JP2601691B2 - Moving agricultural machine - Google Patents

Description

The present invention relates to a mobile agricultural machine, and particularly to a mobile agricultural machine suitable for use as a management machine for performing intermediate management such as fertilization, pest control, weeding, and grooving. The present invention relates to a mobile agricultural machine having a body frame supporting an elevating member that is driven up and down by operation of an actuator, and further lowering the elevating member from a grounded state to lift the traveling body.

(B) Conventional technology In general, a management machine that performs intermediate management work such as topping up a seedling planted in a field with a mobile farming machine, for example, a rice transplanter, or removing weeds that have grown in the field, is not used when the farming machine reaches the field edge. When turning, the steering is performed with the wheels kept in contact with the ground, thereby turning the headland in an arc shape. For this reason, it is necessary to keep a headland larger than the aircraft length at the edge of the field so that the aircraft can turn, and if the steering is fully turned to reduce the turning radius, the wheels must be Due to the burial on the rice field, the required torque on the steering increases and the operability deteriorates, and the surrounding soil is pushed away by the wheels, causing the seedlings planted near the turning area to be knocked down and out of stock Occurs.

In order to solve the above-mentioned problems, the present applicant has previously set all the wheels at least at the front and rear of the fuselage on a fuselage frame supported by wheels capable of turning at least 90 degrees, and has been driven up and down. First, the stick located on one of the front and rear sides is lowered to lift the one wheel, and in this state, the one wheel is turned in a predetermined direction, and after the direction is turned, the stick is raised. The one wheel is grounded, and then the stick located on the other is lowered to lift the other wheel, and in this state, the other wheel is turned in a predetermined direction, and after the turning, the stick is raised and the A mobile agricultural machine configured to ground the other wheel was proposed.

Then, the mobile agricultural machine further lowers the stick from the ground, lifts one (or the other) wheel to steer, and then activates the hydraulic actuator to raise the stick to re-activate the one (or the other) wheel. In this case, since the weight of the lifted traveling body is applied to the stick, the lifting operation of the stick is accelerated, and the one (or the other) wheel may come into contact with impact. is there.

(C) Problems to be Solved by the Invention Therefore, a throttle valve is interposed on the stick rising side of an oil passage for supplying pressure oil to the hydraulic actuator, or the hydraulic actuator is configured to perform inching control during a lifting operation. It is conceivable that the hydraulic actuator is operated relatively slowly when the wheels touch the ground, and the wheels are touched gently.However, according to this, even when the stick is further lifted to shift to the next operation after the wheels touch the ground, Similarly, since the hydraulic actuator is operated slowly and the weight of the stick itself is taken into account, the stick is lifted more slowly, and the required time is wasted.

Therefore, the present invention is configured to distinguish between a stick lifting operation for grounding the wheels and a stick lifting operation after the wheels touch the ground so as to have a difference between the respective operating speeds, and thus the moving which solves the above-described problem. The purpose is to provide agricultural machinery.

(D) Means for Solving the Problems The present invention has been made in view of the above circumstances, and, for example, referring to FIGS. 1 and 2, an airframe (5) includes an actuator (13). ) Is a mobile agricultural machine (1) that supports an elevating member (11) that is driven up and down by the operation of (1), and further lowers the traveling body (4) by further descending from a state where the elevating member (11) is grounded, A movement detecting means for detecting movement of the elevating member; receiving a detection signal from the movement detecting means, when a change time of the detection signal is shorter than a set value; , The actuator (13)
Is controlled to slowly raise the elevating member (11), and when the change time of the detection signal is longer than a set value,
By operating the actuator (13), the lifting member (1
And (1) a rise control means (45) for quickly rising.

(E) Action Based on the above-described configuration, when performing intermediate management work such as fertilization and weeding, the mobile agricultural machine (1) travels while working between the strips of the planted rice culm. Then, when changing direction on a headland or the like, first, the actuator (13) is actuated to lower the elevating member (11) to make contact with the ground, and the elevating member (11) is further lowered to travel the vehicle body (4). Together with the wheels, and steer in this state. And after the end of the steering,
The actuator (13) is actuated to raise the elevating member (11) and ground the traveling body (4). The movement of the elevating member (11) is detected by the movement detecting means (43). Since the change time of the detection signal is shorter than the set value, the ascending control means (45) uses the actuator (13)
To slowly raise the elevating member (11). Therefore, the traveling body (4) is gently grounded. And
When the elevating member (11) is further raised after the grounding of the wheel in preparation for the next operation, the change time of the movement detection signal of the elevating member (11) by the movement detecting means (43) is compared with the set value. As a result, the lift control means (45) operates the actuator (13) based on this to quickly raise the lifting member (11).

