JP2002213640A - Moving agricultural machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve the responsiveness of a solenoid valve in various controls which uses the solenoid valve. SOLUTION: This moving agricultural machine comprises the solenoid valve 109, having positive and reverse operation solenoids 107, 108 for achieving 100% duty pulse drive for a set time T2, immediately after starting of drive.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a mobile agricultural machine such as a rice transplanter having a hydraulic lifting cylinder for raising and lowering a planting portion supported at the rear of the machine.

[0002]

Normally, an electromagnetic valve used for planting elevating control of a rice transplanter controls a current flowing through an electromagnetic valve coil by PWM (pulse width modulation) drive. If the speed is slow, there is a disadvantage that responsiveness is deteriorated and control accuracy is reduced.

[0003]

SUMMARY OF THE INVENTION Accordingly, the present invention relates to a mobile agricultural machine having a solenoid valve having a forward / reverse operation solenoid. The purpose of the present invention is to improve the response of the solenoid valve by improving the response of the solenoid valve by accelerating the rise of the flowing current, and to improve the accuracy of control by the solenoid valve such as the planting elevating control.

Further, the set time is varied by the duty of the drive pulse of the solenoid valve, and at the start of the drive of the solenoid valve, the solenoid valve is driven at the maximum speed of 100% duty for an appropriate time according to the drive duty, resulting in overshoot and time delay. This is to prevent the occurrence of such a phenomenon and improve the responsiveness of the solenoid valve.

Further, the set time is corrected based on the voltage and temperature changes of the solenoid valve coil, and even when the resistance value of the solenoid valve coil changes due to disturbances in voltage and temperature, the set time is corrected appropriately. It is intended to suppress variation in responsiveness and enable high-precision control by a solenoid valve.

[0006]

Embodiments of the present invention will be described below in detail with reference to the drawings. FIG. 1 is a side view of a riding rice transplanter, and FIG. 2 is a plan view of the same. In FIG. 1, (1) is a traveling vehicle on which an operator rides, and an engine (2) is mounted on a body frame (3). A front paddle traveling wheel (6) is supported in front of a case (4) via a front axle case (5), and a rear axle case (7) is connected to a rear portion of the transmission case (4). 7) Support the paddy field rear wheel (8). A spare seedling mount (10) is attached to both sides of the hood (9) covering the engine (2) and the like, and the step of getting on and off (1
The transmission case (4) and the like are covered by a body cover (12) on which an operator rides via 1), and a driver's seat (13) is mounted on the upper part of the body cover (12). Then, a steering handle (14) is provided at the rear of the hood (9).

[0007] In the figure, reference numeral (15) denotes a planting portion provided with a seedling mounting table (16) for planting six rows and a plurality of planting claws (17). Forward tilting seedling platform (1
6) is supported on a planting case (20) via a lower rail (18) and a guide rail (19) so as to be reciprocally slidable right and left, and a rotary case (21) is rotated at a constant speed in one direction. A pair of claw cases (22) and (22) are supported at the case (20) and symmetrically positioned around the rotation axis of the case (21), and the claw case (22) is provided.
(22) Attach the planting claws (17) and (17) to the tip. A hitch bracket (24) is provided on the front side of the planting case (20) via a rolling fulcrum shaft (23), and is provided via a lifting link mechanism (27) including a top link (25) and a lower link (26). A hitch bracket (24) is connected to the rear side of the traveling vehicle (1), and the link mechanism (2)
7) A piston rod (28a) of a hydraulic elevating cylinder (28), which is a hydraulic elevating control mechanism for elevating and lowering the planting portion (15), is connected to a lower link (26), and the front and rear wheels (6) and (8) are connected. ) Is driven and moved, and at the same time, a seedling for one plant is taken out from the seedling mounting table (16) which is reciprocally slid left and right by a planting claw (17), and the seedling is continuously planted. .

