JP2017189154A - Agricultural machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an agricultural machine that has improved operability while suppressing a cost increase.SOLUTION: An agricultural machine includes an actuation device for actuating a moving part by using an electric motor, and a control device for controlling the actuation device. The control device includes a calculation part and a storage part for storing an electric current value set in advance. When the calculation part determines that a first period has passed in a state that a value of an electric current flowing through the electric motor maintains a value of the electric current value set in advance or more after the actuation of the actuation device, it causes the actuation device to be stopped automatically.SELECTED DRAWING: Figure 5

Description

  The present invention relates to an agricultural machine. In particular, the present invention relates to an agricultural machine that is attached to the rear part of a traveling machine body and performs a predetermined work according to control by an operation device.

  2. Description of the Related Art Conventionally, farm work machines such as a scraper, a pad coater, and a rotary work machine are known as devices for performing farm work in a farm field. These farm work machines are mounted on the rear part of a traveling machine body such as a tractor, and are configured to perform predetermined work on the farm field while being pulled by the traveling machine body. In recent years, it has become possible for an operator operating a tractor to remotely control the operation of the work implement by operating a remote controller.

  For example, in Patent Document 1, a manual mode in which the operating unit is operated only while the operating button is being pushed and a setting state in which the operating unit is set in advance when the operating button is pressed once. An agricultural machine with a remote control unit that can be switched between automatic modes that operate until is described.

JP 2006-166793 A

  When the agricultural working machine described in Patent Document 1 is controlled in the automatic mode, once the operating button is pushed, the agricultural machine continues to operate until the operating unit is set in a preset state. However, Patent Document 1 does not disclose how to detect that the operating unit has been set in advance.

  Usually, in such a case, there is an annoyance that an operator visually confirms that the operation of the operation unit is completed and pushes the stop button. In addition, it may be possible to determine whether or not a sensor or switch is attached to the operating unit to determine whether or not a setting state has been reached. However, it is necessary to provide a sensor or switch for each operating unit, which increases costs.

  One of the objects of the present invention is to provide an agricultural machine that has improved operability while suppressing an increase in cost.

  A farm working machine according to an embodiment of the present invention includes an operation device that operates an exercise part using an electric motor, and a control device that controls the operation device. The control device includes a calculation unit and a preset current value. The operation unit operates the operating device, and then the first period has elapsed with the current value flowing through the electric motor maintained at a value equal to or greater than the preset current value. When it is determined that, the actuating device is automatically stopped.

  It is preferable that the first period is a period longer than a period in which a current value flowing at the time of starting the electric motor maintains a value equal to or higher than the preset current value.

  The calculation unit may perform control so as not to acquire a value of a current flowing through the electric motor until a second period elapses from the start of the electric motor.

  The exercise part may have a movable range, and the second period may be a period shorter than a period required for the exercise part to move from one end of the movable range to the other end.

  The calculation unit may automatically stop the operating device regardless of the result of the determination when the operating period of the operating device reaches a preset third period.

  The exercise part may have a movable range, and the third period may be a period longer than a period required for the exercise part to move from one end to the other end of the movable range.

  A plurality of the electric motors may be provided, and the calculation unit may acquire a current value flowing through the electric motor for each electric motor. Moreover, the said memory | storage part may memorize | store the said preset current value for every said electric motor in that case.

  According to the agricultural machine according to the embodiment of the present invention described above, it is possible to provide an agricultural machine with improved operability while suppressing an increase in cost.

It is a perspective view which shows the structure of the agricultural machine of 1st Embodiment. It is a top view which shows the structure of the agricultural machine of 1st Embodiment. It is a figure which shows the structure of the operating device with which the agricultural machine of 1st Embodiment is provided. It is a figure which shows the functional block of the operating device with which the agricultural machine of 1st Embodiment is provided. It is a figure which shows the functional block of the control apparatus with which the agricultural machine of 1st Embodiment is provided. It is a flowchart for demonstrating the process performed with the control apparatus with which the agricultural machine of 1st Embodiment is provided. It is a figure which shows the time chart showing the change of the value of the electric current which flows through the electric motor with which the agricultural working machine of 1st Embodiment is provided. It is a flowchart for demonstrating the process performed with the control apparatus with which the agricultural working machine of 2nd Embodiment is provided. It is a figure which shows the time chart showing the change of the value of the electric current which flows through the electric motor with which the agricultural working machine of 2nd Embodiment is equipped. It is a flowchart for demonstrating the process performed with the control apparatus with which the agricultural working machine of 3rd Embodiment is provided. It is a figure which shows the time chart showing the change of the value of the electric current which flows through the electric motor with which the agricultural working machine of 3rd Embodiment is provided.

