JP3586977B2 - Working machine part lifting and lowering control device for paddy field agricultural work machine - Google Patents

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a lifting and lowering control device for a working machine of a paddy field agricultural working machine such as a rice transplanter.
[0002]
[Prior art]
As a work machine part lifting and lowering control device for a paddy field farm work machine with a work machine part attached to the traveling vehicle body so that it can move up and down, the work can swing freely so that the front part moves up and down according to the pressure received from the topsoil of the field A grounding body provided on the machine part, and raising and lowering the working machine part with respect to the traveling vehicle body such that an angle of the grounding body with respect to a horizontal plane (hereinafter, referred to as “facing angle”) approaches a predetermined control target value. Therefore, there is a configuration in which the ground height of the working machine portion is kept constant. Note that the control sensitivity becomes more sensitive as the facing angle of the grounding body increases.
[0003]
Generally, in a rice transplanter, a float for leveling is used as the grounding body. The work implement portion is supported on the traveling vehicle body by the lifting link device, but during work, a part of the weight of the work implement portion is received on the mud surface by the float. For this reason, when the topsoil of the field is soft, the float tends to sink in the mud as a whole, and the float pushes the mud to the left and right sides, so that the leveling mark of the float remains lower than the surrounding area. is there.
[0004]
Therefore, the depth of the leveling mark of the float is measured, and when the leveling mark is deep, the soil is judged to be soft and the sensitivity of the elevation control is made sensitive by correcting the control target value of the float angle to a relatively large value. There has been developed a work machine part elevation control device configured to improve the leveling property by reducing the thrust of the float.
[0005]
[Problems to be solved by the invention]
However, since the above-mentioned work machine part elevation control device must separately provide a detecting means for detecting the depth of the leveling mark of the float, the number of parts for mounting the detecting means and wiring is increased, and the float is increased. However, there is a problem that the detection means disposed at the rear of the device interferes with storage or the like.
[0006]
[Means for Solving the Problems]
In order to solve the above problems, the present invention has the following configuration. That is , the work machine is provided with a grounding body so that the front part can swing up and down in accordance with the pressure received from the topsoil of the field, and travels such that the angle of the grounding body with respect to the horizontal plane approaches a predetermined control target value. in the working machine section elevation control apparatus for paddy field agricultural machine for raising and lowering the working machine part relative to the vehicle body, the entire pressure sensor, wherein the grounding member detects the sum of the pressure from the field surface soil surface provided, the該全surface pressure sensors detecting A work implement part of a paddy field agricultural work machine , wherein the control target value is changed so that the control sensitivity becomes insensitive when the peak value appears several times continuously within a predetermined time interval. An elevation control device is used to correct the control sensitivity to match the hardness of the topsoil of the field.
[0007]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, as one embodiment, a planting portion elevating control device of a riding rice transplanter shown in the drawings will be described. The riding rice transplanter 1 has a planting portion 4 as a working machine portion mounted on a rear side of a traveling vehicle body 2 via a lifting link device 3 so as to be able to move up and down.
[0008]
The traveling vehicle body 2 is a four-wheel drive vehicle provided with a pair of left and right front wheels 2a, 2a and rear wheels 2b, 2b, and is provided with a main frame extending rearward from a rear portion of a transmission case 5 disposed at the front of the body. The engine 7 is mounted on the engine 6. The rotational power of the engine 7 is transmitted to a transmission in a transmission case 5 via a hydraulic continuously variable transmission (HST) 8, from which the front wheels 2 a, 2 a, the rear wheels 2 b, 2 b, and the It is transmitted to each drive unit.
[0009]
A cockpit 10 is provided above the engine 7, and a handle 11 is provided in front of the cockpit 10. A change lever 12 for switching the transmission in the transmission case 5 is provided on the right side of the handle 11, a traveling lever 13 for operating the hydraulic continuously variable transmission 8 is provided on the left side of the handle 11, and a planting section 4 is provided on the left side of the engine 7. A planting / position lever 14 for turning on / off the power transmission and setting the position of the planting portion 4 is provided, and a finger-operated finger-up lever 15 for raising and lowering the planting portion 4 is provided near the lower side of the handle 11. Have been. On the right side of the engine 7, a control box 16 including a sensitivity adjustment dial 16a for adjusting the elevation control sensitivity described later, a check lamp 16b for checking the control state, and the like are provided.
