JP2578596C - - Google Patents

Description

The present invention relates to a paddy field working vehicle such as a riding rice transplanter, a submerged direct sowing machine, etc., and more specifically, a work supported on a traveling machine so as to be able to move up and down and swing freely. The present invention relates to a control device for switching a unit between horizontal control and parallel control. (B) Conventional technology Generally, in a paddy field working vehicle, for example, a riding rice transplanter, a planting portion is supported on a traveling body so as to be able to move up and down via a link, and the link is appropriately operated by operating a hydraulic cylinder device. Thereby, the planting section is controlled to move up and down in response to the operation of the lifting operation lever. The planting portion is swingably supported at the rear end of the link by a rolling fulcrum shaft and is urged and held by a spring so as to be substantially horizontal. , And a large number of planters are driven to sequentially plant the mat seedlings placed on the seedling mounting table. (C) Problems to be Solved by the Invention However, in the conventional riding rice transplanter described above, since the wheels travel on the cultivator in the field, the traveling machine body is tilted irregularly during rice transplanting and the like, Although the planting part floats on the field scene with the float, it is slightly inclined in the same direction with the inclined traveling body. For this reason, there arise problems such as a part of the planters arranged in the lateral direction being raised and shallow planting, and a part of the planters being settled and deep planting. In addition, when the rice transplanter travels over a ridge at the beginning or end of work, the planting section held at the aircraft's ascending position is moved by the spring due to the large swaying over the ridge in order to avoid obstruction of traveling. , The balance of the fuselage becomes worse, and the balance of the fuselage further worsens during traveling. In a remarkable case, there is a danger of falling down. (D) Means for solving the problem The present invention aims to solve the above-mentioned problems, and for example,
As shown in the figure, the working unit 10 can be moved up and down on the traveling machine body 5 and a rolling fulcrum shaft 31 is provided.
The work unit 10 is vertically supported by the lifting means 19, and is vertically controlled by the lifting means 19, and is horizontally controlled by the swing means 32 about the rolling fulcrum shaft 31. A paddy field work vehicle 1 configured to perform parallel control for maintaining the vehicle body in parallel with the traveling body, wherein a level detection unit 13 for detecting the level of the work unit for the level control; The inclination detecting means 33 for detecting the inclination of the working unit with respect to the traveling body, the upper limit position detecting means 30 for detecting that the working unit is near the upper limit position, and the float 14 provided in the working unit A float potentiometer 15 for detecting a rotation angle, and the upper limit position detecting means 30 detects a control position C (see FIG. 3 (a)) for switching between horizontal control and parallel control of the working unit. position When moving in at least one direction by the elevation control of the working unit, parallel control is performed at the control position by a signal from the control unit 23 based on the detection of the upper limit position detection unit 30, and a range less than In the paddy field working vehicle, the horizontal control is performed, and the float potentiometer 15 detects the start of the landing of the float 14 so as to reduce the descent speed of the work machine. In the control unit. (E) Function Based on the above-described configuration, when the working unit 10 is moved in any one direction by the elevation control during the operation in the field using the paddy field work vehicle 1, the upper limit position detecting means 30 closes the upper limit position, that is, performs control switching. When it is detected that the working unit 10 has deviated from the position C, a signal is output from the control unit 23 based on a signal from the upper limit position detecting unit 30 and the working unit 10 is output.
Is switched from the parallel control to the horizontal control. Also, when the working unit 10 moves in any one direction, when the upper limit position detecting means 30 detects that the working unit 10 has entered the upper limit position, that is, the control switching position C, the upper limit position detecting means 30 and the inclination detecting means A signal is output from the control unit 23 based on the signal from 33, and the working unit 10 is switched from horizontal control to parallel control. Also, when the float potentiometer 15 detects the start of the landing of the float 14 when the work unit 10 is lowered by the horizontal control, the lowering speed of the work unit 10 is reduced, and the float 14 lands slowly. (F) Example Hereinafter, examples of the present invention will be described with reference to the drawings. As shown in FIG. 5, the riding rice transplanter 1 has a traveling machine body 5 supported by a front wheel 2 and a rear wheel 3, and the traveling machine body 5 has an engine 6 mounted on a front portion of the front wheel. In addition, a driver's seat 9 is arranged so that the seat 7 is located at an intermediate portion between the front and rear wheels, that is, at the machine body weight center portion. Further, a planting section 10 is supported at the rear of the traveling machine body 5 via a link 8 so as to be able to move up and down, and a large number of planters 11,..., Floats 14, and mat seedlings can be placed on the planting section 10. A long seedling rest 12 is provided. The main body of the planting section 10 has a horizontal sensor 1 for detecting the level of the planting section 10.