In the figure, (29) is a main shift lever, (3)
0) is a planting lever which is also a sub-transmission lever, (31) is a sensitivity setting device, (32) is a main clutch pedal, (33)
3) is a left and right brake pedal, (34) is a two-floor leveling center float, (35) is a two-floor leveling side float, and (36) is a six-floor side fertilizer.

Further, as shown in FIGS. 3 and 4, the vehicle body frame (3) is tilted to a front low and rear high (a tilt angle of about 4 degrees).
The gantry (37) is fixed integrally on the front upper surface, and the gantry (3)
7) On the upper surface of the anti-vibration rubber (38) and the engine stand (3)
9) The engine (2) is mounted on the engine, and a fuel tank (40) is mounted on the left side of the engine (2), and a muffler (41) is mounted on the right side of the engine (2).
A battery (43) is mounted substantially at the center on the front end side of the body frame (3).

Further, a case base (44) is integrally fixed to the body frame (3), a steering case (45) is attached to the case base (44), and a handle cylinder (4) is mounted.
6) The steering shaft (14a) of the steering handle (14) to be inserted into the steering case (45) is set up on the upper surface of the steering case (45) substantially at the center between the left and right body frames (3) and (3). ) Output shaft (4
7), and a steering arm (48) for turning the left and right front wheels (6) and (6) is attached to the output shaft (47).

A substantially horizontal cylindrical bearing body (49) is welded and fixed to the lower side of the engine stand (39) below the engine (2), and a countershaft (49) is attached to the bearing body (49). The counter pulley (5) is provided at the front end of the counter shaft (50) for inserting and supporting the bearing body (49) forward.
1) Attach, and right and left body frames (3) (3)
An engine output shaft (52) protrudes in front of the engine (2) at substantially the upper center therebetween, and an output pulley (53) is attached to the output shaft (52). The output pulley (53) is connected to the counter pulley (53). 51) via a V-belt (54).

Further, a rear axle case (7) is bolted and fixed to the rear end of the vehicle body frame (3), and a transmission case (4) rear surface is connected and fixed to a front surface of the rear axle case (7). ), A clutch case (55) is integrally formed on the right front surface, a continuously variable belt transmission case (56) right rear surface is fitted and fixed to the front surface of the clutch case (55), and a hydraulic pump (actuated by a lifting cylinder (28)). 57) is fixed to the left rear surface of the belt transmission case (56), and the respective cases (4), (55) are located lower than the upper surface between the left and right body frames (3) (3) in the form of a square pipe. (56) and the hydraulic pump (57) are suspended and fixed, and the transmission shaft (58) with universal joint is connected to the counter shaft (5).
0) It is provided between the rear end and the belt transmission case (56) to transmit the output of the engine (2) to the belt transmission case (56), and between the front axle case (5) and the transmission case (4). ) Is provided to transmit the shift output of the transmission case (4) to the front and rear wheels (6) and (8) via the respective axle cases (5) and (7).

As shown in FIGS. 5 to 7, a pitching fulcrum shaft (60) for swingably supporting the front portion of the center float (34) up and down is provided on a bracket (61) on the rear upper surface of the float (34). The base of a planting depth adjusting link (63) is fixedly mounted on a planting depth adjusting fulcrum shaft (62) rotatably supporting the planting case (20). ) Is connected to the pitching fulcrum shaft (60).

A support shaft (6) supported on the planting case (20) side through fixed arms (64a) (64b).
5) A swing arm (6) rotatably supporting an intermediate portion of the output link (66) and a base end fixed to the adjusting fulcrum shaft (62).
The rear end of the output link (66) is connected to the front end of the output link (6) via a coupling pin (68), and the output link (6) is connected to the rear end of the output link (6).
6) A lifting link (70) is connected to a front end shaft (69), and a shaft (72) of a bracket (71) fixed to the front upper surface of the center float (34) and the lifting link (70).
One end of the shaft (73) is connected via a swing link (74).

