JPH01137909A - Posture controller in walking-type work machine - Google Patents

Abstract

PURPOSE:To provide the above controller where wither machine body- horizontalizing control or wheel-parallelizing control is automatically selected depending on the set position of the operating tool for changeover between the running state and working state, thus improving the operability and preventing the misoperation. CONSTITUTION:When a running state changeover switch 19 is set at the 'road position', the crosswise-travelling wheel is controlled so as to be parallel with the machine body. On the other hand, when the said switch 19 is set at the 'planting position', the machine body-horizontalizing or wheel-parallelizing control is automatically selectively set depending on the lever position setting for the planting lever 22 and travelling lever 20. Thus, the user of any operating tool is unnecessary for the changeover between the both controls.

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Field of Application] The present invention relates to a posture control device for a walking type working machine such as a rice transplanter, a seeding machine, a fertilizer spreader, etc.

[Prior Art and Problems to be Solved by the Invention] Generally, in this type of walk-behind working machine, the running wheels that run on the tiller are raised and lowered in an independent manner relative to the machine body, so that the left and right side of the machine body can be moved up and down. The posture is controlled so that it is approximately horizontal with respect to the field. By the way, in such a machine, horizontal control of the above-mentioned aircraft is necessary when traveling for work, etc., but when traveling on the road or over ridges, it is canceled and the left and right traveling wheels are controlled. It is preferable to control the plane so that it is horizontal to the aircraft.
Therefore, in the past, a dedicated switching operation means was provided to switch these controls, but this resulted in problems such as an unavoidably complicated structure and poor operability. .

[Means for Solving the Problems] In view of the above-mentioned circumstances, the present invention was created with the aim of providing a posture control device for a walking work machine that can eliminate these drawbacks. In a walk-behind working machine, which is provided with a posture control section that controls the left and right posture of the machine body by raising and lowering the left and right running wheels, a running state switching means sets the posture control section between a field working state and a road running state. and a work state switching means that sets the necessary work state switching such as work in progress or work interruption. A horizontal control means, a wheel parallel control means for controlling the left and right running wheels to be parallel to the aircraft body, and when the running state switching means is set to the road running state, control by the axle parallel control means is performed. , when the running state switching means is set to the field working state, a control determining means for discriminating between control by the machine horizontal control means and control by the wheel parallel control means according to the set position of the working state switching means; It is characterized by having the following.

With this configuration, the present invention automatically selects the aircraft horizontal control and the wheel parallel control according to the set position of the operating tool for switching between the traveling state and the working state, and automatically controls the appropriate aircraft attitude. It was designed to be carried out in a specific manner.

[Example] Next, an example of the present invention will be described based on the drawings. In the drawings, reference numeral 1 indicates the main body of a walking rice transplanter equipped with a starter motor, and the main body 1 includes an engine 2 at the front,
Components such as a battery 3, a seedling stand 4, planting claws 5, a driving handle 6, etc. are installed at the rear, and further components such as a float 7, left and right running wheels 8, etc. are installed. are all the same as before.

Reference numeral 9 denotes a lifting control cylinder that expands and contracts in the front and rear directions by controlled pressure oil supply from a hydraulic valve 13, which will be described later. The balance arms 1 each connected to
0 is pivoted. ] 1 is a left-right attitude control cylinder that moves back and forth guided by a guide 12 provided in the front-back direction of the aircraft body, and the left-right attitude control cylinder 11 is
The cylinder tube 11a moves in the left and right direction due to the controlled supply of pressure oil from the hydraulic valve 14.
An arm 10a extending from a balance arm 10 is connected to 1a, and by moving the cylinder cylinder 11a left and right, the balance arm 1
0 swings left and right, and as a result, the left and right traveling vehicles @8 move up and down in a contradictory manner, and due to the expansion and contraction of the main cylinder 9, the left and right traveling vehicles @8 simultaneously move up and down (this causes the aircraft to move (goes up and down). Further, balance weights 25 are provided on both the left and right sides of the engine 2, and the balance weights 25 are provided in a cylinder 26 for adjusting the longitudinal balance. By expanding and contracting, balance ways 1 to 25 are moved back and forth to control the back and forth balance of the aircraft.

