JP3274374B2 - Lift control device for paddy field machine - 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 which is capable of moving up and down with respect to a traveling body by the operation of an actuator, and which is swingable around an axis in a lateral posture with respect to the ground working device, and A ground float is provided in a state where the front part is pushed downward by the urging means, and a feedback signal from a sensor for measuring the swing posture of the ground float and a setting signal from a setting device for setting a target posture of the ground float. The present invention relates to an improvement of a lift control device for a paddy field working machine in which a control operation is set so as to raise and lower a ground work device in a direction in which the vertical movement of the paddy field work device is matched.

[0002]

2. Description of the Related Art Taking a riding type rice transplanter as an example of a raising and lowering control device for a paddy field working machine having the above-mentioned configuration, a conventional rice transplanter is used to maintain the transplanting depth of seedlings in a field scene.
As described above, the control system is configured to move up and down the seedling planting apparatus in a form that follows the field scene using the ground float. Further, in order to further improve the followability of the seedling planting apparatus in the field scene, there has been proposed an apparatus which adjusts the sensitivity of the elevation control by automatically changing the target attitude of the landing float (for example, Japanese Patent Application Laid-Open No. 8-228534). Gazette).

[0003]

In order to improve the followability of the ground working apparatus to the field scene, a control sensitivity is adjusted by changing the target attitude of the ground float as in the prior art cited in the publication number. For example, when the control sensitivity is increased, the attitude of the ground float changes sensitively in response to the vertical displacement of the field scene, so that the control start timing is advanced. However, in this conventional example,
Even if the control sensitivity is set high, the raising and lowering speed of the seedling planting device during the raising and lowering control remains constant, and the attitude of the traveling machine greatly changes as the wheels fall into the concave part of the cultivator and the ground work equipment If the direction changes to the field scene or the direction to be lifted, although the timing of the control start is advanced, the ground work device may be displaced upward from the target height based on the field scene because the high speed descent is not performed. There is room for improvement.

[0004] In particular, when working in a soft field, the raising of the seedling planting equipment is promptly performed in response to a change in the level of the field scene to suppress the extrusion of mud in the field scene by the grounding float. Is also desired and there is room for improvement in this respect.

It is an object of the present invention to rationally configure a lifting control device in which the ground work device is less likely to be displaced upward from a target height even when a situation where the ground work device can be lifted from a field scene occurs. is there.

[0006]

According to a first aspect of the present invention, as described at the outset, a front working device is provided on a ground working device which is configured to be vertically movable by an actuator with respect to a traveling body. Is provided with a grounding float in a state in which the grounding float is pushed down by the urging means, and a feedback signal from a sensor that measures the swinging posture of the grounding float and a setting signal from a setting device that sets a target posture of the grounding float coincide with each other. In a lifting and lowering control device for a paddy field working machine in which a control operation is set to perform lifting and lowering of a ground work device, in a high sensitivity range in which a target attitude of a ground float is set to a forward and downward side in an operation range of the setting device, As the target attitude of the ground float is set to the forward decreasing side, the acceleration of the actuator is increased, and the target attitude of the ground float in the operating range of the setting device is set to the forward increasing side. In the low sensitivity range to be set, the setting unit is provided with acceleration setting means for reducing the acceleration of the actuator as the target attitude of the ground float is set to the forward ascending side, and its operation is as follows. .

According to a second feature of the present invention (claim 2), in claim 1, in a state where the acceleration is increased by the acceleration setting means, the operation limit speed of the actuator is increased, and the acceleration is reduced by the acceleration setting means. In this state, speed setting means for lowering the operation limit speed of the actuator is provided, and its operation is as follows.

[0008] A third feature of the present invention (claim 3) is the control device according to claim 1, further comprising a restriction means for permitting the acceleration setting means to set an acceleration only when the ground working device is operated on the ascending side. The operation is as follows.

