JP2003284413A - Paddy field working machine - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a paddy field working machine in which a ground implement is connected to a travel machine frame in a state capable of being freely driven and lifted or lowered, in which the lifting or lowering of the ground implement is controlled on the basis of the posture change of a detector disposed in the ground implement so that the mud surface height of the ground implement is maintained at a prescribed value, and which can immediately restart a work to improve the efficiency of the work, even when the travel machine frame is frequently turned. <P>SOLUTION: This paddy field working machine in which the ground implement is connected to the travel machine frame in a state capable of being freely driven and lifted or lowered and in which the lifting or lowering of the ground implement is controlled on the basis of the posture change of a detector disposed in the ground implement so that the mud surface height of the ground implement is maintained at a prescribed value is characterized by disposing a means for controlling the detection of the lifting or lowering control on an insensitive side, before the detector disposed in the ground implement contacts with the surface of a field and controlling the detection with a value set with a lifting or lowering sensitivity-setting means, after the detector disposed in the ground implement contacts with the surface of a field. <P>COPYRIGHT: (C)2004,JPO

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a work unit connected to a traveling machine so as to be able to drive up and down, and based on a change in posture of a detector provided in the work unit. The present invention relates to a paddy field working machine that is controlled to move up and down so as to maintain a mud surface height of a working device at a predetermined value. 2. Description of the Related Art Conventionally, a working device is connected to a traveling machine so as to be able to move up and down freely, and a height of the working device against a mud surface is set to a predetermined value based on a change in a posture of a detector provided on the working device. In this kind of paddy field working machine that is controlled so as to be maintained, the hydraulic sensitivity adjusting dial or hydraulic sensitivity adjusting lever as a lifting sensitivity setting means installed in the driver's seat, based on the degree of softness of the soil in the working field. By operating these dials and levers, it is set on the sensitive side in soft fields and on the insensitive side in hard fields, but with the setting on the sensitive side, the planting part of the work machine is lowered and the When contacting the ground, the sudden change in the posture of the sensing object at the time of contact with the ground may cause the working machine to repeatedly move up and down in small steps, and the planting operation may not be restarted until the vertical movement stops and the working machine's posture stabilizes. there were. Therefore, in order to prevent the above-mentioned phenomenon, the descending speed of the planting portion is slowed down, and the detection body provided in the planting portion is slowly brought into contact with the ground. [0003] However, in the case of the above-mentioned conventional apparatus, when a seedling is to be planted by a riding rice transplanter, the traveling body repeatedly travels many times in a field. There is a problem that it takes time to lower the planting section every time the operation is performed, so that the working efficiency is not improved. Therefore, an object of the present invention is to solve the above conventional problems. In order to achieve the above object, according to the present invention, a working device is connected to a traveling body so as to be able to move up and down, and a change in the attitude of a detection body provided in the working device is provided. In a working machine that controls lifting and lowering so as to maintain the height of the mud surface of the working device at a predetermined value based on the sensing device of the lifting control on the insensitive side before the detector provided on the working device touches the field surface. Control means is provided, and means for controlling after the touchdown by a set value set by the elevation sensitivity setting means is provided. An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is an overall side view of a riding rice transplanter equipped with the apparatus of the present invention. Like a normal riding rice transplanter, reference numeral 1 denotes a traveling body having a pair of wheels 2, 2, 3, and 3 at the front and rear, respectively. At the front of the traveling machine body 1, a bonnet 6 with an engine 5 inside, a handle 7 for driving operation, a speed change lever 8 for speed change operation, and the like are arranged. A planting lever) 9 and a driver's seat 10 are provided, and the rice transplanting device 4 serving as a working machine portion is provided at a rear portion via a lifting link 11 operated by hydraulic pressure. Therefore, during the rice transplanting operation, when the above-described planting section operating lever (hydraulic / planting lever) 9 is operated to the lowered position, the lifting link 11 lowers the rice transplanting apparatus 4 by the operation of the hydraulic cylinder device 12, This is the working posture. The rice transplanting device 4 includes a plurality of seedling mounting stands 13, aprons 14, a plurality of seedling transplanting devices 15 a as a planting section 15, and a plurality of floats 16 provided below these.・ Equipped with etc. The rice transplanting device 4 is configured to be freely rollable in the left-right direction by a rolling shaft (not shown) installed on a support frame 17 at the rear end of the lifting link 11. Next, FIG. 2 is an explanatory side view showing the positional relationship of various devices related to the hydraulic sensitivity adjustment control device of the present invention, and FIG.