Reference numeral 15 denotes a control unit configured using a microcomputer, and the control unit 15 includes a left-right tilt detection sensor 16 that detects the tilt of the left-right attitude of the aircraft body, and a float angle sensor 16 that detects the vertical swing angle of the float 7. The sensor 17 and the balance arm 10 are oscillated to either the left or right side from the horizontal horizontal state (the state in which the left and right traveling vehicles @8 are at the same height, that is, parallel to the aircraft body in the neutral position). 8. Sensors consisting of a hand load detection sensor 24 that is attached to the operating handle and detects the worker's hand load using a sensor member such as a strain gauge; The planting is running (work running)
Driving state changeover switch 1 to switch and set whether
9. When the travel lever 20 is operated between the clutch on/off operation range, it is an ear, but when it is operated to the fixed (seedling supply) position, this is detected and the travel lever fixed position detection switch 21 is turned ON; For planting, the lever 22 is operated between the on/off operation range of the clutch, but when it is in the fixed position, it turns ON and is detected.For planting, the lever fixed position detection switch 23 and the planting lever For planting, which is turned on and detected when the lever 22 is moved further to the raised position, a signal from a switch consisting of a lever raised position detection switch 28 is inputted. Based on these input signals, the control section 15 outputs necessary control commands to the hydraulic valves 13, 14, and 27 to switch the valves and perform necessary cylinder operations.

Next, these control procedures will be explained using flowcharts 1 to 3. First, a start switch (not shown) is turned on to start the system, and necessary data is read and initial settings are performed. The main control routine includes balance weight control and aircraft attitude control.

Of these controls, the hand load control system will be explained based on flowcharts 1 to 7 shown in FIG. Here, the detection state of the hand load detection sensor 24 is determined, that is, whether the load detection value B is larger or smaller than the reference setting value A, which is preset as a preferable hand load, or If it is determined that they are equal (A = B), the longitudinal balance of the aircraft is appropriate, so the hydraulic valve 27 is set to the neutral state and the balance weight 25 is maintained at its current state, but if it is detected again Value B is larger than reference setting value A (B>
A), that is, when it is determined that the aircraft is in a rear balance state because the rear side is heavy, the hydraulic valve 27 is
A control command is issued to extend the balance adjustment cylinder 26 and move the balance weight 25 forward;
Conversely, if it is determined that the value is smaller than the reference setting value A (B<A), a control command is issued to move the balance weight 25 to the rear, so that the longitudinal balance of the aircraft remains approximately constant. It is automatically controlled to improve the aircraft's running stability.

Regarding the aircraft attitude control system, see Figures 8 to 1.
This will be explained based on the flowchart shown in FIG. First, the 8th
In the figure, in the aircraft attitude control routine, it is determined whether the driving state changeover switch] 9 is set to the working driving position (the planting position is the driving position), and if it is not set, that is, set to road driving. Yes, no
When the judgment is made, the left and right traveling wheels are first parallel controlled as shown in the flowchart 1-diagram in FIG. The aircraft is controlled to maintain the same height (parallel posture), and can also be moved up and down if necessary. That is, in this system, it is further determined whether or not the lever up position detection switch 28 is ON for planting, and if it is determined that it is ON, the hydraulic valve 13 is connected to the lift control cylinder. 9 is switched to the extended side and the aircraft is raised.

In addition, if the detection switch 28 is not ON, that is, if the determination is NO because it is an ear, then it is further determined whether the lever fixed position detection switch 23 is ON, and if it is determined to be ON. If the determination is made that the position is correct, the hydraulic valve 13 is controlled to the neutral position to stop the vertical movement of the aircraft, and if the determination is No, the travel lever fixed position detection switch 21 is further activated. It is determined whether or not it is ON, and if it is determined that it is ON, the semi-automatic raising control shown in Fig. 12 (the raising of the aircraft is automatic and the lowering is fixed) is performed, This allows the vehicle to be raised and lowered using both levers 20 and 22 when switching to road travel.

