JP2969792B2 - Rolling control device of agricultural work machine - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a rolling control device for an agricultural work machine such as a seedling plant.

[Conventional technology]

Conventionally, in a farm work machine provided with a rolling control device that corrects the left-right posture of the working device by rolling the working device mounted on the rear part of the riding type vehicle body, the inclination angle of the working device in the left-right direction is within a certain range. The configuration is such that when the vehicle moves beyond the dead zone, the work device is rolled to correct the left-right attitude of the work device, and the speed at which the work device is rolled is set to a constant speed.

[Problems to be solved by the invention]

The above-mentioned conventional technique corrects the left-right attitude of the working device by detecting when the inclination angle in the left-right direction of the working device exceeds a dead band set in a certain angle range and performing a rolling operation of the working device. With this configuration, the rolling operation of the working device is not performed with respect to the inclination of the working device within a certain angle range of the dead band, so that the posture correction is delayed by that amount, and the rolling operation is performed every time it returns within the dead band. At the time of work in the field, where the attitude correction is frequently required after all, the rolling operation for the attitude correction becomes awkward, and there is a problem in accuracy in this point. In addition, since the speed at which the working device performs the rolling operation is set to a constant speed, when the inclination angle of the working device is large, it takes time to correct the posture of the working device, and there is also a problem in accuracy in this respect.

If the dead zone for detecting the inclination angle of the working device is narrowed so as not to cause hunting, the rolling operation speed of the working device must be reduced, and the accuracy cannot be improved after all. In addition, if the rolling operation speed is set to be high, the rolling operation speed when the inclination angle of the working device returns to the dead zone is increased, and eventually, there is a problem that hunting occurs because the working device exceeds the dead zone.

Therefore, the present invention provides a rolling control device for an agricultural work machine while preventing hunting from occurring, and
It is an object of the present invention to improve the accuracy by enabling the posture of a working device to be quickly corrected.

[Means for solving the problem]

In order to solve the above-mentioned problem, the present invention relates to an agricultural work machine provided with a rolling control device for performing a rolling operation of a working device 1 mounted on a rear portion of a riding type vehicle body 3 to correct a lateral direction of the working device 1. In addition to the configuration in which the rolling operation of the working device 1 is continuously performed according to the inclination angle of the working device 1 in the left-right direction to correct the posture of the working device 1 in the left-right direction, the smaller the inclination angle of the working device 1 becomes, A rolling control device for an agricultural work machine, characterized in that the rolling operation speed of the working device 1 is reduced and the rolling operation speed of the working device 1 is increased as the inclination angle of the working device 1 increases.

[Functions and Effects of the Invention]

The present invention has a configuration in which the rolling operation of the working device 1 is continuously performed in accordance with the inclination angle of the working device 1 in the left-right direction to correct the posture of the working device 1 in the left-right direction. Is smaller, the rolling operation speed of the working device 1 is slower, and as the inclination angle of the working device 1 is larger, the rolling operation speed of the working device 1 is higher. Therefore, the rolling operation for returning the working device 1 to the set posture is continuous. Therefore, the rolling operation does not stop and operate awkwardly each time the working device returns to the set posture as in the related art. Posture correction can be performed. In addition, the rolling operation speed of the working device 1 decreases as the inclination angle of the working device 1 decreases, and the rolling operation speed of the working device 1 increases as the inclination angle of the working device 1 increases. Although the operation is performed continuously, the rolling operation speed becomes slower as the setting posture of the working device 1 approaches, so that hunting hardly occurs, and the inclination angle of the working device 1 is further reduced. Is large, the posture can be corrected quickly, and the posture can be quickly corrected even when the working device is greatly inclined, so that the above problem can be solved and the accuracy can be improved.

〔Example〕

In addition, in FIG. 1 to FIG. 3, a seedling planting machine is illustrated. A seedling plant, which is the working device 1, is connected to the rear side of the tractor body 3 so as to freely roll around a rolling shaft 10, and the rolling motor 4 controls the rolling of the seedling plant with respect to the body 3 by electric power. The vehicle body 3 is provided with front wheels 6 that can be steered by a steering handle 5 at a front portion, and an engine 7, a cockpit 8, a rear wheel 9 and the like at a rear portion. The vehicle has a four-wheel drive mode in which the vehicle travels by transmitting the rear wheels 9.

