JP6685815B2 - Farm work machine - Google Patents

Description

  The present invention relates to an agricultural work machine. In particular, the present invention relates to an agricultural work machine that is mounted on a rear portion of a traveling machine body and performs a predetermined work under the control of an operating device.

  BACKGROUND ART Conventionally, agricultural working machines such as a scraping machine, a ridge coating machine, and a rotary working machine have been known as devices for performing agricultural work in a field. These farm work machines are attached to the rear part of a traveling machine body such as a tractor, and are configured to perform a predetermined work on a field while being pulled by the traveling machine body. In recent years, it has become possible for a worker who operates a tractor to remotely control the operation of a work machine by operating a remote controller.

  For example, in Patent Document 1, a manual mode in which the operating portion operates only while the operating button is being pushed, and a setting mode in which the operating portion is preset when the operating button is once pushed There is described an agricultural working machine provided with a remote control operation unit capable of switching between an automatic mode which operates until a certain time and a remote operation unit.

JP, 2006-166793, A

  When the agricultural working machine described in Patent Document 1 is controlled in the automatic mode, once the operating button is pushed, the agricultural working machine continues to operate until the operating unit reaches a preset setting state. However, Patent Document 1 does not disclose how to detect that the operating unit has reached a preset setting state.

  Usually, in such a case, the operator has the trouble of visually confirming that the operation of the operating portion is completed and pressing the stop button. Further, it may be considered that a sensor or a switch is attached to the operating portion to determine whether or not the set state is reached, but it is necessary to provide the sensor or switch for each operating portion, which causes a cost increase.

  One of the objects of the present invention is to provide an agricultural working machine with improved operability while suppressing cost increase.

  An agricultural working machine according to an embodiment of the present invention includes an operating device that operates a motion part using an electric motor, and a control device that controls the operating device, and the control device includes a computing unit and a preset current value. The first period has elapsed in a state in which the arithmetic unit operates the operating device and maintains the value of the current flowing through the electric motor equal to or greater than the preset current value after the actuation of the actuating device. When it is determined that, the actuating device is automatically stopped.

  It is preferable that the first period is a period longer than a period in which a current value that flows when the electric motor is started is maintained at a value equal to or higher than the preset current value.

  The calculation unit may control the current value flowing through the electric motor not to be acquired until a second period elapses after the electric motor is activated.

  The exercise part may have a movable range, and the second period may be a period shorter than a period required for the exercise part to move from one end to the other end of the movable range.

  The calculating unit may automatically stop the actuating device regardless of the result of the determination when the operating period of the actuating device reaches a preset third period.

  The exercise part may have a movable range, and the third period may be a period longer than a period required for the exercise part to move from one end to the other end of the movable range.

  A plurality of the electric motors may be provided, and the arithmetic unit may obtain a value of a current flowing through the electric motors for each of the electric motors. Further, at that time, the storage unit may store the preset current value for each of the electric motors.

  According to the agricultural work machine according to the embodiment of the present invention described above, it is possible to provide an agricultural work machine with improved operability while suppressing cost increase.

It is a perspective view which shows the structure of the agricultural working machine of 1st Embodiment. It is a top view which shows the structure of the agricultural working machine of 1st Embodiment. It is a figure which shows the structure of the operating device with which the farming machine of 1st Embodiment is equipped. It is a figure which shows the functional block of the operating device with which the farming machine of 1st Embodiment is equipped. It is a figure showing a functional block of a control device with which a farming machine of a 1st embodiment is provided. It is a flow chart for explaining processing performed by a control device with which a farming machine of a 1st embodiment is provided. It is a figure which shows the time chart showing the change of the value of the electric current which flows through the electric motor with which the farming machine of 1st Embodiment is equipped. It is a flow chart for explaining processing performed by a control device with which a farming machine of a 2nd embodiment is provided. It is a figure which shows the time chart showing the change of the value of the electric current which flows through the electric motor with which the farming machine of 2nd Embodiment is equipped. It is a flow chart for explaining processing performed by a control device with which a farming machine of a 3rd embodiment is provided. It is a figure which shows the time chart showing the change of the value of the electric current which flows through the electric motor with which the farming machine of 3rd Embodiment is equipped.

  Hereinafter, an embodiment of an agricultural working machine of the present invention will be described with reference to the drawings. However, the agricultural working machine of the present invention can be implemented in many different modes, and it is not construed as being limited to the description of the examples below. Note that in the drawings referred to in this embodiment, the same portions or portions having similar functions are denoted by the same reference numerals, and repeated description thereof is omitted.

