JP2527840Y2 - Left and right attitude control device in agricultural work machine - Google Patents

Description

[Detailed description of the invention] [Industrial application field] The present invention relates to an automatic horizontal posture for maintaining the left and right horizontal posture of a working machine such as a seedling planting device in a farm work machine such as a rice transplanter for planting seedlings in a field. The present invention relates to a control device.

[Conventional technology]

2. Description of the Related Art Conventionally, when planting seedlings in a field by a riding type rice transplanter, a seedling planting device is mounted on the traveling body so as to be able to rotate left and right and up and down, and the seedling planting plant is planted at appropriate intervals in the traveling direction left and right. Providing a mechanism, by a planting mechanism that rotates up and down as the rice transplanter progresses, the seedling mat of the seedling mounting table in the seedling planting apparatus is configured to be planted in a field scene while appropriately dividing the seedling mat for each number of plants, for example, It is disclosed in Japanese Utility Model Laid-Open No. 60-27615.

According to this prior art, the control valve that sends the hydraulic pressure to the left-right reciprocating hydraulic actuator that corrects the left-right tilting posture of the seedling plant can be switched to three positions with left and right offset positions sandwiching the neutral position. While the pressure port and the return port at the neutral position are communicated with each other, the two operation-side ports communicating with the left and right oil chambers of the hydraulic actuator are each shut off.

[Problems to be solved by the invention]

According to the configuration, in the neutral position, the hydraulic actuator is completely locked, so that one of the wheels of the traveling body rides on the convex portion of the plow in the field or falls into the recess. When the vehicle suddenly tilts from side to side, the degree of the tilt is sensed from the detection result of the tilt sensor or the acceleration sensor, and until the control is started to operate the hydraulic actuator to correct the tilt of the seedling planting device, the above described level is maintained. The seedling plant will also be tilted at the same time via the locked hydraulic actuator, and the hydraulic actuator will suddenly move right or left after reaching the offset position of the control valve,
The movement at the start of the posture control of the seedling plant is jerky.

Contrary to the above, when the posture control is completed, the control valve suddenly comes to the neutral position and locks the movement of the hydraulic actuator, so that a large impact force acts on the seedling plant.

As means for solving this problem, in the prior art,
A buffer spring is interposed at the connection between the hydraulic actuator and the seedling plant. However, the buffer spring causes a shunting phenomenon (hunting phenomenon) at the start and end of the movement of the seedling plant. There was a problem that a delay occurred at the start.

Such a problem also occurs in the case of a control in which a work machine such as a tiller is mounted on a traveling machine body so as to be able to turn left and right, and the left and right horizontal posture of the work machine is corrected.

The purpose of the present invention is to solve this technical problem.

[Means for solving the problem]

In order to achieve this object, the present invention attaches a working machine such as a seedling plant to a traveling machine so that it can rotate left and right and up and down.
An agricultural working machine configured to execute a control for holding the working machine in a horizontal horizontal state by a reciprocating hydraulic actuator interposed between a traveling machine body and the working machine, wherein the hydraulic actuator and the working machine And a hydraulic circuit for operating the hydraulic actuator via a three-position control valve of a neutral position and a left and right offset position, and the hydraulic circuit or the control valve is set to the neutral position of the control valve. Thus, the hydraulic actuator is configured to be able to reciprocate.

[Actions and effects of the invention]

In the present invention, since the hydraulic actuator is directly connected to the working machine such as a seedling plant, the movement of the hydraulic actuator immediately becomes the movement of the posture control of the working machine, and the responsiveness of the posture control is improved.

The hydraulic circuit for operating the hydraulic actuator or the three-position control valve for switching the operation of the hydraulic actuator is configured so that the hydraulic actuator can reciprocate at the neutral position of the control valve. Even when the posture control is switched between the offset position and the neutral position at the start or the end of the control, the hydraulic oil can move to both the left and right chambers of the hydraulic actuator, so that a jerky movement such as giving an impact to the working machine is performed. Can be eliminated.

When the hydraulic circuit or the control valve is provided with a throttle section for slowing the left-right movement of the hydraulic actuator at the neutral position of the control valve, the hydraulic actuator can reciprocate at the neutral position of the control valve. However, since the hydraulic oil in the hydraulic circuit passes through the throttle and enters and exits the hydraulic actuator, the movement of the hydraulic actuator can be slowed down, the working machine does not inadvertently fluctuate left and right, and when starting posture control. Also, when the control oil is switched between the offset position and the neutral position at the end of the control, the hydraulic oil can move through the throttle portion, so that it is possible to eliminate a jerky movement such as giving an impact to a work machine.

As described above, according to the present invention, there is an effect that the posture control of the working machine is stabilized.

