JP2610720B2 - Work machine rolling control device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a ground working device that is connected to a traveling machine body by a driving means so as to be freely driven and rollable around a longitudinal axis, and is grounded on both sides of the ground working device on a mud surface. A grounding sensor for detecting a ground height of the ground working device while following the vehicle is provided, and rolling control means for driving and controlling the driving means so that a difference between detection signals from the grounding sensors falls within a predetermined level is provided. The present invention relates to a rolling control device for a working machine.

[0002]

2. Description of the Related Art Conventionally, in a rolling control device for a work machine, as disclosed in, for example, Japanese Patent Application Laid-Open No. 3-58701, a difference between output values of right and left ground sensors is eliminated during a rolling control operation. The configuration was such that the rolling cylinder was controlled to extend and retract.

[0003]

However, in the above-mentioned conventional structure, when the output value of the right and left ground contact sensor exceeds a predetermined dead zone width, the rolling cylinder is always driven to expand and contract. For example, despite the fact that the cultivator and the mud surface are generally flat, there is a dent in the trace of wheel passage or soil If there is a local uneven portion due to a lump, the output value of the ground sensor on that side changes, and a difference occurs between the left and right sensor outputs, thereby executing the rolling control operation. Then, since the mud surface other than the above-mentioned uneven portion is rolling even though it is flat, as a result, the seedling planting apparatus is inclined with respect to the mud surface, and the left and right planting strips are inclined. There is an adverse effect that a difference occurs in the planting depth. An object of the present invention is to solve the above-mentioned disadvantages.

[0004]

According to a feature of the present invention, in the rolling control device for a working machine described at the beginning, a change in a detection signal of one of the ground sensors is within a predetermined dead zone, and In the case where the other detection signal changes over a predetermined dead zone within a predetermined short period of time, a driving restraint means for restraining the driving of the driving means based on the detection signal is provided.

[0005]

In the rolling control operation, when the output value of one of the ground sensors does not change significantly and the other ground sensor changes spontaneously and suddenly within a predetermined short period of time, such a case occurs. In response to the detection signal, the driving of the driving means is restrained, so that when the other part of the ground is flat, the rolling control operation caused by the local uneven portion is not performed, and the ground work device is not controlled. The attitude to the ground can always be kept parallel.

[0006]

As described above, the rolling control is not performed on the local unevenness on the ground, so that the ground follow-up performance of the working device is improved.

[0007]

Embodiments will be described below with reference to the drawings. FIG.
2 shows a riding rice transplanter which is an example of a working machine. This rice transplanter is configured such that a seedling planting device 2 [an example of a ground working device] is connected to a rear part of a riding type traveling machine body via a link mechanism 1 so as to be able to move up and down and roll freely around a longitudinal axis. That is, the lift cylinder 3 is connected between the machine body and the middle of the link mechanism 1, and the lift cylinder 3 is configured to be driven up and down by driving the lift cylinder 3 to expand and contract. A rolling cylinder 4 (an example of a driving means) is installed over the rear part of the seedling planting apparatus 2 and both right and left sides of the seedling planting apparatus 2, and the rolling cylinder 4 is driven to expand and contract, thereby causing the seedling planting apparatus 2 to roll relative to the machine body. Is configured to be changed.

[0008] On the left and right sides of the seedling planting device 2, ground contact sensors 5R, 5R for detecting the height of the mud surface while following the ground contact.
L is provided, and each of the ground sensors 5R and 5L includes a swing arm 6 that follows the ground and a potentiometer PM that detects the swing angle of the swing arm. Further, a rolling control means A for controlling the driving of the rolling cylinder 4 so that the difference between the detection signals of the ground sensors 5R and 5L falls within a predetermined level is provided. Further, each of the ground sensors 5R,
5L, if one of the detection signals changes within a predetermined dead zone and the other detection signal changes within a predetermined short period beyond the predetermined dead zone, the rolling cylinder 4 based on the detection signal A drive restraint means B for restraining the drive is provided. That is, as shown in FIG. 1, the hydraulic control valve V for the rolling cylinder 4 is configured to be electromagnetically driven, the outputs of the ground sensors 5R and 5L are provided, and the hydraulic control valve V is switched based on the signals. A control device 7 for controlling the control device 7 is provided.
The control device 7 executes the control as follows.

[0009] As shown in FIG.
The output values of R and 5L are read (step S1), and it is determined whether or not any of the ground sensors has exceeded the width of the dead zone (step S2). When the dead zone width is exceeded even after several seconds), the driving control of the rolling cylinder 4 is performed so that the difference between the detection values of the left and right ground sensors 5R and 5L falls within the dead zone width. If the ground sensor does not exceed the dead zone width, the rolling control is not performed (steps S3 to S5). Step S5
To form the rolling control means A, and the step S
4 constitutes the driving restraint means B.

The hydraulic control valve V is configured to control the cylinder driving speed by changing the valve opening stepwise by changing and controlling the duty ratio D of the supply pulse current. 2 is detected by detecting means (not shown), and the duty ratio D is changed and controlled based on the deviation H between the control target position and the current position.
When the deviation H is small, it operates quickly, and when the deviation H is small, it operates slowly, so that a smooth operation is performed. The change characteristic between the deviation H and the duty ratio D is set to be a quadratic curve such that the larger the deviation H is, the larger the change rate is, as shown in FIG.

[0011] In the claims, reference numerals are provided to facilitate comparison with the drawings, but the present invention is not limited to the configuration shown in the attached drawings.

[Brief description of the drawings]

FIG. 1 is a control block diagram.

FIG. 2 is a control flowchart.

FIG. 3 is an overall side view of the rice transplanter.

FIG. 4 is a control characteristic diagram.

[Description of Signs] 2 Ground work equipment 4 Driving means 5R, 5L Grounding sensor A Rolling control means B Driving restraint means

Claims (1)

(57) [Claims] 1. A ground working device (2) is connected to a traveling machine body by a driving means (4) so as to be freely rotatable around a longitudinal axis, and a mud surface is provided on both left and right sides of the ground working device (2). Ground sensors (5R), (5R) for detecting the ground height of the ground working device (2) while following the ground
L) and rolling control means (A) for controlling the driving means (4) so that the difference between the detection signals from the ground sensors (5R) and (5L) falls within a predetermined level. A rolling control device for a working machine, wherein a change in one of the detection signals of the ground sensors (5R) and (5L) is within a predetermined dead zone, and the other detection signal is within a predetermined short time. A rolling control device for a working machine, comprising: a driving restraint means (B) for restraining the driving of the driving means (4) based on the detection signal when the change exceeds a predetermined dead zone.