JP2003219713A - Paddy-working implement - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To improve performance and simplifying constitution by an effective utilization of a pitching device. <P>SOLUTION: This paddy working implement is provided by installing a pitching device 33 for changing a front to rear inclining posture of a working implement part 4 of a traveling vehicle 1. In forms of controlling for moving the pitching device 33, there are an automatic controlling mode for automatically controlling so that the working implement part 4 becomes a prescribed front to rear inclined posture based on the front to rear inclined posture of the traveling vehicle 1 and a manual setting mode for controlling so that the front to rear inclined posture of the working implement part becomes a manually set state based on the traveling vehicle 1, and either one of the modes can be selected. The adjustable range of the front to rear inclined posture of the working implement part in the manual setting mode is smaller than that in the automatic controlling mode. <P>COPYRIGHT: (C)2003,JPO

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a paddy field working machine provided with a pitching device for changing a front-back inclination posture of a working machine with respect to a traveling vehicle body. 2. Description of the Related Art A paddy field working machine such as a rice transplanter in which a working machine portion is connected to a traveling vehicle body so as to be able to move up and down is provided with a float rotatable around a left-right axis in the working machine portion. The work implement is moved up and down in accordance with the vertical swing of the float, thereby performing elevation control to maintain the height of the work implement at a constant level. In the case of an electronic control type in which a float angle to the ground (float angle of attack) is detected by a sensor and the work implement portion is raised and lowered based on the detection result, the control sensitivity can be changed by changing a control target value of the sensor. Also, when the front-rear inclination of the running vehicle becomes extremely large, such as when climbing over a ridge and planting seedlings while escaping from a field, it is not possible to cope with lifting and lowering control based on sensing of a float. In addition, a paddy field working machine provided with a pitching device for changing a front-back inclination posture of a working machine portion with respect to a traveling vehicle body is also known. [0004] The above-mentioned pitching device rarely operates when the work is normally performed in a field, and is performed only in a special case such as when the above-mentioned field escape. Does not work. Therefore, it could not be said that the pitching device was fully utilized. Therefore, by effectively using the pitching device even during normal work,
It is an object of the present invention to improve performance and simplify the configuration. [0005] In order to solve the above problems, the following technical means have been taken. That is, the paddy field working machine according to the present invention is configured such that the working machine portion is connected to the traveling vehicle body so as to be able to move up and down, and detects unevenness of the field scene by a float provided on the working machine portion and rotatable around a left-right axis. In a paddy field working machine that performs elevating control based on the detection result so that the working machine is maintained at a predetermined ground height, a pitching device for changing a front-back inclination posture of the working machine portion with respect to a traveling vehicle body is provided, The form of control to operate the automatic control mode automatically controls the working machine portion to be a predetermined longitudinal tilting posture based on the longitudinal tilting posture of the traveling vehicle body, and the longitudinal inclination posture of the working machine portion with respect to the traveling vehicle body is manually controlled. One of the manual setting modes for controlling the machine to be in the set state can be selected, and the hand position may be larger than the adjustable range of the front and rear inclination posture of the work equipment in the automatic control mode. It is characterized by having a reduced adjustable range of longitudinal inclination posture of the work implement portion in the setting mode. [0006] When it is assumed that the longitudinal inclination of the traveling vehicle body becomes extremely large, such as when the vehicle escapes from a field, the control mode for operating the pitching device is set to an automatic control mode. Thereby, the work can be performed while maintaining the height of the working machine portion above the ground properly. When working on a regular flat field,
