JP3372465B2 - Lifting and lowering control device for farm equipment - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a working device for an agricultural working machine in which a working device mounted on a traveling machine body so as to be lifted and lowered by an elevating and lowering means can be forcibly lifted and lowered based on a manual operation command to the elevating and lowering means. A lifting control device.

[0002]

2. Description of the Related Art Conventionally, when an elevating operation means is operated, a working device is operated to elevate at a predetermined elevating speed.

[0003]

However, in the final stage of planting on the headland, while climbing the ridge at the exit of the field, planting in the corner of the field with the seedling planting device as a working device in the field scene. After that, the seedling planting device is raised with respect to the traveling body while leaving the field and climbing the ridge. In this case, vibration etc. will occur when the seedling planting device is further moved up and down while the traveling aircraft is in the forward-raising posture, so the posture stability of the aircraft will be reduced and the traveling performance and maneuverability will be reduced. It is conceivable that the sex will decrease.

An object of the present invention is to provide a lifting control device for a working device of an agricultural work machine which can maintain the stability of the traveling machine body as much as possible even when the longitudinal inclination of the machine body is increased.

[0005]

[Means for Solving the Problems] [Structure] A characteristic structure according to the invention according to claim 1 is that a working device, which is mounted on a traveling machine body so as to be vertically movable by an elevating drive means, is forced based on an artificial operation command to the elevating operation means. In addition to being configured to be vertically driven, a front-rear inclination detecting means for detecting the front-rear inclination of the traveling machine body is provided, and in a state where the front-rear inclination detecting means detects that the traveling machine body is inclined in the machine longitudinal direction, The control means is provided for changing the forcible lifting operation speed of the work device to a low speed, and the function and effect thereof are as follows.

[Operation] That is, in the state where the traveling machine body is tilted, when an elevating operation command is given to the work device, the elevating operation is performed at a slow speed lower than the normal elevating speed.

[Effect] As a result, while following the work form of raising and retracting the work device, vibrations and the like when the work device is raised and lowered are suppressed, and the posture stability of the traveling machine body as well as the running property and maneuverability are improved. I was able to improve.

The object of the invention according to claim 2 is to claim 1
Is the same as.

[Structure] According to the second aspect of the present invention, a working device mounted on a traveling machine body so as to be lifted and lowered by a lifting drive means is configured to be forcibly lifted and lowered based on a manual operation command to the lifting and lowering means. Along with, a front-back inclination detecting means for detecting the front-back inclination of the traveling machine body is provided,
In the state in which the forward / backward inclination detecting means detects that the traveling body is inclined in the front / rear direction of the body, there is provided a control means for changing the forcible rising operation speed of the working device to a low speed. The effects are as follows.

[Operation and Effect] In the present invention, the slow speed control is applied only when the working device is moved upward. This is because the effect of the machine weight on the vibration of the machine becomes greater when the machine moves up, and when the machine descends, the center of gravity also decreases. Slow speed control is limited only to rising.

[Configuration] According to a third aspect of the present invention, the working device mounted on the traveling machine body so as to be lifted and lowered by the lifting and lowering drive means is configured to be forcibly lifted and lowered based on a manual operation command to the lifting and lowering operation means. Along with, a front-back inclination detecting means for detecting the front-back inclination of the traveling machine body is provided,
In the state where the front-back inclination detecting means detects that the forward rising inclination of the traveling machine body is equal to or more than the set value, there is provided a control means for changing the forcible ascent operation speed of the working device to a low speed. , Its effects are as follows.

[Operation and Effect] In the present invention, the slow speed raising control of the working device is applied when the forward rising inclination of the traveling machine body becomes equal to or greater than the set angle. This is because it can be considered that there is no inclination when the traveling body is slightly inclined. As a result, the slow speed ascending control is performed only when the influence of the vibration at the time of ascending greatly affects.

[Structure] According to a fourth aspect of the present invention, the grounding sensor is configured to be movable up and down with respect to the seedling planting device attached to the traveling machine body by the lifting drive means so as to be movable up and down. Elevation control means for controlling the raising and lowering of the seedling planting device so as to maintain the height with respect to the planting device at the reference height, and forcible raising and lowering drive for forcibly raising and lowering the seedling planting device based on a manual operation command to the raising and lowering operation device. Means, and the front-back inclination detection means for detecting the front-back inclination of the traveling machine body detects the front-back inclination of the machine body, the operation of the forced elevating drive means is performed even if there is a manual operation command to the elevating operation means. The control means is provided so as to prevent the lift control means from operating and to maintain the operation of the lift control means. The function and effect thereof are as follows.