  Further, for convenience of description, the terms “upper (upper)” and “lower (lower)” are used, but the upper (upper) indicates a direction away from the horizontal plane, and the lower (lower) indicates a direction toward the horizontal. Similarly, the description will be made using the terms front (front side) or rear (rear side), but the front (front side) indicates the direction in which the traveling machine body is located on the basis of the agricultural work machine, and the rear (rear side) is not the front. 180 ° shows the opposite direction.

<First Embodiment>
In the present embodiment, as an example of an agricultural working machine, a scraping machine that performs scraping work in a field will be described. However, the technical idea of the present invention is not limited to a scraping machine, but to a tilling work machine (rotary work machine) that cultivates a field, a ridge coater that forms a ridge around the field, and a groove digging machine that forms a groove around the field. It is also possible to apply.
[Configuration of farm work machine 10]
Hereinafter, the configuration of the agricultural work machine 10 according to the first embodiment will be described in detail with reference to FIGS. 1 and 2. FIG. 1 is a rear perspective view showing the configuration of the agricultural working machine according to the first embodiment. FIG. 2 is a plan view showing the configuration of the agricultural working machine according to the first embodiment.

  The farm work machine 10 according to the present embodiment includes a central work machine 10C, a left work machine 10L, and a right work machine 10R, and has a structure divided into three. The central working machine 10C is arranged in the central portion of the agricultural working machine 10 and functions as a working machine body. The left working machine 10L and the right working machine 10R are attached to the left and right ends of the central working machine 10C so as to be vertically rotatable. The agricultural working machine 10 can be folded and overlapped with the central working machine 10C by rotating the left working machine 10L and the right working machine 10R in the upward direction in accordance with the instruction information transmitted from the operating device 100. By rotating in the direction, it can be deployed left and right as shown in FIG.

  Here, a state in which the left side working machine 10L and the right side working machine 10R are overlapped with the central working machine 10C and folded is referred to as a stored state. The stored state is a state in which the width of the agricultural working machine 10 is reduced in the direction orthogonal to the traveling direction of the traveling machine body. A state in which the left working machine 10L, the right working machine 10R, and the central working machine 10C are arranged side by side is called a working state. The working state is a state in which the agricultural work machine 10 is deployed in a direction orthogonal to the traveling direction of the traveling machine body.

  Next, the central working machine 10C will be described. The central working machine 10C supports the top mast 12 and the lower link connecting section 14 functioning as a connecting portion with a traveling machine body such as a tractor, an input shaft 16 to which power is transmitted from the traveling machine body, and extends in the left-right direction to support the central working machine 10C. Support frame 18, transmission frame (chain case) 20, gear box 24, central shield cover 26C, control box 28, leveler position switching unit 29, first central grounded body 30C, second central grounded body 32C, and central link mechanism unit. 34 are provided. Below the center shield cover 26C, a plurality of tilling claws (not shown) are attached to the rotating shaft to form a tilling rotor for tilling the field.

  Inside the control box 28, a control device 200 (see FIG. 5) that controls an operating device (for example, a rotating mechanism or an actuator such as a cylinder) that operates a moving part using the electric motor of the agricultural work machine 10 is stored. . The control device 200 executes a predetermined control based on the instruction information received from the controller device 100. For example, when the instruction information indicating the instruction to change the farm work machine 10 from the stored state to the work state is received from the operation device 100, the control device 200 causes the operation device 300 (for rotating each work machine). (See FIG. 5). Details of the control device 200 will be described later.

  The first central ground body 30C is rotatably attached to the central shield cover 26C. The first leveled body is also called an apron. The second central grounded body 32C is attached to the first central grounded body 30C so as to be vertically movable. The second ground level body is also called a leveler. The first central ground leveling body 30C plays a role as a cover for returning mud or soil scattered by the rotation of the tilling rotor to the field, and a role as a ground leveling member for pressing the second central ground leveling body 32C to the field to perform the leveling work. . The second central ground leveling body 32C plays a role as a leveling member for leveling the field surface by directly contacting the field.

  The central link mechanism portion 34 includes a swing arm 34a and a connecting rod 34b, both of which are flexibly coupled. The swing arm 34a is rotatably connected to the rear portion of the gear box 24, and the connecting rod 34b is connected to the upper surface of the second central ground body 32C. Therefore, the central link mechanism portion 34 is movable in the vertical direction as the second central ground body 32C is rotated in the vertical direction.

  Further, the power from the leveler position switching unit 29 is transmitted to the central link mechanism unit 34, and the position of the second central ground leveling body 32C is the position for performing the earth gathering work and the position for performing the normal work (leveling work) (the earth gathering release). Position) and can be switched. At this time, the leveler position switching unit 29 has an actuator including an electric motor as an actuating device, and functions as a means for restricting or canceling the vertical rotation of the second central ground body 32C in association with the rotation of the electric motor. .