The control mode for operating the pitching device is set to the manual setting mode. Then, the front-rear inclination posture of the working machine portion with respect to the traveling vehicle body is manually changed according to conditions such as the hardness of the field. When the front and rear inclination posture of the work machine portion with respect to the traveling vehicle body is changed, the float ground angle (float angle of attack) is changed, and accordingly, the sensitivity of the elevation control is also changed. Specifically, the sensitivity increases as the float attack angle increases, that is, as the float moves downward. [0007] The front-back inclination angle of the working machine portion which is changed at the time of escape from the field is about 10 to 30 °. On the other hand, the front-rear inclination angle of the work machine portion changed for adjusting the sensitivity of the elevation control is less than ± 2 ° at the maximum. Therefore, it is sufficient to make the adjustable range of the front-rear inclination of the work implement portion in the manual setting mode smaller than the adjustable range of the front-rear inclination posture of the work implement part in the automatic control mode,
There is no need to extend the operating range of the pitching device. According to the structure of the present invention, the pitching device can be used not only in a special case such as when escaping from a field, but also in adjusting the sensitivity of the elevation control during normal work. As a result, the sensitivity adjustment mechanism provided in the conventional machine becomes unnecessary, and the configuration is simplified and the cost is reduced. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be specifically described based on embodiments shown in the drawings. 1 to 5 show a paddy field working machine to which the present invention is applied. The paddy field working machine 1 is a riding rice transplanter, and a paddy rice seedling planting part 4 as a working machine part is mounted on a rear side of a traveling vehicle body 2 via a lifting link device 3. The traveling vehicle body 2 is a four-wheel drive vehicle having a pair of left and right front wheels 6, 6 and rear wheels 7, 7, and the rotational power of an engine 8 mounted at the front and rear central portions of the vehicle body is controlled by a front portion of the vehicle body. The transmission is transmitted to the front wheels 6, 6 and the rear wheels 7, 7 and transmitted to the seedling planting section 4 via the PTO shaft 11 via the planting clutch 10. It has become so. Engine 8
A driver's seat 13 is provided above the vehicle, and a steering handle 14 for steering the front wheels 6 and 6 is provided in front of the driver's seat 13. The front-back inclination of the traveling vehicle body is detected by the front-back inclination sensor 15, and the change speed of the left-right inclination is detected by the left-right angular velocity sensor 16. Reference numeral 17 denotes a spare seedling mounting table having a plurality of stages of seedling frames 17a on which mats for supply are placed. The elevating link device 3 has a parallel link configuration and includes a pair of left and right upper links 21 and 21 and lower links 22 and 22 rotatably supported by a link base frame 20 of the traveling vehicle body 2. Vertical frame 23 at the rear end of the link
And a rolling shaft 24 projecting forward from the seedling planting part 4 is inserted and connected to the lower end of the vertical frame 23. A piston rod of an elevating hydraulic cylinder 26 whose base is pivotally connected to the traveling vehicle body 2 is connected to a swing arm 27 integrated with the lower links 22 and 22. Each link is moved up and down by hydraulically expanding and contracting the cylinder. It rotates and the seedling planting part 4 moves up and down with a substantially constant posture. Elevating hydraulic cylinder 26
Is controlled by a hydraulic valve 27 attached to the link base frame 20. At the rear ends of the upper links 21 and 21, arc-shaped elongated holes 30 centered on the connecting points between the lower links and the vertical frames are provided.
A connecting pin 31 for connecting the upper link and the vertical link is slidably fitted in the elongated holes 30. Therefore, the vertical frame 23 is rotatable about the connection pin 32 with the lower links 22 and 22 as a fulcrum. The piston rod of the pitching hydraulic cylinder 33 as a pitching device provided between the left and right upper links 21 and 21 is a vertical frame 2
3, the cylinder 33 is expanded and contracted to rotate the vertical frame 23, whereby the seedling planting section 4 is tilted back and forth (pitching). The inclination of the seedling planting section 4 in the front-rear direction is detected by a pitching sensor 34 provided on the vertical frame 23. The rolling shaft 24 is slightly downward and substantially in the front-rear direction, and the seedling planting section 4 is supported by the rolling shaft 24 as a fulcrum so that it can be freely tilted (rolled) left and right. On the upper part of the vertical frame 23, a double rod type rolling hydraulic cylinder 35 is mounted by a mounting pin 36. The left and right rods of the cylinder 35 and the right and left support portions 56a and 5a of the seedling mounting frame 56 of the seedling mounting portion.