Note that the reference numerals in parentheses do not limit the configuration at all.

(F) Example Hereinafter, an example according to the present invention will be described with reference to the drawings.

As shown in FIGS. 1 and 2, the management machine 1
a, 2b and a traveling body 4 supported by wheels 3a, 3b, and the traveling body 4 has a body frame 5 arranged in a rectangular shape, and furthermore, a central part of the body frame 5 Is provided with a turning support shaft 6 of a turning frame 7, whereby the turning frame 7 is configured to freely turn in a horizontal direction. A lower link 9a and a top link 9b are mounted on the revolving frame 7 so as to be vertically swingable, and the tips of the links 9a and 9b are mounted adjacent to one end of the stick 11, respectively. Further, the links 9a and 9b are configured to freely rotate by a hydraulic actuator 13 provided in the vicinity of the rotation base to move the stick 11 up and down. A working part 16 is attached to the turning frame 7 via a parallel link 15, and the parallel link 15, that is, the working part 16 is freely moved up and down by a hydraulic actuator 17 having one end attached to the turning frame 7. It is configured to be. The engine 23 and the transmission are located below the body frame 5.
25 and the like are suspended on the plate 40 respectively. Then, the rotation of the engine 23 is reduced by the transmission 25, passes through the bevel cases 31, 31 arranged in the body frame 5 composed of transmission pipes, and is then fixed to the end of each of the transmission shafts arranged inside the body frame 5. Wheels 2a, 2b, 3a, 3b
It is configured to be transmitted to. In the figure, 41 is a solenoid valve, 42 is a microcomputer (hereinafter referred to as a microcomputer), and 46 is a chain case.

Further, a stick position detecting sensor 43 for detecting the vertical position of the stick 11 is installed at the rotation base of the link 9b, and the detecting sensor 43 is connected to the microcomputer 42. Further, the microcomputer 42 has a rising control means.
The elevation control means 45 receives a detection signal of the elevation angle of the stick 11 by the stick position detection sensor 43, and the change time of the detection signal is preset in the microcomputer 42. If it is shorter than the set value, the hydraulic actuator 13 is inching-controlled to slowly raise the stick 11, and if the change time of the detection signal is longer than the set value, the hydraulic actuator 13
Is operated as usual to raise the stick 11 quickly.
In addition, in the figure, A shows a rice field surface, B shows a cultivator, A 'shows a rice field surface at the time of lifting the fuselage with the stick 11 inserted, and B' shows a cultivator at the time of lifting the fuselage. I have.

Since the present embodiment has the above-described configuration, for example, when performing fertilization work on rice culm planted in a field, turning on the traveling clutch causes the management machine 1 to reach the work start position on one headland. It travels and travels straight between the plants along the strip of rice culm from the start position to the other headland. At this time, the management device 1 is in a state where the stick 11 is raised and the working unit 16 is lowered.

Then, when the management machine 1 reaches the other headland, the traveling clutch and the PTO clutch are turned off, the fertilization work is stopped, the running of the management machine 1 is stopped, and the hydraulic actuator 17 is operated in this state. By raising the section 16 and then operating the hydraulic actuator 13, the stick 11 is lowered toward the rice field, and the wheels 2a and 2b, which have been working as front wheels, are lifted. Then, in this state, the wheels 2a,
2b is rotated 90 degrees, and then the stick 11 is raised and the wheels 2
Ground a and 2b. Next, the turning frame 7 is turned by 180 degrees to turn the stick 11 toward one headland side, and in this state, the stick 11 is lowered to the rice field surface, and the wheels 3a and 3b are lifted up. 3b is rotated 90 degrees, the stick 11 is lifted, and the wheels 3a and 3b are grounded. afterwards,
The stick 11 is controlled by turning the turning frame 7 by 90 degrees.
When the traveling clutch is turned on in the direction of the traveling direction,
The power from the engine 23 is transmitted to the wheels 3a and 3b via the transmission 25, and the management machine 1 resumes straight traveling along the other headland.