  Next, the left working machine 10L will be described. The left working machine 10L includes a left shield cover 26L, a first left ground leveling body 30L, a second left ground leveling body 32L, and a left extended ground leveling body rotating mechanism 36L. The extended level body is also called an extended leveler. Here, regarding the roles of the left shield cover 26L, the first left ground leveling body 30L, and the second left ground leveling body 32L, the above-mentioned central shield cover 26C, the first central ground leveling body 30C, and the second central ground leveling body 32C are described. Since it is the same, the description here is omitted.

  The left-side extension ground leveling body rotating mechanism 36L is a mechanism for rotating the left-side extension ground leveling body 38L rotatably connected to the second left side ground leveling body 32L of the left working machine 10L. The left-side extension ground leveling body 38L is provided to extend in the left-right direction of the agricultural work machine 10 from the end portion of the left-side work machine 10L, and is responsible for leveling work in a region outside the left-side work machine 10L. The left work implement 10L and the left extension ground leveling body 38L are rotatably connected by an extension connecting portion 40L, and the left side extension ground leveling body 38L is rotatable so as to be folded toward the left side work equipment 10L. There is.

  Here, in the present embodiment, the left-side extension ground leveling body rotating mechanism 36L includes a leveler rotating portion 36La, a rotating arm 36Lb, and a connecting wire 36Lc. The leveler rotating unit 36La may use an actuator including an electric motor as an actuator. One end of the rotating arm 36Lb is connected to the leveler rotating portion 36La, and the other end is connected to the connecting wire 36Lc. Further, one end of the connecting wire 36Lc is connected to the rotating arm 36Lb, and the other end thereof is connected to the left-side extension ground leveling body 38L.

  When the leveler rotating portion 36La is operated, a rotation driving force is generated and the rotating arm 36Lb is rotated in a substantially horizontal direction. The left extension ground leveling body 38L pulled by the connecting wire 36Lc rotates about the extension connecting portion 40L as an axis in conjunction with the rotation of the rotating arm 36Lb. As a result, the left-side extension ground leveling body 38L can be stored and deployed.

  Next, the right working machine 10R will be described. The right working machine 10R includes a right shield cover 26R, a first right ground leveling body 30R, a second right ground leveling body 32R, and a right extension ground leveling body rotation mechanism 36R. Here, the roles of the right shield cover 26R, the first right ground leveling body 30R, the second right side ground leveling body 32R, and the right extension ground leveling body rotating mechanism 36R are the same as those of the above-described left working machine 10L, so here The description of is omitted. The right-side extension ground leveling body 38R and the extension connecting portion 40R are similar to the left side extension ground leveling body 38L and the extension connecting portion 40L described above.

  A left apron pressurizing unit 44L and a right apron pressurizing unit 44R are arranged in the left working machine 10L and the right working machine 10R, respectively. The left apron pressurizing unit 44L and the right apron pressurizing unit 44R have a function of restricting the vertical movement of the first left ground leveling body 30L and the first right ground leveling body 30R, or releasing the restriction. The left apron pressurization unit 44L and the right apron pressurization unit 44R are connected to the left pressurization state switching unit 45L and the right pressurization state switching unit 45R via components such as cams, respectively.

  The left pressurization state switching unit 45L and the right pressurization state switching unit 45R each have an actuator including an electric motor as an operating device. In accordance with the rotation of the electric motor of these actuators, the regulation or cancellation of the vertical movement of the first left ground leveling body 30L and the first right ground leveling body 30R is controlled.

  The left-side working machine 10L and the right-side working machine 10R described above are rotated by the working cylinders 48a and 48b with the working machine turning mechanisms 46a and 46b provided at both end portions of the central working machine 10C as the turning fulcrums. It moves to the above-mentioned stored state or working state. The rotating cylinders 48a and 48b are actuators of the type that drive the cylinders using an electric motor, and the working machine rotating mechanisms 46a and 46b extend and retract the rotating cylinders 48a and 48b to allow the left working machine 10L and the right working machine to operate. Rotate 10R.

[Configuration of operating device 100]
Next, the configuration of the operating device 100 will be described. FIG. 3 is a diagram showing an external configuration of the operating device 100 included in the farm work machine 10 according to the first embodiment. FIG. 4 is a diagram showing functional blocks of the operating device 100 included in the farm work machine 10 of the first embodiment. The operation device 100 in the present embodiment is a remote controller that performs wireless communication with the control device 200 described later, but may be a remote controller for wired communication.

  The operating device 100 includes, as various switches, a power switch 101, a left / right selection switch group 102, a work machine control switch group 103, an extension leveler control switch group 104, a leveler position control switch group 105, and an apron control switch 106.

  The power switch 101 is a switch for turning on or off the power supply unit 114 of the controller device 100.