Further, the middle of the sensor link (75) is rotatably supported on the support shaft (65), and the sensor link (7) is pivotally supported.
5) The shaft (76) at one end and the shaft (77) at the other end of the elevating link (70) are connected by an interlocking link (78), and the fixed arm (64b) is connected to the planting case (20). Potentiometer type float sensor (7
The detection shaft (82) at the other end of the sensor link (75) is engaged and connected to the long hole (81) of the detection arm (80) of 9), and is planted by unevenness of the tillage or a change in depth. When the depth changes, the float sensor (79) is configured to detect the change.

As shown in FIGS. 6 and 8, the fulcrum shaft (6
2) A planting depth adjusting lever (83) for setting a standard planting depth fixed to the base end is appropriately controlled by a planting motor (84), and a central planting case (20) A motor mounting base (88) is fixed to the transmission pipe (85) on the right side via a mounting plate (86) and a side plate (87), and the rotary screw shaft (8) of the motor (84) of the motor mounting base (88) is fixed.
An adjusting lever (8) is attached to the moving element (90) coupled to the moving element (9).
When the moving element (90) moves up and down along the screw shaft (89) by driving the motor (84) by engaging and connecting the 3), the adjusting lever (83) is swung up and down. The fulcrum shaft (62) is rotated to adjust the reference planting depth.

The adjusting lever (83) is disposed in a cover (91) fixed to the motor mounting base (88) so as to be openable and closable, and the adjusting lever (83) is mounted on the motor mounting base (88).
A potentiometer type planting depth sensor (93) for detecting the moving position of the fixing pin (92) is provided to detect the planting depth position.

When the planting depth is changed around the fulcrum shaft (62) by the planting motor (84) or the adjusting lever (83), the vertical position of the pitching fulcrum shaft (60) and the front end of the output link (66) are changed. The vertical change position of the axis (69) is substantially the same, so that the output of the float sensor (79) is not changed even if the planting depth is changed.

On the other hand, an engine sensor (94) which is an engine rotation sensor for detecting the number of rotations from the engine (2) transmitted through a transmission shaft (58) is provided on the input shaft portion of the transmission case (56). A vehicle speed sensor (95) for detecting a traveling output from a transmission case (4) transmitted through a transmission shaft (59) is provided on an input shaft portion of the front axle case (5), and a left body frame (3) is provided. ) Lower link (26) to sensor mounting plate (96)
And a link sensor (98) for detecting a moving position of a lift arm (97) connected to the plant, and configured to detect a vertical position of the planting section (15).

As shown in FIG. 9, a supply hydraulic circuit (100) of a hydraulic pump (99) driven by the engine (2)
Is branched into a high-pressure oil passage (102) and a low-pressure oil passage (103) by a flow control valve (101), and an operation for switching a steering valve (105) of a steering cylinder (104) by a steering handle (14). Valve unit (1
06) and the ascending and descending solenoids (107) (10)
The lifting valve (10) which is an electromagnetic valve (proportional valve) by 8)
An elevation valve unit (110) for driving the elevation cylinder (28) by operating 9) is provided in the high-pressure oil passage (102), and a horizontal cylinder (111) for controlling the horizontal inclination posture of the planting portion (15). Solenoid valve for horizontal operation (1
A horizontal valve unit (113) having a valve (109) is provided in the low-pressure oil passage (103) to control the raising and lowering of the planting portion (15) by raising and lowering the valve (109).
7) It is configured to be performed by the excitation operation of (108).

As shown in FIG. 10, the shallow and deep side circuits (114) and (115) of the planting motor (84).
And a controller (116) for connecting the output to the solenoids (107) and (108), and a potentiometer type lever sensor for detecting the position where the planting lever (30) is lowered, raised and the clutch is engaged. (11
7) and a planting depth switch (11) for starting planting depth control.
8), a sensitivity setting device (31) for setting the hydraulic sensitivity (target value) of the lifting cylinder (28) according to the field surface hardness, and an oil temperature sensor for detecting the oil temperature of the hydraulic pressure flowing through the valve (107) , A voltage sensor (122) for monitoring a change in power supply voltage from a battery (121) applied to a controller (116) via a key switch (120), and the sensors (79) and (93). )
(94) (95) (98) and controller (116)
Input connection.

