JP2675210B2 - Rolling control device for ground work machine - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention connects a ground work device to a traveling machine body so that the work machine can be driven and rolled around the longitudinal axis of the machine body so that the ground work device is provided with a ground height on both left and right sides. The present invention relates to a rolling control device for a ground work machine, which is provided with a pair of left and right height detection sensors for detection, and which is provided with rolling control means for driving and controlling the actuator so that a difference between detection values of the height detection sensors falls within a predetermined level. .

[0002]

2. Description of the Related Art In a rolling control device for a ground work machine, conventionally, as disclosed in, for example, Japanese Unexamined Patent Publication No. 1-222706, rolling control is performed based only on the detection results of a pair of left and right height detection sensors. Was configured to do.

[0003]

However, in the above-mentioned conventional structure, one detection sensor passage portion on the mud surface is
For example, when mud bounced up by wheels is accumulated in a lump form in a protruding state, the detection values of the left and right detection sensors are different even if the other field scene is flat. Since the rolling control is executed by the method and the working device is set to the inclined posture with respect to the mud surface, there is a drawback that the working depth to the ground is different between left and right. INDUSTRIAL APPLICABILITY The present invention suppresses rolling control in the case where mud is merely lumps on the mud surface even though the field scene is flat, so that the working depth to the ground can be kept constant from side to side. The purpose is to do.

[0004]

According to a characteristic configuration of the present invention, in the rolling control device for a ground work machine described at the beginning, a tilt angle detecting means for detecting a lateral tilt angle of the traveling machine body from a horizontal posture is provided. When the inclination angle detecting means detects that the inclination angle is less than or equal to a predetermined value, the rolling control operation based on the detection value of the height detection sensor in the rolling control means is deactivated. The point is that a control restraint means is provided.

[0005]

The traveling machine body always travels on the basis of the cultivator below the mud, regardless of the condition of the mud. Therefore, when the cultivator is flat and almost horizontal, the inclination angle detecting means is used. Since the detected tilt angle is less than the predetermined value, the rolling control is deactivated in such a case, so that the presence of the protruding portion on the mud surface can be ignored. When the cultivator has unevenness such as passage marks of wheels, the traveling machine body tilts and the detected tilt angle of the tilt angle detection means becomes a predetermined value or more, and the difference between the detected values of the left and right detection sensors accompanying it. Based on the above, the rolling control is performed, and the ground work device can be maintained in a predetermined posture against the mud surface.

[0006]

Therefore, based on the change in the posture of the traveling machine body that is the basis of the rolling operation of the ground work device, the resulting change in the ground posture of the ground work device is corrected by the rolling control, whereby the work device Although the ground posture can always be maintained at a predetermined posture, frequent rolling operation due to the protrusion on the mud surface is suppressed when the posture of the traveling aircraft in the lateral direction is nearly horizontal, and smooth ground work is continued. It has become possible.

[0007]

Embodiments will be described below with reference to the drawings. FIG.
Shows a riding rice transplanter. In this rice transplanter, a seedling planting device 3 (an example of a ground working device) is mounted on a rear portion of a riding type traveling body 1 via a parallel quadruple link mechanism 2 with a lift cylinder CY.
1. Drive up and down and rolling cylinder CY2
(An example of an actuator) so as to be rotatably connected around the longitudinal axis.

The seedling placement device 3 includes a seedling rest 5, which reciprocates and moves laterally with a constant stroke with respect to a frame transmission transmission case 4 connected to the link mechanism 2, from the lower end of the seedling rest 5. The planting mechanism 6 is configured to cut out seedlings for planting one plant at a time, and plant the seedlings in a field.
The center of a rotating case 7 that is driven to rotate around a horizontal axis is pivotally supported at the rear of the planting transmission case 4, and a pair of planting claws 8 are attached to both sides thereof, and not shown with the rotation of the rotating case 7. The planting claw 8 is configured to cut out and plant the seedlings one by one from the seedling rest 5 while the planting claw 8 draws an almost elliptical locus in a side view by the cam mechanism. A pair of left and right ground-following swing arms 9 are provided on the left and right sides of the front lower portion of the planting transmission case 4.
Type ground height detection sensors 10R and 10L are provided.
The detection sensors 10R and 10L are configured to detect the relative swing angle of the swing arm 9 with respect to the planted transmission case 4 by a potentiometer PM.

