting work part 3 accompanying the lateral feed is prevented.

Reference numeral 14 denotes a pair of left and right second balance ammunitions.
2 and the working unit frame 4, the biasing force of which is set so as to balance the entire load of the planting working unit 3. That is, by elastically supporting the planting work unit 3 with the biasing force of the first balance armature 13 and the second balance armature 14, the planting work unit 3 is driven by the float 9 based on the buoyancy of the float 9. A first balancing machine 13 that allows a paddy field following action, but mainly balances the eccentric load caused by the lateral feed of the seedling mounting table 8, and a second balancing machine that mainly balances the entire load of the planting work section 3. 1
4 can be separately provided to simplify the setting of the biasing force of each of the ammunition units 13 and 14, and to set the optimal biasing force corresponding to the load to be balanced. The urging forces of the machines 13 and 14 hold the planting work section 3 in an appropriate posture.

One end of the first balancing machine 13 is connected to a T-shaped frame 15 provided at the upper end of the balancing machine mast 12, and the upper end of the balancing machine mast 12 is bent forward. In addition, a frame support shaft 16 integrally fixed to the base end of the T-shaped frame 15 is rotatably supported. In other words, the mast length of the balance mast 12 changes with the vertical rotation of the T-shaped frame 15, and the urging force of the first balance muffler 13 is adjusted based on the change in the mast length. An urging force adjusting motor 17 with a speed reduction mechanism is provided at the upper end of the balance elastic mast 12, and the urging force adjusting motor 17
The output gear 17a is engaged with the gear 18 fixed to one end of the frame support shaft 16, so that the biasing force of the first balance armature 13 is adjusted based on the forward / reverse driving of the biasing force adjusting motor 17. You can do it.

Reference numeral 19 denotes a mast control motor with a speed reduction mechanism attached to one side of the link holder 10 via a motor bracket 20.
9 is provided between the intermediate gear 2 and an arc-shaped rack 21 provided integrally with the balance mast 12.
2 are interlocked. That is, a mast compulsory tilting mechanism that forcibly tilts the balance elastic mast 12 right and left based on the forward / reverse drive of the mast control motor 19 is provided between the link holder 10 and the balance elastic mast 12. I have.

Reference numeral 23 denotes a mast inclination sensor attached to the back of the balance mast 12. The mast inclination sensor 23 detects the left and right inclination angles of the balance mast 12, and the detection signal will be described later. The data is input to the control unit 24. And in the control part 24,
In order to execute “mast tilt automatic control” for performing forward / reverse drive control of the mast control motor 19 so that the input mast tilt sensor value keeps a preset neutral value (horizontal value),
Balanced ammunition mast 1 regardless of the left and right inclination of the running aircraft 1
2 keeps a constant posture, and as a result, the biasing force of the balance ammunition 13 and 14 is biased to the left or right, as in the case where the balance ammunition mast 12 is inclined left and right integrally with the traveling body 1. The inconvenience of tilting the working unit 3 from side to side can be avoided.

Reference numeral 25 denotes a working part inclination sensor (working part posture sensor) attached to the upper end of the drive case 5. The working part inclination sensor 25 detects the left-right inclination angle of the planting work part 3. The detection signal is input to the control unit 24.

The control section 24 is constituted by using a so-called microcomputer (including a CPU, a ROM, a RAM, etc.), and has, on its input side, a mast tilt sensor 23 and a working section tilt sensor as described above. 25, a biasing force automatic adjustment switch 26 for turning on / off the "biasing force automatic adjustment" described later, a biasing force manual adjustment volume 27 for setting an adjustment value of the "biasing force manual adjustment" described later, and a mast of the balance bullet mast 12. A mast length sensor 28 for detecting the length and the like are connected via a predetermined input interface circuit, and on the output side, the aforementioned urging force adjustment motor 17 and mast control motor 19 are connected to a predetermined output interface circuit. Connected through. In other words, the control unit 24 performs “mast tilt automatic control” for controlling the mast control motor 19 in the forward and reverse directions so that the mast tilt sensor value maintains a neutral value. "Biasing force automatic adjustment" for automatically setting the value, "Biasing force manual adjustment" for setting the target value of the mast length sensor 28 based on the biasing force manual adjustment volume value, and the mast length sensor 28
Has a control program such as "biasing force adjustment motor output" for controlling the biasing force adjustment motor 17 in the forward and reverse directions so as to maintain the target value. And the manual control of the urging force will be described based on the flowchart.