6a is connected via links 37,37. When the rolling hydraulic cylinder 35 operates and the rod slides left and right, the seedling placement part 4 rolls around the rolling shaft 24. The lateral inclination of the seedling placement part 4 with respect to the traveling vehicle body 2 is detected by a lateral inclination sensor 38. FIG. 6 is a hydraulic circuit diagram of a hydraulic device for operating each hydraulic cylinder. The hydraulic oil in an oil tank 40 is sent out by a hydraulic pump 41, and the circuit section of the lifting hydraulic cylinder 26 and the circuit of the pitching hydraulic cylinder 33 are provided. And the circuit section of the rolling hydraulic cylinder 35. The control valve 27 of the lifting hydraulic cylinder 26, the control valve 42 of the pitching hydraulic cylinder 33, and the control valve 43 of the rolling hydraulic cylinder 35 are all proportional solenoid valves. The cylinder ports of the pitching hydraulic cylinder 33 and the rolling hydraulic cylinder 35 are provided with pressure sensors 44A, 44B, 44L, 44R for detecting hydraulic pressure. The seedling planting section 4 has a six-row planting structure. The transmission case 50 also serves as a frame. The seedlings are reciprocated right and left with the seedlings placed on the seedlings. Seedling table 5 for transferring seedlings downward by operation of belt 51b
1. A seedling planting device 52,... For splitting and taking out seedlings of one strain supplied to the seedling outlets 51a,. Floats 53, 54, 54 and the like are provided. When the aircraft is advanced with each float in contact with the mud surface of the field, the float slides while leveling the mud surface, and the seedling planting device 5
Seedlings are planted by 2, ... Each float 53,5
Reference numerals 4 and 54 are attached so as to be rotatable around a left-right axis so that the front end side moves up and down in accordance with the unevenness of the soil surface of the field. The center float 53 is a grounding body for detecting irregularities on the topsoil of the field, and its angle of attack is determined by the float sensor 5.
5 is detected. At the time of planting operation, each control of raising and lowering control, pitching control and rolling control is performed in order to always keep the planting depth of the seedling of each row constant. FIG. 7 is a block diagram of an attitude control device that performs these controls together.
Front / back tilt sensor 15 and left / right angular velocity sensor 1 on the input side of 0
6. Pitching sensor 34, left and right tilt sensor 38, pressure sensors 44A, 44B, 44L, 44R, float sensor 55, sensitivity adjustment dial 61, and mode switch 62 for switching between automatic control mode and manual setting mode.
Is connected to the output side, and the elevation control valve 27, the pitching control valve 42, the rolling control valve 43, and the alarm 63 are connected to the output side. In the raising / lowering control, a signal is output to the raising / lowering control valve 27 to move the seedling planting section 4 up and down so that the value detected by the float sensor 55 approaches a predetermined control target value. The sensitivity of the elevation control can be adjusted with the sensitivity adjustment dial 61. Pitching hydraulic cylinder 3 according to the set position of sensitivity adjustment dial 61
3 is operated to change the front and rear inclination posture of the seedling placement portion with respect to the traveling vehicle body. Thereby, the reference angle of attack of the float sensor 55 changes, and the control sensitivity changes. As the reference angle of attack is larger, that is, as the float 53 is lowered forward,
The ground followability of the sensor 53 is improved, and the control sensitivity is increased. Adjustment of sensitivity by the sensitivity adjustment dial 61
This is effective only when the mode changeover switch 62 is in the manual setting mode. As shown in FIG. 8, the sensitivity adjustment dial 61
Can be operated in seven stages from "1" to "7".