According to a fourth feature of the present invention, as described at the outset, the front portion is pushed down by a biasing means with respect to a ground working device which is configured to be able to move up and down by an actuator with respect to the traveling body. A ground float is provided in this state, and the ground work device is raised and lowered in a direction in which the feedback signal from the sensor that measures the swinging posture of the ground float and the setting signal from the setting device that sets the target posture of the ground float match. In the raising and lowering control device of the paddy field working machine set to perform the control operation, in the operation range of the setting device, only in a high sensitivity range in which the target attitude of the grounding float is set to the forward and downward side, the target of the grounding float is set by the setting device. An acceleration setting means for increasing the acceleration of the actuator as the posture is set to the lower front side, wherein the target posture of the ground float in the operation range of the setting device is set to the front upper side. Only in the low-sensitivity range set on the side, the setting device is provided with speed setting means for lowering the operation limit speed of the actuator as the target posture of the grounding float is set to the forward ascending side. Is as follows.

According to a fifth feature of the present invention (claim 5), in accordance with claim 4, the acceleration setting by the acceleration setting means and the speed setting by the speed setting means only when the ground working device is operated on the ascending side. The operation limit speed is allowed to be adjusted, and when the ground working device is operated on the descending side, an acceleration setting means, and a regulating means for disabling each of the speed setting means are provided. It is as follows.

According to the first feature, when the setting device is set in the high sensitivity range, the push-down force of the urging means is reduced by changing the target attitude of the grounding float to the front lower side. As a result, the attitude of the ground float is easily changed. As a result, the acceleration setting means increases the acceleration of the actuator at the same time as increasing the control sensitivity of the lifting / lowering control. The actuator is operated in a state of increasing the speed within a short time in the direction to restore the posture of the target to the target posture, and conversely,
When the setting device is set in the low sensitivity range, the target posture of the grounding float is changed to the front upward side, so that the pushing force of the urging means is increased and the posture change of the grounding float becomes less likely to occur. Since the acceleration setting means reduces the acceleration of the actuator at the same time as the control sensitivity of the control is reduced, when the ground float deviates from the target posture, the actuator is gradually moved in the direction of restoring the posture of the ground float to the target posture. It is operated in a state where the speed is increased.

In other words, when the mud in the field is soft, the setting device is set to the high sensitivity range, and when the mud in the field is hard, the setting device is set to the low sensitivity range. In spite of the fact that the mud is soft and the force acting on the ground float from the field tends to be small due to the softness of the mud, the field scene can be quickly moved in response to subtle changes in the relative distance between the field scene and the ground work equipment. As the mud is hard in the low-sensitivity range, the state of contact with the field scene is maintained as much as possible, and the ground work equipment is stably supported on the field via the grounding float. It can be made to do.

According to the second feature, the speed setting means operates the actuator at a high speed when the setting device is set to the high sensitivity range and the control sensitivity is increased, so that the relative position between the ground working device and the field scene is increased. Even if the distance changes, the operation to reduce this change is performed quickly, and conversely,
When the setting device is set in the low sensitivity range and the control sensitivity is reduced, the speed setting means operates the actuator at a low speed, and the position can be stabilized in a form supporting the ground work device on the field scene. Becomes

According to the third feature, when the mud in the field is soft and the setting device is set in the high sensitivity range, only the ascent operation of the ground work device is quickly performed to reduce the extrusion of the mud by the grounding float. However, when the mud in the field is hard and the setting device is set in the low sensitivity range, the rising operation of the ground work device is slightly suppressed, and the ground work device can be supported on the field scene by the ground float and the position can be stabilized. It will be.

According to the fourth feature, when the setting device is set in the high sensitivity range, the push-down force of the urging means is reduced by changing the target posture of the grounding float to the lower front side. As a result that the attitude change easily occurs in the grounding float, the control sensitivity of the elevation control is increased, and at the same time, the acceleration setting means increases the acceleration of the actuator. Therefore, if the grounding float deviates from the target attitude, the attitude of the grounding float is changed. Actuate the actuator in a short period of time to accelerate in the direction to restore the target posture, and conversely, if the setting device is set to the low sensitivity range, the target posture of the ground float changes to the forward rising side As a result, the pushing force of the urging means is increased and it is difficult to change the posture of the ground float. As a result, the control sensitivity of the elevation control is reduced, and at the same time, the speed setting means controls the actuator. Because operated at fast when ground float off the target posture, becomes to low speed operation of the actuator in a direction to restore the posture of the ground float target attitude.

That is, when the mud in the field is soft, the setting device is set to the high sensitivity range. When the mud in the field is hard, the setting device is set to the low sensitivity range. In spite of the fact that the mud is soft, the force acting on the ground float from the field tends to be small due to the softness of the mud. In the low-sensitivity range, the operation speed of the actuator is reduced, so that the hard working mud can support the ground working device via the ground float.

According to the fifth feature, when the mud in the field is soft and the setting device is set in the high sensitivity range, the ground work device is quickly raised to reduce the extrusion of the mud by the ground float, If the mud in the field is hard and the setting device is set in the low sensitivity range, the lifting operation of the ground work device may be suppressed and the ground work device may be supported by the ground float on the field scene to stabilize the position. Become.

[0018]

Embodiments of the present invention will be described below with reference to the drawings. As shown in FIG. 1, a drive-type front wheel 1 and a drive-type rear wheel 2 that are steered.
The engine 4 is mounted on the front part of the traveling body 3 provided with the vehicle, and the hydrostatic stepless transmission 5 and the transmission case 6 are arranged at the front part of the traveling body 3 to transmit the power from the engine 4. Further, a driver seat 7 is disposed at the center of the traveling body 3, and a link mechanism 9 which is driven up and down by a lift cylinder 8 as an actuator with respect to a rear end of the traveling body 3.
And a seedling planting device A as a ground working device is connected via the to construct a riding type rice transplanter as a paddy working machine.

A lifting lever 10 is provided on the right side of the driver's seat 7 for controlling the raising and lowering of the seedling planting apparatus A and engaging and disengaging the planting clutch C. A shift lever 11 for operating the device 5 is provided. The planting clutch C is built in the transmission case 6 and permits the disengagement operation only when the transmission shaft 12 that transmits power from the transmission case 6 to the seedling planting device A is in a predetermined rotation phase. The planting arm (described later) of the seedling planting apparatus A is configured to shut off power in a posture that avoids contact with a field.

The seedling planting apparatus A includes a seedling table 13 on which a mat-shaped seedling W is placed, a transmission case 14 to which power from the transmission shaft 12 is transmitted, and a power transmitted from the transmission case 14 via a chain case 15. A rotary case 16, which is provided with a pair of planting arms 17 provided in each of the rotary cases 16, and a plurality of leveling floats 18;
It is configured for row planting.

As shown in FIG. 2, a rear end of a support arm 22 extending rearward from a planting depth adjusting shaft 21 rotatably supported on the seedling planting device A around an axis in a lateral posture. Of the plurality of leveling floats 18 with respect to the position, the one at the center position in the left-right direction (an example of a grounding float) is swingably supported with respect to the seedling planting device A around the axis P in the horizontal posture. By supporting the front of the leveling float 18 with respect to a link member 23 formed forward from the planting depth adjusting shaft 21, the leveling float 18 is placed in a laterally oriented shaft center P.
The front part is configured to be vertically displaceable by swinging around.

A potentiometer type float sensor 25 is supported so as to be swingable around an operation shaft 24 in a lateral posture with respect to the support arm 22, and an operation arm 24A provided on the operation shaft 24 and a fixed arm fixed to the leveling float 18 26
And a rod 29 extending between a member 28 fixed to the planting depth adjusting shaft 21 and the main body of the float sensor 25, so that the planting depth adjusting shaft 21 can be rotated at the time of rotating operation. As long as the posture of the float sensor 25 body around the operation shaft 24 is changed to maintain the swinging posture of the leveling float 18 with respect to the seedling planting device A constant, the posture of the operation arm 24A with respect to the float sensor 25 body is maintained. It is configured. A member 31 that is vertically oscillated through an adjustment arm 30 fixed to the planting depth adjustment shaft 21.
By interposing a compression coil type spring 32 as an urging means between the ground leveling float 18 and the front part of the leveling float 18, the seedling planting device of the leveling float 18 can be used even when the planting depth adjusting shaft 21 is rotated. As long as the swing posture with respect to A is kept constant, the urging force of the spring 32 is not changed.

As shown in FIG. 1 and FIG.
A potentiometer type lifting lever sensor 3
4, and a shift lever sensor 35 of a potentiometer type is provided at the base end of the shift lever 11. A potentiometer-type sensitivity setting device 38 operated by a dial 37 is disposed on a panel 36 in front of the driver's seat 7.
This sensitivity setting device 38 is "sensitive" by the dial 37.
It is configured to be able to continuously operate the operation range indicated by the numbers “1” to “7” during “dull”, and the more the dial is operated toward “sensitive”, the more the automatic raising and lowering control of the seedling planting apparatus A is performed. And the sensitivity of the automatic raising and lowering control of the seedling planting apparatus A is lowered as the dial 37 is operated to the "dull" side.

The raising / lowering lever 10 controls the solenoid valve 39 for the lift cylinder 8 so that the seedling planting device A is raised by operating the rearward side and the seedling planting device A is lowered by operating the frontward side. When the basic control operation is set as described above, and the lift lever 10 is operated to the front end, the leveling float 18 is set to the setting of the sensitivity setting device 38 while the leveling float 18 is in contact with the ground. Seedling plant A so as to maintain a target posture set in advance based on the value
, The seedling planting apparatus A performs automatic up-and-down control in which the seedling planting apparatus A moves up and down following a field scene. Further, when the shift lever 11 is operated forward with reference to the neutral position, the electric speed change motor 40 for driving and driving a trunnion shaft (not shown) of the continuously variable transmission 5 is controlled to advance the traveling speed of the traveling machine body 3. When the shift lever 11 is operated to the rear side with respect to the neutral position, the shift motor 40 is controlled to increase the reverse speed of the traveling body 3 and stop the travel at the neutral position. Action is set.

As shown in FIG. 3, a control system of the rice transplanter is configured. In this control system, the sensitivity setting device 38 is provided to a control device 41 having a microprocessor (not shown).
And a signal from the lifting lever sensor 34, a signal from the shift lever sensor 35, and a signal from the float sensor 25 are formed.
An output system for controlling each of the electromagnetic valve 39 and the speed change motor 40 is formed, and an input system from a signal from a potentiometer type speed change sensor 42 for detecting a shift position of the continuously variable transmission 5 is formed. . The solenoid valve 39 has such a characteristic that the opening of the solenoid valve 39 is increased as the value of the current supplied to the solenoid is increased.

In this type of rice transplanter, the wheels 1 and 2 fall into the recesses of the cultivator, thereby displacing the seedling planting device A in the lifting direction in a short time to reduce the planting depth of the seedlings. In order to eliminate the phenomenon or the phenomenon that the followability of the raising and lowering operation of the seedling planting apparatus A in the field scene is reduced when there is a large unevenness in the field scene, the control device 41 uses the seedling planting method in the field scene. The control operation is set so that even if the device A is greatly displaced, the ascending / descending control can be performed in a state where the followability is enhanced.

That is, the automatic raising / lowering control raises / lowers the seedling transplanting apparatus A in a direction in which the setting signal from the sensitivity setting device 38 and the feedback signal from the float sensor 25 match, and uses the set value of the sensitivity setting device 38 as a reference. When the feedback signal value reaches the dead zone formed in the area, the control operation is set to stop the elevation, and when the sensitivity setting device 38 is operated to the "dull" side, the target of the leveling float 18 for the seedling planting apparatus A is set. The posture is displaced upward and the spring 32
As a result, it is difficult for the leveling float 18 to change its attitude, and the control sensitivity is reduced. Conversely, the sensitivity setting unit 3
8 is operated to the "SENSITIVE" side, the target posture of the leveling float 18 with respect to the seedling planting apparatus A is displaced forward and downward, and the spring 32 is relaxed. Sensitivity setting unit 38 to increase sensitivity
And the float sensor 25 are set.

FIG. 4 is a flow chart showing an elevation control routine. In this routine, a signal from the sensitivity setting device 38 is input, and the acceleration during operation of the lift cylinder 8 is set based on the signal value. A process for setting the operation limit speed of the lift cylinder 8 is performed (# 101 to # 101).
103 steps). In this process, as shown in the graph K of FIG. 5, the parameter is increased as the sensitivity setting device 38 is operated from the middle range of the operation range to the “sensitive” side, and the parameter is kept constant in the middle range of the control range. The characteristic is set so that the parameter becomes smaller as the operation is performed on the “dull” side from the middle range of the operation range. The larger this parameter is, the more the upper one of the plurality of graphs L shown in FIG. 6 is selected, and the more the upper one is selected, the more the electromagnetic valve 39 per unit time at the start of the operation of the lift cylinder 8.
The change rate of the opening degree of the lift cylinder 8
And the lower the parameter, the smaller the rate of change of the opening degree of the solenoid valve 39 per unit time at the start of operation of the lift cylinder 8 and at the same time, the lower the operation limit speed of the lift cylinder 8. Has become.

In the flowchart, the process for setting the acceleration and the process for setting the operation limit are represented by steps # 102 and # 103 separately for the purpose of facilitating understanding. In step # 102, the acceleration setting means E of claim 1 is configured, and in step # 103, the speed setting means F of claim 2 is configured. In the control device 41, the sensitivity setting device 38, the float sensor 2
An A / D converter (not shown) of about 8 bits for digitizing a voltage signal from a potentiometer such as 5 is provided, and a signal from the sensitivity setting unit 38 is converted into a digital signal by the A / D converter. By doing so, the set position is determined, and by performing processing in accordance with the result of the determination and the conditions given to the program of the control device 41 in advance as in the above-described graph, the acceleration that can be represented by a parameter-like numerical value is set. It has become something.

Next, a feedback signal from the float sensor 25 is input, and it is determined whether or not the feedback signal exists within the dead zone by comparing the feedback signal with a dead zone formed based on the set value of the sensitivity setting device 38. (# 104- # 1
05 step), the solenoid valve 39 is not operated if it exists, and if it exists outside the dead zone, the feedback signal is on the side that raises or lowers the planting apparatus A. Is determined, and when the seedling plant A is to be lifted, the solenoid valve 39 is opened on the open side with the characteristic for obtaining the set acceleration and the characteristic for obtaining the set operation limit speed. In the case where the seedling plant A is lowered, the solenoid valve 39 is operated to the open side with the characteristic of obtaining a constant acceleration and a constant operation limit speed regardless of the set value of the sensitivity setting device 38. (# 106)
~ # 109 steps).

The restricting means G of the third aspect is constituted by the steps # 107 and # 108. Note that the dead zone is obtained by subtracting a predetermined numerical value from a value obtained by adding a predetermined numerical value to a numerical value of a control target (target posture) set based on a digitized signal from the sensitivity setting unit 38. The obtained value can represent the boundary of the dead zone area. By comparing (subtracting) these boundary values with the converted data, the converted data exists in the dead zone area or is outside the area. It is determined on which side the object exists. Furthermore,
When the solenoid valve 39 is operated to the open side, the solenoid of the solenoid valve 39 supplies an intermittent signal, and the PWM of the solenoid valve 39 is adjusted by adjusting the duty ratio (duty cycle) of the intermittent signal.
The desired opening degree of the solenoid valve 39 is obtained by adjusting the power according to the equation.

The values of the acceleration and the operation limit speed are shown in FIG.
As shown in FIG. 3, when the operation of opening the solenoid valve 39 is started at the timing T in FIG.
When 8 is operated at the position of "1" (the most sensitive position), the rate of increase in the degree of opening of the solenoid valve 38 per unit time is maximized as shown in the graph of L1 based on the above parameters. The opening degree of the opening limit of the solenoid valve 38 is also maximized, and the sensitivity setting unit 38 is set to "4".
If it has been operated to the position (intermediate position), the rate of increase of the opening of the solenoid valve 38 per unit time is set to a standard value as shown in the graph of L4 based on the above parameters, The opening limit of the opening limit of the solenoid valve 38 is also set to a standard value, and the sensitivity setting unit 38 sets “7”.
If the solenoid valve 38 has been operated to the position (the least insensitive position), the rate of increase in the degree of opening of the solenoid valve 38 per unit time is minimized, as shown in the graph of L7, based on the above-mentioned parameters. The opening of the opening limit is also the smallest.

As described above, according to the present invention, when the sensitivity setting device 38 is operated to the "quick" side, the target posture of the leveling float 18 is changed to the front lowering side, and the pushing force of the spring 32 is reduced, so that the lowering force is lowered. As a result of the posture change easily occurring in the leveling float 18, the control sensitivity of the elevation control is increased, and at the same time, even if the field scene is soft, the subtle change in the relative distance between the field scene and the seedling planting apparatus A is detected. In the state in which the control sensitivity is increased, the lift cylinder 8 is accelerated in a short time and the operation speed is also increased. It is possible to perform an ascending operation. Conversely, the sensitivity setting device 38
Is operated to the "dull" side, the target posture of the terrain float 18 is changed to the forward ascending side, the pushing force of the spring 32 is increased, and the posture of the terrain float 18 is less likely to change. At the same time as lowering the control sensitivity, the speed of the lift cylinder 8 is gradually increased, and the operation speed is also reduced. Therefore, the posture is maintained while the seedling transplanting device A is supported in the field scene. Become. In particular, by setting the acceleration and the operation limit speed in this way, the lift cylinder 8
Is controlled only when raising the seedling planting device A, the raising of the seedling planting device A is promptly performed when the mud in the field is soft and the sensitivity setting device 38 is set in the high sensitivity range. And when the mud in the field is hard and the sensitivity setting device 38 is set in the low sensitivity range, the raising operation of the seedling planting apparatus A is suppressed and the leveling float is reduced. At 18, the seedling planting apparatus A can be supported on the field scene to stabilize the position.

[Other Embodiments] The present invention can be configured as follows in addition to the above-described embodiment. That is, in this alternative embodiment, the hardware portion is not different from that of the above embodiment, and the acceleration at the time of operation of the lift cylinder 8, the operation limit speed of the lift cylinder 8, Are set to have different characteristics from those described above. It is to be noted that those having the same functions as those of the above embodiment are denoted by the same reference numerals as those of the embodiment.

That is, in this alternative embodiment, the control operation is performed in the same order as described in the flowchart of FIG. 4 in the above embodiment, and the acceleration setting means E, the speed setting means F, and the regulating means G are also provided. It consists of the same steps. And in this alternative embodiment, FIG.
As shown in the graph M, when the setting position of the sensitivity setting device 38 is operated from the position of “dull” to the center position, a constant acceleration is set, and the sensitivity setting device 38 is operated to the position of “sensitivity”. In this case, the change characteristic of the acceleration setting means E is set so as to increase the acceleration as the operation is shifted to the "sensitive" side, and as shown in the graph N of FIG.
8 is operated from the “sensitive” position to the center position, the operation limit speed is maintained at a constant value, and when the sensitivity setting device 38 is operated to the “dull” position, the sensitivity setting is performed. The adjustment characteristic of the speed setting means F is set so that the operation limit speed becomes smaller as the operating device 38 is operated to the "dull" side. Also in this alternative embodiment, control is performed to operate the lift cylinder 8 at the acceleration set by the acceleration setting means E and the operation limit speed set by the speed setting means F only at the time of operation on the ascending side. During operation, the lift cylinder 8 does not follow the acceleration setting means E and the speed setting means F and has a standard constant acceleration and a standard constant operation limit speed.
The operation mode of the restricting means G is set so as to enable the control to operate.

[0036]

Therefore, even if a situation occurs where the ground work device can be lifted from the field scene, the ground work device is less likely to be displaced upward from the target height by preventing the lifting beforehand, so that the ground work device can be lifted in the field scene. On the other hand, an elevation control device capable of maintaining the ground working device at a predetermined height was rationally configured (claim 1). In addition, the operation limit speed is set simultaneously with the setting of the acceleration to improve the followability of the ground working device to the field scene (Claim 2). Also, even in a soft field, the extrusion of the mud by the grounding float is suppressed. At the same time as possible, the height of the ground working device with respect to the field can be stably maintained in the hard field (claim 3).