The seedling planting apparatus 1 is provided with a seedling tank 12 for accommodating seedlings on the upper side of the seedling plant body 11, a seedling planting device 13 fed out from the seedling tank 12 on the rear side, and a soil surface on the lower side. Floats 14 and 15 are provided so as to be able to swing up and down to level the front of the seedling planting section by sliding. The seedling planting device 13 has a plurality of planting forms, and the floats 14 and 15 move up and down at the front around the support shaft 16 at the rear, and move up and down by the center float 14 at the center in the left and right directions to move the seedlings to the vehicle body 3. The lift cylinder 18 that moves up and down the lift link 17 that connects the planting device is hydraulically expanded and contracted to control the raising and lowering of the seedling planting device. The center float 14 works in conjunction with the lift control valve of the lift cylinder 18 so that the lift cylinder 18 is extended by moving the center float 14 upward to raise the seedling plant, and the lift cylinder 18 is shortened by moving the center float 14 downward. To lower the seedling planting device,
Is controlled so as to keep the seedling planting depth constant.

Side floats 15 are located on the left and right sides of the center float 14.
When these are referred to as a left side float L15 and a right side float R15, a left rolling sensor L and a right rolling sensor R for detecting the vertical movement of each side float L15, R15 are provided. , R, and input values (voltage values) AL, AR, and preset values BL, BR (set to BL = BR in normal left and right horizontal control on a flat surface) to perform comparative amplification. A left differential amplifier circuit 2L and a right differential amplifier circuit 2R for
The output values of the right differential amplifier circuits 2L and 2R are compared by a comparison circuit 19, further amplified by an amplification circuit 20, and output controlled so that the rolling motor 4 rotates forward or reverse.

A rear link 21 that allows the seedling plant 11 to be freely rolled by a rolling shaft 10 is connected to rear ends of a pair of upper and lower lift links 17 that form a parallel link, and the rolling motor 4 is attached to the lift link 17. A rolling rod 22 which is expanded and contracted by forward and reverse rotations of the rolling motor 4 has an arm rotatable with respect to the rear link 21.
In conjunction with 23, the arm 23 and the lower surfaces of the left and right seedling tanks 12 are connected by a tension spring 24, and the rolling rod 22, the arm 23, the spring 24, etc. The seedling plant is rotated around the rolling axis 10 with respect to the lift link 17.

Since the seedling tank 12 is used for planting the seedling by the seedling planting device 13 while reciprocating in the left and right direction at a constant width, the self-weight deviation of the seedling tank 12 accompanying this is absorbed by the spring 24. Meanwhile, the rolling force also works. The spring 24 is a guide member for supporting and guiding the seedling tank 12.
25 are provided integrally with the seedling plant 11, and the left and right guide members
It may be provided between the arm 25 and the arm 23 in the tension direction.

Reference numeral 26 denotes a power take-off shaft on the side of the vehicle body 3, which works with the seedling planting device 13, the seedling tank 12, and the like. Reference numeral 27 denotes a lift lever, which manually operates an elevating control valve in the hydraulic circuit to extend and retract the lift cylinder 18 to raise and lower the seedling plant. 28 is a floor of the vehicle body 3.

If the vertical movement positions of the left and right side floats L15, R15 are the same, the detection values of the rolling sensors L, R are the same, so the output values of the left and right differential amplifier circuits 2L, 2R are equal, and the comparison circuit 19 Is not output. When the cultivator on the running ground changes greatly to shallow and shallow, and the vehicle body 3 inclines greatly to the left or right, the detection values AL and AR by the left and right rolling sensors L and R become the set values BL and BR, and , Right differential amplifier circuit
In order to be compared and output by 2L and 2R, a difference is generated in the output value, and the difference is compared by the comparison circuit 19 and output as a rolling control output value (voltage or current) proportional to the output difference. You. Therefore, the rolling motor 4 is continuously driven according to the output direction and the magnitude of the output value.