  Hereinafter, an embodiment of an agricultural machine according to the present invention will be described with reference to the drawings. However, the agricultural machine of the present invention can be implemented in many different modes, and is not construed as being limited to the description of the examples shown below. Note that in the drawings referred to in this embodiment, the same portions or portions having similar functions are denoted by the same reference numerals, and repetitive description thereof is omitted.

  Further, for convenience of explanation, the description will be made using the terms upper (upper) or lower (lower), but upper (upper) indicates a direction away from the horizontal plane, and lower (lower) indicates a direction approaching the horizontal plane. Similarly, although it explains using the phrase of the front (front side) or back (rear side), the front (front side) indicates the direction in which the traveling machine body is located with reference to the agricultural machine, and the rear (rear side) is the front. 180 ° opposite direction.

<First Embodiment>
In the present embodiment, an example of a farming machine will be described. However, the technical idea of the present invention is not limited to the scraper, but is applied to a tilling work machine (rotary work machine) for plowing the field, a hull coater for forming a hull around the field, and a ditching machine for forming a ditch around the field. It is also possible to apply.
[Configuration of Farm Machine 10]
Hereinafter, the configuration of the agricultural working machine 10 according to the first embodiment will be described in detail with reference to FIGS. 1 and 2. FIG. 1 is a rear perspective view showing the configuration of the agricultural working machine according to the first embodiment. FIG. 2 is a plan view showing the configuration of the agricultural machine according to the first embodiment.

  The farm work machine 10 according to the present embodiment includes a central work machine 10C, a left work machine 10L, and a right work machine 10R, and has a structure divided into three. The central work machine 10C is disposed in the center of the agricultural work machine 10 and functions as a work machine body. The left work machine 10L and the right work machine 10R are attached to the left and right ends of the central work machine 10C so as to be rotatable in the vertical direction. The farm work machine 10 can be folded over the central work machine 10C by rotating the left work machine 10L and the right work machine 10R upward according to the instruction information transmitted from the operation device 100, By rotating in the direction, it can be developed left and right as shown in FIG.

  Here, a state in which the left working machine 10L and the right working machine 10R are overlapped and folded on the central working machine 10C is referred to as a storage state. The storage state is a state in which the farm work machine 10 has a reduced width in a direction orthogonal to the traveling direction of the traveling machine body. Further, a state where the left working machine 10L, the right working machine 10R, and the central working machine 10C are arranged side by side is referred to as a working state. The working state is a state where the farm work machine 10 is deployed in a direction orthogonal to the traveling direction of the traveling machine body.

  Next, the central work machine 10C will be described. The central work machine 10C supports the top work mast 12 and the lower link connection part 14 that function as a connection part with a traveling machine body such as a tractor, the input shaft 16 that transmits power from the traveling machine body, and the central work machine 10C that extends in the left-right direction. Support frame 18, transmission frame (chain case) 20, gear box 24, central shield cover 26C, control box 28, leveler position switching unit 29, first central leveling body 30C, second central leveling body 32C, and central link mechanism unit 34 is provided. Below the central shield cover 26 </ b> C, a plurality of tilling claws (not shown) are attached to the rotating shaft to constitute a tilling rotor for tilling the field.

  Inside the control box 28 is stored a control device 200 (see FIG. 5) that controls an operating device (for example, an actuator such as a rotating mechanism or a cylinder) that operates an exercise part using the electric motor of the agricultural machine 10. . The control device 200 executes predetermined control based on the instruction information received from the operation device 100. For example, when receiving instruction information representing an instruction to change the farm work machine 10 from the storage state to the work state from the operation device 100, the control device 200 operates the operation device 300 ( (See FIG. 5). Details of the control device 200 will be described later.

  The first central leveling body 30C is rotatably attached to the central shield cover 26C. The first leveling body is also called an apron. The second central leveling body 32C is attached to the first central leveling body 30C so as to be movable in the vertical direction. The second leveling body is also called a leveler. The first central leveling body 30C plays a role as a cover for returning mud and soil scattered by the rotation of the tilling rotor to the field and a leveling member that presses the second central leveling body 32C against the field and performs leveling work. . The second central leveling body 32C plays a role as a leveling member for leveling the field surface by directly contacting the field.

  The central link mechanism 34 includes a swing arm 34a and a connecting rod 34b, both of which are coupled so as to be bendable. Further, the swing arm 34a is rotatably connected to the rear portion of the gear box 24, and the connecting rod 34b is connected to the upper surface of the second central leveling body 32C. For this reason, the central link mechanism 34 is movable in the vertical direction as the second central leveling body 32C rotates in the vertical direction.