  The left / right selection switch group 102 is a switch group for instructing a motion site to be operated, and includes a left / right selection switch 102a, a left selection switch 102b, and a right selection switch 102c. By combining the left / right selection switch group 102 and various control switch groups described later, it is possible to perform simultaneous left / right control or control on only one side. For example, if the left selection switch 102b and the EX leveler opening operation switch 104a described later are combined, it is possible to instruct to open only the left extension ground leveling body 38L.

  The working machine control switch group 103 is a switch group for opening and closing the left working machine 10L and the right working machine 10R, and includes a working machine opening actuation switch 103a and a working machine closing actuation switch 103b. By combining with the above-described left / right selection switch group 102, the left and right work machines can be independently opened / closed.

  The extension leveler control switch group 104 is a switch group for opening and closing the left extension ground leveling body 38L and the right side extension ground leveling body 38R, and includes an EX leveler opening operation switch 104a and an EX leveler closing operation switch 104b. By combining with the above-mentioned left / right selection switch group 102, the left and right extended ground leveling bodies can be independently opened / closed.

  The leveler position control switch group 105 positions the second left ground leveling body 32L, the second central ground leveling body 32C, and the second right side ground leveling body 32R in a position for performing earthing work and a position for performing normal work (leveling work) (release of earthing work). It is a switch group for switching to the position), and includes a soil gathering work switch 105a and a soil gathering release switch 105b.

  The apron control switch 106 is a switch for restricting the vertical movement of the first left ground leveling body 30L and the first right ground leveling body 30R and for releasing the restriction. That is, when the apron control switch 106 is turned on to pressurize the apron, the vertical movement is restricted, and when the apron is released from the apron control switch 106 being turned off, the vertical movement restriction is also released.

  When any of the above-mentioned switches is pressed once, the operation of the instructed movement part is continued without pressing the switch thereafter, and when the end point is detected, the operating device automatically stops and the movement part is operated. Is also going to stop. Such control is executed by the control device 200 described later.

  Returning to FIG. 4, operation device 100 includes a communication unit 111, a calculation unit 112, a storage unit 113, a power supply unit 114, a power supply lamp 115, and a working depth gauge lamp 116.

  The communication unit 111 performs wireless communication with the control device 200, which will be described later, via the antenna 111a, and transmits instruction information corresponding to the operation of various switches to the control device 200. The wireless communication may be a wireless LAN or short-range wireless communication such as Bluetooth (registered trademark).

  The calculation unit 112 is a CPU (central processing unit), and plays a central role in controlling each part of the operation device 100. The arithmetic unit 112 executes control programs (not shown) read from the storage unit 113 to generate instruction information according to the operation of various switches, and controls the transmission of the instruction information to the control device 200. To do.

  The storage unit 113 stores various data required for processing by the calculation unit 112. These various types of data are read out as needed and are used for processing in the arithmetic unit 112. The data stored in the storage unit 113 is not limited to the control program described above. In this embodiment, the storage depth 113 received from the control device 200 is stored in the storage unit 113, and the depth data is used for display control of the depth gauge lamp 116.

  The power supply unit 114 supplies power to each part of the controller device 100. The power supply unit 114 is activated in response to an ON operation of the power switch 101. Upon recognizing that the power supply unit 114 has started up, the arithmetic unit 112 turns on the power supply lamp 115.

  The tillage depth gauge lamp 116 is an index that indicates in real time the depth at which the tiller rotor of the agricultural working machine 10 is tilling the field (tilt depth). In the present embodiment, the working depth gauge lamp 116 is composed of a group of a plurality of linearly arranged lamps, and the working depth is displayed by the lighting position thereof.

  In the operating device 100 including the above configuration, when each switch is pressed, the instruction information corresponding to the instruction content assigned to the switch is transmitted from the operating device 100, and the control stored in the control box 28 of the agricultural work machine 10 is controlled. It is received by the device 200. Then, in the control device 200, the control of the actuating device that actuates each exercise part is executed based on the instruction information.

[Configuration of control device 200]
The configuration of the control device 200 will be described. FIG. 5: is a figure which shows the functional block of the control apparatus 200 with which the farming machine 10 of 1st Embodiment is equipped.

  The control device 200 receives the instruction information from the operation device 100 as a remote controller, and transmits the control information based on the instruction information to the operating device 300. The actuating device 300 is an actuator or the like that uses a motor to move a moving part (movable part) of the agricultural work machine 10. The notification device 400 is a device that alerts or guides the surroundings by sound or light. For example, as the notification device 400, a sound output device including a buzzer or a speaker may be used, or a display device including a lamp or a display may be used.

  The control device 200 includes a calculation unit 201, a storage unit 202, a communication unit 203, and an input / output unit 204. The storage unit 202 stores a control program 202a and a threshold management table 202b therein. Of course, not limited to this, other data necessary for controlling the agricultural work machine 10 may be stored.