Although the rolling is performed by the rolling motor 4 in the above example, the rolling may be performed by a hydraulically expandable and contractable cylinder. In this case, the rolling control valve of the hydraulic circuit may be operated by a solenoid.

In FIG. 4, the difference from the above example is that the left and right sides of the rear link 21 are pivotally supported on the rear link 21, and the left and right sides of the rear link 21 are between the seedling tank 12 which is reciprocated in the left and right directions. To form a semi-elliptical rack 30 along the rotation direction, and an elliptical gear meshed with the rack 30.
31 is provided so as to be driven forward and reverse by the rolling motor 4. These elliptical gear 31 and rack 30
When the seedling tank 12 is located at the center in the left and right direction, the elliptical gear 31 is meshed around the short diameter portion, and when the seedling tank 12 is located at the left and right ends, the long diameter portion of the elliptical gear 31 is centered. As a result, during the reciprocating movement of the seedling tank 12, when the seedling tank 12 is in the center, the rolling control by the rolling motor 4 is performed slowly, and the seedling tank 12 moves sideways. When the inclination of the seedling-planting device is large due to the deviation to the end, the rolling control can be performed quickly.

5 is different from the above example in that a pair of elliptical gears 34 and 35 are meshed and transmitted between a drive gear 32 driven by the rolling motor 4 and a fan-shaped rack 33 provided on the arm 23. As in the above example, the rolling control is performed slowly at the center of the reciprocating movement of the seedling tank 12 and quickly at both ends by the meshing transmission of the elliptical gears 34 and 35.

As described above, the rolling control device of the agricultural working machine includes the working device 1 according to the inclination angle of the working device 1 in the left-right direction.
Is performed continuously to correct the posture of the working device 1 in the left-right direction, and the smaller the inclination angle of the working device 1, the slower the rolling operation speed of the working device 1 becomes, and the inclination angle of the working device 1 Is larger, the rolling operation speed of the working device 1 is configured to be faster, so that the rolling operation for returning the working device 1 to the set posture is performed continuously, and therefore, the delay in correcting the posture of the working device as in the related art is delayed. The rolling operation does not stop and operate awkwardly each time the working device returns to the set position, and the posture can be corrected smoothly and quickly. In addition, the rolling operation speed of the working device 1 decreases as the inclination angle of the working device 1 decreases, and the rolling operation speed of the working device 1 increases as the inclination angle of the working device 1 increases. Although the operation is performed continuously, the rolling operation speed becomes slower as the working device 1 approaches the set posture, hunting hardly occurs, and the inclination angle of the working device 1 is further reduced. Is large, the posture can be corrected quickly, and the posture can be quickly corrected even when the working device is greatly inclined, so that the above problem can be solved and the accuracy can be improved.

[Brief description of the drawings]

1 shows a block diagram, FIG. 2 is a side view, FIG. 3 is a plan view, FIG. 4 is an enlarged rear view of another embodiment, FIG. The figure is an enlarged rear view of another embodiment. DESCRIPTION OF SYMBOLS 1... Working device 2... Differential amplifier circuit

──────────────────────────────────────────────────続 き Continued on the front page (58) Field surveyed (Int.Cl. ⁶ , DB name) A01B 63/10 A01C 11/02 320

Claims (1)

(57) [Claims] 1. An agricultural work machine provided with a rolling control device for correcting the left-right attitude of the work device 1 by rolling the work device 1 mounted on the rear portion of the riding type vehicle body 3. Work device 1 according to the inclination angle
The rolling operation of the working device 1 is continuously performed to correct the posture of the working device 1 in the left-right direction, and the smaller the inclination angle of the working device 1, the slower the rolling operation speed of the working device 1 becomes, and the inclination angle of the working device 1 The rolling control speed of the agricultural working machine is characterized in that the rolling operation speed of the working device 1 is increased as the value is larger.