On the other hand, if the traveling state changeover switch 19 determines that the planting is set in the traveling position, the traveling lever fixed position detection switch 21 is turned ON.
When it is determined that it is ON, the automatic left/right tilting control shown in FIG. It is determined whether or not it is ON, and if it is determined that the trap is ON, the hydraulic valve 13 is switched to the side where the lift control cylinder 9 extends and the aircraft ascends. , If a No judgment is made as it is not ON, a further judgment is made as to whether the lever fixed position detection switch 23 is ON for planting, and if a judgment is made that it is ON, the hydraulic pressure is The valve 13 is returned to the neutral state, and the aircraft's vertical movement is regulated. However, if a negative judgment is made as it is an ear, the lowering is semi-automatic as shown in Fig. 11, in other words, the aircraft's upward movement is fixed, but the aircraft is lowered. Automatic lifting and lowering control of the aircraft is now possible.

Further, if the travel lever fixed position detection switch 21 determines that the person is snoring and the determination is No,
For planting, it is determined whether the lever up position detection switch 28 is ON or not, and when it is determined that it is ON, parallel control of the left and right running wheels as shown in FIG. 9 is performed. , the hydraulic valve 13 is switched to the cylinder extension side to control the lift of the aircraft, and when a NO judgment is made that it is not turned on, planting is performed by switching the lever fixing position detection switch 23 to the ON or not. If this judgment is made and the old judgment is made that it is ON, the parallel control and raising semi-automatic control of the left and right running wheels described above will be performed, but it will be judged that it is possible and the old judgment will be made ( Both levers 20 and 22 are set to either the clutch on/off position), the aircraft horizontal control shown in Fig. 10 and the aircraft vertical automatic control shown in Fig. 13 are performed. There is.

Incidentally, the control systems shown in FIGS. 9 to 13, which are extracted as subroutines, will be explained. First, the parallel control system for the left and right running wheels shown in FIG. In addition, planting is set to the traveling cellar 1 when the lever 22 is not in the fully engaged operating position, that is, when it is in the fixed position or the raised position.
8 is determined, and the sensor 18 is in a neutral state, that is, the balance arm 10 is facing in the left and right horizontal direction and the traveling vehicle @ 8 is at the same height ( (parallel), the hydraulic valve 14 is set to the neutral position and the operation of the horizontal attitude control cylinder 11 is restricted to maintain this state. In other words, if it is determined that the balance arm 10 is swinging so that the right side is forward, the cylinder cylinder 11b moves to the right with respect to the hydraulic valve 14 to bring the balance arm 10 into a neutral state. A control command is output to operate the horizontal control cylinder 11, and if it is determined that the left side of the balance arm 10 is swinging toward the front, the cylinder is operated in the opposite direction to the hydraulic valve 14. A control command is issued to perform this, and in this way, wheel parallel control is performed in which the left and right traveling wheels 8 are brought into a state parallel to the aircraft body.

In addition, the aircraft horizontal control system shown in Figure 10 has both levers 2
This is set when the 0.22 is in the on/off position and when the travel lever 20 is operated to the fixed position. , and when it is detected and determined that the aircraft is in a horizontal state, the hydraulic valve 14 is maintained in a neutral state, but when it is determined that the aircraft is tilted downward to the right, the hydraulic valve 14 is maintained in a neutral state. , when a control command is issued to move the aircraft upward to the right, that is, the cylinder tube 11b moves to the right and the right running wheels move downward, and conversely, it is determined that the aircraft is tilting downward to the left. A control command is issued to raise the aircraft to the left, and in this way, the aircraft is maintained in a substantially horizontal position with respect to the rice field, achieving horizontal control of the aircraft.

