JP2567490B2 - Lift control device for paddy field machine - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of application] The present invention maintains a working device, which is vertically movable with respect to a traveling body, at a predetermined height against the mud surface based on a variation in ground pressure of a ground float. The present invention relates to a lifting control device for a paddy work machine equipped with a lifting control means.

[Conventional technology]

In the lifting control device described above, the conventional method is disclosed in Japanese Patent Laid-Open No. 64-39.
As disclosed in Japanese Patent No. 907, a mud surface detector pivotally supported relative to a ground float is configured to travel along the mud surface, and the mud surface detector and the ground float. The difference between the vertical level of the ground float and the mud level subsidence, which differs depending on the hardness of the mud, is detected by the detection sensor attached to the front end of the ground float, and the lift control sensitivity is based on the detected value. There was one that was configured to constantly correct.

[Problems to be Solved by the Invention]

The conventional structure described above reduces the labor of the work by automatically performing the sensitivity correction associated with the hardness and softness of the mud regardless of the traveling speed of the airframe.

However, in this conventional structure, since the detection sensor is a structure attached to the front part of the grounding float, there is a large possibility that mud will fall down along with the planting work, and there is a drawback that the durability of the detection sensor decreases, There was a drawback that the front part of the float moved up and down frequently due to the mud pushing resistance caused by the traveling of the aircraft, and the detection accuracy was lowered, and there was room for improvement.

Also, since the angle correction is always executed in real time,
For example, even if there is a sudden up / down movement of the vehicle body due to unevenness on the plough or mud surface, sensitivity correction is executed based on the data of the detected value associated with the abrupt change, and lifting control becomes unstable. There was also a disadvantage that it became a thing.

The present invention aims to solve the above-mentioned problems.

[Means for solving the problem]

The technical means of the present invention, which has been implemented to achieve the above-mentioned object, is an elevation control for maintaining a working device, which is vertically movable with respect to a traveling body, at a predetermined height against the mud surface based on a variation in the ground pressure of a ground float. In a lifting control device for a paddy work machine equipped with means, a ground level detection sensor for detecting the level of the ground leveled by the ground float is provided, and the mud surface at a position deviated from the passing trace of the ground float. Equipped with a mud level tracking grounding body that changes up and down according to the level change and a mud level level detection sensor that detects the vertical displacement of the mud level tracking grounded body. The mud surface is provided with sensitivity correction means for correcting the control sensitivity of the lifting control means based on the mud surface subsidence amount of the grounding flow chart obtained from the detection result with the sensor. Is that is attached to bell detection sensor in the frame of the working device.

It is characterized in that it is provided with a computing means for computing an average value of the values detected by the mud level detection sensor within a predetermined time, and the sensitivity correcting means operates based on the average value.

[Work]

The effect of adopting the above technical means is as follows.

That is, the mud-surface-following grounding body is displaced up and down while following the mud surface at a position excluding the passing trace of the grounding float as the work travels. Then, the ground contact float changes in the amount of subsidence from the mud surface downward depending on the hardness of the mud, and the level of the ground leveling by the ground contact float also changes accordingly. The mud level detection sensor that detects displacement detects mud levels other than the traces of the ground float, so the leveled ground level detection sensor and the mud level detection sensor that detect the level of the ground leveled by the ground float According to the detection information of 1., the mud level subsidence amount of the grounding float can be accurately detected without being affected by the change in the subduction amount of the grounding float.

Then, by automatically correcting the elevation control sensitivity based on the subsidence amount data thus detected, it is possible to always maintain an appropriate control sensitivity according to the hardness of the mud.

Further, since the mud level detection sensor is configured to be attached to the frame of the working device, not to the ground float,
Even when the ground float frequently vibrates vertically due to the mud pushing resistance, there is no possibility that the detected value will fluctuate due to the vibration, and there is also less risk that mud will scatter as the work runs.

If the detection values of the mud level detection sensor are averaged as described in claim 2, due to unevenness of the tiller or mud surface,
Even if the value detected by the detection sensor changes abruptly, the sensitivity is corrected based on the average value of the detected values within a predetermined time, so the control becomes unstable and frequent up-and-down operations are performed. You can suppress being exposed.

〔The invention's effect〕

The effects of adopting the above configuration are as follows.

That is, without lowering the durability of the detection sensor due to scattering of mud or the like, such as a decrease in detection accuracy,
It was possible to obtain detection information on the amount of subsidence of the ground float, and it was possible to maintain control sensitivity that was always suited to the field conditions.

Further, if the detection values of the mud level detection sensor are averaged as described in claim 2, in addition to the above-mentioned effect, it is significantly affected by a rapid change in vertical movement due to traveling of the aircraft. Instead, it is possible to maintain smooth lifting control that responds to the hardness of mud.

〔Example〕

 Embodiments of the present invention will be described below with reference to the drawings.

FIG. 6 shows a riding type rice transplanter according to the present invention. This rice transplanter is equipped with a seedling planting device (2) (an example of a working device) via a parallel four-link mechanism (1) at the rear of the riding type traveling body.
Is connected so that it can be moved up and down.

The seedling planting device (2) is a seedling placing table (4) which is reciprocally driven with a constant stroke with respect to the framed transmission case (3), and a seedling placing device (2) removes seedlings from the lower end of the seedling placing table (4). The hydraulic cylinder (7) expands and contracts, consisting of a planting mechanism (5) that cuts out each plant and plants it on the mud surface, and a grounding float (6) that can swing up and down within a certain range around the rear lateral fulcrum (X). It is configured so that it can be raised and lowered by being driven.

A fertilizer application device (15) is attached to the rear upper part of the seedling planting device (2).

Further, on both right and left sides of the seedling planting device (2), line drawing markers (8) for drawing a center line, which is a running index in the next planting area, on the mud surface are provided so as to be able to swing back and forth.

A center mascot (9) serving as an index with respect to the center line is erected at the center of the front end of the traveling body.
As shown in FIG. 5, the center mascot (9) is provided with a plurality of high-intensity light emitting diodes (10). This light emitting diode (10) can be used, for example, when the number of seedlings placed on the seedling placing table (4) is low, when the line drawing marker (8) is left out, and the remaining amount of fertilizer stored in the fertilizer application device (15) remains. When it is low, or engine (E)
When the fuel is exhausted, it is possible to determine which malfunction is occurring by the blinking mode.

Then, based on the fluctuation of the grounding pressure of the grounding float (6), an elevating control means for maintaining the height of the seedling planting device (2) against the mud surface at a predetermined height is provided, and the mud of the grounding float (6) is provided. Sensitivity correction means (A) for detecting the amount of surface subsidence and correcting the control sensitivity of the elevation control means based on the detection result is provided.

More specifically, as shown in FIG. 1, the rear link (12) which constitutes the rear fulcrum of the grounding float (6) can be vertically rocked and fixed by an operating lever (not shown) in a planted transmission case (3). The rear link (12) is attached to the rocking support part.
Of the displacement data of the planting depth by detecting the displacement of the ground, that is, the level of the mud surface of the surface of the ground leveled by the grounding float (6) from the swing angle of the rear link (12). There is provided a first potentiometer (PM1) [an example of a ground level detection sensor] for detecting the level of the ground level on the surface.

While following the ground contact on the mud surface at the lateral side of the grounding float (6), the mud surface following grounding body (11) is attached to the planted transmission case (3) so that it can swing vertically around the horizontal axis.
The second potentiometer (PM) as a mud level detection sensor for detecting the vertical swing amount of the mud level following grounding body (11).
2) Apply [Example of mud level detection sensor] to the planting transmission case (3) at the vertical swing fulcrum of the mud level grounding body (11).
It is attached to.

Further, there is provided a third potentiometer (PM3) [an example of a ground pressure detecting sensor] for detecting the amount of vertical swing around the rear fulcrum based on the fluctuation of the ground pressure of the ground float (6).