[Operation and Effect] In the rice transplanter, the reference height of the grounding sensor with respect to the seedling planting device, that is, the planting depth of the seedling planting device is fixed by the elevating control means based on the detection result of the grounding sensor. Control to maintain at. This is called plowing depth control. During this plowing depth control, if a command for forced raising / lowering control to the seedling planting device is entered and the tilt angle of the traveling machine body is detected, raising / lowering control of the working device is not performed and plowing depth control is performed. maintain. By maintaining this tilling depth control state, for example, even when the user is in the forward rising posture of climbing up the ridge, the grounding sensor or the like can exert the strut. When the tilted state of the traveling machine body is canceled while maintaining this tilling depth control, and if the forced lifting operation state is maintained, the seedling planting device is forcedly lifted at that time.

[0015]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings. (First Embodiment) As shown in FIG. 1, an engine 4 is mounted on the front part of a traveling machine body 3 having a steering type drive front wheel 1 and a drive rear wheel 2.
A hydrostatic stepless transmission 5 to which power from the engine 4 is transmitted and a transmission case 6 are arranged at the rear part of the traveling machine body 3, and a steering handle 7 and a driver's seat 8 are provided at the center of the traveling machine body 3. And a seedling planting device A as a working device is connected to a rear end portion of the traveling machine body 3 via a link mechanism 10 driven and lifted by a lift cylinder 9 as a lifting drive means to connect a rice paddy as a paddy field working machine. Make up the machine. The seedling planting device A cuts out the mat-shaped seedling W placed on the seedling stand 11 by the planting arm 13 provided in the rotary case 12 that rotates in synchronization with the traveling speed of the machine body, and performs the operation of planting it in a field scene. In addition to having the system, the ground leveling floats 14 as a plurality of grounding floats are provided in the lower part so as to be used for 8-row planting.

As shown in FIG. 3, a plurality of leveling floats 1
Leveled float at the center position in the left-right direction out of 4 (hereinafter,
The sensing float 14A) is a planting depth adjusting shaft 15
A swinging end of the arm-shaped member 16 formed integrally with the arm 16 is swingably supported around the axis X in a lateral posture as a rear fulcrum, and the front portion thereof is urged downward. It has a spring 17 for setting and has a function as a ground sensor. A sensor for detecting the swing amount of the front end portion around the rear fulcrum of the sensing float 14A is provided, and this sensor is referred to as a float sensor 19. Bracket 1 on sensing float 14A
8 is attached, the bracket 18 and the operation arm 19A of the float sensor 19 are linked via the rod 20, and the swing posture of the float 14A can be measured by the float sensor 19.

When the planting depth adjusting shaft 15 is rotated, the spring receiving side position is maintained so that the biasing force of the sensing pressure setting spring 17 is maintained, and the attitude of the float 14A is determined by the float sensor. A correction link 21 is provided to correct the posture of the case of the float sensor 19 around the axis of the operation arm 19A of the float sensor 19 so that the float sensor 19 can be accurately detected. The sensing float 14A sets the seedling planting device A to the field scene S.
The seedling planting apparatus A for the field scene S during the control of automatically raising and lowering in accordance with the height change of the plant (hereinafter referred to as automatic raising and lowering control).
The height of is fed back to the control system.

As shown in FIG. 1, an elevating lever for controlling the raising and lowering of the seedling planting device A on the right side of the driver's seat 7 and for turning on and off a planting clutch (not shown) built in the mission case 6. 24 are provided. As shown in FIG.
The seedling planting apparatus A is lowered by setting the elevating lever 24 to the “falling” position within the path formed in the guide 25. When set to the "up" position, the seedling planting device A is raised. When set to the "neutral" position, the seedling planting device A is maintained at that level. When set to the “ON” position, the planting clutch is engaged and operated, and the automatic raising / lowering control for maintaining a predetermined height against the field while the ground leveling float 14 (sensing float 14A) provided in the seedling planting apparatus A is grounded. To do. When set to the "OFF" position, the planting clutch is disengaged. When the raising / lowering lever 24 is set to the “automatic” position, the raising / lowering of the seedling planting device A is allowed according to the operation of the forced raising / lowering lever 26 provided in the vicinity of the steering handle 7 and at the same time the seedling planting device A is automatically raised by the planting clutch. It is possible to perform a manual cutting operation. As shown in FIG. 2, a potentiometer-type lever sensor 27 for measuring the operating position of the elevating lever 24 is provided at the base end of the elevating lever 24. Here, the lifting lever 24 and the forced lifting lever 26 are referred to as lifting operation means.