  Further, the power from the leveler position switching unit 29 is transmitted to the central link mechanism 34, and the position of the second central leveling body 32C is the position where the earthing work is performed and the position where the normal work (leveling work) is performed (the earthing release is canceled). Position). At this time, the leveler position switching unit 29 has an actuator including an electric motor as an operating device, and functions as a means for regulating or canceling the vertical rotation of the second central leveling body 32C in conjunction with the rotation of the electric motor. .

  Next, the left working machine 10L will be described. The left working machine 10L includes a left shield cover 26L, a first left leveling body 30L, a second left leveling body 32L, and a left extended leveling body rotating mechanism 36L. The extended leveling body is also called an extended leveler. Here, the roles of the left shield cover 26L, the first left leveling body 30L, and the second left leveling body 32L are the same as the above-described central shield cover 26C, first central leveling body 30C, and second central leveling body 32C. Since it is the same, description here is abbreviate | omitted.

  The left extended leveling body rotating mechanism 36L is a mechanism for rotating the left extended leveling body 38L rotatably connected to the second left leveling body 32L of the left working machine 10L. The left extended ground leveling body 38L is provided extending from the end of the left working machine 10L in the left-right direction of the agricultural work machine 10, and is responsible for leveling work in an area outside the left working machine 10L. The left working machine 10L and the left extended leveling body 38L are rotatably connected by an extension connecting portion 40L, and can be rotated so that the left extended leveling body 38L is folded toward the left working machine 10L. Yes.

  Here, in the present embodiment, the left-side extended leveling body rotating mechanism 36L includes a leveler rotating part 36La, a rotating arm 36Lb, and a connecting wire 36Lc. The leveler rotation unit 36La may use an actuator including an electric motor as an operating device. One end of the rotating arm 36Lb is connected to the leveler rotating portion 36La, and the other end is connected to the connecting wire 36Lc. The connecting wire 36Lc has one end connected to the rotating arm 36Lb and the other end connected to the left extension leveling body 38L.

  When the leveler rotating portion 36La is operated, a rotational driving force is generated and the rotating arm 36Lb is rotated in a substantially horizontal direction. In conjunction with the rotation of the rotating arm 36Lb, the left extended leveling body 38L pulled by the connecting wire 36Lc rotates about the extended connecting portion 40L. Thereby, storage and expansion | deployment of 38 L of left side extension leveling bodies are attained.

  Next, the right working machine 10R will be described. The right working machine 10R includes a right shield cover 26R, a first right leveling body 30R, a second right leveling body 32R, and a right extended leveling body rotating mechanism 36R. Here, the roles of the right shield cover 26R, the first right leveling body 30R, the second right leveling body 32R, and the right extended leveling body rotating mechanism 36R are the same as those of the left working machine 10L described above. The description in is omitted. The right extension leveling body 38R and the extension connection part 40R are the same as the left extension ground leveling body 38L and the extension connection part 40L.

  Further, a left apron pressurizing unit 44L and a right apron pressurizing unit 44R are disposed on the left work implement 10L and the right work implement 10R, respectively. The left apron pressurizing unit 44L and the right apron pressurizing unit 44R each have a function of regulating the vertical movement of the first left leveling body 30L and the first right leveling body 30R and releasing the regulation. Also, the left apron pressurizing unit 44L and the right apron pressurizing unit 44R are connected to the left pressurizing state switching unit 45L and the right pressurizing state switching unit 45R via components such as cams, respectively.

  Each of the left pressure state switching unit 45L and the right pressure state switching unit 45R has an actuator including an electric motor as an operating device. In accordance with the rotation of the electric motor of these actuators, restriction or release of the movement of the first left leveling body 30L and the first right leveling body 30R in the vertical direction is controlled.

  The left working machine 10L and the right working machine 10R described above are rotated by the action of the rotating cylinders 48a and 48b, with the working machine turning mechanisms 46a and 46b provided at both end portions of the central working machine 10C as turning fulcrums. It moves to the aforementioned storage state or working state. The rotation cylinders 48a and 48b are actuators of a type that drives the cylinder using an electric motor. The work machine rotation mechanisms 46a and 46b are formed by the expansion and contraction of the rotation cylinders 48a and 48b, so that the left work machine 10L and the right work machine. 10R is rotated.

[Configuration of Operation Device 100]
Next, the configuration of the controller device 100 will be described. FIG. 3 is a diagram illustrating an external configuration of the operation device 100 provided in the agricultural machine 10 according to the first embodiment. FIG. 4 is a diagram illustrating functional blocks of the operation device 100 provided in the agricultural machine 10 according to the first embodiment. The operation device 100 according to the present embodiment is a remote controller that performs wireless communication with a control device 200 described later, but may be a wired communication remote controller.