3 and a float potentiometer 15 for detecting the movement of the float 14, that is, the earth pressure acting on the float, are respectively provided. Further, a horizontal cylinder 18 is provided on the back surface of the seedling rest 12. Further, a hydraulic cylinder device 19 as an elevating means is disposed between the front transmission case 16 of the traveling machine body 5 and the bracket 17 fixed to the link 8, and the planting portion 10 is moved based on the expansion and contraction thereof. Working up and down. In the driver's seat 9, a planting portion elevating operation lever 20 is provided on one side of the seat 7, and a sensitivity adjustment volume 21 and a planting portion automatic control switch 22 are provided on the other side. Further, the lifting operation lever 20 is configured to operate the PTO clutch for connecting and disconnecting the drive of the planter 11 in a timely manner by the tilting operation. Further, as shown in FIG. 1, a microcomputer 23 (
A signal from a sensitivity adjusting volume 21 for adjusting the control sensitivity of the planting section 10 and a signal from the planting section automatic control switch 22 are input to the microcomputer. 25 is turned on. Further, the microcomputer 23 has a detection signal from a lever potentiometer 26 for detecting the tilt angle θ _L of the planting portion elevating operation lever 20, a detection signal from the float potentiometer 15 for detecting the angle θ _{F of the} float 14, and a throttle detection switch. 27 are input. An electromagnetic switching valve 29 for raising and lowering the hydraulic cylinder device 19 for raising and lowering the planting section 10 is operated by a microcomputer 23 based on detection signals from the lever potentiometer 26 and the float potentiometer 15.
The switching valve 29 is actuated by the lifting operation lever 20.
The hydraulic cylinder device 19 is controlled to operate in accordance with each of the operation positions U (up position), N (fixed position), D (down position), and A (automatic position). The planting unit 10 is supported so as to be able to swing in a balance-like manner on a rolling fulcrum shaft 31 and is appropriately controlled to swing by a double-acting swing hydraulic cylinder device 32 as a swing unit. When the swing angle θ _s due to the swing is detected by the tilt potentiometer 33 as the tilt detecting means, the detection signal is input to the microcomputer 23. Further, a detection signal of the degree of horizontality is input to the microcomputer 23 from the horizontal sensor 13 as a level detecting means. When the planting section 10 is raised in accordance with the raising position U of the lifting operation lever 20, the planting section upper limit switch 30 installed near the upper limit position of the planting section 10 is turned on by the planting section 10. And the planting section 1
The microcomputer 2 receives a detection signal indicating that 0 has entered the control switching position C (see FIG. 3 (a)).
The microcomputer 23 sends a signal to the lifting / lowering electromagnetic switching valve 29 to stop the operation of the hydraulic cylinder device 19 to stop the rise of the planting section 10 and to receive a signal from the tilt potentiometer 33. Switching electromagnetic switching valve 3 based on
5, the swing hydraulic cylinder device 32 is appropriately operated to switch the planting section 10 from horizontal control to parallel control that is parallel to the traveling machine body 5. Further, from this state, the planting portion 1 is moved corresponding to the lowered position D of the lifting operation lever 20.
When descending from 0, the pricing unit upper limit switch 30 is turned off, so that the planting unit 1
A detection signal indicating that 0 has deviated from the control switching position C is input to the microcomputer 23, whereby a signal is sent from the microcomputer 23 to the electromagnetic switching valve 35 based on the levelness detection signal from the horizontal sensor 13, and the hydraulic cylinder device for swinging 32 is operated appropriately, and the planting section 10 is switched from the parallel control to the horizontal control, and is lowered while maintaining the horizontal state by the operation of the hydraulic cylinder device 19 for raising and lowering. And planting part 1
0 is landed on the field scene by horizontal control. In this case, the hydraulic cylinder for lifting and lowering is used from when the float 14 is lightly grounded and the float potentiometer 15 starts to detect the grounding until the float 14 is completely landed. The planting unit 10 is configured to be slowly lowered by the control of the device 19 and to be automatically moved up and down by a signal from the float potentiometer 15 after landing. Since the present embodiment has the above configuration, when performing rice transplanting using the riding rice transplanter 1, the operator starts the engine 6 and turns on the planting section automatic control switch 22 in the driver's seat 9. Then, the planting section elevating operation lever 20 is operated to the up position U.