Further, there is provided rolling control means for driving and controlling the rolling cylinder so that the difference between the detection values by the detection sensors 10R and 10L falls within a predetermined range. More specifically, as shown in FIG. 1, the lift cylinder C
The hydraulic control valves V1 and V2 of Y1 and the rolling cylinder CY2 are electromagnetically operated, and the control valves V1 and V2 are
2 is controlled based on the detection value of each detection sensor 10R, 10L. That is, the control device 11 controls and drives the lift cylinder CY1 so that the average value of the detection values of the left and right detection sensors 10R and 10L matches a preset predetermined value, and the difference between the detection values of the left and right detection sensors 10R and 10L is a predetermined value. The rolling cylinder CY2 is driven and controlled so as to fall within the range, so that the seedling planting apparatus 3 can perform the planting operation while always maintaining the horizontal posture against the mud surface and the predetermined height. The rolling control means is provided in the control device 11 in the form of a control program.

On the traveling machine body side, an inclination angle sensor 1 for detecting a lateral inclination angle of the traveling machine body 1 from a horizontal posture.
2 (an example of the inclination angle detecting means) is provided, and when the detection value of the inclination angle detecting sensor 12 is less than or equal to a predetermined value, the rolling control operation is restrained, that is, the control restraining means A is brought into a non-operating state. is there. This control restraint means A is also provided in the control device 11 in the form of a control program, and the control device 11 executes control as follows.

FIG. 2 shows a lifting / rolling control routine. The detection values X1 and X2 of the left and right height detection sensors 10R and 10L are read (step S1), and the detection values of the tilt angle detection sensor 12 are read (step S).
2). Then, when the detection value of the tilt angle detection sensor 12 is smaller than a preset predetermined value (step S
3) It is determined whether or not each of the detected values X1 and X2 is within a predetermined range (step S4). If it is not within the predetermined range, the change amount of the detected value per predetermined unit time is calculated (step S5). If the calculation result is less than or equal to the set value, the change is gradual and the surface is muddy. It is determined that the change is not caused by the lump in the protruding state, and the rolling cylinder CY2 is drive-controlled so as to reduce the difference between the detected values (steps S6, S7, S8), and the seedling planting device 3 is set in the anti-mud state. Maintain a parallel posture. Next, the average value X of the left and right detected values X1 and X2 is calculated (step S9), and the lift cylinder CY1 is drive-controlled until the detected average value X substantially matches the preset target value Y, and seedling planting is performed. The attachment device 3 is maintained at an appropriate height against mud surface (steps S10 and S1).
1, S12). Then, when it is detected in step S3 that the horizontal tilt angle of the traveling machine body is less than or equal to a predetermined value [see FIG. 4], and in step S6, the change amount of the detected value per predetermined unit time is equal to or more than the set value. At this time, that is, as shown in FIG. 3, when one of the detection sensors gets on the protrusion, the driving operation of the rolling cylinder CY2 is deactivated and only the lift cylinder CY1 is driven. is there.

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 system diagram

FIG. 2 is a control flowchart.

[Figure 3] Rear view of rice transplanter

[Figure 4] Rear view of rice transplanter

FIG. 5 is an overall side view of the rice transplanter.

[Explanation of symbols]

 1 Traveling Aircraft 3 Ground Work Device 10R, 10L Height Detection Sensor 12 Tilt Angle Detection Means A Control Checking Means CY2 Actuator

Claims (1)

(57) [Claims] 1. A ground working device (3) is connected to a traveling machine body (1) so that it can be driven and rolled by an actuator (CY2) around a longitudinal axis of the machine body, and both right and left sides of the ground working device (3) are connected. A pair of left and right height detection sensors (10R) and (10L) for detecting the height above the ground are provided in the section, and the difference between the detection values of the height detection sensors (10R) and (10L) is set within a predetermined range. Actuator (C
A rolling control device for a ground work machine, comprising a rolling control means for driving and controlling Y2), the inclination angle detecting means (12) detecting a lateral inclination angle of the traveling machine body (1) from a horizontal posture. The tilt angle detecting means (1
When 2) detects that the tilt angle is less than or equal to a predetermined value, the rolling control operation based on the detection values of the height detection sensors (10R) and (10L) in the rolling control means is inactive. A rolling control device for a ground work machine, which is provided with a control restraint means (A).