[0010]
As shown in FIG. 6 (a), the lever guide 13a of the traveling lever 13 has a crank shape, and the front side is a forward operation area F and the rear side is a reverse operation area B across the neutral position N. . The operating position of the travel lever 13 is detected by the travel lever position sensor 13b, and the speed is adjusted by changing the swash plate angle of the hydraulic continuously variable transmission 8 accordingly. When the traveling lever 13 is at the neutral position N, the speed is zero. When the traveling lever 13 is operated in the forward operation area F, the forward speed becomes a speed corresponding to the distance from the neutral position N, and when the traveling lever 13 is operated in the reverse operation area B, the neutral speed is obtained. The reverse speed is a speed corresponding to the distance from the position N. When the travel lever 13 is operated in the reverse operation area B, the back detection sensor 13c is turned ON, and the planting section 4 is raised as described later.
[0011]
The lifting link device 3 has a parallel link configuration and includes one upper link 20 and a pair of lower links 21 and 21 on the left and right. These links 20, 21, 21 are rotatably mounted on a link base frame 22 erected on the rear end of the main frame 6 at the base side, and a connection frame 23 is pivotally connected to the tip side. The connection frame 23 is provided with a rolling shaft 23a for connecting the planting section 4 in a freely rolling manner. An elevating hydraulic cylinder 25 is interposed between a support member fixed to the main frame 6 and a distal end of a swing arm 24 integrally formed with the upper link 20, and the cylinder is expanded and contracted by hydraulic pressure, whereby the upper link is extended. 20 rotates up and down, and the planting part 4 attached to the connection frame 23 moves up and down while maintaining a substantially constant posture. The rotation angle of the upper link 20 is detected by a link sensor 26.
[0012]
A pitching mechanism 27 that allows the planting portion 4 to rotate around a left and right axis within a predetermined range is formed at a connecting portion between the upper link 20 and the connecting frame 23. Specifically, the loose fitting pin 20a on the upper link 20 side is loosely inserted into the long hole 23b (having an arc shape centered on the connecting pins 21a, 21a of the lower links 21, 21) formed in the connecting frame 23. The upper end of the connection frame 23 is pulled forward by a spring 28 provided between the middle portion of the upper link 20 and the upper end of the connection frame 23. Therefore, the planting part 4 is rotatable around the connection pins 21a, 21a within the range of the elongated hole 23b, and the posture of the planting part 4 is changed according to the reaction force received by the planting part 4 from the surface of the field. It is changing. That is, when the reaction force received from the topsoil of the field is small and the moment for rotating the planting section 4 downward is larger than the moment due to the tension of the spring 28 opposed thereto, the front end of the long hole 23b The position is such that the loose fitting pin 20a is engaged with the portion. From this state, the reaction force received from the topsoil surface of the field becomes large, and when the moment for rotating the planting section 4 downward and the moment due to the tension of the spring 28 that opposes the same are balanced, the middle of the elongated hole 23b is formed. The position is such that the loose fitting pin 20a is engaged with the portion. Further, if the reaction force received from the topsoil surface of the field is equal to or more than a certain value, the loose fitting pin 20a is engaged with the rear end of the elongated hole 23b. The angle θ of the rotation range of the planting section by the pitching mechanism is about 3 degrees, and the pitching angle of the planting section 4 is detected by the planting section pitching sensor 29.
[0013]
The planting section 4 has a configuration of six-row planting, and a seedling table 31 on which six-row seedlings are placed in a transmission case 30 also serving as a frame, and seedlings on the seedling table are planted in a field scene. Six sets of planting devices 32, ..., etc. are assembled. Below the planting section 4, a center float 34 and side floats 35, 35 for leveling are provided, and when these floats are in contact with the mud surface of the field and the aircraft is advanced, each float clears the mud surface. Glide while doing.