Then, the tilt angle θ _L of the elevating operation lever 20 is detected by the lever potentiometer 26 and input to the microcomputer 23, whereby a signal is output from the microcomputer 23 to the elevating electromagnetic switching valve 29, and the elevating hydraulic cylinder The device 19 is activated to raise the implant 10. When the planting section 10 reaches the upper limit position, the planting section upper limit switch 30 is turned on by the elevating link 8, and a signal is transmitted from the microcomputer 23 to the electromagnetic switching valve 29 for elevating based on a signal input by the ON operation. Thus, the operation of the lifting hydraulic cylinder device 19 is stopped, and the planting section 10 stops its raising operation. At the same time, when the upper limit switch 30 is turned on to detect that the planting section 10 has entered the control switching position C, the microcomputer 23 detects the swinging electromagnetic switching valve 35 from the tilt potentiometer 33. An operation signal based on the signal input is transmitted, whereby the switching valve 35 appropriately operates the hydraulic cylinder device 32, and as shown in FIG. 3 (a), travels on the planting section 10 which has been maintained in a horizontal state. The state is controlled to be parallel to the body 5. In this state, the riding rice transplanter 1 is steered to the rice transplanting start position in the field, and the descending operation lever 20 is operated to the lowered position D. Then
Based on the detection of the inclination angle θ _L of the lever 20 by the lever potentiometer 26,
A signal is output from the microcomputer 23 to the electromagnetic switching valve 29 for elevation, whereby the hydraulic oil is drained from the hydraulic cylinder device 19, and the planting section 10 is lowered from its upper limit position. Therefore, the planting section upper limit switch 30 is turned off to detect that the planting section 10 has deviated from the control switching position C, and the detection signal is input to the microcomputer 23. As a result, an operation signal based on the horizontality detection signal of the horizontal sensor 13 is output to the swinging electromagnetic switching valve 35, and the hydraulic cylinder device 32 for lifting and lowering is appropriately operated to switch the planting section 10 to the horizontal state. 3 As shown in FIG. 3 (b), the vehicle descends toward the field scene while maintaining the horizontal state. Then, when the planting unit 10 approaches the field scene and the float 14 starts to contact the ground, the operation of the hydraulic cylinder device 19 is relaxed based on the detection of the float potentiometer 15, and the planting unit 10 is moved to the state shown in FIG. As shown in (1), the float 14 is slowly lowered until the float 14 is completely landed, and automatic lifting control is performed. Subsequently, when the elevating operation lever 20 is operated to the automatic position A, P
The TO clutch is connected to drive the planter 11, and the planter 11 successively inoculates the mat seedlings placed on the seedling rest 12 in the field as the rice transplanter 1 travels. At this time, the traveling machine body 5 swings irregularly because the wheels 2 and 3 travel along the plow of the field, but the planting unit 10 operates while being sequentially compared with the detection signal of the horizontal detection sensor 13. In the horizontal control by the swing hydraulic cylinder device 32, the vehicle slides following the field scene independently of the operation of the traveling machine body 5, so that the problem of shallow planting and deep planting due to ups and downs of the planter 11 does not occur. Then, when the planting section elevating operation lever 20 is operated to the up position U in order to perform rotation when the rice transplanter 1 reaches the end of the field or the like, the tilt angle θ _{L of the} lever 20 is detected as described above, and the detected value Signal from the microcomputer 23 is transmitted from the microcomputer 23 to the electromagnetic switching valve 2 for elevation.
9, the hydraulic cylinder device 19 is actuated, and as shown in FIG. 4 (a), the planting portion 10 is raised while being kept horizontal. Then, the planting section 10 is moved by the raising operation.
As shown in FIG. 4 (b), when the control switch position C for turning on the upper limit switch 30 is entered, the microcomputer 23 receives the input of the tilt potentiometer 33 for detecting the inclination angle θ _s of the planting section 10, and A signal is output to the swinging electromagnetic switching valve 35, and the swinging hydraulic cylinder device 32 is appropriately operated to switch and maintain the planting section 10 from horizontal control to parallel control as shown in FIG. 4 (c). . In this embodiment, the switching between the parallel control and the horizontal control of the planting section 10 is performed at the time of ascending and descending. However, the switching of the parallel and horizontal control is performed by the pricing section 10. It is needless to say that the control may be performed when moving in any one direction in the elevating control, and different contents may be controlled when moving in the other direction. Further, the application of the present invention is not limited to the riding rice transplanter 1, and a planting robot configured so that an operator can perform operations such as planting without getting on the machine,
The present invention may be applied to a submerged direct sowing machine or the like in which seed rice is sown as it is in a field. In this embodiment, the planting portion upper limit switch 30 is used to detect the control switching position C for switching between the parallel control and the horizontal control of the planting portion 10. It goes without saying that any other means such as a volume in which the elevation angle of the attachment section 10 is set in advance may be used. (G) Effects of the Invention As described above, according to the present invention, when the working unit 10 moves in at least one direction by the elevation control, the control unit 23 based on the detection of the upper limit position detection unit 30.