In the above-mentioned "automatic adjustment of biasing force", first, the ON / OFF of the switch 26 for automatically adjusting the biasing force is determined. If the result of the determination is OFF, the process immediately returns to the main routine. In some cases, after confirming the end of the timer A, the swing width and the number of swings of the working unit inclination sensor value are determined, where the swing width is larger than the set width and the swing count is larger than the set number of times. In this case, it is determined that the planting work section 3 is resonating. Then, in this case, the mast length adjustment value a is calculated based on the swing width and the number of times of swing of the working unit inclination sensor value, and the mast length adjustment value a is added to the target value M of the mast length sensor 28. Has become. That is, the running vibration of the body, the planting work section 3
Even if a vibration cycle such as the lifting control vibration of the balance arm mast 12 and the tilt control vibration of the balance arm mast 12 coincides with the natural vibration cycle of the balance armatures 13 and 14 and the resonance occurs, the change of the working unit inclination sensor value accompanying the resonance is detected. Detects the first balanced ammunition 13
In order to automatically increase the urging force, the swinging of the planting work section 3 due to resonance can be stopped. still,
Immediately after the urging force automatic adjustment switch 26 is turned on, an initial value m is set to the mast length target value M in order to clear the setting of the "urging force manual adjustment" and the like.

When the mast length adjustment value a is added to the target value M of the mast length sensor 28 as described above, the timer A is set and the resonance judgment is avoided until the mast length adjustment is completed. After the timer A has expired, the mast length adjustment value b is subtracted from the mast length target value M every timer B in order to gradually return the mast length to the initial mast length. Therefore, it is not permissible to adjust the biasing force to adapt to the change of the working condition, and it is possible to avoid that the mast length of the balance mast 12 is largely deviated from the initial mast length, and furthermore, the mast length is reduced. If resonance occurs in the process of gradually returning to the initial mast length, the mast length adjustment value a is added to the target value M again, so that an appropriate mast length can be maintained while avoiding resonance. I have.

On the other hand, in the aforementioned "biasing force manual adjustment", first, it is determined whether the automatic biasing force adjustment switch 26 is ON or OFF. If the result of the determination is ON, the process immediately returns to the main routine. When it is OFF, the adjustment direction and the adjustment value a are calculated based on the setting value of the biasing force manual adjustment volume 27, and the target value M of the mast length sensor 28 is increased or decreased based on the calculation result. I have. In other words, since the "automatic adjustment of the urging force" can be released and the target value M of the mast length sensor 28 can be arbitrarily adjusted manually, it is possible to adjust the urging force suitable for various work conditions including special work. Instead, it is possible to stop the resonance that cannot be avoided by the "biasing force automatic adjustment".

In the construction as described above, the planting work section 3, which is connected to the traveling machine body 1 so as to be able to tilt left and right, is elastically supported via a pair of left and right balance elastic machines 13, 14. Is a biasing force adjusting motor 17 for adjusting the biasing force of the first balance armature 13, a working unit tilt sensor 25 for detecting the left-right tilt angle of the planting working unit 3, and a detection signal of the working unit tilt sensor 25. Means for automatically controlling the urging force adjusting motor 17 in the forward / reverse direction based on the control signal. Accordingly, it is assumed that resonance occurs when the vibration periods of the running vibration of the body, the control vibration of the planting work section 3, the tilt control vibration of the balance arm mast 12, and the like coincide with the natural vibration periods of the balance armatures 13 and 14. Also, it is possible to detect the change in the inclination of the planting work section 3 accompanying it and automatically adjust the biasing force of the first balance armature 13 to stop the vibration of the planting work section 3 due to resonance. As a result, It is possible to prevent a decrease in work accuracy due to the resonance of the planting work section 3.