  The operating device 100 includes a power switch 101, a left / right selection switch group 102, a work implement control switch group 103, an extension leveler control switch group 104, a leveler position control switch group 105, and an apron control switch 106 as various switches.

  The power switch 101 is a switch for turning on or off the power supply unit 114 of the controller device 100.

  The left / right selection switch group 102 is a switch group for instructing an exercise part to be actuated, and includes a left / right selection switch 102a, a left selection switch 102b, and a right selection switch 102c. By combining the left / right selection switch group 102 and various control switch groups described later, it is possible to perform simultaneous left / right control or control on only one side. For example, when the left selection switch 102b and an EX leveler opening operation switch 104a described later are combined, an instruction to open only the left extension leveling body 38L can be given.

  The work machine control switch group 103 is a switch group for opening and closing the left work machine 10L and the right work machine 10R, and includes a work machine opening operation switch 103a and a work machine closing operation switch 103b. By combining with the above-described left / right selection switch group 102, the left and right work machines can be opened and closed independently.

  The extension leveler control switch group 104 is a switch group for opening and closing the left extension leveling body 38L and the right extension leveling body 38R, and includes an EX leveler opening operation switch 104a and an EX leveler closing operation switch 104b. By combining with the above-described left / right selection switch group 102, the left and right extended leveling bodies can be opened and closed independently.

  The leveler position control switch group 105 positions the second left leveling body 32L, the second central leveling body 32C, and the second right leveling body 32R as the position for performing the earthing work and the position for performing the normal work (leveling work). Switch group for switching to a position), and includes a digging work switch 105a and a digging release switch 105b.

  The apron control switch 106 is a switch for regulating the vertical movement of the first left leveling body 30L and the first right leveling body 30R and releasing the regulation. That is, when the apron control switch 106 is turned on to pressurize the apron, the vertical movement is restricted, and when the apron pressure is released in the off state, the vertical movement restriction is also released.

  If any of the switches described above is pressed once, then the specified motion part will continue to operate without pressing the switch, and if the end point is detected, the actuator will automatically stop and the motion part will operate. Also comes to stop. Such control is executed by the control device 200 described later.

  Returning to FIG. 4, the controller device 100 includes a communication unit 111, a calculation unit 112, a storage unit 113, a power supply unit 114, a power supply lamp 115, and a tilling gauge lamp 116.

  The communication unit 111 performs wireless communication with a control device 200 (to be described later) via the antenna 111a, and transmits instruction information corresponding to various switch operations to the control device 200. The wireless communication may be a wireless LAN or near field communication such as Bluetooth (registered trademark).

  The calculation unit 112 is a CPU (Central Processing Unit) and plays a central role in controlling each part of the operation device 100. The calculation unit 112 executes control program (not shown) read from the storage unit 113, thereby generating instruction information corresponding to the operation of various switches and transmitting the instruction information to the control device 200. Do.

  The storage unit 113 stores various data necessary for processing by the calculation unit 112. These various types of data are read out as necessary and used for processing in the calculation unit 112. The data stored in the storage unit 113 is not limited to the control program described above. In the present embodiment, the tilling depth data received from the control device 200 is stored in the storage unit 113, and the tilling depth data is used for display control of the tilling depth gauge lamp 116.

  The power supply unit 114 supplies power to each part of the controller device 100. The power supply unit 114 is activated in response to an ON operation of the power switch 101. When the calculation unit 112 recognizes the activation of the power supply unit 114, the calculation unit 112 turns on the power lamp 115.

  The tilling depth gauge lamp 116 is an index that indicates in real time the depth (cultivation depth) at which the tilling rotor of the farm work machine 10 is tilling the field. In the present embodiment, the tilling depth gauge lamp 116 is constituted by an assembly of a plurality of lamps arranged in a straight line, and the tilling depth is displayed by the lighting position.

  In the operating device 100 including the above configuration, when each switch is pressed, the instruction information according to the instruction content assigned to the switch is transmitted from the operating device 100, and the control stored in the control box 28 of the agricultural work machine 10 is stored. Received by apparatus 200. And in the control apparatus 200, control of the actuator which operates each exercise | movement part based on instruction | indication information is performed.

[Configuration of Control Device 200]
The configuration of the control device 200 will be described. FIG. 5 is a diagram illustrating functional blocks of the control device 200 included in the agricultural machine 10 according to the first embodiment.

  Control device 200 receives instruction information from operation device 100 as a remote controller, and transmits control information based on the instruction information to operating device 300. The actuating device 300 is an actuator using an electric motor that moves an exercise part (movable part) of the farm work machine 10. The notification device 400 is a device that alerts the surroundings or provides guidance with sound or light. For example, as the notification device 400, a sound output device including a buzzer or a speaker may be used, or a display device including a lamp or a display may be used.

  The control device 200 includes a calculation unit 201, a storage unit 202, a communication unit 203, and an input / output unit 204. The storage unit 202 stores therein a control program 202a and a threshold management table 202b. Of course, not only this but other data required for control of the agricultural working machine 10 may be stored.

  The calculation unit 201 is a CPU (Central Processing Unit) and plays a central role in controlling each part of the control device 200. The calculation unit 201 controls the internal elements in the control device 200 such as the communication unit 203 and the input / output unit 204 by executing the control program 202a read from the storage unit 202, and provides control information to the operation device 300. Or send a process.

  The storage unit 202 stores various data necessary for processing by the calculation unit 201. These various types of data are read out as necessary and used for processing in the calculation unit 201. In the present embodiment, the storage unit 202 stores a control program 202a for the arithmetic unit 201 to generate a command related to control, and a threshold management table 202b used for determination of end point detection to be described later. The threshold management table 202b will be described later.

  The communication unit 203 performs wireless communication with the controller device 100 via the antenna 203a. The instruction information output from the controller device 100 is received by the communication unit 203 via the antenna 203a and input to the calculation unit 201. The wireless communication may be a wireless LAN or near field communication such as Bluetooth (registered trademark).

  The input / output unit 204 is an interface that transmits and receives signals between the control device 200 and the operation device 300 or between the control device 200 and the notification device 400. Control information generated by the processing of the calculation unit 201 is transmitted to the operating device 300 or the notification device 400 via the input / output unit 204.

  In the present embodiment, a signal representing a change in physical quantity accompanying a change in the state of the exercise site (for example, the open / closed state of the left and right work implements) is transmitted from the actuator 300 and is calculated via the input / output unit 204. 201 is input. Here, a current value is used as a signal representing a change in physical quantity associated with the operation of the actuator 300, and the state of the exercise site is monitored according to the current value.

  Specifically, when the actuator 300 is an actuator including an electric motor, an increase in current value (also called a lock current) generated when the motor is overloaded is detected, and the increase in the current value is detected. As a trigger, the end point of the actuator 300 is detected. Then, the number of end point detections is always counted and stored in the storage unit 202. Thereby, for example, when grasping the state of the open / close mechanism of the left and right work implements as an exercise part, the initial state is set to the stowed state of the left and right work implements. It is possible to grasp the open / closed state of the work implement such that it is in the stowed state.

  Note that the method of detecting the state of the motion part is not only a method using the change in the current value accompanying the operation of the actuator 300 described above, but also output from sensors such as an angle sensor, an acceleration sensor, an angular velocity sensor, and an ultrasonic sensor. May be used together.

  For example, when the output from the sensor is detected and it is determined that the exercise site has been operated to a position close to the end point, it is possible to start the end point detection based on the above-described current value. That is, the start timing of the end point detection process can be determined based on the output from the sensor. As a result, even if an unexpected increase in current value occurs during operation, it can be excluded from the end point detection process as an abnormal value, and more accurate end point detection can be performed.

  Further, by using the output from the sensor, the current value may be monitored in the vicinity of the end point of the movable range of the motion part (that is, monitoring until the end point of the movable range of the motion part can be omitted). The power consumption required for the detection process can be reduced.

[Control by control device 200]
In the control device 200 including the above configuration, the calculation unit 201 analyzes the instruction information input from the controller device 100, and generates control information indicating that an instruction based on the instruction information is executed. By transmitting this control information to the operating device 300, the operation of each movement part of the agricultural machine 10 is controlled.

  The farm work machine 10 according to the present embodiment can operate the control device 200 in either the manual mode or the automatic mode. The manual mode is a mode in which the operating device 300 is operated only while the instruction information is transmitted from the controller device 100. The automatic mode is the instruction once the instruction information is transmitted from the controller device 100. In this mode, the operation device 300 is automatically operated until the operation is performed.

  For example, when the left working machine 10L and the right working machine 10R are deployed, in the manual mode, the operation device 300 for rotating the left and right working machines is operated by continuously pressing the instruction switch for opening the left and right working machines. Can be made. Further, in the automatic mode, once the instruction switch for opening the left and right work machines is pressed, the actuating device 300 can be automatically operated until the left and right work machines are fully deployed.