  The calculation unit 201 is a CPU (central processing unit) and plays a central role in controlling each part of the control device 200. The arithmetic unit 201 controls the internal elements in the control device 200 such as the communication unit 203 and the input / output unit 204 by executing the control program 202a read from the storage unit 202, and controls information for the operating device 300. Is sent.

  The storage unit 202 stores various data necessary for the processing by the calculation unit 201. These various types of data are read out as needed and are used in the processing in the arithmetic unit 201. In the present embodiment, the storage unit 202 stores a control program 202a for the arithmetic unit 201 to generate a command related to control, and a threshold management table 202b used for determination of end point detection, which will be described later. The threshold management table 202b will be described later.

  The communication unit 203 performs wireless communication with the operation device 100 via the antenna 203a. The instruction information output from the operation device 100 is received by the communication unit 203 via the antenna 203a and input to the calculation unit 201. The wireless communication may be a wireless LAN or short-range wireless communication such as Bluetooth (registered trademark).

  The input / output unit 204 is an interface that transmits and receives signals between the control device 200 and the operating device 300, or between the control device 200 and the notification device 400. The control information generated by the processing of the arithmetic unit 201 is transmitted to the operating device 300 or the notification device 400 via the input / output unit 204.

  In addition, in the present embodiment, a signal indicating a change in a physical quantity associated with a change in the state of an exercise site (for example, the open / closed state of the left and right work machines) is transmitted from the operating device 300, and the arithmetic unit is input via the input / output unit 204. It is input to 201. Here, a current value is used as a signal that represents a change in a physical quantity that accompanies the operation of the actuator 300, and the state of the exercise site is monitored according to the current value.

  Specifically, when the actuator 300 is an actuator including an electric motor, it detects an increase in the current value (also called a lock current) that occurs when the electric motor is overloaded, and detects the increase in the current value. Is used as a trigger to detect the end point of the operating device 300. Then, the number of end point detections is constantly counted and stored in the storage unit 202. Thus, for example, when grasping the state of the opening / closing mechanism of the left and right working machines as the motion part, the initial state is the stored state of the left and right working machines, and if the count number is odd, the deployed state (working state) and even number It is possible to know the open / closed state of the working machine, such as the stored state if there is one.

  It should be noted that the method of detecting the state of the moving part is not limited to the method of using the change in the current value associated with the operation of the operating device 300 described above, but is output from sensors such as an angle sensor, an acceleration sensor, an angular velocity sensor, and an ultrasonic sensor. You may use together the positional information.

  For example, when the output from the sensor is detected and it is determined that the motion part has moved to a position close to the end point, the end point detection based on the current value can be started. That is, the start timing of the end point detection process can be determined based on the output from the sensor. As a result, even if an unexpected increase in the current value occurs during operation, it can be excluded from the end point detection processing as an abnormal value, and more accurate end point detection can be performed.

  Further, by using the output from the sensor, the current value may be monitored near the end point of the movable range of the exercise part (that is, the monitoring until the end of the movable range of the exercise part can be omitted). The power consumption required for the detection process can be reduced.

[Control by control device 200]
In the control device 200 including the above configuration, the calculation unit 201 analyzes the instruction information input from the operation device 100, and generates the control information to execute the instruction based on the instruction information. By transmitting this control information to the operating device 300, the operation of each motion part of the agricultural working machine 10 is controlled.

  The agricultural working machine 10 of the present embodiment can operate the control device 200 in either a manual mode or an automatic mode. The manual mode is a mode in which the operating device 300 is operated only while the instruction information is transmitted from the operating device 100, and the automatic mode is that the instruction is completed once the instruction information is transmitted from the operating device 100. This is a mode in which the actuating device 300 is automatically actuated until.

  For example, when deploying the left side working machine 10L and the right side working machine 10R, in the manual mode, by continuously pressing the instruction switch for opening the left and right working machines, the actuation device 300 for rotating the left and right working machines is operated. Can be made. Further, in the automatic mode, once the instruction switch for opening the left and right working machines is pressed, the actuating device 300 can be automatically operated until the left and right working machines are completely deployed.

  At this time, the control device 200 of the present embodiment automatically detects the end point of whether or not the instruction input from the operation device 100 is completed in the control in the above-described automatic mode. For example, when deploying the left side working machine 10L and the right side working machine 10R, once pressing the instruction switch for opening the left and right working machines, after that, the left and right working machines continue to be deployed without controlling the switch, and control is performed. When the calculation unit 201 of the device 200 detects the end point, the operation of the operating device 300 is automatically stopped.