As shown in FIG. 11, the engine sensor (94) detects the proper rotation state of the engine (2), and outputs a vehicle speed sensor (95), a link sensor (98), a lever sensor (117), and a float. Each value of the sensor (79) is input to the controller (116), and when the planting section (15) is lowered and the center float (34) is in the planting operation condition with the ground contact state, the mode is shifted to the elevation control mode. Then, a target value (V1) (a target inclination angle of the center float (34)) of the elevation control is calculated based on the set value of the sensitivity setting device (31) and the correction value of the vehicle speed sensor (95) based on the vehicle speed. The detection value (V2) of the float sensor (79) (the actual inclination angle of the center float (34)) and the target value (V
The drive values of the ascending and descending solenoids (107) and (108) are calculated based on the deviation (V3) (V3 = V2−V1) from (1), and the planting unit is driven by driving each of the solenoids (107) and (108). (15) is raised and lowered to maintain the set planting depth constant.

Further, the ascending and descending solenoids (10
7) The temperature and voltage correction for stabilizing the current supplied to the coil of (108) is performed by these solenoids (107).
This is performed immediately before output to (108). When the oil temperature is detected by the thermistor (119), the drive before temperature correction is performed based on the coil resistance at the reference temperature and the coil resistance at the oil temperature. The drive value after temperature correction is calculated for the value, and the drive value is corrected by changing the power supply voltage with respect to the drive value after temperature correction, and a stable control speed independent of changes in oil temperature and power supply voltage is obtained. And let

When the planting lever (30) is raised, the rising solenoid (107) is driven until the input value of the link sensor (98) reaches the upper limit value, while when the lever (30) is lowered, Float sensor (7
9) Until there is an input above a certain value (Float grounding)
The descending solenoid (108) is driven.

The planting depth control is performed by the planting depth switch (118). The values of the sensitivity setting device (31), the vehicle speed sensor (95) and the planting depth sensor (93) are read and the planting depth switch is read. When the value within a certain range of the planting depth sensor (93) is set as the set value in (118), the correction is performed by the vehicle speed and the hydraulic sensitivity (the set value of the sensitivity setting device (31)) to perform the target planting. The depth value is calculated, and the deviation between the detected value of the planting depth sensor (93) during work and the planting depth value is constant (dead zone).
As described above, when the planting depth is large or small, the planting depth motor (84) is controlled to the deep planting side or the shallow planting side to keep the planting depth constant.

By the way, as shown in FIGS.
Planting part (1) by the solenoids (107) (108)
In the raising / lowering control of 5), when a drive signal for raising or lowering the planting portion (15) is output from the controller (116), the stop dither (friction or sticking of the spool) of each of the solenoids (107) and (108) is performed. A current is applied to both the solenoids (107) and (108) to reduce the effects of phenomena, etc., and vibration is generated).
Drive at 00% duty (full duty), this 100
When the deviation (V3) between the detection value (V2) of the float sensor (79) and the target value (V1) enters the dead zone during the driving of the% duty, the ascent or descent is stopped and the stop dither is maintained.

When the motor is outside the dead zone even after driving for a certain period of time at 100% duty, the solenoids (107) and (108) are driven with the control driving duty of each control mode, and the driving is performed with this driving duty (100%). When the deviation (V3) falls within the dead zone (other than the duty), the solenoid (107) or (10) driven at the drive duty immediately before entering the dead zone (stop of driving).
Solenoid (108) or (107) on the opposite side from 8)
To drive for a set time (t).

This set time (t) is made variable by the drive duty immediately before the stop of the drive. When the drive duty immediately before the stop of the drive is D (AD value), t = 0.3 × D
Calculating at +80 (ms), the overshooting of the spool of the elevating valve (109) due to the drive duty is prevented.

As shown in FIGS. 15 to 17, a fixed time (T2) immediately after the start of driving of the elevating valve (109).
Is driven at 100% duty to improve the response of the valve (109) by shortening the rise time of the current, and as shown in FIG. When driving at 100% duty immediately after the start, the response of the valve (109) can be improved by shortening the rise time to T2 (T1> T2).

The rise time (T2), which is the fixed time, is made variable by the control drive duty after the rise, and as shown in FIG. 17A, the rise time (T2) is 30% duty and the rise time (T2) is When the control is in an overshoot state, the rise time (T2) is adjusted to be short, while as shown in FIG. 17 (2), the rise time is adjusted to be long when the rise is slow in the rise time (T2) at 50% duty. And 100% duty time (T
Set 2).

Further, since the current flowing through the coil of the valve (109) changes under the influence of voltage and temperature disturbances (in the case of the coil temperature, the coil resistance increases due to the rise and the current value decreases). (1) As shown in (2), the driving time (T2) of 100% duty is corrected by the voltage and temperature at the start of driving. As the voltage increases, the driving time (T2) decreases, and the temperature increases. The drive time (T2) is corrected so as to be longer as much as possible, and the variation in the response of the valve (109) due to the voltage and temperature is suppressed.

As shown in FIG. 19, the valve (10
The control duty is controlled so as not to exceed the rated current of the coil and the drive duty of 9). A correction duty (D1) is calculated by adding voltage and temperature correction to the drive duty calculated by PID or fuzzy, and the thermistor (D1) is calculated. When the coil resistance R of the coil temperature detected in step 119) is calculated and the coefficient for converting the current value (I) into a duty is α and the power supply voltage is V, the limiting duty is obtained from the relational expression of D2 = α × R / V. (D2) is calculated. That is, the limit duty (D2) is for flowing the rated current (I) to the coil, and I = R /
It is calculated based on the relational expression of V.

When the correction duty (D1) is larger than the limit duty (D2) (D1> (D2)), driving is performed at the limit duty (D2), and the limit duty (D2) is smaller than the correction duty (D1) ( Even when D1 ≦ D2), when the rate of change of the float sensor (79) is larger than a certain value, the float sensor (79) is driven at the limited duty (D2) so that the followability without exceeding the rated current (I) of the coil is improved. The control by the valve (109) is enabled.

As is apparent from the above description, in the mobile agricultural machine equipped with the lifting / lowering valve (109) which is the solenoid valve having the raising / lowering solenoids (107) and (108) for the forward / reverse operation, the set time immediately after the start of driving is set. (T2) is driven by a pulse of 100% duty (duty 100%), and the rise of the current flowing through the coil is accelerated to improve the response of the lift valve (109). The accuracy of the control by (109) can be improved.

The set time (T2) is varied by the duty (D) of the drive pulse of the lift valve (109). When the drive of the lift valve (109) is started, an appropriate time corresponding to the drive duty (D) is set. By driving at the maximum speed of 100% duty only for (T2), it is possible to prevent the occurrence of overshoot or time delay and to improve the response of the lift valve (109).

Further, when the set time (T2) is corrected based on the voltage / temperature change of the coil of the lift valve (109), the coil resistance value of the lift valve (109) changes due to disturbance of voltage or temperature. But set time (T2)
Can be properly corrected, and the variability of the response can be suppressed, and high-precision control by the elevation valve (109) can be performed.

Immediately after driving of one of the solenoids (107) or (108) is stopped, the other solenoid (10) is stopped.
8) Or (107) is driven for a set time (t) to return to the neutral position, and the return time of the elevating valve (109) to the neutral position of the spool is shortened to quickly return the valve (109) to the neutral position. By improving the operation accuracy of the valve (109), the control accuracy in the case where the valve (109) is used for the planting and lifting control of the rice transplanter can be improved.