For example, every time the dial is turned one step, the front-back inclination posture of the seedling planting part 4 with respect to the traveling vehicle body 1 is changed by 0.6 °. Therefore, a maximum of ± 4 based on the standard sensitivity “4”
The front-back inclination posture of the seedling placement part 4 can be changed by 1.8 °. The pitching control is performed by the mode switch 6
2 is effective when in the automatic control mode, and is output to the pitching control valve 42 based on the detection values of the front-rear inclination sensor 15 and the pitching sensor 34 so that the ground pressure of the float 53 is kept constant. The front and rear inclination posture of the seedling placement section 4 with respect to the traveling vehicle body 1 is controlled. As shown in the flowchart of FIG. 9, this pitching control is performed only after the seedling plant 4 has descended and the fluctuation range of the float sensor value has become equal to or less than a specified value or after a certain time has elapsed. It is not executed. This can prevent the control from being performed when the machine body is temporarily in an unstable state immediately after the seedling planting section 4 is lowered, and the workability can be improved. When escaping the field by crossing the ridge, the float 53,
In some cases, the rear ends of the wheels 54 may sink, making it impossible to plant seedlings, or the traveling vehicle body 1 may rise too far in front and fall down. The former can be determined from the pitching sensor value. In that case, for example, an alarm is output to the alarm 63 so that the alarm sounds intermittently. The latter can be determined from the front-back tilt sensor value, in which case, for example, an alarm is output to the alarm 63 so that an alarm is continuously generated. In this way, if the two are distinguished by the way of output of the alarm 63, the operator can instantly grasp the situation and easily take appropriate measures. The rolling control is performed by the left and right angular velocity sensors 16.
And the seedling plant 4 based on the detection value of the right and left inclination sensor 38.
Is output to the rolling control valve 43 so as to be horizontal to the left and right, and the laterally inclined posture of the seedling placement unit 4 around the rolling axis 24 is controlled. As shown in the flow chart of FIG. 10, when the float sensor value is equal to or less than a specified value, a load that cannot be applied to the float 53, 54, 54 is grounded. In order to prevent this, the floating turn is stopped and the seedling planting section 4 is raised.
If the specified value can be set from the outside, it is possible to perform control suited to the condition of the field. During the floating turn, the traveling vehicle 1
Is slightly inclined to the outside of the turn, so that the outer float 54 tends to have a deeper leveling. Therefore, at the time of the floating turn, the rolling hydraulic cylinder 35 is operated,
It is good to control so that the seedling planting part 4 may be forcibly returned to a horizontal state.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a side view of a seedling transplanter. FIG. 2 is a plan view of the seedling transplanter. FIG. 3 is a side view of the lifting link device. FIG. 4 is a plan view of the lifting link device. FIG. 5 is a front view of a seedling planting section. FIG. 6 is a hydraulic circuit diagram. FIG. 7 is a block diagram of a posture control device. FIG. 8 is a diagram showing a sensitivity adjustment dial. FIG. 9 is a flowchart of pitching control. FIG. 10 is a flowchart of control during a floating turn. [Description of Signs] 1 Rice transplanter (paddy working machine) 2 Running body 3 Elevating link device 4 Seedling planting part (working machine part) 5 Fertilizer application device 26 Elevating hydraulic cylinder 33 Pitching hydraulic cylinder (pitching device) 35 Rolling hydraulic cylinder 53 Float 61 Sensitivity adjustment dial 62 Mode switch

   ────────────────────────────────────────────────── ─── Continuation of front page    (72) Inventor Hiroyuki Niiyama             1 Iseki Agricultural Machinery, 1 Hachikura, Tobe-cho, Iyo-gun, Ehime Prefecture             Technology Department F term (reference) 2B062 AA14 AB01 BA22 BA63 CA03                       CA04 CA05 CA06 CA09 CA25                       CB01 CB11                 2B304 KA02 LA02 LA09 MA07 MC11                       MD08 PA08 PB05 QA01 QB03                       QC05 QC07 RA28

Claims (1)

Claims: 1. A work machine portion is connected to a traveling vehicle body so as to be able to move up and down, and an unevenness of a field scene is detected by a float provided on the work machine portion and rotatable around a left-right axis. In a paddy field working machine that performs elevating control based on the detection result so that the working machine is maintained at a predetermined ground height, a pitching device for changing a front-back inclination posture of the working machine portion with respect to a traveling vehicle body is provided, The form of control that activates
An automatic control mode for automatically controlling the working machine portion to have a predetermined front-back inclination posture based on the front-back inclination posture of the traveling vehicle body,
And, it is possible to select any one of a manual setting mode for controlling the front and rear inclination posture of the work machine portion with respect to the traveling vehicle body to be in a manually set state, and to be able to adjust the front and rear inclination posture of the work machine portion in the automatic control mode. A paddy working machine characterized in that the adjustable range of the front and rear inclination of the working machine in the manual setting mode is reduced.