JP3161947B2 - Ground work machine lifting control - 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 machine such as a rice transplanter or a tractor, and more particularly, to an elevation control for maintaining a ground working height of a ground working device such as a planting device or a tilling device at a predetermined height. The present invention relates to a technology for automatically adjusting the ascending / descending speed according to a running condition.

[0002]

2. Description of the Related Art Conventionally, in a lift control device for a ground work machine of this type, for example, in a rice transplanter, frequent lifting and lowering operations of the planting device due to an increase in a ground reaction force of a ground float caused by a high traveling speed. In order to suppress the rise, there has been a device devised to add a correction to the set value of the elevating / lowering sensitivity setting means so that the elevating / lowering control sensitivity is switched to the insensitive side as the traveling speed of the body becomes higher (for example, see Japanese Patent Laid-Open No. -33930
No. 9).

[0003]

Although the above-mentioned technology can certainly follow the change in the elevation control sensitivity accompanying the increase in the traveling speed, it can improve the followability to the field surface when the field has large irregularities. For example, seedlings are planted in a state where it is difficult to follow the field surface due to the tendency of the ground float to jump when climbing over the convex part, and the seedlings are not sufficiently buried in the mud There was a possibility that so-called floating seedlings would occur. In the tillage device, there is an inconvenience that the tillage depth becomes shallower than the set state. An object of the present invention is to prevent floating seedlings and shallow cultivation depth due to high-speed running from occurring even if there are relatively large irregularities in the field.

[0004]

[Means for Solving the Problems]

[Constitution] A first invention for attaining the above object is a ground working device connected to a body so as to be able to move up and down by a lifting mechanism, and a grounding type height detecting device for detecting a ground height of the ground working device. Means, and a lift control device for the ground work machine, comprising lift control means for driving a lifting mechanism to maintain the ground height of the ground work device at a predetermined height based on the detection information of the height detection means. Speed detection means for detecting the traveling speed of the aircraft, the higher the traveling speed, the faster the descent speed of the ground work device, and the increase rate of the rise speed of the ground work device with the increase in the speed of the aircraft, It is characterized in that a lifting / lowering speed adjusting means for setting the rate of increase at the time of descent when the working device is lowered is set to be smaller.

[0005] A second aspect of the present invention resides in that the ascending rate of increase by the ascending / descending speed adjusting means is set so that the ascending speed of the ground working device is decreased as the traveling speed of the body increases.

[Operation] In other words, in order to keep the ground working device in contact with the ground even at the time of unevenness or undulation while performing elevation control, the elevation speed must be increased as the traveling speed increases. In particular, when the speed at which the ground working device is lowered cannot keep up, the working device is in a state of floating above the ground, and there are inconveniences such as the occurrence of floating seedlings in a rice transplanter and the shallower cultivation depth of a cultivator. However, when raising, the situation is different from when lowering, and if the rising speed is too fast, the ground working device is also shifted in the direction of floating from the ground, which may cause the above-described inconvenience.

Therefore, according to the first aspect of the present invention, the higher the traveling speed, the higher the descending speed of the ground working device, so that the ground working device can reliably follow the ground even when passing through a downward slope. Inconveniences such as the occurrence of floating seedlings and uncultivated land can be avoided. Since the rate of increase of the ascending speed of the ground work device with the increase in the speed of the aircraft is set to be smaller than the rate of increase when the ground work device descends, the ascending response on the ascending slope is set. Is too fast, and there is no inconvenience of shifting in the direction of floating above the ground, and the ground working apparatus can follow the ground.

According to the second aspect of the present invention, the higher the traveling speed of the body, the lower the ascending speed, that is, the rate of increase of the ascending speed of the ground working device with the increase in the speed of the body is negative. The value of. This makes it possible to more reliably follow the ground working device on the ascending slope. However, in this case, the lifting and lowering control of the ground working device tends to shift to a deep side, and the rice planting machine tends to be deeply planted and the tillage machine tends to be deeply plowed. This is advantageous in that it does not cause such inconvenience.

[Effect] As a result, the lifting control device according to any one of claims 1 and 2 improves the ground followability of the ground working device, and eliminates inconveniences such as floating seedlings and shallower cultivation depth. Better ground-based work.

[0010] In the lift control device according to the second aspect,
There is an advantage that the inconvenience at the time of the lifting operation of the ground working device can be avoided more reliably.

[0011]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of the present invention will be described below.
A case of a rice transplanter, which is an example of a ground working machine, will be described with reference to the drawings. FIG. 1 shows a rice transplanter, 1 is a front wheel,
2 is a rear wheel, 3 is a driving unit, 4 is a lifting link mechanism, 5 is a lifting cylinder, 6 is a planting device, 7 is an engine, 8 is a transmission, 9 is a planting mechanism, 10 is a ground float, and 11 is a traveling body. It is.

As shown in FIGS. 1 and 2, a planting device (an example of a ground working device) 6 can be moved up and down with respect to a traveling machine body 11 by an elevating cylinder (an example of an elevating mechanism) 5 and an elevating link mechanism 4. And a ground-type height detecting means 12 for detecting the height of the planting device 6 with respect to the ground, and the height detecting means 1
Lifting control means A for driving the lifting cylinder 5 so as to maintain the ground height of the planting device 6 at a predetermined height based on the detection information of No. 2, and sensitivity setting for setting the lifting control sensitivity of the lifting control means A Means 13.