[0014]
Each of the floats 34, 35, 35, which are grounded bodies, has a front end, which is vertically moved at the rear end of a float support arm 38,. It is swingably mounted so as to move. The float support pipe 37 is rotatably supported by the transmission case 30, and when the planting depth adjusting lever 39 is operated to rotate the float support pipe 37, the mounting height of the float changes, and the planting of seedlings is performed. The depth is adjusted. The planting depth adjusting lever 39 is selectively provided at a plurality of positions by engaging an engaging piece 40 fixed to the lever with a concave portion 41a of a lever guide 41 fixed to the transmission case 30. Fixed to.
[0015]
The detection arm 42a of the float full-pressure sensor 42 attached to the frame 30a fixed to the transmission case 30 is connected to one end of the lever guide 41, and the sum of the pressures received by all the floats 34, 35, 35 from the topsoil of the field ( Hereinafter, “full float pressure” will be detected by the float full pressure sensor 42 as the amount of distortion of the lever guide 41.
[0016]
Further, the parallel links 44, 45 are pivotally supported by pins 44a, 45a to be rotatable up and down on the frame 30b fixed to the transmission case, and the vertical links 46 are pivotally connected to the distal ends of the parallel links 44, 45. And a parallel link mechanism. A balance arm 48 is rotatably attached to the distal end of the upper link 44 of the parallel link, and the rear end of the balance arm and the front upper surface of the center float 34 are connected via a connection link 49. . The front end of the interlocking rod 50 whose rear end is connected to the planting depth adjusting lever 39 is connected to an arm 51 provided integrally with the base of the upper link 44, and is used for rotating the planting depth adjusting lever 39. Since the parallel links 44 and 45 rotate in conjunction with each other, when the planting depth is changed, the fulcrum position of the balance arm 48 is changed by an amount corresponding to the change in the float mounting height.
[0017]
A spring 53 for urging the front portion of the center float 34 downward when the float is in contact with the mud surface of the field is connected to the front end of the balance arm 48. By adjusting the tension of the spring 53 by the ground pressure adjusting wire 54, the ground pressure at the front of the center float 34 can be changed.
[0018]
A float orientation sensor 55 is attached to the upper end of the vertical link 46, and its detection arm 55 a is connected to the front of the balance arm 48 via a connection rod 56. Thereby, the facing angle of the center float 34 is detected by the float facing sensor 55.
[0019]
At the time of planting work, the planting unit 4 is lowered to a position where the floats 34, 35, 35 are in contact with the ground, and while driving the driving units of the planting unit 4, the front wheels 2a, 2a and the rear wheels 2b, 2b are rotated. When the airframe advances, the planting devices 32,... Plant seedlings on the mud surface leveled by the floats 34, 35, 35. At the time of turning the body, the planting section 4 is raised to the uppermost position so that the planting section 4 does not contact the ground or the ridge. During running or transportation, the planting section 4 is raised to an appropriate height.
[0020]
The elevation of these planting sections 4 is controlled by an elevation control device. The lifting control device has the configuration shown in FIG. 5, and includes a back detection sensor 13c, a planting / position lever 14, a finger up lever 15, a sensitivity adjustment dial 16a, a link sensor 26, a planting portion pitching sensor 29, a float full-surface pressure sensor 42, And the information from the float direction sensor 55 is transmitted to the control device 60, and an output command is issued to the control valve 61 of the hydraulic cylinder 25 for elevating based on the information.
[0021]
As shown in FIG. 7, the operating position of the planting / position lever 14 includes “position”, “automatic”, and “planting”, and when the planting / position lever 14 is operated within the range of “position”, The position control mode is for raising and lowering the planting section 4 to a height corresponding to the position. When the operation is set to "automatic", the apparatus becomes a ground control mode for maintaining the height of the planting section 4 above the ground constant. In the "position", the driving of the planting section 4 is turned off, and in the "automatic" and "planting", the driving of the planting section 4 is turned on.