〔Example〕

In the following, an embodiment applied to a riding type rice transplanter will be described. In the drawings, reference numeral 1 denotes a traveling body, and the traveling body 1
The vehicle body frame 2 includes front wheels 3, 3 attached to the front side thereof and rear wheels 5, 5 attached to the rear side via swing cases 4, 4 rotatable up and down. Is provided with a control seat 6 and a control handle 7, and drives the rear wheel 5 through a transmission mechanism in the power transmission unit case 9 and the swing cases 4, 4 by using the driving force of the engine 8 on the front upper surface of the body frame 2. Configuration.

A seedling device 10 attached to the rear part of the traveling machine body 1 so as to be vertically movable via a parallel link mechanism 11, a central transmission case 12,
On the left and right sides of this central transmission case 12, planted transmission cases 14, 14 attached at appropriate intervals via connecting pipes 12a with transmission shafts inserted, and horizontal reciprocating arrangement with the upper end inclined to the traveling machine A movable seedling mounting table 15 is provided. At the left and right sides of the rear side of the right and left planting transmission case 14, seedlings are provided in which a planting claw is moved up and down between a seedling outlet at the lower end of the seedling mounting table 15 and a field scene 17. A mechanism 16 is provided.

The parallel link mechanism 11 is driven up and down by the hydraulic cylinder 13 on the traveling body 1 side.

The parallel link mechanism 11 includes a top link 18 and a pair of left and right lower links 19, 19, and the base end of the top link 18 is pivotally connected to a portal frame standing on the vehicle body frame 2 by a pin. The portal type strut 20 to which each tip of the lower link 19, 19 is attached is rotatably connected to the rolling shaft 22 of the hitch portion 21 in the seedling planting device 10, and the seedling planting device 10
The configuration is such that the traveling body 1 can be rotated left and right (rolling) about the rolling shaft 22 so that the float 10a on the lower surface slides in the field scene.

Guide parts 23, 23 protruding from both right and left planted transmission cases 14, 14
Is slidably fitted to the rail 24 at the lower end of the rear surface of the seedling mounting table 15, while the guide rail 25 on the upper surface of the rear surface of the seedling mounting table 15 has a pair of right and left planting transmission cases 14, 14. The rollers 26 are slidably fitted to the roller portions 27 at the upper ends thereof.

The seedling plant 10
A horizontal reciprocating hydraulic cylinder 29, which is an actuator for attitude control (rolling control) of the left and right inclination, is fixed, and both ends of a piston rod 30 that can move left and right in the hydraulic cylinder 29 are attached to the pair of right and left columns 26, 26. It is rotatably mounted on a connecting rod 32 via a universal joint part 31.

Therefore, the movement of the piston rod 30 of the hydraulic cylinder 29 is so-called directly connected so as to directly affect the movement of the seedling apparatus 10 to turn left and right about the rolling shaft 22.

The power from the engine 8 is transmitted to the transmission mechanism in the power transmission case 9 via the clutch 33 to drive the rear wheel 5 and is transmitted to the seedling plant 10 via the PTO shaft 34.

Reference numeral 35 denotes an actuator for turning on and off the clutch 33, 36 denotes an actuator for traveling speed change, and 37 denotes an actuator for PTO shaft speed change.

A control valve 40, which can be operated by rotation of an arm 39 that can swing back and forth and protrudes from a steering gear box 38 related to the steering handle 7, operates a hydraulic cylinder 42 in a hydraulic circuit 41. The steering arm 44 of the steering mechanism 43 connected to the hydraulic cylinder 42 is rotatable about a rotation fulcrum 45, and a pair of tie rods 46, 46 connected to the steering arm 44.
The other electromagnetic solenoid control valve 47 in the hydraulic circuit 41 is for automatic steering control, and the reference numeral 48 shown in FIG. An electromagnetic solenoid type three-position control valve for rolling (horizontal attitude) control associated with the hydraulic cylinder 29.

The control valve 48 includes a pressure port P for supplying hydraulic oil from the pump 62 of the hydraulic circuit 41, a return port T for returning hydraulic oil to the oil tank 63, an A port communicating with the left chamber of the hydraulic cylinder 29, and a hydraulic cylinder 29. And a B port communicating with the right ventricle.

At the left offset position of the control valve 48, the pressure port P communicates with the A port, the return port T communicates with the B port, and the hydraulic oil from the pressure port P
, The seedling plant 10 is rotated rightward. At the right offset position of the control valve 48, the pressure port P communicates with the B port, the return port T communicates with the A port, and hydraulic oil from the pressure port P enters the right chamber of the hydraulic cylinder 29. Then, the seedling planting device 10 is rotated leftward. further,
In the neutral position of the control valve 48, the hydraulic oil from the pump 62 communicates with the oil tank 63 via the return port T, and the A port communicates with the B port.

Then, at the neutral position, a throttle portion 64 is provided at a communication location between the A port and the B port.

Accordingly, at the neutral position of the control valve 48, the hydraulic oil of the hydraulic circuit 41 slowly passes through the throttle portion 64 while the hydraulic cylinder 29 can reciprocate.
, The movement of the hydraulic cylinder 29 can be slowed, and the seedling plant 10 does not inadvertently fluctuate left and right.

In the right offset position and the left offset position,
Hydraulic oil from each port does not pass through the throttle unit 64, but immediately before switching from the neutral position to the offset position (at the start of the posture control), the seedlings are not affected by the tilting movement of the traveling machine side. The movement of the device 10 to maintain the horizontal posture is caused by the flow of the hydraulic oil through the throttle portion 64 at the communication point between the A port and the B port at the neutral position of the control valve,
In contrast, immediately after switching from the offset position to the neutral position, A
The hydraulic oil flows through the communication point between the port and the B port (or the 64 throttle portions provided at the communication point as desired), so that the seedling plant does not suddenly stop.

Therefore, even when the posture control is switched between the offset position and the neutral position at the start or the end of the control, the hydraulic oil can move through the communication point or the throttle unit 64, so that the seedling plant
Jerky movements such as shocking the 10 can be eliminated.

Reference numeral 49 denotes a steering sensor including a potentiometer or the like provided at the rotation fulcrum 45 for detecting the steering angle of the traveling aircraft.
Is input to an electronic control type control means 50 such as a microcomputer.

Reference numeral 51 denotes an inclination sensor provided at an appropriate position of the seedling plant 10 for detecting the left-right inclination angle of the working machine such as the seedling plant 10 with respect to the field scene. As shown in FIG. In addition, a pendulum 54 that is rotatable about a shaft 53 in a case 52
With a movable coil 55, a bridge circuit composed of R0, R1, and R2, a pair of left and right photocouplers of a light emitting element LED1, LED2, and light receiving elements PT1 and PT2, and an external power supply E.
Consists of

When the tilt sensor 51 is in the horizontal state, the light receiving amounts of the light receiving elements PT1 and PT2 are equal and the bridge circuits are balanced. When the tilt angle (θ1) is tilted, the pendulum 54 moves in the direction of gravity (vertical direction).
So that one light receiving element PT1 is
Is blocked, and the other light receiving element PT2 receives light and turns on.
When the balance of the bridge circuit is lost and a current flows through the movable coil 55, and when the rotational torque generated in the movable coil 55 and the moment due to the weight of the pendulum 54 are balanced by the current (θ2), the pendulum 54 stops, and The current value (I) at that time becomes an output signal, which is proportional to the inclination angle (θ1) (see FIG. 6). Reference numeral 58 denotes an A / D converter with an amplification circuit.

Reference numeral 56 denotes an angular velocity (speed) sensor provided in the vicinity of the rolling shaft 22 of the seedling plant 10, which detects an angular speed when the seedling plant 10 rotates left and right around the axis of the rolling shaft 22. is there. In the embodiment, as the speed sensor 56, a thin disk-shaped piezo plastic film is mounted as a vibrator in the case, and a vertical / horizontal component in the acceleration direction can be separated due to a diaphragm structure fixed on the circumference. Using an acceleration sensor, the integration circuit of the control means 50
The angular velocity at each time is obtained by appropriately integrating the detected value of the acceleration at every minute time interval.

Reference numeral 57 denotes an A / D converter with an impedance converter connected to the output of the angular velocity sensor 56.

The control means 50 executes program control of fuzzy inference by a microcomputer including an 8-bit one-chip microprocessor or the like, and performs various operations and operations of fuzzy inference by a central processing unit (CPU).
Read-only memory (ROM) that stores initial values and control programs in advance, and read-write memory (RAM) that stores time-varying input signals and the like and outputs them at the time of calculation
And an interface connected to the input / output unit.

The inclination angle θ, which is the detection result of the inclination sensor 51 mounted on the seedling plant 10, and the angular velocity V, which is the detection result of the angular velocity sensor 56, are input. In the control means 50 according to the size,
A signal of a correction amount for controlling the right and left inclination of the seedling plant 10 to be controlled so as to maintain the posture in a substantially horizontal state is output, and this signal is used to drive the electromagnetic solenoid of the control valve 48 for the posture control hydraulic cylinder 29. Activates the circuit 60 and outputs an output signal to the electromagnetic solenoid to the hydraulic cylinder 29 which is an actuator, and controls the amount of the piston rod 30 of the hydraulic cylinder 29 to protrude and retract so that the right and left posture of the seedling plant 10 is substantially horizontal. At this time, preferably, if the emergence speed is also controlled, the seedling transplanter 10 is restored to the left and right horizontally slowly or quickly.