Furthermore, the lowering semi-automatic control system shown in Fig. 11 is set when the travel lever 20 is in the fixed position and the lever 22 is in the on/off position for planting, and only the lowering of the aircraft is automatic and the raising is fixed. It is controlled in a semi-automatic state,
This control is a suitable control system when planting operations are temporarily interrupted, for example when replenishing seedlings.
This means that the flow 1 - detection value C of the angle detection sensor 17 (this sensor is set so that the detection value C becomes smaller as the float 7 moves forward downward) is the preset reference setting value. (C<D), that is, when it is determined that the float 7 is in the downward downward state with respect to the proper posture, a control command for the cylinder contraction side is issued to the hydraulic valve 13 to control the traveling wheels. This is to control the aircraft's descent by relatively raising it.

On the other hand, in the semi-automatic raising control system shown in Fig. 12, planting can be done by pressing lever 2 regardless of whether the vehicle is traveling on the road or during work.
2 is in the fixed position and the travel lever 20 is in the on/off position, control is performed in a semi-automatic state in which only the lifting of the aircraft is automatic and the lowering is fixed. In addition to driving on the road, driving over ridges,
This control system is suitable for turning on headlands, etc., but the detection value C of the float angle detection sensor 17 is larger than the reference setting value (C>D), that is, the float 7 is in front of the proper attitude. If it is determined that the situation is rising,
A control command on the cylinder extension side is issued to the hydraulic valve 13 to relatively lower the traveling wheels to control the elevation of the aircraft body.

Finally, the system for automatically controlling the aircraft ascent and descent shown in Figure 13 is as follows:
Planting is set when both levers 20 and 22, which are in the working state, are in the fully engaged position. If the detected value C is equal to the reference setting value, that is, it is determined that the posture is appropriate, the hydraulic valve 13 becomes a neutral state and the lift control cylinder 9 Although the expansion/contraction operation is not performed, the plowing platform becomes deeper and the machine sinks, and the float 7 moves up and the front is raised, so the detected value C is larger (
COD), a control command for the cylinder extension side is issued to the hydraulic valve 13, which causes the aircraft to rise, and conversely, the plowing platform becomes shallower, the aircraft floats, and the float 7 moves downward. If the detected value C is determined to be smaller (C<D) when the aircraft is in a forward descending state, a control command for cylinder contraction is issued to the hydraulic valve 13, thereby lowering the aircraft. In this way, the height of the machine relative to the rice field is maintained substantially constant.

In the embodiment of the present invention configured as described above, when driving on the road, the driving state changeover switch 17 may be set to the 5-road position. The attitude of the machine relative to the body is automatically controlled to be in a parallel state, and as a result, it is possible to travel on the road in a stable attitude with the traveling wheels 8 at the same height, and it is also possible to stop and retract in this stable attitude.

On the other hand, when carrying out planting work, it is sufficient to set the running state changeover switch 17 to the running position for planting. The position set allows the necessary control of the aircraft's attitude. In other words, when planting is performed with both levers 20 and 22 set to the on/off position, both the machine horizontal control and automatic machine vertical control systems automatically keep the machine attitude approximately constant relative to the circular surface. In addition, when turning on a headland, etc., the travel lever 20 is left in the on/off position, and when planting, the lever 22 is set in the fixed position, so that the left and right traveling vehicle @ 8 is in a horizontal state. Parallel control is automatically set and the machine enters a semi-automatic raising control state in which only automatic lifting of the aircraft is possible, making troublesome operations such as headland turns easier and faster. - On the other hand, if the planting work is temporarily interrupted, such as when replenishing seedlings, the planting operation can be done by setting the travel lever 20 to the fixed position while leaving the lever 22 in the closed position. The aircraft horizontal control is set so that the aircraft is horizontal, and the aircraft enters a control state where only the automatic descending control is performed, thereby eliminating problems such as the aircraft tilting or suddenly rising Moreover, it is possible to easily supply seedlings.

As described above, in the present invention, the left and right control of the aircraft attitude can be controlled by simply combining the set positions of the levers 20 and 22 to switch between the traveling wheels being in a horizontal state and the aircraft being in a horizontal attitude. Therefore, the dedicated switching lever and link mechanism connected to it, which were previously required, are completely unnecessary, which significantly simplifies the structure and contributes significantly to making the aircraft lighter and more compact, as well as improving operability. Improvement will be measurable.