[0022]
In the position control mode, while monitoring the position of the planting section 4 by the link sensor 26, the elevation of the planting section 4 is controlled so as to have a height corresponding to the position of the planting / position lever 14.
[0023]
In the ground control mode, control is performed so that the actual float angle α detected by the float angle sensor 55 approaches the control target value set by the sensitivity adjustment dial 16a. For example, where the topsoil surface is high, the front part of the center float 34 is pushed up, and the float facing angle is detected to be small. Then, an output command is issued to the control valve 61 to cause the hydraulic cylinder 25 to protrude, and the planting section 4 is raised. Also, where the topsoil surface is low, the front part of the center float 34 is lowered, so that a large facing angle is detected. Then, an output command is issued to the control valve 61 so as to contract the hydraulic cylinder 25, and the planting section 4 is lowered. As described above, by controlling the height of the planting portion 4 above the ground in accordance with the height of the top soil surface of the field, the planting depth of the seedlings is kept constant.
[0024]
During this ground control, the peak value of the float full-surface pressure sensor 42 is stored, and if the state in which the time interval at which the peak value appears is within a certain number of times continues, the control sensitivity is made insensitive. The above state is a state in which the entire pressure of the float is periodically fluctuating, which may cause hunting. Therefore, if it is determined that the float overall pressure fluctuates in a predetermined cycle, the control sensitivity is made insensitive to prevent hunting. Also, the number of times that the value of the float full surface pressure sensor 42 changes from the (+) side to the (−) side or from the (−) side to the (+) side of the moving average value is counted, and within a predetermined time (for example, 10 seconds). If the number of times is equal to or more than a certain number, it may be determined that the float entire pressure is periodically fluctuating, and the control sensitivity may be insensitive.
[0025]
When the float full pressure detected by the float full pressure sensor 42 exceeds a certain value, the control target value of the float facing angle is corrected to a value larger than the value set by the sensitivity adjustment dial 16a, and the control sensitivity is sensitized. I do. A large float overall pressure means that the float tends to sink and the soil is soft. When the soil is soft, the responsiveness of the center float 34 becomes insensitive. Therefore, the control sensitivity is compensated by increasing the control sensitivity, and appropriate control according to soil conditions is performed.
[0026]
If the overall sensitivity of the float is increasing, the control sensitivity should be made sensitive, and if it is decreasing, the control sensitivity should be less sensitive. And more accurate lifting and lowering control can be performed.
[0027]
When the operation position of the planting / position lever 14 is “automatic”, when the finger-up lever 15 is operated to “up”, the planting section 4 is raised from the working position to the uppermost position, and when the operation is performed to “down”, the planting section 4 is planted. The attachment 4 descends from the uppermost position to the working position. When the back detection sensor 13c is turned on in a state where the operation position of the planting / position lever 14 is "automatic", the planting section 4 at the working position is raised to the uppermost position.
[0028]
When the planting section 4 descends from the raising position to the working position, the entire surface pressure of the float temporarily increases due to the downward momentum. Therefore, when the planting section is once raised and then lowered to the working position for turning or the like, the value of the float full-pressure sensor 42 is ignored for a predetermined time after the touchdown, and the control is performed with the control sensitivity stored immediately before turning. Is preferably performed.
[0029]
Further, during the control, the difference between the maximum value and the minimum value of the planting portion pitching sensor 29 within a predetermined time (for example, 10 seconds) is calculated, and if the difference is equal to or more than the predetermined value, the elevation control based on the entire pressure of the float If the difference is equal to or less than a predetermined value, it is preferable to perform elevation control based on the float facing angle.
[0030]
Regarding the switching of the control mode based on the planting section pitching angle, when the planting section is once raised for turning or the like and then lowered to the working position, the elevation control is performed in the control mode before turning.
[0031]
Next, the self-check function of the lift control device will be described.
When the sensor for detecting the position of the planting / position lever 14 is disconnected, the check lamp 16b is turned on and off, and the control is performed assuming that the planting / position lever 14 is being operated automatically. As a result, the planting section 4 can be moved up and down by the finger up lever 15, and the function of automatically moving the planting section 4 when the aircraft moves backward does not deteriorate.