  At this time, in the control in the automatic mode described above, the control device 200 of the present embodiment automatically performs end point detection as to whether or not the instruction input from the operation device 100 has been completed. For example, when the left working machine 10L and the right working machine 10R are deployed, if the instruction switch for opening the left and right working machines is pressed once, then the left and right working machines continue to be deployed without pressing the switch. When the calculation unit 201 of the device 200 detects the end point, the operation of the operating device 300 is automatically stopped.

  FIG. 6 is a flowchart for explaining processing executed by the control device 200 provided in the agricultural machine 10 according to the first embodiment. Specifically, in the control device 200 of the present embodiment, the calculation unit 201 reads and executes the control program 202a, whereby the flow shown in FIG. 6 is executed.

  First, when the process is started, the calculation unit 201 waits for instruction information from the controller device 100 (step S301). If the instruction information is not received (NO in step S301), the process waits until the instruction information is received. When the instruction information is received (YES in step S301), calculation unit 201 outputs an instruction to start operating device 300 based on the instruction information (step S302).

  If operating device 300 operates according to the directions from operation part 201, operation part 201 will acquire the value of the current which flows into the electric motor with which operation device 300 is provided (Step S303). The current value may be acquired by any method, but it is preferable to acquire the current value at a sufficiently short time interval.

  Next, the computing unit 201 reads the threshold management table 202b from the storage unit 202 and acquires the threshold held by the threshold management table 202b (step S304). This threshold value is a current value that is set in advance in association with the actuator 300, and is a value that serves as an index for detecting an increase in the current value that occurs when the motor is overloaded. In this embodiment, threshold values are managed in a table format. However, when there is one threshold value to be stored, the threshold value is not limited to the table format and may be stored in a register included in the calculation unit 201. .

  Subsequently, the calculation unit 201 compares the current value flowing through the motor with the threshold value acquired from the threshold management table 202b, and determines whether or not the current value flowing through the motor is equal to or greater than the threshold value (step S305). At this time, if the current value is less than the threshold value (NO in step S305), the process returns to step S303 again to acquire the current value from the electric motor. If it is determined that the current value is equal to or greater than the threshold value (YES in step S305), it is determined whether a predetermined maintenance period has elapsed (step S306).

  Here, the “maintenance period” is a period set in advance starting from the timing at which the value of the current flowing through the motor becomes equal to or greater than the threshold value. For example, as the maintenance period, it is preferable to set a period longer than a period in which the value of the current flowing at the time of starting the electric motor maintains a value equal to or greater than the threshold value stored in the storage unit 202. The “maintenance period” corresponds to the “first period” in the claims.

  It is known that when a motor is started, a large current (also called a starting current) instantaneously flows at the time of starting. In the present embodiment, the reason for setting the sustain period as a period longer than the period in which the above-described startup current value maintains a value equal to or greater than the threshold is that the calculation unit 201 misrecognizes the startup current as the above-described lock current. This is to prevent end point detection. In the present embodiment, the sustain period is set to 0.2 seconds, considering that the period during which the value of the starting current of the motor is maintained above the threshold is approximately 0.1 seconds. Of course, the present invention is not limited to this, and what kind of period the maintenance period is set may be determined as appropriate according to the type of electric motor to be used.

  Returning to FIG. 6, when it is determined in step S <b> 306 that the maintenance period has elapsed (in the case of YES), the arithmetic unit 201 recognizes that the above-described lock current has flowed through the motor and operates the actuator 300. A stop instruction is output (step S307), and the process ends. In other words, the calculation unit 201 determines that, due to the detection of the lock current, the motor is overloaded, that is, the movement part has moved from one end of the movable range to the other end and cannot move any further. The stop of the actuator 300 is instructed.

  Based on the above processing, a change in the value of the current flowing through the electric motor will be described with reference to FIG. FIG. 7 is a diagram illustrating a time chart showing a change in the value of the current flowing through the electric motor included in the agricultural machine according to the first embodiment. In FIG. 7, the horizontal axis represents time, and the vertical axis represents the current value flowing through the motor.

  In FIG. 7, the current value 401 increases with the start of the electric motor, triggered by an instruction (start instruction) to operate the actuator 300. As described above, since the starting current 402 is generated when the electric motor is started, the current value 401 exceeds the threshold value 403 for a predetermined period 404. The predetermined period 404 is the above-described “period in which the value of the starting current is maintained at a value equal to or greater than the threshold value”.

  Thereafter, the current value 401 maintains a substantially steady value while showing a value corresponding to the rotational speed of the electric motor. When the end point of the movable range of the movement part is reached, the operating device 300 can no longer operate, and an overload is applied to the electric motor. As a result, a lock current 405 is generated, and the current value 401 again exceeds the threshold value 403.