The sensing float 14A is urged by the spring 17 in a direction to push down the front part thereof, so that when the seedling planting apparatus A is relatively displaced in the ascending direction with respect to the field scene S, the sensing float 14A. When the seedling planting device A is relatively displaced in the descending direction based on the field scene S, the sensing float 14A rises forward around the axis X. Change in posture. This posture change is measured by the float sensor 19, and the posture of the sensing float 14A is the target posture based on the signal from the float sensor 19, that is, the seedling planting device A corresponding to the set value of the control sensitivity setter 28 described later. The control operation of the automatic raising / lowering control is set so as to maintain the height of the seedling planting apparatus A with respect to the field scene S by raising and lowering the seedling planting apparatus A so as to keep the vertical interval L of the above. As shown in FIG. 2, the traveling body A is provided with a control sensitivity setting unit 28 for setting the target attitude of the sensing float 14A, and is configured so that the target attitude of the sensing float 14A can be set. Here, the float sensor 1
9, the sensing float 14A, the control sensitivity setting device 28, and the like are referred to as lifting control means for controlling the planting depth of the seedling planting apparatus A.

As shown in FIG. 2, the traveling machine body 3 is provided with a control device 32 as a control means having a microprocessor (not shown) for automatically raising and lowering the seedling planting device A. The lever sensor 27 for the control device 32,
An input system to which signals from the control sensitivity setting device 28 and the float sensor 19 are input is formed. An output system for the solenoid valve 33 that receives the input signal and controls the lift cylinder 9 is formed. The electromagnetic valve 33 holds the neutral position in a non-driving state, and is configured to be operable in an ascending position and a descending position by supplying electric power to the electromagnetic solenoid, and in proportion to the electric power supplied to the electromagnetic solenoid. It is configured to change the opening.

Next, the elevation control by the elevation operation means 24, 26 when the longitudinal inclination of the traveling machine body 3 becomes a predetermined angle or more will be described. A potentiometer-type forward / backward inclination sensor 22 as a forward / backward inclination detection means is provided for the traveling vehicle body 3 to detect the forward / backward inclination of the vehicle body 3. A front / rear tilt setting device 23 is provided as a reference for determining whether or not the tilt has reached a predetermined angle. For example, as shown in FIG. 4, when there is a raising / lowering control command of the seedling planting device A when climbing the ridges and finishing planting and leaving the field while performing planting work on the ridges, etc., as shown in FIG. As described above, if the absolute value θ3 of the tilt angle in the machine longitudinal direction of the traveling machine body 3 is not larger than the set angle, the ascending / descending speed V is set to the normal forced ascending / descending speed V ″ to perform the ascending / descending control to obtain the absolute value of the inclination angle. When θ3 becomes larger than the set angle, the ascending / descending speed V is set to the slow forced ascending / descending speed V ′ to perform ascending / descending control. The absolute value of the machine body inclination angle θ3 is handled in either the front or rear direction of the machine body. This control is applied to the inclination of.

As shown in the flowchart of FIG. 6, first, if the operating position of the elevating lever 24 is detected and set to the "planted" position, the detection angle .theta.1 from the float sensor 19 and the control sensitivity described above. Automatic elevation control is performed based on the set angle θ2 from the setter 28 (# 101 to # 105). The tilt in the machine longitudinal direction of the traveling machine body 3 during the automatic lifting control is not considered. When the raising / lowering operation position is the “lowering” or the “raising” position, as described above, if the longitudinal inclination angle θ3 of the traveling machine body 3 becomes equal to or more than the set angle θ4, the raising / lowering speed V is changed to the slow forced raising / lowering speed V. Set to '. When the front-back inclination angle θ3 becomes equal to or larger than the set angle θ4, the ascending / descending speed V is set to the normal forced ascending / descending speed V ″ (# 106 to # 109).
When the elevating operation position is the “automatic” position and the elevating operation is performed on the forced elevating lever 26, the longitudinal tilt angle θ of the traveling machine body 3 is
When 3 becomes the set angle θ4 or more, the ascending / descending speed V is set to the slow forced ascending / descending speed V ′. Front-rear tilt angle θ3 is set angle θ4
If not reached, the ascending / descending speed V is set to the normal forced ascending / descending speed V ″ (# 110 to # 114). The slow forced ascending / descending speed V ′ and the normal forced ascending / descending speed V ″ are shown in FIG.