Moreover, as in the embodiment, the left and right inclination of the aircraft body is detected by the left and right inclination detection sensor 16 instead of the conventional sensing floats placed on the left and right sides, so these parts are no longer necessary, resulting in an even better structure. Simplification can be measured. Of course, in the present invention, the left and right inclinations may be detected by sensing floats placed on the left and right sides as in the conventional manner.

In addition, this machine also controls the longitudinal balance of the machine by automatically moving the balance weight 25 back and forth based on the detection of the load on hand, which provides excellent running performance and reduces the workload for the operator. can be significantly reduced, which will greatly help reduce fatigue.

It goes without saying that the present invention is not limited to the above embodiments. The driving state switching means may be provided, for example, on the forward/reverse switching lever 29. Furthermore, even if the vehicle is traveling in a field, if it is simply moving, the vehicle may travel in the same state as on the road, and in such cases, the travel state switching means is set to the road travel position rather than the field travel position. By doing so, stable running as described above can be achieved. Therefore, such a selection is not fixed, but can be made by the operator as needed.

[Operations and Effects] In summary, since the present invention is constructed as described above, in order to travel on a road "2", the running state switching means is changed to "road" 1.
When set to the running state, the left and right running wheels are automatically controlled to be parallel to the machine body, and when set to the field work state, the wheels are automatically controlled according to the set position of the work state switching means. Therefore, it is selectively determined whether the machine horizontal control or the axle parallel control is performed. Therefore, unlike the conventional method, switching between the machine horizontal control and the wheel parallel control during work traveling is not necessary. There is no need to use a dedicated switching tool, and automatic control switching is performed in response to switching of the working state switching tool necessary for switching the working state. As a result, there is no need for a dedicated switching tool, and the structure can be significantly simplified.
This improves operability, prevents erroneous operations, and ensures proper posture control at all times.

[Brief explanation of the drawing]

The drawings show an embodiment of the posture control device for a walk-behind working machine according to the present invention, in which FIG. 1 is an overall side view of the walk-behind rice transplanter, FIG. 2 is a sectional view of the balance arm, Figure 3 is a plan view of the same as above, Figure 4 is a perspective view of the main parts of the fuselage, Figure 5 is a block circuit diagram of the control mechanism, Figures 6 to 13 are flowcharts of the control system, and Figure 14 is the operating lever. It is a front view of a part. In the figure, 1 is the main body of the aircraft, 8 is the running wheel, 10 is the balance arm, 1
1 is a cylinder for left and right attitude control, 15 is a control unit, 16 is a left and right tilt detection sensor, 19 is a running state changeover switch, 2
0 is a travel lever, and 22 is a planting lever. Patent application Person: Mitsubishi Agricultural Machinery Co., Ltd. Figure 7 Figure 11 Figure 13 Automatic lifting and lowering control of the machine body C>ゎ What is the 0〈0 detection status of the float angle detection sensor 17? C=D

Claims (1)

[Scope of Claims] 1) In a walk-behind work machine that is provided with a posture control section that controls the left and right posture of the machine body by raising and lowering the left and right running wheels, the posture control section is configured to control whether the machine is working in a field or traveling on a road. The posture control section is connected to a traveling state switching means for setting the switching and a working state switching means for setting the necessary switching of the working state such as whether the work is in progress or the work is interrupted.
An aircraft horizontal control means for controlling the left and right posture of the aircraft so that it is horizontal, a wheel parallel control means for controlling left and right running wheels so that they are parallel to the aircraft body, and the running state switching means are set to a road running state. If the running state switching means is set to the field work state, the control is performed by the machine horizontal control means or the wheel parallelism is controlled depending on the set position of the working state switching means. What is claimed is: 1. A posture control device for a walking type work machine, comprising: a control determining means for determining whether the control is performed by the control means. 2) The work switching means is configured to include a travel lever for engaging and disengaging the travel clutch and a work lever for engaging and disengaging the work clutch, and is configured to perform switching of the working state by a combination of operating positions of these levers. A posture control device for a walking work machine according to claim 1, characterized in that: