JP2007029006A - Working vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To prevent the inappropriate rise and fall of a seedling planting part in a riding rice transplanter which is equipped with wheels arranged right and left in the traveling direction, right and left side clutches individually engaging and disengaging transmission to and from wheels steered by the operation of a steering means and a rotation interlocking controller for automatically carrying out the rise and fall of the seedling planting part in rotation on the basis of the detection of number of revolutions of the inside wheel in a turn. <P>SOLUTION: The working vehicle is equipped with a checking means for operating an automatic rotation controller in a state of the traveling speed of the riding rice transplanter at a low-speed standard value lower than an ordinary operation speed in the riding rice transplanter that rotates and travels, is equipped with the rise and fall seedling planting part and the automatic rotation controller for successively carrying out each operation of the rise to the nonoperation position of the seedling planting part and the fall to the operation position in a fixed timing of a rotating and traveling process. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a control device for a farm vehicle or the like that automatically moves up and down with the traveling of a machine body to perform seedling planting work or the like.

In the rice transplanter for planting seedlings, it is equipped with wheels arranged on the left and right in the direction of travel, and further provided with left and right side clutches that individually turn on and off the transmission to the wheels steered by the manipulation of the steering means, A device provided with a turning interlock control device that automatically performs seedling planting work and the like during turning based on detection of the number of rotations of the wheel inside the turning is known (Patent Document 1).
JP 2004-344020 A

  In the swivel interlocking control device, the seedling planting part may be improperly controlled even in a normal reciprocating planting operation, which may cause a problem that the seedling planting operation is disturbed. Therefore, the present invention is intended to solve such a problem.

  The invention according to claim 1 is provided with a working device (7) capable of moving up and down with respect to a traveling machine body (1) capable of turning, and the traveling machine body (1) is moved to a non-working position of the working device (7). An automatic turning control device that sequentially performs each operation of ascending and descending to the working position at a predetermined timing in the turning traveling process, and the traveling speed of the traveling body (1) is lower than a low speed reference value that is lower than the normal working speed. A working vehicle is provided, which is provided with check means that enables the automatic turning control device to be operated in a state.

  According to the above configuration, the work device (7) performs work as the traveling machine body (1) travels straight at a normal working speed, and the automatic turning control device operates in the turning process of the traveling machine body (1) below the low speed reference value. The working device (7) is automatically operated to move up to the non-working position and descend to the working position at a predetermined timing. (7) is lowered to the work position and the work is resumed. Further, when the traveling speed of the traveling machine body (1) is equal to or higher than the low speed reference value, the operation of the automatic turning control device is stopped by the checking means, and when the traveling speed becomes lower than the low speed reference value, the checking means is released and automatically The turning control device becomes operable.

  The invention of claim 1 improves the workability by executing the automatic turning control at the time of low-speed traveling along the shore while preventing the malfunction such that the automatic turning control of the working device (7) is activated at the normal working speed. Can do.

Embodiments of the present invention will be described below with reference to the drawings.
FIG. 1 is a side view of the whole rice transplanter equipped with the present invention. Left and right front wheels 2 and 2 and left and right rear wheels 3 and 3 capable of four-wheel drive are provided on the front and rear portions of the rice transplanter 1, and control for controlling the steering handle 4, seat 5, engine 6, seedling planting portion 7 and various devices is provided. Part (not shown). Further, left and right spare seedling platforms 14 and 14 are provided on the left and right sides of the front part of the rice transplanter 1, and the left and right preliminary seedling platforms 14 and 14 are configured to be rotatable inward and outward, so that the storage posture inside the machine body and the left and right It is configured so that it can be switched to the outside projecting posture.

  The seedling planting unit 7 shows an embodiment of the farm work apparatus, and the seedling planting unit 7 is connected to the rear part of the machine body via the lifting link mechanism 8 so as to be movable up and down. The seedling planting unit 7 includes a seedling feeding device 9, a plurality of seedling planting devices 10,..., A fertilizer unit 11 for spraying fertilizers and chemicals, a float 12 for leveling the field, a finger lever 13, and the like. The working power is transmitted to the seedling planting section 7 through a planting clutch (not shown) built in the attached clutch case 33, and multiple seedlings are planted in accordance with the traveling of the machine body. The center float 12a of the float 12 is a flat floating body provided so as to be able to detect the inclination with respect to the seedling planting portion 7, and leveling the farm scene and detecting the height of the planting surface. is there. The elevating link mechanism 8 is raised and lowered by the expansion and contraction of the elevating cylinder 32, and the elevating cylinder pressure sensor 57 is provided in the elevating cylinder 32.

  As shown in FIG. 2, various switches and sensors are connected to the input side of the control unit 41 as follows. That is, the automatic switch 42, the finger lever switch 43 for detecting the raising / lowering operation position of the seedling planting part 7 by the finger lever 13, the teaching switch 44, and the HST lever sensor 47 for detecting the operation position of the HST lever for continuously variable transmission operation. , Steering angle sensor 48, n1 setting dial 49 for setting the descending timing of the seedling planting unit 7, n5 setting dial 51 for setting the fertilizing timing of the fertilizer 11, left and right rear wheel transmission shaft rotational speed sensors 52, Center float sensor 54, elevating link sensor 56, elevating cylinder pressure sensor 57, planting clutch sensor 58 for detecting on / off of the planting clutch, rolling cylinder pressure sensor 62 for detecting the pressure in the rolling cylinder 21, traveling direction sensor 63 is connected to the input side of the control unit 41, and various signals Is input to the control unit 41.

  Further, on the output side of the control unit 41, an HST lever motor 66, a lifting control valve operating solenoid 67 for operating the lifting link mechanism 8, a planting clutch operating solenoid 68, a monitor 69, a fertilization clutch operating solenoid 71, a rolling control valve An operation solenoid 72, a seedling supply motor 72 for driving the seedling feeding device 9 and a lateral movement cylinder control valve operation solenoid 73 for lateral movement of the seedling platform are connected, and a control command is output from the control unit 41 to various devices. .

  The setting dial 49 for n1 is a dial that can be adjusted within a predetermined range from “fast” to “slow” with “standard” as the center, and the number of revolutions n1 of the rear wheel transmission shaft (drive shaft) corresponding to the instruction. Is set as the descending timing of the seedling planting unit 7. Further, when setting the fertilization timing “n5” with the setting dial 22 of n5, if the vehicle speed is high, it is set to large, and if the vehicle speed is slow, it is set to small. Can be adjusted to the planting position of the seedlings and appropriate fertilization can be performed.

  By configuring as described above, the seedling planting part 7 is moved up and down in association with the turning operation of the aircraft by the left or right turning control processing, and the seedling planting work is performed by the straight running after the turning is finished. Is resumed.

  In addition, the operation | movement content of the rice transplanter 1 in turning control and the electrical control content of the control part 41 are as follows. [1] When the planting clutch is cut by operating the finger lever 13 and the seedling planting unit 7 is raised, the control unit 41 detects the planting clutch “cut”, and the rotational speed sensor of the rear wheel drive shaft detects the rotational speed. Start counting. [2] When the steering handle 4 is turned to turn the rice transplanter 1, the control unit 41 outputs a signal and outputs the signal when the steering angle sensor 48 detects a steering angle greater than a predetermined value. The number of rotations of the drive shaft is stored. [3] The control unit 41 outputs a “lower” signal of the seedling planting unit 7 when the inner drive shaft rotates until the rice transplanter 1 turns 90 degrees from the signal output of the handle turning operation. Thereby, when the rice transplanter 1 rotates 90 degrees after the start of turning, the seedling planting unit 7 automatically starts to descend. [4] When the handle is returned to the straight traveling state, the control unit 41 stores the number of rotations of the inner drive shaft stored in [2] and the number of rotations of the inner drive shaft between the steering wheel turning operation and the start of planting. Is added, a planting clutch “enter” signal is output, and the seedling planting unit 7 automatically starts planting from the same location as the planting end position of the adjacent strip.

Next, the control content of the control part 41 is demonstrated based on the flowchart of FIG.
When the control starts, first, the detection values of various sensors are read (step S1), and whether the automatic switch 42 is turned on or off is determined (step S2). When the automatic switch 42 is turned off, the process returns to step S1, and the automatic switch 42 is turned on. When entering, it is determined whether or not the planting clutch of the seedling planting unit 7 is engaged (step S3). When the planting clutch is engaged, it is determined whether or not the teaching switch 44 is engaged (step S4). When the teaching switch 44 is engaged, straight running teaching is started, and the rear wheel transmission shaft rotational speed sensor 52 The number of rotations of the drive shaft is detected (step S5), the teaching switch 44 is turned off (step S6), the teaching of the straight traveling is finished, and the detected value is set as the straight traveling distance n3. In this way, the first step of the planting operation stops the autonomous straight-ahead control, while the rice transplanter 1 is manually operated and taught to avoid collision of the seedling planting part 7 with a high shore, etc. Damage can be prevented.

  Next, when there is an operation from disengagement of the planting clutch, the process shifts to autonomous straight-ahead control (step S8). Next, the traveling speed is determined to be decelerated (step S9). Is executed, and when the speed falls below the reference deceleration speed, the control shifts to turning control. Next, when an operation at a predetermined angle α of the steering handle 4 is detected (step S10), the operation direction of the steering handle 4 is determined (step S11), and if it is a left turn operation, counting of the number of rotations of the left and right drive shafts is started. Then (step S12), left turn control is executed (step S13). If the steering handle 4 is in a right turn operation (step S11), counting of the number of rotations of the left and right drive shafts is started (step S14), and right turn control is executed (step S15).

As in the turning control, when the speed is faster than the reference deceleration speed, the autonomous straight-ahead control is executed, so that malfunction of the turning control can be prevented.
Further, when shifting to the turning control when the speed is lower than the reference deceleration speed, when the traveling speed is fast, the turning timing of the turning control is advanced so that the raising timing of the seedling planting part 7 is advanced, and when the traveling speed is slow, the turning is performed. If the control transition timing is delayed and the raising timing of the seedling planting unit 7 is delayed, the planting start positions of the seedling planting unit 7 after the turn control can be aligned, and the accuracy of the turn control can be improved. .

  Further, when the left / right turning control is finished and the traveling speed of the rice transplanter 1 becomes faster than the reference deceleration speed, the turning control may be turned off and checked. By doing in this way, the malfunctioning of the planting operation | work at the time of autonomous rectilinear travel can be prevented.

Next, based on FIG.4 and FIG.5, the rolling structure of the seedling planting part 7 and its control content are demonstrated.
As shown in FIG. 4, the seedling planting unit 7 is configured in, for example, six-row planting, and a transmission case 16 that also serves as a frame, and a seedling is placed and reciprocated left and right to supply seedlings to a predetermined seedling outlet. A seedling placement table 17, a seedling planting device 10 for planting seedlings supplied to the seedling outlet, and a seedling feeding device 9 for feeding the seedlings placed on the seedling platform 17 toward the seedling outlet. And the center float 12a and the left and right side floats 12b and 12c for leveling the mud surface as the airframe advances.

  In addition, a transmission case 16 of the seedling planting part 7 is supported on the lower part of the attachment part 18 of the lifting link mechanism 8 via a rolling shaft 19 so as to be able to roll left and right, and a central part of the rolling cylinder 21 is provided above the attachment part 18. Is pivotally supported by a pin 21a in the front-rear direction, and the left and right connecting members 22, 22 of the seedling planting part 7 and the left and right expansion and contraction parts 21b, 21c of the rolling cylinder 21 are pin-coupled to roll the seedling planting part 7 left and right. It is configured as possible.

  Further, the transmission case 16 is provided with a rolling sensor 55, which outputs a control command from the control unit 41 to the driving means of the rolling cylinder 21 based on the detection information of the rolling sensor 55, so that the left and right side floats 12b and 12c The row seedling planting device 10 is configured to perform rolling control so as to follow the field scene.

  Next, the contents of the control will be described with reference to FIG. When the control is started, the detection value of the lift link sensor 56 is read (step S21), the rotational speed n1 of the inner rear wheel transmission shaft (drive shaft) is corrected according to the magnitude of the detection value, and the seedling planting unit 7 The descending timing is corrected (step S22). By comprising in this way, the rise time from the grounding position of the seedling planting part 7 to the ascending position changes depending on the depth from the field surface of the seedling planting part 7 to the cultivator. By correcting the descent start timing of the attaching part 7, the planting start position can be aligned and the accuracy of turning control can be improved.

  Next, it is determined whether or not the rotational speed of the inner drive shaft has reached n1 (step S23). When the rotational speed n1 has not been reached, the seedling planting part 7 is raised (step S24), and seedling automatic Supply control is executed (step S25).

  The configuration of the seedling automatic replenishment apparatus and the control content of the seedling automatic replenishment are as follows. As shown in FIGS. 1 and 6, the seedling automatic replenishing device 26 is disposed above the fertilizer application unit 11. The seedling automatic replenishing device 26 is configured, for example, in a six-row shape so as to face the upper end portion of the seedling placing stand 17 of the seedling planting unit 7 at the highest position, and moves laterally based on a seedling replenishing command from the control unit 41. The cylinder 27 is driven to align the seedling tanks 17a of the seedling mount 17 with the seedling replenishing belts 29 of the automatic seeding replenishing device 26, and then the seedling replenishing motor 28 is driven to drive the seedling replenishing belts 29,. The seedlings are fed out and supplied to the seedling tanks 17a,. Thus, the seedling can be replenished when the seedling planting portion 7 for turning control is raised, and the planting work can be efficiently performed while improving the operability.

  Next, it is determined whether or not the detected value of the elevating cylinder pressure sensor 57 is equal to or greater than a predetermined value (step S26). When the detected value is equal to or greater than the predetermined value, a neutral output is output to the HST motor 66 and the rice transplanter 1 travels. Is stopped (step S28), and the control is terminated.

  Thus, when a load greater than or equal to a predetermined value is applied to the lifting cylinder 32 of the seedling planting unit 7, it is determined that the seedling planting unit 7 is interfering with the shore or the like, and is provided in the traveling transmission path of the rice transplanter 1. Returning the hydraulic continuously variable transmission (not shown) to neutral and stopping the running can prevent the seedling planting portion 7 from being damaged.

  Further, it is determined whether or not the detected value of the lifting cylinder pressure sensor 57 is equal to or greater than a predetermined value (step S26). If the detected value is not equal to or greater than the predetermined value, whether or not the detected value of the rolling cylinder pressure sensor 62 is equal to or greater than the predetermined value. A determination is made (step S27), and if the detected value is greater than or equal to a predetermined value, a neutral output is made to the HST motor 66 (step S28) and the control is terminated.

  Thus, when the rolling cylinder sensor 62 of the seedling planting unit 7 detects a load of a predetermined value or more, it is determined that the seedling planting unit 7 is interfering with the shore and the like and provided in the traveling transmission path of the rice transplanter 1. It is possible to prevent the seedling planting portion 7 from being damaged by making the hydraulic continuously variable transmission (not shown) neutral and stopping traveling.

  When the inner rotational speed of the drive shaft reaches n1 (step S23), the seedling planting part 7 is lowered (step S29), and then it is determined whether or not the detected value of the center float sensor 54 is in a grounded state (step S30). ) If the detected value is in the grounded state, then “n2” is corrected according to the difference in the rotational speeds of the left and right drive shafts (step S31). That is, during turning, the slip ratio is calculated from the outer rear wheel speed with respect to the inner rear wheel speed, and the timing of entering the planting clutch is corrected. By doing so, it is possible to improve the accuracy of the turning control by matching the planting start position after turning.

  Next, when the rotational speed of the inner drive shaft reaches a turning distance corresponding to “n2-n5” (where n2> n5) (step S32), the fertilizer clutch is engaged (step S33) and the fertilizer 11 is fertilized. When the rotational speed of the inner drive shaft reaches n2 (step S35), the clutch of the seedling planting unit 7 is engaged (step S35), and seedling planting work is started.

  Next, until the rotational speeds of the left and right drive shafts become the same (step S37), the lowered state of the seedling planting portion 7 is maintained as it is even if the steering handle 4 is operated in the reverse direction, and the left and right drive shafts are rotated. When the speeds become the same, the rotation count of the drive shaft is cleared (step S38), and the control is terminated.

  When the rotational speeds of the left and right drive shafts are the same (step S37), the turning control is finished and the autonomous straight running control is started. When the inner rotational speed of the drive shaft is n1 (step S23), the autonomous straight running is performed. You may comprise so that control may be complete | finished and turning control may be started. By comprising in this way, operativity can be improved and the malfunctioning of turning control can be prevented.

  If the rotational speed of the drive shaft is not “n2-n5” (step S32), the process returns to step S21. If the rotational speed of the drive shaft does not reach n2 (step S34), the process returns to step S21.

  Further, it is determined whether or not the detected value of the center float sensor 54 is in a grounded state (step S30), and if it is not in the grounded state, it is determined whether or not the detected value of the lift link sensor 56 is changed (step S39). If the detected value has not changed, it is determined whether or not the detected value of the rolling cylinder pressure sensor 62 is equal to or greater than a predetermined value (step S40). If the detected value is equal to or smaller than the predetermined value, the rotational speed of the inner drive shaft changes. If not (step S42), the seedling planting part 7 is set in a fixed state (step S43), and the process returns to step S42.

  If the detection value of the lift link sensor 56 has changed (step S39), a neutral output is made to the HST motor 66 (step S41), the control is terminated, and the detection value of the rolling cylinder pressure sensor 62 is predetermined. It is determined whether or not the value is greater than or equal to the value (step S40). If the value is greater than or equal to the predetermined value, a neutral output is output to the HST motor 66 (step S41) and the control is terminated.

  Thus, when a load greater than or equal to a predetermined value is applied to the lifting cylinder 32 of the seedling planting unit 7, it is determined that the seedling planting unit 7 is interfering with the shore or the like, and is provided in the traveling transmission path of the rice transplanter 1. Returning the hydraulic continuously variable transmission (not shown) to neutral and stopping the running can prevent the seedling planting portion 7 from being damaged.

  Further, when a load of a predetermined value or more is applied to the rolling cylinder sensor 62 of the seedling planting unit 7, it is determined that the seedling planting unit 7 is interfering with the shore or the like, and is provided in the traveling transmission path of the rice transplanter 1. It is possible to prevent the seedling planting portion 7 from being damaged by returning the hydraulic continuously variable transmission to neutral and stopping traveling.

Next, based on FIG. 7, the control content of the riding rice transplanter provided with the automatic turning control device and the seedling planting part raising control device at the time of reverse travel will be described.
This control is carried out in a riding rice transplanter equipped with an automatic turning control device and a reverse planting plant raising part raising control device, and a headland switch button (not shown) is provided. The automatic ascending control device of the seedling planting unit 7 when the aircraft is moving backward does not operate until the unit 7 is lowered to a predetermined height to facilitate planting work on the headland and the HST lever (not shown) is operated to the forward position. It is to check.

  As shown in FIG. 7, when the control is started, it is determined whether or not there has been an operation from turning off the headland switch button (step S1). If there is an operation from turning on, the automatic switch 42 is turned off. Then, the automatic turning control and the reverse seedling planting part raising control are stopped (step S2), and the seedling planting part 7 is lowered to a predetermined height close to the field scene (step S3). Next, it is determined whether or not the HST lever is on the forward side from the detection value of the HST lever sensor 47 (step S4), and when the continuously variable transmission (HST) is switched to the forward side, the seedling planting unit 7 automatically turns. The control and reverse automatic lifting device are operably switched.

  Even if the headland switch button is operated during planting work at the headland and the seedling planting part 7 is lowered to a predetermined position close to the farm scene, if the HST lever is operated from the neutral position to the reverse position, the reverse is automatically raised. The device is activated and the seedling planting part 7 is raised. Thus, when the seedling planting part 7 lowered to a predetermined position close to the farm scene is raised again, there is a problem that it is difficult for an operator who is not familiar with the machine to operate. However, by adopting the above-described configuration, it is possible to prevent the seedling planting portion 7 on the headland from rising when the planting is in reverse and to improve the operability.

Whole side view of rice transplanter. Control block diagram. flowchart. The rear view of a seedling planting part. flowchart The top view of a seedling planting part and a fertilizer part. flowchart.

Explanation of symbols

1 Traveling machine (rice transplanter)
7 Working device (seedling planting part)
41 Automatic turning control device (control unit)
41 Checking means (control unit)

Claims (1)

  A working device (7) capable of moving up and down is provided for a traveling machine body (1) capable of turning, and the traveling machine body (1) is moved up to a non-working position and lowered to a working position. And an automatic turning control device that sequentially performs each of the above operations at a predetermined timing in the turning traveling process, and the automatic turning control device in a state where the traveling speed of the traveling machine body (1) is lower than the low speed reference value that is lower than the normal working speed. A working vehicle provided with check means for enabling operation of the vehicle.

Images