The drive set time (t) of the other solenoid (108) or (107) is varied by the duty (D) of the drive pulse of the solenoid (107) or (108) immediately before the stop of the drive. Valve (10
The solenoid (108) or (107) on the opposite side is driven for an appropriate time (t) in accordance with the drive duty (D) of the solenoid (107) or (108) of 9) to prevent time delay and overshoot. Accurate lifting valve (10
9) Operation can be enabled.

[0039]

As is apparent from the above embodiments, the present invention relates to a mobile agricultural machine having a solenoid valve (109) having forward and reverse operation solenoids (107) and (108), and a set time (T2) immediately after the start of driving. Is driven with a pulse of 100% duty (duty 100%), so that the rise of the current flowing through the solenoid valve coil is accelerated to make the solenoid valve (109)
Of the electromagnetic valve (109), such as planting elevating control, can be improved.

Further, since the set time (T2) is varied by the duty (D) of the drive pulse of the solenoid valve, when the drive of the solenoid valve (109) starts, an appropriate time (D) corresponding to the drive duty (D) is obtained. T2) only duty 100%
At the maximum speed to prevent overshoot and time delay from occurring, thereby improving the response of the solenoid valve (109).

Further, the voltage of the solenoid valve (109) coil
Since the set time (T2) is corrected based on the temperature change, the set time (T2) is appropriately corrected even when the coil resistance value of the solenoid valve (109) changes due to voltage or temperature disturbance. In addition, it is possible to suppress variation in responsiveness and enable highly accurate control by the solenoid valve (109).

[Brief description of the drawings]

FIG. 1 is an overall side view of a rice transplanter.

FIG. 2 is an overall plan view of the rice transplanter.

FIG. 3 is an explanatory side view of the traveling vehicle body.

FIG. 4 is an explanatory plan view of a traveling vehicle body.

FIG. 5 is an explanatory side view of the planting section.

FIG. 6 is an explanatory plan view of a float portion.

FIG. 7 is an explanatory side view of a center float portion.

FIG. 8 is an explanatory side view of a planting depth adjusting unit.

FIG. 9 is a hydraulic circuit diagram.

FIG. 10 is an elevation control circuit diagram.

FIG. 11 is a flowchart of lifting control.

FIG. 12 is a flowchart of elevating valve control.

FIG. 13 is a drive output diagram of a lift valve.

FIG. 14 is a drive output diagram of a lift valve.

FIG. 15 is a flowchart for setting a drive time of 100% duty.

FIG. 16 is an explanatory diagram of a rise time of a lift valve.

FIG. 17 is an explanatory diagram of a rise time of a lift valve.

FIG. 18 is a diagram of voltage and temperature correction.

FIG. 19 is a flowchart of restriction control.

[Explanation of symbols]

 (107) (108) Solenoid (109) Elevating valve (solenoid valve) (T2) Set time (D) Duty

 ──────────────────────────────────────────────────続 き Continued on the front page F term (reference) 2B062 AA05 AA12 AB01 BA02 BA62 CA03 CA04 CA05 CA06 2B304 KA13 LA02 LA09 LB05 LB16 MA02 MB02 MC08 MD02 PC17 PD19 QA05 QA13 QA16 QB17 QB27 QB29 QC03 QC05 RA03 RA28 EE03 FA03

Claims (3)

[Claims] 1. A mobile agricultural machine provided with an electromagnetic valve having a forward / reverse operation solenoid, wherein the mobile agricultural machine is provided so that a set time immediately after the start of driving is driven by a pulse of 100% duty. 2. The mobile agricultural machine according to claim 1, wherein the set time is varied by a duty of a drive pulse of the solenoid valve. 3. The method according to claim 1, wherein the set time is corrected based on a change in voltage and temperature of the solenoid valve coil.
The described mobile agricultural machine.