(Second Embodiment) In the second embodiment, only the points different from the first embodiment will be described. That is, a different embodiment will be described with respect to the handling when the tilt angle θ3 of the traveling machine body 3 in the longitudinal direction of the machine body exceeds the set angle θ4. Regarding the plowing depth control (# 201), see FIG.
This is as described in steps # 102 to # 105 in the flowchart. When the raising operation of the seedling planting device A is applied in order to escape from the field and cross the ridge while planting work is being performed on the ridge while continuing this tilling depth control, as shown in FIG. , The body tilt angle θ3 is the set angle θ4
If it is above, the tilling depth control state is maintained without performing the ascending operation. If the aircraft tilt angle θ3 does not exceed the set angle θ4,
Activate the lift. However, in the case where the raising operation of the seedling planting apparatus A is regulated despite the raising operation of the seedling planting apparatus A being returned to a state in which the machine body tilt angle θ3 does not exceed the set angle θ4. Causes the seedling planting apparatus A to be raised (# 201 to # 204). For the above control,
It is also shown in the time chart shown in FIG.

[Other Embodiment] In the above-described embodiment, the present invention shows that the raising / lowering operation state of the seedling planting apparatus A is changed when the front-rear inclination angle θ3 of the traveling machine body 3 is inclined at a set angle or more. However, the above control may be performed by simply detecting that the traveling machine body 3 is tilted from the horizontal state without adopting the set angle method. Although the present invention has been described in the above embodiment regarding changing the raising / lowering operation state of the seedling planting apparatus A when the forward / backward inclination angle θ3 of the traveling machine body 3 is inclined by a set angle or more, the forward rising inclination of the traveling machine body 3 is described. It is possible to perform control such as restricting the ascending operation or decreasing the ascending speed based on only the above.

[Brief description of drawings]

[Figure 1] Overall side view of rice transplanter

FIG. 2 is a block circuit diagram of a control system.

FIG. 3 is a side view showing the arrangement of float sensors.

FIG. 4 is an action diagram showing a state of planting when escaping from the field.

FIG. 5 is a plan view showing an operation path of a lifting operation lever.

FIG. 6 is a flow chart in the case of slow-speed lifting control.

FIG. 7 is a diagram showing speeds during lifting control operation.

FIG. 8 is a flowchart showing a control for maintaining the tilling depth control in spite of the raising operation.

9 is a time chart corresponding to the flowchart of FIG.

[Explanation of symbols]

3 traveling aircraft 9 Lifting drive means 14A ground sensor 22 Front-back inclination detection means 24, 26 Lifting operation means 32 control means A Working device (planting device)

Claims (4)

(57) [Claims] 1. A working device, which is mounted on a traveling machine body so as to be lifted and lowered by a lifting drive means, is configured to be forcibly lifted and lowered based on a manual operation command to the lifting and lowering means, and
A forward / backward inclination detecting means for detecting the forward / backward inclination of the traveling machine body is provided, and in a state in which the forward / backward inclination detecting means detects that the traveling machine body is inclined in the longitudinal direction of the machine body, the forced lifting operation speed of the working device is changed. A lifting control device for a working device of an agricultural work machine, which is provided with control means for changing to a low speed. 2. A working device, which is mounted on a traveling machine body so as to be able to move up and down by an elevating drive means, is configured to be capable of forcibly moving up and down based on a manual operation command to the elevating operation means.
A forward / backward inclination detecting means for detecting the forward / backward inclination of the traveling machine body is provided, and in a state where the forward / backward inclination detecting means detects that the traveling machine body is inclined in the longitudinal direction of the machine body, the forced rising operation speed of the working device is A lifting control device for a working device of an agricultural work machine, which is provided with control means for changing to a low speed. 3. A working device, which is mounted on a traveling machine body so as to be lifted and lowered by a lifting drive means, is configured to be forcibly lifted and lowered based on a manual operation command to the lifting and lowering means, and
A front-rear inclination detecting means for detecting a front-rear inclination of the traveling machine body is provided, and in a state where the front-rear inclination detecting means detects that the forward rising inclination of the traveling machine body is equal to or more than a set value, the working device is forcibly lifted. A lifting control device for a working device of an agricultural work machine, which is provided with control means for changing an operating speed to a low speed. 4. A grounding sensor is configured to be movable up and down with respect to a seedling planting device which is mounted on a traveling machine body so as to be able to move up and down, and the height of the grounding sensor with respect to the seedling planting device is maintained at a reference height. Elevating control means for controlling the raising and lowering of the seedling planting device so as to, and a forced raising and lowering drive means for forcibly raising and lowering the seedling planting device based on an artificial operation command to the raising and lowering operation means are provided. In a state in which the front-rear inclination detecting means for detecting detects the front-rear inclination of the machine body, the operation of the forced elevating drive means is blocked and the operation of the elevating control means is maintained even if there is a manual operation command to the elevating operation means. Lifting control device for a working device of an agricultural work machine, which is provided with control means for controlling the above.