Further, even if the ground work device is largely displaced in the direction in which the ground work device is lifted from the field scene by setting the acceleration and the operation limit speed, the ground work device is hardly displaced upward from the target height. Thus, a lift control device capable of maintaining the ground working device at a predetermined height is reasonably configured (claim 4). Further, even in a soft field, it is possible to suppress the extrusion of the mud by the grounding float, and at the same time, to stably maintain the height of the ground working device with respect to the field in a hard field (claim 5).

[Brief description of the drawings]

FIG. 1 is an overall side view of a rice transplanter.

FIG. 2 is a side view showing an arrangement of a float sensor.

FIG. 3 is a block circuit diagram of a control system.

FIG. 4 is a flowchart of a lifting control routine;

FIG. 5 is a diagram showing parameters in a graph.

FIG. 6 is a graph showing acceleration and operation limit speed in a graph.

FIG. 7 is a graph showing acceleration and operation limit speed according to another embodiment;

[Explanation of symbols]

 3 traveling body 8 actuator 18 ground float 25 sensor 32 urging means 38 setting unit 39 control valve A ground work equipment E acceleration setting means F speed setting means G regulating means P axis center

──────────────────────────────────────────────────続 き Continued on the front page (58) Field surveyed (Int.Cl. ⁷ , DB name) A01C 11/02 342 A01C 11/02 320

Claims (5)

(57) [Claims] A ground work device is provided so as to be able to move up and down by operating an actuator with respect to a traveling body, and is swingable around an axis in a lateral posture with respect to the ground work device, and biases a front portion thereof. A ground float is provided in a state where the ground float is pushed down by means, and a ground signal is provided in a direction in which a feedback signal from a sensor for measuring the swing posture of the ground float and a setting signal from a setting device for setting a target posture of the ground float match. A raising and lowering control device for a paddy working machine configured to perform a control operation to perform lifting and lowering of a working device, wherein the setting is performed in a high-sensitivity range in which a target posture of a ground float is set to a forward-lowering side in an operation range of the setting device. The acceleration of the actuator is increased as the target attitude of the grounding float is set to the front lower side by the setting device, and the target attitude of the grounding float in the operation range of the setting device is set to the front. In the low sensitivity region to be set to rising side, elevation control apparatus for paddy working machine including an acceleration setting means to reduce the acceleration of the actuator as set upward to the front side of the target posture of the ground float the setter. 2. In a state where acceleration is to be increased by said acceleration setting means, the operation limit speed of the actuator is increased,
2. The lifting and lowering control device for a paddy working machine according to claim 1, further comprising speed setting means for lowering an operation limit speed of the actuator when the acceleration is reduced by the acceleration setting means. 3. The lifting and lowering control device for a paddy working machine according to claim 1, further comprising regulating means for permitting setting of the acceleration by the acceleration setting means only when the ground working device is operated on the ascending side. 4. A ground work device is provided so as to be able to move up and down by operating an actuator with respect to the traveling body, and is swingable around an axis in a lateral posture with respect to the ground work device, and biases a front portion thereof. A ground float is provided in a state where the ground float is pushed down by means, and a ground signal is provided in a direction in which a feedback signal from a sensor for measuring the swing posture of the ground float and a setting signal from a setting device for setting a target posture of the ground float match. A lifting control device for a paddy working machine configured to perform a control operation to perform lifting and lowering of a working device, wherein only a high-sensitivity range in which a target attitude of a ground float is set to a forward-lower side in an operation range of the setting device. An acceleration setting unit that increases the acceleration of the actuator as the target attitude of the ground float is set to the forward lower side by the setting device; Only in a low-sensitivity range in which the target attitude of the funnel is set to the forward ascending side, speed setting means for lowering the operation limit speed of the actuator as the target attitude of the ground float is set to the forward ascending side by the setting device. Elevation control device of paddy working machine. 5. The method according to claim 1, wherein setting of the acceleration by the acceleration setting means and adjustment of an operation limit speed by the speed setting means are performed only when the ground working device is operated on the ascending side.
5. The lifting and lowering control device for a paddy working machine according to claim 4, further comprising a regulation unit that does not function each of the acceleration setting unit and the speed setting unit when the ground work device is operated on the descending side.