  When the sustain period 406 elapses while the current value 401 is maintained at the threshold value 403 or more, an instruction (stop instruction) to stop the operating device 300 is output from the calculation unit 201, and the current value 401 is set to zero. Head. At this time, since the sustain period 406 is set longer than the predetermined period 404 as described above, it is possible to prevent the calculation unit 201 from erroneously recognizing the activation current 402 as the lock current 405.

  As described above, in the agricultural machine 10 according to the present embodiment, when the control device 200 operates the operation device 300 based on the instruction information input from the operation device 100, the value of the current flowing through the motor is monitored. When the lock current is detected, an end point detection function for automatically stopping the operation of the operating device 300 is provided. The detection of the lock current is performed by determining whether or not the maintenance period has elapsed in a state where the value of the current flowing through the electric motor is maintained at a value equal to or greater than a predetermined threshold value.

Thereby, the operator does not need to visually check whether or not the exercise part has reached the end point of the movable range, that is, whether or not the operation of the operation device 300 is completed, and improves the operability of farm work. Can do. In addition, since it is not necessary to determine whether or not the operation of the operating device 300 is completed using a sensor or a switch, an increase in cost can be suppressed. as a result,
A farm machine with improved operability while suppressing an increase in cost can be provided.

Second Embodiment
In 1st Embodiment, although the example which monitors the value of the electric current which flows through an electric motor immediately after the calculating part 201 output the operation start instruction | indication with respect to the operating device 300 was shown, in this embodiment, the operation start of the operating device 300 was shown. Shows an example in which the value of the current flowing through the motor is not acquired for a predetermined period.

  FIG. 8 is a flowchart for explaining processing executed by the control device 200 provided in the agricultural machine 10 according to the second embodiment. FIG. 9 is a diagram illustrating a time chart showing changes in the value of the current flowing through the electric motor included in the agricultural machine according to the second embodiment. Here, detailed description will be given focusing on portions that are different from the first embodiment, and the same portions as those in the first embodiment will be denoted by the same reference numerals and description thereof will be omitted.

  In the present embodiment, as shown in FIG. 8, when an operation start instruction is output to the operating device 300 in step S302, the calculation unit 201 starts a predetermined period (hereinafter referred to as “standby period”) from the start of the operation of the operating device 300. .) Is determined (step S501). If the standby period has not elapsed (NO in step S501), the process returns to step S501 again. If the standby period has elapsed (YES in step S501), the process proceeds to step S303, and acquisition of a current value from the electric motor is started. The “standby period” corresponds to the “second period” in the claims and corresponds to the period 502 in FIG.

  As described above, in the present embodiment, by repeating Step S501, the process waits without acquiring a current value from the electric motor until the standby period elapses. Thereby, since the end point detection process is not performed until the standby period elapses, even if an unexpected increase in current value occurs, it can be excluded as an abnormal value. As a result, the accuracy of the end point detection process by the calculation unit 201 can be improved.

  Further, by adjusting the standby period, it is possible to perform control so that the end point detection process is not performed up to the vicinity of the end point of the movable range of the exercise site. In this case, since it is only necessary to monitor the current value only near the end point of the movable range of the exercise part, the power consumption required for the end point detection process can be reduced.

<Third Embodiment>
In 1st Embodiment, the example which stops the actuator 300 when the 1st period passed in the state in which the electric current value which flows through an electric motor maintains the value more than a threshold value was shown. However, even when the above-mentioned lock current flows, such as when an appropriate threshold is not set, or when the output of the power supply drops and the current value flowing through the motor becomes lower than expected. There may be situations where the threshold is not exceeded.

  In the present embodiment, in order to cope with such a situation, the operation is forcibly performed when a predetermined period (hereinafter referred to as “limit period”) that is longer than the above-described standby period elapses after the operation of the operation device 300 is started. An example in which the operation of the apparatus 300 is stopped will be described. The “limit period” is a period during which the end point is expected to reach the end point after the operation of the actuator 300 is started, and the exercise site moves from one end of the movable range to the other end. This is a period longer than the period required for this.

  FIG. 10 is a flowchart for explaining processing executed by the control device 200 included in the agricultural machine 10 according to the third embodiment. FIG. 11: is a figure which shows the time chart showing the change of the value of the electric current which flows through the electric motor with which the agricultural working machine of 3rd Embodiment is equipped. Here, detailed description will be given focusing on portions that are different from the first embodiment, and the same portions as those in the first embodiment will be denoted by the same reference numerals and description thereof will be omitted.