That is, the left and right side floats 14, 1
4 is pivotally mounted on a bracket 15 on the planting device side so as to be swingable about a left-right fulcrum Y disposed substantially at the rear thereof, and is attached to the front of the float. A pivotally supported vertical rod 16 and a lateral link 17 pivotally supported on the implanting device side are pivotally connected and mounted. A potentiometer 18 is provided at the swing fulcrum of the lateral link 17 and a spring 19 for urging the lateral link 17 downward is provided. Potentiometer 1
Reference numeral 8 denotes a height detecting means, and the structure in which the ground float 10 is indirectly operated to rotate corresponds to a “ground type”.

That is, a known lift control means A for detecting the amount of swinging movement of the ground float 10 around the fulcrum Y by grounding with the potentiometer 18 and switching the control valve V of the lift cylinder 5 based on the detected information. 20. The sensitivity of the elevation control is adjusted by adjusting the reference position of the potentiometer 18 for performing the elevation control. Since this is also a known technique, only a brief description will be given next.

First, a sensitivity adjustment dial (sensitivity setting means)
When the operator 13 is operated to the insensitive side, the reference position of the potentiometer 18 is changed to, for example, the position A2 slightly lower than the position A1. Then, in this state, the attitude of the ground float 10 is more upward than the attitude when the reference value is A1, and the ground area is reduced, and the spring 19 is more compressed, so that it is difficult to follow the ups and downs of the rice field. Thus, the elevation control sensitivity is adjusted to the insensitive side.

When the sensitivity adjustment dial 13 is operated to the sensitive side, the reference position of the potentiometer 18 is changed to the position A3 slightly raised from the position A1. Then, in this state, the posture of the ground float 10 is lower than the posture when the reference value is A1, and the ground contact area is increased, and the compression of the spring 19 is eased. In this state, the elevation control sensitivity is adjusted to the sensitive side.

In this rice transplanter, speed detecting means B for detecting the traveling speed of the body 11 is provided. The higher the traveling speed, the faster the descending speed of the planting device 6 and the higher the speed of the body 11 is. The rate of increase of the rising speed of
Elevating / lowering speed adjusting means C for setting the rate of increase at the time of descent when the planting device 6 is lowered is provided. The elevating speed adjusting means C sets the increasing rate at the time of ascending so that the higher the traveling speed of the body 11 is, the slower the ascending speed of the planting device 6 is.

As shown in FIG. 2, an electric cylinder 22 for driving and driving a trunnion shaft 21a of a traveling HST 21 provided in the mission 8, a feedback linear potentiometer 23 for detecting the operation amount, and a speed setting The controller 24 and an electromagnetic pickup 25 for detecting the engine speed are connected to the control device 20. The speed detecting means B determines the engine speed by the electromagnetic pickup 25,
The running speed is determined by detecting and calculating the shift position of the HST 21 by the linear potentiometer 23 and calculating the running speed.

As shown in FIG. 3, the elevating / lowering speed adjusting means C has a linearly increasing descent speed a as the speed increases, as shown in a graph of the traveling speed of the body 11 and the elevating speed of the planting device 6. On the other hand, the rising speed b is controlled so as to decrease linearly. Further, by providing the increase rate setting device 26 of the ascending speed, as shown by the broken line c in FIG. 3, the ascending speed increases as the traveling speed increases, and the increasing rate is higher than the increasing rate of the descending speed. May be set to be lower, or the rising speed may be maintained at a constant value even when the running speed changes, as in line d.

[Another embodiment] For example, Japanese Patent Laid-Open No. 5-292
In a rotary tilling device pulled by a tractor, as disclosed in Japanese Patent Application Laid-Open No. 803, 803, a swingable rear cover and a potentiometer for detecting the swinging amount of the cover are provided.
A grounding type height detecting means is constituted.

In the claims, reference numerals are provided for convenience of 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 Side view of rice transplanter

FIG. 2 is a block diagram of a traveling system and a lift control system.

FIG. 3 is a diagram showing a relationship graph between a traveling speed and an elevating speed.

[Explanation of symbols]

 Reference Signs List 5 Elevating mechanism 6 Ground work device 11 Traveling body 12 Height detecting means A Elevating control means B Running speed detecting means C Elevating speed adjusting means

Claims (2)

(57) [Claims] A ground work device (6) connected to a body (11) so as to be able to move up and down by a lifting mechanism (5), and a grounding type device for detecting a ground height of the ground work device (6). A height detecting means (12), and an elevating mechanism (5) for maintaining a ground height of the ground working device (6) at a predetermined height based on information detected by the height detecting means (12). A lift control device for a ground working machine, comprising a drive lift control means (A), wherein a speed detection means (B) for detecting a travel speed of the body (11) is provided. In addition to increasing the descending speed of the ground working device (6), the rising rate of the rising speed of the ground working device (6) accompanying the increase in the speed of the traveling body is determined by the rising rate of the ground working device (6). Elevating speed adjusting means (C) set to be smaller than the rate of increase during descent
A lifting and lowering control device for a ground working machine. 2. An ascending rate of increase by said ascending / descending speed adjusting means (C) is set such that as the traveling speed of said body (11) increases, the ascending speed of said ground working device (6) decreases. Item 2. The lifting and lowering control device for a ground working machine according to Item 1.