At this time, since the magnitude and direction of the angular velocity can be determined from the output of the angular velocity sensor 56, it is preferable to operate the actuator ((hydraulic cylinder) 29) in a direction to cancel the angular velocity and at a speed. According to the inference, the operation direction and the speed of the actuator 29 are determined based on experimental results and the like to create a most preferable fuzzy rule,
Execute accordingly.

FIG. 7 shows a second embodiment of the hydraulic circuit, in which a three-position control valve 65 for a hydraulic cylinder 29, which is an actuator for attitude control, has substantially the same configuration as the control valve 48 of the first embodiment. Then, the A port and the B port communicate with each other. In the present embodiment, the throttle section is provided in the A port of the control valve 65 and the passage to the left chamber of the hydraulic cylinder 29, and the B port of the control valve 65 and the passage to the right chamber of the hydraulic cylinder 29, respectively.
Electromagnetic solenoid type control valves 67, 68 are provided which can be switched between a passage passing through 66 and a passage without a restrictor, and when the control valve 65 is set to a neutral position, both control valves 67, 68
Are communicated with the left and right chambers of the hydraulic cylinder 29 through the throttle 66, and at the left offset position and the right offset position of the control valve 65, the two control valves 67, 68 are connected to the passage without the throttle. The same operation and effect as in the first embodiment can be achieved by controlling the hydraulic cylinder 29 so as to communicate with the left and right chambers via the hydraulic cylinder 29 via the first and second chambers.

FIG. 8 shows a control valve 69 for the hydraulic cylinder 29 being a 6-port, 3-position electromagnetic solenoid type.
In the left offset position, the pressure port P communicates with the A port, the return port T communicates with the B port, and the hydraulic oil from the pressure port P enters the left chamber of the hydraulic cylinder 29, and Is turned to the right. At the right offset position of the control valve 69, the pressure port P communicates with the B port, the return port T communicates with the A port, and the pressure port P
Hydraulic fluid enters the right chamber of the hydraulic cylinder 29 and rotates the seedling plant 10 to the left. Further, at the neutral position of the control valve 69, the hydraulic oil from the pump 62 communicates with the oil tank 63 via the return port T so that the port A and the port B communicate with each other.

A throttle valve having a throttle portion in a branch passage branched from the A port of the control valve 69 and the passage to the left chamber of the hydraulic cylinder 29
The control valve is connected to the C port via a throttle valve 70 and to the D port via a throttle valve 71 having a throttle portion in a branch passage branched from the B port of the control valve 69 and the passage to the right chamber of the hydraulic cylinder 29. In the neutral position of 69, the C port and the D port are communicated, and in the left and right offset position, the C port and the D port are closed. As a result, at the neutral position of the control valve 69, the left and right chambers of the hydraulic cylinder 29 communicate with each other through the throttle valves 70 and 71.
Left and right movement becomes slow. Further, at the left and right offset positions, the hydraulic oil can flow quickly, so that the same operation and effect as in the first embodiment can be obtained.

[Brief description of the drawings]

The drawings show an embodiment of the present invention, FIG. 1 is a plan view of a riding rice transplanter, FIG. 2 is a side view, and FIG. FIG. 4 is a block diagram of the control device and an operation explanatory diagram including a hydraulic circuit, and FIG.
FIG. 6 is a block diagram of the tilt sensor, FIG. 7 is a hydraulic circuit diagram of the second embodiment, and FIG. 8 is a hydraulic circuit diagram of the third embodiment. 1 ... running body, 3,5 ... wheels, 10 ... seedling plant, 15 ...
… Seedling table, 16… Planting mechanism, 11… Link mechanism, 22…
Rolling shaft, 51… Tilt sensor, 29… Hydraulic cylinder, 30… Piston rod, 48,65,69… Control valve, 60…
... Drive circuit, 50 ... Control means, 64,66 ... Throttle section, 70,71
…… Throttle valve.

Claims (1)

(57) [Scope of request for utility model registration] A work machine such as a seedling plant is mounted on a traveling machine so as to be able to turn left and right and up and down, and said work is performed by a reciprocating hydraulic actuator interposed between the traveling machine and the working machine. In the agricultural work machine configured to execute the control for holding the machine in the horizontal state, the hydraulic actuator is directly connected to the work machine, while a control valve having three positions of a neutral position and a left and right offset position is provided. An agricultural working machine comprising: a hydraulic circuit for operating the hydraulic actuator, wherein the hydraulic circuit or the control valve is configured so that the hydraulic actuator can reciprocate at a neutral position of the control valve. Horizontal attitude control device.