In addition, since the urging force of the first balance armature 13 is adjusted according to the number of times of swinging and the width of swinging of the planting work unit 3, appropriate adjustment of the urging force according to the degree of shaking of the planting work unit 3 is performed. Based on this, the resonance prevention effect can be enhanced.

Further, since the right and left first balance arms 13 are simultaneously adjusted based on the change in the mast length of the balance arm mast 12, the left and right first balance arms 13 are adjusted individually. The structure can be simplified.

Further, since the biasing force of the first balance armature 13 can be manually adjusted arbitrarily by operating the biasing force manual adjustment volume 27, the biasing force can be adjusted to adapt to various working conditions including special work. Not to be
Resonance that cannot be avoided by "automatic adjustment of biasing force" can be stopped.

The present invention is, of course, not limited to the above-described embodiment.
An angular velocity sensor can be employed other than the inclination sensor. In addition, as the working unit inclination sensor, a ground-type inclination sensor that determines left and right inclination of the working unit based on detection values of a pair of float sensors (ground height sensors) provided at both left and right ends of the working unit is employed. Is also good. In determining the resonance based on the detection value of the working unit posture sensor, in the above-described embodiment, the swing width and the number of times of the swing are used as the determination material, but the swing speed may be used as the determination material. The urging force automatic adjustment switch does not necessarily need to be provided independently of the urging force manual adjustment volume. For example, a predetermined setting range (eg, a neutral setting range “0”) of the urging force manual adjustment volume is set as an automatic adjustment ON area. Then, the urging force manual adjustment volume can be used also as the urging force automatic adjustment switch.

[Brief description of the drawings]

FIG. 1 is a side view of a riding rice transplanter.

FIG. 2 is a side view of a planting work section.

FIG. 3 is a front view of a main part of the same.

FIG. 4 is a plan view of a main part of the same.

FIG. 5 is a block diagram showing input and output of a control unit.

FIG. 6 is a flowchart of “biasing force automatic adjustment”.

FIG. 7 is a flowchart of “biasing force manual adjustment”.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Traveling body 3 Planting work part 12 Balance ammunition mast 13 First balance ammunition 14 Second balance ammunition 15 T-shaped frame 17 Motor for adjusting biasing force 19 Mast control motor 23 Mast inclination sensor 24 Control part 25 Work part Tilt sensor 26 Bias force automatic adjustment switch 27 Bias force manual adjustment volume 28 Mast length sensor

 ──────────────────────────────────────────────────続 き Continued on the front page F term (reference) 2B062 AA11 AB01 BA69 CA05 CA08 CA14 2B304 KA11 LA02 LA09 LB05 LB15 LC05 MA08 MB02 PC12 QA26 QB03 QB30 RA27

Claims (3)

[Claims] 1. A work vehicle for resiliently supporting a working portion connected to a traveling machine body so as to be able to tilt left and right through a pair of left and right balance elastic machines. An urging force adjusting mechanism for adjusting the urging force of the machine, a working unit posture sensor for detecting a left-right inclination angle or an angular velocity of the working unit, and a unit for automatically controlling the urging force adjusting mechanism based on a detection signal of the working unit posture sensor. A traveling vehicle for use, comprising automatic power control means. 2. The work vehicle according to claim 1, wherein the biasing force automatic control means adjusts the biasing force of the balance armature in accordance with the number of times of swing, the swing width, or the swing speed of the working unit. 3. The device according to claim 1, wherein the urging force adjusting mechanism comprises:
A work traveling vehicle characterized in that a mast length of a balance elastic mast that elastically supports a working portion via a pair of left and right balance elastics is changed.