  In the present embodiment, as shown in FIG. 10, when the value of the current flowing through the electric motor is not equal to or greater than the threshold value in step S305 (in the case of NO in step S305), the calculation unit 201 determines whether or not the limit period has elapsed. Is determined (step S601). That is, in step S601, whether or not the period set in advance as a period longer than the period required for the movement part to move from one end to the other end of the movable range has been reached after the activation device 300 starts operating. Is determined.

  In step S601, when the limit period has not elapsed (NO in step S601), the process returns to step S303 again. If the limit period has elapsed (YES in step S601), the process proceeds to step S602, an operation stop instruction is output to the actuator 300, and the process ends. The “limit period” corresponds to the “third period” in the claims and corresponds to the period 603 in FIG.

  As described above, in the present embodiment, the calculation unit 201 of the control device 200 executes steps S601 and S602 when the determination result of step S305 is negative. Thereby, even if the operation value of the operating device 300 reaches the end point without the current value flowing through the electric motor exceeding the threshold value stored in the storage unit 202, if a preset period (limit period) elapses. Regardless of the determination result of step S305, the operation of the actuator 300 can be automatically stopped.

  As described above, according to the agricultural machine 10 of the present embodiment, even when the end point detection by the calculation unit 201 is not normally performed for some reason, the operation of the operating device 300 is surely stopped after a predetermined period of time. be able to. As a result, it is possible to avoid the problem that the operating device 300 continues to operate without end point detection.

<Fourth embodiment>
In the first embodiment, as the state of the movement part of the scraper, the open / close state of the left and right work machines, the open / close state of the extension leveler, the state of the leveler position (whether or not it is in the earthing work position), and the apron pressurization state are exemplified. . These mean the state when a part of the agricultural working machine is operated by operating an actuator such as an actuator using an electric motor.

  However, the present invention is not limited to these examples, and can be applied to any movement site that can be operated using an actuator.

  The present invention has been described above with reference to the drawings. However, the present invention is not limited to the above-described embodiment, and can be appropriately changed without departing from the spirit of the present invention.

DESCRIPTION OF SYMBOLS 10 ... Agricultural working machine, 10C ... Central working machine, 10L ... Left working machine, 10R ... Right working machine, 12 ... Top mast, 14 ... Lower link connection part, 16 ... Input shaft, 18 ... Support frame, 20 ... Transmission frame ( Chain case), 24 ... gear box, 26C ... center shield cover, 26L ... left shield cover, 26R ... right shield cover, 28 ... control box, 29 ... leveler position switching unit, 30C ... first central leveling body, 30L ... first 1 left leveling body, 30R: first right leveling body, 32C: second central leveling body, 32L: second left leveling body, 32R: second right leveling body, 34: central link mechanism, 34a: swing arm, 34b ... connecting rod, 36L ... left side extension leveling body turning mechanism, 36La ... leveler turning part, 36Lb ... turning arm, 36Lc ... connecting wire, 36R ... right side extension Ground body rotation mechanism, 38L ... Left side extension leveling body, 38R ... Right side extension leveling body, 40L ... Extension connection part, 40R ... Extension connection part, 44L ... Left side apron pressurization part, 44R ... Right side apron pressurization part, 45L ... Left pressure state switching unit, 45R ... right pressure state switching unit, 46a, 46b ... work machine rotation mechanism, 48a, 48b ... rotation cylinder, 100 ... operating device, 200 ... control device, 300 ... actuating device, 400 ... notification device

Claims (8)

An actuating device for actuating an exercise site using an electric motor, and a control device for controlling the actuating device;
The control device includes a calculation unit and a storage unit that stores a preset current value,
When the arithmetic unit determines that the first period has elapsed after operating the operating device and maintaining the current value flowing through the electric motor at a value equal to or higher than the preset current value, the operating device. Automatically stop
Agricultural machine. The first period is a period longer than a period in which a current value flowing at the time of starting the electric motor maintains a value equal to or higher than the preset current value.
The agricultural machine according to claim 1. The calculation unit does not acquire a current value flowing through the motor until a second period has elapsed since the start of the motor.
The agricultural machine according to claim 1 or 2. The exercise site has a movable range;
The second period is a period shorter than a period required for the movement part to move from one end of the movable range to the other end.
The agricultural machine according to claim 3. When the operating period of the operating device reaches a preset third period, the arithmetic unit automatically stops the operating device regardless of the result of the determination.
The agricultural machine according to any one of claims 1 to 4. The exercise site has a movable range;
The third period is a period longer than a period required for the movement part to move from one end of the movable range to the other end.
The agricultural machine according to claim 5. A plurality of the motors;
The arithmetic unit obtains a value of a current flowing through the motor for each motor.
The agricultural machine according to any one of claims 1 to 6. The storage unit stores the preset current value for each electric motor.
The agricultural machine according to claim 7.

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