, The parallel control is performed at the upper limit position of the working unit, and the horizontal control is performed in the lower range, so that the control of the working unit 10 can be automatically switched by a simple operation. At the upper limit position, the working unit 10 can be maintained parallel to the traveling machine body 5 so that the working unit 10 can travel and circulate in the most stable state, and the body balance can be maintained even when the vehicle crosses a ridge. It can be performed stably.
Further, in the portion deviating from the upper limit position, the working unit 10 is horizontally controlled by the swinging means 32 around the rolling fulcrum shaft 31 based on the signal from the horizontal detecting means 13,
When the work unit 10 lands on a field scene and performs work, the work unit 10 can be controlled to follow the field scene separately from the traveling machine body 5 that swings depending on the state of the field, and thus the paddy field vehicle 1 is to ground the float 14 in a horizontal state, for example, when planting rice with a riding rice transplanter, reliably prevent problems such as shallow planting and deep planting caused by tilting of the planting portion, and improve efficiency. Work such as good and accurate planting can be performed. Further, when the float is lightly touched and the float potentiometer starts to detect the touch, the working unit 10 descends slowly, so that the work unit lands on the float smoothly by the horizontal control, and the float potentiometer 15 It is possible to accurately shift to the lifting / lowering control of the working unit by the above. Further, when the working unit 10 starts to descend from the upper limit position and is switched from the parallel control to the horizontal control at the same time, the working unit 10 can be brought into a completely horizontal state in a long stroke to the field scene before landing. Thus, the planting operation can be started at the same time as the landing, and it is possible to reliably prevent the working unit 10 from jumping up when landing in an incomplete horizontal state. Further, when the working unit 10 is raised in the horizontal state and reaches the upper limit position, the operation mode is switched to the parallel control. During the operation in the field, the working unit 10 can be lifted only slightly to reliably remove the working unit 10 from the field scene. It is possible to separate them, simplify the operation of the operator at the time of circulating, and improve the work efficiency. The working unit 10 can be easily maintained in a horizontal state at an appropriate height regardless of the sloping state of the working unit 10.
Can be stopped in a state in which the machine is well balanced and work is easy, and workability can be improved.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a system configuration diagram of a control device according to the present invention, FIG. 2 is a flowchart showing its operation, and FIGS. 3 (a), (b) and (c) are planting sections. FIG. 4 (a), (b) and (c) are diagrams showing each operation when switching the planting section from horizontal control to parallel control. is there. FIG. 5 is an overall side view showing a riding rice transplanter to which the present invention can be applied. 1 ... paddy field work vehicle (riding rice transplanter), 5 ... traveling body, 8 ... lifting link,
10 working part (planting part) 13 horizontal detection means (horizontal sensor) 19
Hydraulic cylinder device for lifting and lowering 23 Control unit (microcomputer) 3
0: Upper limit position detecting means (planting unit upper limit switch) 31: Rolling fulcrum shaft
, 32: hydraulic cylinder device for swinging, 33: inclination detecting means (incline potentiometer), C: control switching position.

Claims (1)

Claims (1) A working unit is supported on a traveling machine body so as to be able to move up and down and swingably around a rolling fulcrum shaft , and the working unit is controlled to move up and down by means of raising and lowering means. Rollin
A paddy work vehicle configured to perform horizontal control for swinging about a fulcrum axis to maintain horizontal and parallel control for maintaining parallel to the traveling body , wherein the working unit is used for the horizontal control. Level detecting means for detecting the degree of horizontality, inclination detecting means for detecting the inclination of the working unit with respect to the traveling body for the parallel control, and upper limit position detecting means for detecting that the working unit is near the upper limit position And a float potentiometer for detecting a rotation angle of a float provided in the working unit.
And a control position for switching between the horizontal control and the parallel control of the working unit is set to a position detected by the upper limit position detecting means, and the working unit is moved in at least one direction by elevation control. At the time, by the signal from the control unit based on the detection of the upper limit position detecting means, parallel control is performed at the control position, and horizontal control is performed in a range less than the control position, and the float potentiometer is connected to the ground of the float. Detecting start
A lowering speed of the work implement is reduced by the control device. (2) The control device for a paddy field working vehicle according to claim 1, wherein the working unit is switched from the parallel control to the horizontal control at the same time as starting to descend from the upper limit position. (3) The control device for a paddy field working vehicle according to claim 1, wherein the working unit is raised while maintaining horizontal control and is switched to parallel control when the working unit reaches an upper limit position.