FIG. 4 is a block diagram showing main functions of the hydraulic sensitivity adjustment control device, and FIGS. 4A and 4B are cross-sectional views for explaining main parts, in which a power supply 18 shown in FIG. It is connected to a microcomputer unit 19 and has on its input side a hydraulic sensitivity adjustment dial 20 for setting an elevation sensitivity adjustment position provided in an operation panel in front of a driver's seat, and a lifter for detecting a state of a hydraulic valve provided below the seat 10. A cam potentiometer 21 is also provided at a lower portion of the seat 10 and has a distal end side connected to the float 16 to detect advancing / retreating of a sensing wire, and further provided at a lower rear portion to the hydraulic cylinder device 12. Rear planting part 1
Lift angle potentiometer 23 for detecting (elevating, descending, stopping) the movement (elevation, descent, stop) of the planting unit 15 and the operation of the planting unit 15
Etc. are connected. On the output side, a gear 25 to which a sensing wire 24 connected to the front of the float 16 at the center, which is a sensing object, is connected to the float 16 of the planting portion 15 is rotated. A sensing wire motor 26 for moving the wire forward and backward is connected. In addition, 27 is a planting section operation lever (hydraulic /
Reference numeral 28 denotes a lift lever potentiometer for detecting a change position of the planting lever 9, and a hydraulic valve 29 for expanding and contracting the hydraulic cylinder device 12 and a planting clutch corresponding to the detected value of the lift lever potentiometer 9. This is a lifter cam motor for rotating the lifter cam to be operated, and detects the position of the planting portion (elevation, descent, fixing, automatic, planting) by detecting the position of the lifter cam 30 with the lifter cam potentiometer 21. . It should be noted that 3 in FIG.
1 is an engine control lever provided in front of the driver's seat, and 32 is a throttle position detection potentiometer. That is, when adjusting the hydraulic sensitivity, when the driver turns the hydraulic sensitivity adjustment dial 20 with his / her finger, the amount of rotation and the throttle position detection potentiometer 3 are adjusted.
The microcomputer unit 19 processes this according to the detected value of 0, and the sensing wire motor 26 operates to move the sensing wire 24 forward and backward according to this. When the rice transplanting device 4 is lowered by setting the planting section operating lever (hydraulic / planting lever) 9 to the lowered position, the float 16 serving as a detection body on the lower surface of the planting section 15 is placed on the surface of the field. By changing the posture of the float 16 in the grounded state, it is possible to obtain the elevation of the planting section corresponding to the softness of the field. Next, a specific example of the hydraulic pressure sensing control according to the present invention will be described with reference to flowcharts shown in FIGS. First, in the first specific example of FIG. 5, it is determined whether the detection of the lifter cam potentiometer 21 is “Hydraulic pressure reduction or automatic” (during the lowering of the planting unit 15 or in the ground contact state or during the planting operation), Y
In the case of es, the oil pressure sensitivity is automatically controlled to be in a state of “lower oil pressure sensitivity (insensitive side / hard soil side)”.
Yes, No of "Is float 16 touching the rice field?"
If Yes (ground), the planting section operating lever (hydraulic / planting lever) 9 is further lowered to determine whether the "planting clutch" is ON or OFF and ON (continued). In the case of ()), control is performed to "return the hydraulic pressure sensitivity to the set value". That is, when the lowering operation of the planting section 15 is performed, the hydraulic pressure sensitivity is lowered (the insensitive side / hard soil side), and after the float 16 touches the ground, the planting clutch is turned on to start planting. Then, the oil pressure sensitivity is returned to the oil pressure sensitivity set by the oil pressure sensitivity adjustment dial 20. In an actual rice transplanting operation, these operations are repeated many times. Therefore, by the above-described operation, the descending speed of the planting unit 15 of the rice transplanting device 4 is reduced or the planting unit 15 is moved every time the reciprocating operation is frequently performed in the field during the rice planting operation. When the float 16 serving as a detection object on the lower surface of the touch panel comes into contact with the rice field, the work machine repeatedly repeats up and down movements, and the up and down movement stops and the planting operation cannot be resumed until the posture of the work machine becomes stable. This eliminates the problem and improves work efficiency. In the second specific example of FIG. 6, first,
The detection of the lifter cam potentiometer 21 is "hydraulic pressure reduction or automatic" (during the lowering of the planting section 15 or in the state of contact with the ground or during the planting operation).
Is determined as Yes or No, and in the case of Yes, the hydraulic pressure sensitivity is automatically controlled in the same manner as in the above-described example to make the hydraulic pressure sensitivity lowered (insensitive side / hard soil side), and in this state, the lift is lifted. With the angle potentiometer 23, Yes or No of “whether the lift angle changes beyond the set value” is determined, and this is No (the planting unit 15).
Is in the state of starting the planting operation), the control for "returning the hydraulic sensitivity to the set value" is performed. On the other hand, when "Hydraulic pressure lowering or automatic" is No, the hydraulic pressure sensitivity is not changed at all, and Yes (when the planting unit 15 is rising or lowering) In the state of (middle), the "oil pressure sensitivity is lowered (insensitive side / hard soil side)" and the oil pressure sensitivity does not return to the set value. And
In this case, these operations are repeated many times in actual rice transplanting work. Therefore, in the case of this example, it is determined whether the planting section 15 is moving up and down or touches the ground by determining whether or not the lift angle has changed to a set value or more within a predetermined time. The hydraulic sensitivity is adjusted by the hydraulic sensitivity adjustment dial 20 when the
The hydraulic pressure sensitivity can be returned to the set value before the planting operation is started after the planting portion touches the ground. Further, in another example of FIG.
By setting the hydraulic sensitivity to the set value only when the float 16 is in contact with the ground, and by setting "Always lowering the hydraulic sensitivity (insensitive / hard soil side)" when not in contact with the ground, the same operation and effect as described above can be achieved. You can do it. That is, in the flow chart of the other example of FIG. 7, whether the detection of the lifter cam potentiometer 21 is "lower or lower hydraulic pressure" (during the lowering of the planting section 15 or in the ground contact state or during the planting operation) is Yes, No is determined, and in the case of Yes, Yes or No of “Is the planting part lift amount equal to or less than a predetermined height” is determined by the lift angle potentiometer 23, and further this is Yes.
In the case of, similarly, the detection of the lift angle potentiometer 23 determines Yes (the planting section 15 is being raised or lowered) or No (during the planting work) of "Whether the lift angle changes beyond the set value".
During (planting work), control is performed to "automatically adjust the hydraulic pressure to the set value". When the condition other than this condition is satisfied ("Hydraulic pressure reduction or automatic" is No, the Not below "and" the lift angle changes more than the set value (the planting section 15 is being raised or lowered) "], it seems that the hydraulic pressure sensitivity is lowered (insensitive side / hardness side). To Therefore, at this time, in addition to the above-described effects, only when the float 16, which is the detecting object, is in contact with the ground, the elevation sensitivity of the planting section 15 is controlled to the set value sensitivity. Thus, it is not necessary to operate the adjusting mechanism, and the load on the adjusting mechanism can be reduced. In short, the paddy field working machine of the present invention has the above-described configuration. The engine 5 is driven in the paddy field, the engine rotation is adjusted by the engine control lever 29, and the shift lever 8 is operated. After setting the working speed and setting the hydraulic sensitivity adjustment dial 20 according to the degree of softness of the working soil, the rice transplanting machine is operated to start the rice transplanting operation. When the hydraulic pressure / planting lever 9 is operated downward from the fixed position, the hydraulic cylinder device 12 causes the planting section 15 to start lowering. At this time, the hydraulic sensitivity is temporarily made insensitive (hardness side) by the control device.
5 can be lowered without slowing down, and after the float 16 provided on the lower surface of the planting portion 15 touches the surface of the field, the value returns to the value set by the dial 20 and the planting clutch is released. Once inserted, the planting work can begin.
Further, every time the traveling machine 1 needs to circulate in the field, the planting operation is temporarily suspended, and the operation of vertically moving the planting unit 15 is repeated each time. At this time,
The control operation of the hydraulic pressure sensitivity is also repeated each time the traveling body 1 rotates in the field. Therefore, by this, the descent speed of the planting unit 15 of the rice transplanting device 4 is reduced every time the reciprocating operation is performed, and the planting operation cannot be restarted until the posture of the work machine is stabilized. Thus, work efficiency can be improved. In this embodiment, the example in which the hydraulic sensitivity is adjusted by the dial 20 has been described. However, it is needless to say that the lever 20 may be adjusted in place of the dial 20. According to the present invention, as described above, the working device is connected to the traveling machine body 1 so as to be able to drive up and down, and the working device is paired based on a change in the attitude of the detector provided on the working device. In a working machine that controls lifting and lowering so as to maintain the mud surface height at a predetermined value, before the detector provided in the working device touches the field surface, controls the sensing of the lifting control to the insensitive side, and after touching, Since the means for controlling by the set value set by the elevating sensitivity setting means is provided, in the case where the working device is adopted in the riding rice transplanter, every time the reciprocating operation is frequently performed in the field as in the related art, When the descending speed of the planting portion 15 of the rice transplanting device 4 is slowed down, or when the float 16 serving as a detection object on the lower surface of the planting portion 15 touches the rice surface, the work machine repeatedly moves up and down in small increments. Planting work until it stops and the posture of the work machine stabilizes There is no effect that the work cannot be resumed, and there is an effect that the work efficiency can be improved.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is an overall side view of a riding rice transplanter provided with the device of the present invention. FIG. 2 is an explanatory side view showing a positional relationship between various devices related to the hydraulic sensitivity adjustment control device according to the first embodiment. FIG. 3 is a block diagram showing main functions of the hydraulic sensitivity adjustment control device according to the first embodiment; 4 (a) and 4 (b) are cross-sectional views for explaining main parts, respectively. FIG. 5 is a flowchart of a first specific example of the hydraulic pressure sensitivity adjustment control device. FIG. 6 is a flowchart of a second specific example of the hydraulic pressure sensitivity adjustment control device. FIG. 7 is a flowchart of another example of the hydraulic pressure sensitivity adjustment control device. [Description of Signs] 1 Running body 4 Rice transplanting device 5 Engine 9 Planting clutch lever (hydraulic / planting lever) 10 Seat seat 11 Lifting link 12 Hydraulic cylinder device 15 Planting section 16 Float 19 Microcomputer unit 20 Hydraulic sensitivity adjustment dial 24 Sensing wire

Claims (1)

Claims: 1. A working device is connected to a traveling machine body so as to be able to move up and down, and a height of a mud surface of the working device with respect to a mud surface is set to a predetermined value based on a change in a posture of a detector provided on the working device. In the working machine that controls the elevation so as to maintain the height, the sensing of the elevation control is controlled to the insensitive side before the detection body provided in the operation device contacts the surface of the field, and the sensitivity is set by the elevation sensitivity setting means after the contact. A paddy working machine characterized by comprising means for controlling by a set value.