  FIG. 6 is a flowchart for explaining processing executed by the control device 200 included in the farm work machine 10 according to the first embodiment. Specifically, in the control device 200 of the present embodiment, the calculation unit 201 reads out and executes the control program 202a, whereby the flow shown in FIG. 6 is executed.

  First, when the process is started, the calculation unit 201 waits for instruction information from the operation device 100 (step S301). If the instruction information is not received (NO in step S301), the process waits until the instruction information is received. When the instruction information is received (YES in step S301), calculation unit 201 outputs an instruction to start operating device 300 based on the instruction information (step S302).

  When the operation device 300 operates according to the instruction from the calculation unit 201, the calculation unit 201 acquires the value of the current flowing through the electric motor included in the operation device 300 (step S303). The current value may be acquired by any method, but it is preferable to acquire it at a sufficiently short time interval.

  Next, the calculation unit 201 reads the threshold value management table 202b from the storage unit 202 and acquires the threshold value held by the threshold value management table 202b (step S304). This threshold value is a current value preset in association with the operating device 300, and is a value that serves as an index for detecting an increase in the current value that occurs when the electric motor is overloaded. In the present embodiment, the threshold value is managed in the table format, but when the number of threshold values to be stored is one, the threshold value is not limited to the table format and may be stored in the register included in the calculation unit 201. .

  Subsequently, the arithmetic unit 201 compares the current value flowing in the electric motor with the threshold value acquired from the threshold value management table 202b, and determines whether the current value flowing in the electric motor is a threshold value or more (step S305). At this time, if the current value is less than the threshold value (NO in step S305), the process returns to step S303 again to acquire the current value from the electric motor. When it is determined that the current value is equal to or greater than the threshold value (YES in step S305), it is determined whether or not a predetermined sustain period has elapsed (step S306).

  Here, the "maintenance period" is a preset period starting from the timing when the value of the current flowing through the electric motor becomes equal to or greater than the threshold value. For example, as the maintenance period, it is preferable to set a period in which the value of the current flowing at the time of starting the electric motor is longer than the period in which the value stored in the storage unit 202 is equal to or more than the threshold value. The "maintenance period" corresponds to the "first period" in the claims.

  It is known that when starting an electric motor, a large current (also called a starting current) instantaneously flows at the time of starting. In the present embodiment, the reason for setting the maintenance period to be longer than the period in which the value of the starting current is equal to or more than the threshold value is that the arithmetic unit 201 erroneously recognizes the starting current as the lock current. This is to prevent end point detection. In the present embodiment, the maintenance period is set to 0.2 seconds, considering that the period in which the value of the starting current of the electric motor is maintained at the threshold value or more is about 0.1 seconds. Of course, the present invention is not limited to this, and what kind of period the sustain period is set may be appropriately determined according to the type of the electric motor used and the like.

  Returning to FIG. 6, when it is determined in step S306 that the maintenance period has elapsed (YES), the arithmetic unit 201 recognizes that the lock current described above has flowed to the electric motor, and operates the operating device 300. A stop instruction is output (step S307), and the process ends. That is, the arithmetic unit 201 determines that the detection of the lock current has resulted in a state in which the electric motor is overloaded, that is, the moving part moves from one end to the other end of the movable range and cannot move further. , And instructs to stop the operating device 300.

  Based on the above processing, the change in the value of the current flowing through the electric motor will be described with reference to FIG. 7. FIG. 7: is a figure which shows the time chart showing the change of the value of the electric current which flows through the electric motor with which the farming machine of 1st Embodiment is equipped. In FIG. 7, the horizontal axis represents time and the vertical axis represents the current value flowing through the electric motor.

  In FIG. 7, the current value 401 rises with the start of the electric motor, triggered by an instruction to start the operating device 300 (start instruction). As described above, since the starting current 402 is generated when the electric motor is started, the current value 401 exceeds the threshold value 403 for the predetermined period 404. The predetermined period 404 is the above-mentioned “period in which the value of the starting current is maintained at a value equal to or more than the threshold value”.

  After that, the current value 401 maintains a substantially steady value while showing a value according to the rotation speed of the electric motor. Then, when the end of the movable range of the motion part is reached, the actuator 300 cannot operate any more, and the motor is overloaded. As a result, the lock current 405 is generated and the current value 401 again exceeds the threshold value 403.

  Then, when the sustain period 406 elapses in a state in which the current value 401 maintains a value equal to or greater than the threshold value 403, the calculation unit 201 outputs an instruction (stop instruction) to stop the operating device 300, and the current value 401 becomes zero. Go to At this time, since the sustain period 406 is set longer than the predetermined period 404 as described above, it is possible to prevent the arithmetic unit 201 from erroneously recognizing the startup current 402 as the lock current 405.

  As described above, in the agricultural working machine 10 of the present embodiment, the control device 200 monitors the value of the current flowing through the electric motor when the operating device 300 is operated based on the instruction information input from the operating device 100. An end point detection function for automatically stopping the operation of the operation device 300 when the lock current is detected is provided. The lock current is detected by determining whether or not the maintenance period has elapsed while the current value flowing through the electric motor is maintained at a value equal to or greater than a predetermined threshold value.

Thereby, the operator does not need to visually confirm whether or not the motion part has reached the end point of the movable range, that is, whether or not the operation of the operation device 300 has been completed, and the operability of agricultural work can be improved. You can Further, since it is not necessary to determine whether or not the operation of the operating device 300 is completed by using a sensor or a switch, cost increase can be suppressed. as a result,
It is possible to provide an agricultural working machine with improved operability while suppressing cost increase.

<Second Embodiment>
In the first embodiment, the example in which the calculation unit 201 monitors the value of the current flowing through the electric motor immediately after the operation start instruction is output to the operating device 300 has been described, but in the present embodiment, the operation start of the operating device 300 is started. The following is an example of the case where the value of the current flowing through the electric motor is not acquired for a predetermined period from.

  FIG. 8 is a flowchart for explaining a process executed by the control device 200 included in the farm work machine 10 according to the second embodiment. FIG. 9: is a figure which shows the time chart showing the change of the value of the electric current which flows through the electric motor with which the farming machine of 2nd Embodiment is equipped. It should be noted that a detailed description will be given here focusing on portions different from the first embodiment, and the same portions as those in the first embodiment will be denoted by the same reference numerals and description thereof will be omitted.

  In the present embodiment, as shown in FIG. 8, when an operation start instruction is output to the operating device 300 in step S302, the calculation unit 201 causes a predetermined period (hereinafter, referred to as a “waiting period”) from the start of operation of the operating device 300. .) Has passed (step S501). When the waiting period has not elapsed (NO in step S501), the process returns to step S501 again. If the standby period has elapsed (YES in step S501), the flow advances to step S303 to start acquiring the current value from the electric motor. The “waiting period” corresponds to the “second period” in the claims and corresponds to the period 502 in FIG. 9.

  As described above, in the present embodiment, by repeating step S501, the process waits until the standby period elapses without acquiring a current value from the electric motor. As a result, since the end point detection processing is not performed until the waiting period elapses, even if an unexpected increase in the current value occurs, it can be excluded as an abnormal value. As a result, the accuracy of the end point detection processing by the calculation unit 201 can be improved.

  Further, by adjusting the waiting period, it is possible to perform control so that the end point detection processing is not performed until the end point of the movable range of the exercise part. In this case, since the current value needs to be monitored only near the end point of the movable range of the exercise part, the power consumption required for the end point detection processing can be reduced.

<Third Embodiment>
In the first embodiment, the example in which the operating device 300 is stopped when the first period elapses in the state where the current value flowing through the electric motor is equal to or more than the threshold value has been shown. However, even if the above-mentioned lock current flows, such as when the appropriate threshold value is not set or when the output of the power supply drops and the current value flowing through the motor becomes lower than expected. A situation may occur in which the threshold is not exceeded.

  In the present embodiment, in order to cope with such a situation, the actuation device 300 is forcibly actuated after a predetermined period (hereinafter referred to as “limit period”) longer than the above-described waiting period after the actuation of the actuation device 300 is started. An example of stopping the operation of the device 300 is shown. Note that the “limitation period” is a period in which it is expected that the end point will be reached after the actuation of the actuating device 300 is started, and the movement site moves from one end of the movable range to the other end. It is longer than the time required for.

  FIG. 10 is a flowchart for explaining a process executed by the control device 200 included in the farm work machine 10 according to the third embodiment. FIG. 11: is a figure which shows the time chart showing the change of the value of the electric current which flows through the electric motor with which the farming machine of 3rd Embodiment is equipped. It should be noted that a detailed description will be given here focusing on portions different from the first embodiment, and the same portions as those in the first embodiment will be denoted by the same reference numerals and description thereof will be omitted.

  In the present embodiment, as shown in FIG. 10, when the value of the current flowing through the electric motor is not equal to or more than the threshold value in step S305 (NO in step S305), the arithmetic unit 201 determines whether the limit period has elapsed. Is determined (step S601). That is, in step S601, it is determined whether or not a period set in advance as a period longer than the period required for the movement part to move from one end to the other end of the movable range has been reached since the actuation device 300 started operating. Is determined.

  In step S601, when the limited period has not elapsed (NO in step S601), the process returns to step S303. If the limit period has elapsed (YES in step S601), the process advances to step S602, an operation stop instruction is output to the operating device 300, and the process ends. The “limitation period” corresponds to the “third period” in the claims and corresponds to the period 603 in FIG. 11.