Then, the management machine 1 stops after traveling an appropriate distance, and in the same manner as described above, steers the wheels 2a, 2b and the wheels 3a, 3b in the next traveling direction by 90 degrees, and from the other headland, Go straight to the headland while performing fertilization along the strip of rice culm. By repeating the steering operation as described above, the vehicle travels in a zigzag manner on the field, and fertilizer application is performed on the entire field.

At the time of the steering operation, as shown in FIG. 3 (a), for example, the stick 11 is grounded and the wheels 2a, 2b
When the steering of the wheels 2a, 2b is finished,
First, it is determined whether to raise the stick 11 (S
1) Then, when the stick 11 rises, it is further determined whether or not the tip of the stick 11 is located below the line A in FIG. 1 based on the detection of the stick position detecting sensor 43 (S2). As a result, when the tip of the stick 11 is located above the A line, the stick 11
By the hydraulic actuator 13 which normally operates in response to the signal 45, it is quickly raised without performing inching control (S3). If it is determined that the tip of the stick 11 is located below the line A, it is further determined whether or not the rising flag has been reset (S4).
If the rising flag has not been reset, the stick 11 is quickly raised without performing inching control (S5). When the rising flag is reset in S4, whether the change time of the stick detection signal by the stick position detecting sensor 43 is smaller (shorter) than the set value preset in the microcomputer 42 is determined. Is determined (S6). As a result, if the change time is larger (longer) than the set value, it is determined that the operation is to lift the stick 11 after the wheels touch the ground, and the lift flag is set (S7). As a result, the stick 11 is quickly raised without performing inching control (S8) (FIG. 3 (c)). On the other hand, when the change time of the stick detection signal is smaller (shorter) than the set value in S6, it is determined that the operation is the descending operation from the wheel lifting state, and the inching control of the hydraulic actuator 13 is performed (S9). , So wheels 2
a and 2b are slowly lowered and grounded.

In the present embodiment, the stick position detection sensor 43 is used to detect the grounding of the wheels and the like. However, the present invention is not limited to this, and an inclination sensor that detects the inclination of the traveling machine body 5 is used.
When the wheels 2a, 2b descend from the ascending position, based on the shortening of the value change time of the inclination sensor, the inching control of the hydraulic actuator 13 is performed and the stick 11 is gently elevated to ground the wheels 2a, 2b without impact. After the wheels 2a and 2b touch the ground, the value of the inclination sensor does not change, that is, based on the fact that the value change time is longer than the set value, the stick 11 is quickly moved without performing the inching control of the hydraulic actuator 13. May be configured to ascend.

As shown in FIG. 5, when the stick 11 is lowered and one of the wheels (for example, 2a, 2b) is lifted to perform steering, the hydraulic actuator 13 is operated to perform inching operation, thereby causing the wheels 2a, 2b and the chain case to move. Vibrates 46,
This removes mud and the like adhering to the wheels 2a, 2b, etc.,
You may be comprised so that running performance after that may be improved.

Further, as shown in FIG. 7 (a), when the wheels 3a, 3b are already steered and the wheels 2a, 2b are lifted, the center of rotation is the ground point C of the wheels 3a, 3b, 1
The locus of the stick 11 when the lifting operation is performed with the distance between the ground contact point 1 and the ground points of the wheels 3a and 3b being constant is indicated by an arrow D, and the wheels 3a and 3b are moved as shown in FIG. When the wheels 2a, 2b are lifted without steering, the center of rotation is the wheel E of the wheels 3a, 3b, the trajectory of the stick 11 is an arrow F, and the contact angle of the stick 11 varies depending on the case. Therefore, another embodiment in which a lateral load or the like acting on the wheel or the stick 11 during lifting of the wheel is prevented will be described with reference to FIGS. 6 (a), (b) and (c).

The stick 11 'is constituted by providing a stick member 11'b at the tip of a stick pipe 11'a, and a shaft 49 serving as a fixed fulcrum penetrates and is fixed slightly above the stick pipe 11'a. Have been. A long hole 50 is formed at the top of the stick pipe 11'a so as to be orthogonal to the axis, and a pin 51 attached to the tip of the top link 9b passes through the long hole 50. A lower link 9a is rotatably supported by the shaft 49. Further, a leaf spring 52 is provided in the long hole 50 portion, so that the stick 11 'absorbs the movement of the pin 51 into the long hole 50, and the stick 11' moves to the position shown by the solid line in FIG. And the stick 11 'is always returned to the solid line position when the stick 11' is released by the urging force of the leaf spring 52. Therefore, when the stick 11 'is grounded and the wheel is lifted, the stick 11' can be freely moved in the longitudinal direction of the aircraft regardless of whether the rotation center is the ground point C or the axle E as described above. Since the stick 11 'can be swung, no excessive lateral load acts on the stick 11', and the ground contact position of the wheel can be matched before and after the wheel lifting operation.

Further, as shown in FIG. 8 (a), stick member mounting holes 52a, 52b, 52c are formed below the stick pipe 11 "a constituting the stick 11".
One end of 1 "b is formed thinner than the other end, and is removably fitted to the stick pipe 11'a. At the same time, a mounting hole 53 is formed at one end of the stick member 11" b. The mounting pin 53 is fitted to the hole 52b, the mounting pin 55 is fitted, and the R pin 56 is inserted into the hole 55a formed at the tip of the mounting pin 55, and the stick member 11 "b is connected to the stick pipe 11".
a, and in Asada, the mounting hole 53 is aligned with the mounting hole 52a and fixed with the mounting pin 55, and in Fukada, the mounting hole 53 is aligned with the mounting hole 52c. 55, so that the lifting amount from the rice field by the stick 11 "becomes constant according to the field conditions, the wheels cannot be lifted well during steering, and As described above, a configuration may be adopted in which the problem that the wheel is lifted or the like is reliably prevented.In place of the stick member 11 "b, the stick member 11" b shown in FIG. Stick member 57 having a large tip diameter g and a tip diameter G
The stick member 11 ″ b and the stick member 57 may be replaced by one-touch operation. In addition to the above-described effects, the stick member 11 ″ b and the stick member 57 may be selectively used in a soft field.

(G) Effect of the Invention As described above, according to the present invention, when the detection signal of the movement detecting means (43) is received and the change time of the detection signal is shorter than the set value, the actuator is actuated. (13) is controlled to slowly raise the elevating member (11). If the change time of the detection signal is longer than the set value, the actuator (13) is operated to quickly move the elevating member (11). Since the lift control means (45) for raising the vehicle body is provided, the lifted traveling body (4) can be gently grounded to prevent unnecessary impact on the body (4). When shifting to the next operation, the elevating member (11) can be quickly raised, and the working efficiency can be improved without wasting required time.

[Brief description of the drawings]

1 is an overall side view showing a management machine according to the present invention. FIG. 2 is a plan view of the management machine. FIGS. 3 (a), 3 (b) and 3 (c) show each of the management machine from the machine lifting state to the ground. FIG. 4 is a side view showing the process, and FIG. 4 is a flowchart showing the operation of this embodiment. Further, FIG. 5 is a side view showing an embodiment in which mud on wheels is dropped when the body is lifted, and FIG. 6 shows another embodiment in which a stick is swingable (a) side view (b)
FIGS. 7 (a) and (b) are perspective views of the front view, FIG. 7 (a) and FIG. FIG. 8 (a) is a diagram showing still another embodiment in which the position of the stick member is adjustable, and FIG. 8 (b) is a diagram showing stick members having different tip diameters. 1 ... moving agricultural machine (management machine), 4 ... traveling body, 5 ... machine body frame, 11 ... elevating member (stick), 13 ... actuator (hydraulic actuator), 43 ... movement detection means (stick position detection Sensor), 45 ... ascent control means.

Claims (1)

(57) [Claims] 1. A mobile agricultural machine comprising: a body frame supporting an elevating member that is driven up and down by actuation of an actuator, and further lowering the elevating member from a grounded state to lift a traveling body, wherein the elevating member is Movement detecting means for detecting the movement of the movement detecting means, and when the change time of the detection signal is shorter than a set value, the actuator is controlled to slowly move the elevating member. Rise, and when the change time of the detection signal is longer than a set value, a rise control means for actuating the actuator to quickly raise the elevating member, Moving farm machine.