[0032]
When the link sensor 26 is disconnected, the position control is prohibited, and the rise of the planting section 4 by the operation of the finger up lever 15 and the automatic ascent of the planting section 4 by the reverse movement of the machine are started for a predetermined time after the rising output is started. After a lapse of (for example, 10 seconds), the rising output is stopped. If the link sensor 26 is disconnected, the position of the planting section 4 cannot be grasped. Therefore, it is very dangerous to raise and lower the planting section 4 as it is. However, if the lifting function of the planting section 4 is completely stopped, the operation cannot be continued. Therefore, by configuring the timer to output a rising output for a predetermined time, the work can be temporarily continued.
[0033]
The float facing angle sensor 55 has the wiring shown in FIG. In the figure, when the float angle sensor 55 is disconnected at the portion A or when the portion B and the portion C are short-circuited, the voltage detected by the microcomputer (CPU) is lower than the normal detection range of the float angle sensor 55. Also increases. For this reason, the abnormality of this part can be known.
[0034]
As shown in FIG. 9, the wanga up lever 15 has a built-in switch 15a for raising the planted portion 4 and a down switch 15b for lowering the planted portion 4, and moves the wanga up lever 15 in one direction. When operated, the up switch 15a is turned on, and when operated in the other direction, the down switch 15b is turned on. In other words, only one of the switches is turned on by operating the fan-up lever 15, but if one of the switches is turned on for some reason, both switches are turned on when the other is operated. There is. Therefore, when both switches 15a and 15b are ON at the same time, it is determined that an abnormality has occurred.
[0035]
When the back detection sensor 13c is ON even though the detection position of the travel lever 13 by the travel lever position sensor 13b is in the forward operation range F, or the detection position of the travel lever 13 by the travel lever position sensor 13b is reverse. If the back detection sensor 13c is OFF despite the operation area B, either of the sensors is abnormal, so the check lamp 16b is blinked to notify the abnormality.
[0036]
【The invention's effect】
As described above, the work machine part lifting / lowering control device for a paddy field agricultural work machine according to the present invention is configured such that when the peak value of the pressure received by the ground contact body from the topsoil surface appears several times continuously within a certain time interval. By changing the control target value of the angle of the grounding body with respect to the horizontal plane so that the control sensitivity becomes insensitive, the lifting and lowering of the work equipment can be controlled with an appropriate control sensitivity according to the soil condition.
[Brief description of the drawings]
FIG. 1 is a side view of a riding rice transplanter.
FIG. 2 is a plan view of the riding rice transplanter.
FIG. 3 is a side view of the planting section.
FIG. 4 is a side view of a support portion of the grounding body.
FIG. 5 is a block diagram of a lifting control device.
6A is a plan view of a traveling lever and a lever guide, and FIG.
FIG. 7 is a view showing an operation position of a planting / position lever.
FIG. 8 is a wiring diagram of the float facing angle sensor.
FIG. 9 is a wiring diagram of a finger-up lever.
[Explanation of symbols]
1 Riding rice transplanter (agricultural work machine for paddy field)
2 Running body 3 Elevating link device 4 Planting part (work equipment part)
14 Planting / position lever 34 Center float (grounding body)
35 Side float (ground contact)
42 float full surface pressure sensor 55 float angle sensor 60 control device 61 control valve

Claims (1)

A grounding body is provided on the working machine part so that the front part can swing up and down according to the pressure received from the topsoil of the field, and the traveling vehicle body is controlled so that the angle of the grounding body with respect to the horizontal plane approaches a predetermined control target value. in the working machine section elevation control apparatus for paddy field agricultural machine for raising and lowering the working machine part against the entire pressure sensor, wherein the grounding member detects the sum of the pressure from the field surface soil surface provided, peak detection of該全surface pressure sensor - when the click value appeared in succession several times within a predetermined time interval, the working machine section elevation control of paddy field for agricultural machines, wherein the control sensitivity is configured to change the control target value to be insensitive apparatus.

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