  As described above, in the present embodiment, the calculation unit 201 of the control device 200 executes steps S601 and S602 when the determination result of step S305 is negative. As a result, even when the operation of the operating device 300 reaches the end point while the current value flowing through the electric motor does not exceed the threshold value stored in the storage unit 202, if the preset period (limit period) elapses. The operation of the actuator 300 can be automatically stopped regardless of the determination result of step S305.

  As described above, according to the agricultural work machine 10 of the present embodiment, even if the end point detection by the calculation unit 201 is not normally performed for some reason, the operation of the operation device 300 is surely stopped after a predetermined period has elapsed. be able to. As a result, it is possible to avoid the problem that the operating device 300 continues to operate without the end point being detected.

<Fourth Embodiment>
In the first embodiment, as the state of the motion part of the scraper, the open / closed state of the left and right working machines, the opened / closed state of the extension leveler, the state of the leveler position (whether or not it is in the earth pulling work position), and the apron pressurization state are illustrated. . Each of these means a state in which a part of the agricultural work machine is operated by operating an operation device such as an actuator using an electric motor.

  However, the present invention is not limited to these examples, and can be applied to any motion site that can be actuated using the actuating device.

  Although the present invention has been described above with reference to the drawings, the present invention is not limited to the above-described embodiments and can be appropriately modified without departing from the spirit of the present invention.

10 ... Farm work machine, 10C ... Central work machine, 10L ... Left work machine, 10R ... Right work machine, 12 ... Top mast, 14 ... Lower link connection part, 16 ... Input shaft, 18 ... Support frame, 20 ... Transmission frame ( Chain case), 24 ... Gear box, 26C ... Central shield cover, 26L ... Left shield cover, 26R ... Right shield cover, 28 ... Control box, 29 ... Leveler position switching unit, 30C ... First central grounding body, 30L ... DESCRIPTION OF SYMBOLS 1 left ground leveling body, 30R ... 1st right ground leveling body, 32C ... 2nd center leveling ground, 32L ... 2nd left side grounding level, 32R ... 2nd right side leveling ground, 34 ... Central link mechanism part, 34a ... Oscillating arm, 34b ... Connection rod, 36L ... Left extension ground leveling body rotation mechanism, 36La ... Leveler rotation part, 36Lb ... Rotation arm, 36Lc ... Connection wire, 36R ... Right extension Body turning mechanism, 38L ... Left extension ground leveling body, 38R ... Right side extension ground leveling body, 40L ... Extension connecting part, 40R ... Extension connecting part, 44L ... Left apron pressing part, 44R ... Right apron pressing part, 45L ... Left pressurization state switching unit, 45R ... Right pressurization state switching unit, 46a, 46b ... Working machine rotating mechanism, 48a, 48b ... Rotating cylinder, 100 ... Operating device, 200 ... Control device, 300 ... Actuating device, 400 ... Notification device

Claims (9)

An operating device for operating a motion part using an electric motor, and a control device for controlling the operating device are provided,
The control device includes a calculation unit and a storage unit that stores a preset current value,
The actuating device, when the computing unit determines that the first period has elapsed in a state where the value of the current flowing through the electric motor is equal to or more than the preset current value after actuating the actuating device, While automatically stopping the , the result of the determination is stored in the storage unit, the state of the exercise site is determined based on the number of times of the stored result of the determination,
Agricultural work machine. The first period is a period longer than a period in which a current value flowing at the time of starting the electric motor maintains a value equal to or higher than the preset current value,
The agricultural work machine according to claim 1. The calculation unit does not acquire the value of the current flowing through the electric motor until the second period elapses from the start of the electric motor.
The agricultural work machine according to claim 1. The movement part has a movable range,
The second period is a period shorter than a period required for the movement part to move from one end to the other end of the movable range,
The agricultural work machine according to claim 3. When the operating period of the operating device reaches a preset third period, the computing unit automatically stops the operating device regardless of the result of the determination,
The agricultural work machine according to any one of claims 1 to 4. The movement part has a movable range,
The third period is a period longer than a period required for the movement part to move from one end to the other end of the movable range,
The agricultural work machine according to claim 5. A plurality of the electric motors,
The arithmetic unit acquires a value of a current flowing through the electric motor for each electric motor,
The agricultural work machine according to any one of claims 1 to 6. The storage unit stores the preset current value for each of the electric motors,
The agricultural work machine according to claim 7. Further comprising a sensor for detecting the state of the electric motor,
After activating the actuating device, the computing unit starts detection of a current value flowing in the electric motor when it is determined that the motion part has actuated to near the end point of the movable range based on the output from the sensor. The agricultural working machine according to claim 1.

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