And a calculating means (B) for calculating an average value of the detection values by the second potentiometer (PM2) within a predetermined time.
And the sensitivity correction means (A) operates based on the average value.

That is, the ascending / descending control means, the sensitivity correction means (A), and the calculation means (B) are respectively provided in the control device (13) as a control program, and the control device (13) executes control as follows. .

The control device (13), as shown in FIG. 2 and FIG.
The detection result of the third potentiometer (PM3) is compared with a preset value, and if they are different, the solenoid valve (14) is driven until they match (# 4, # 5, # 6, # 7). Step). In this way, the seedling planting device (2) is maintained at a predetermined height against the mud surface.

Then, the detection results of the first and second potentiometers (PM1) and (PM2) are read prior to the lifting control (# 1
Step), the position of the bottom surface of the grounding float (6) with respect to the mud surface, corresponding to the planting depth adjustment from each detection result,
That is, the data of the float subsidence amount (proportional to the hardness and softness of mud) is obtained, and the average value of the read data within a predetermined time is calculated (# 2 step). Next, based on the average value, the control dead zone for the detection value of the third potentiometer (PM3) is changed and set (step # 3).
For example, if the mud is soft and the settlement amount is large, the control sensitivity is changed to the sensitive side, and conversely, if the mud is hard and the settlement amount is small, the control sensitivity is changed to the insensitive side.

In this way, for example, as shown in FIG. 4, even if the detection value of the mud surface sensor (11) changes abruptly (point Q) due to unevenness of the tiller or mud surface, Since the sensitivity correction is performed with the average value (t), smooth control can be maintained.

Incidentally, the sensitivity correction means (A) is the same as step # 3 in the above flowchart.
In the step, the calculating means (B) is composed of the # 2 step, and the ascending / descending control means is composed of the third potentiometer (PM3) and the # 4, # 5, # 6 and # 7 steps of the flowchart. The sensitivity correction means may be a means for increasing or decreasing the output value of the third potentiometer (PM3) instead of a means for changing the dead zone, or a means for changing the grounding biasing force of the grounding float (6).

It should be noted that reference numerals are added to the claims for convenience of comparison with the drawings, but the present invention is not limited to the structures of the accompanying drawings by the entry.

[Brief description of drawings]

The drawings show an embodiment of a lifting control device for a paddy work machine according to the present invention. Fig. 1 is a control system diagram of essential parts, Fig. 2 is a control block diagram, Fig. 3 is a control flowchart, and Fig. 4 is a float. FIG. 5 is a rear view of the center mascot, and FIG. 6 is an overall side view of the rice transplanter. (2) …… Working device, (3) …… Frame, (6) ……
Grounding float, (11) …… Muddy surface following grounding body, (A) ……
Sensitivity correction means, (B) ... Calculation means, (PM1) ... Ground level detection sensor, (PM2) ... Mud level detection sensor, (PM3) ... Ground pressure detection sensor.

Claims (2)

(57) [Claims] 1. A lifting control means for maintaining a working device (2) connected to a traveling machine body so as to be movable up and down at a predetermined height against the mud surface based on fluctuations in grounding pressure of a grounding float (6). An elevation control device for a paddy work machine, which is provided with a ground level detection sensor (PM1) for detecting the level of the ground leveled by the ground float (6), and from the trace of the ground float (6). A mud surface tracking grounding body (11) that moves up and down according to the level change of the mud surface at a deviated position, and a mud surface level detection sensor (PM2 that detects the vertical displacement of this mud surface tracking grounding body (11). ) And based on a mud level subsidence amount of the grounding float (6) obtained from detection results of the ground level detection sensor (PM1) and the mud level detection sensor (PM2), Sensitivity correction means for correcting control sensitivity Provided with a A), elevation control apparatus for paddy working machine is attached to the frame (3) of the working device the mud level detecting sensor (PM2) (2). 2. A calculation means (B) for calculating an average value of detection values by the mud level detection sensor (PM2) within a predetermined time, and the sensitivity correction means (A) based on the average value. Is configured to operate.
Lifting control device for paddy working machine described in.