JPH051A - Rolling controller of working machine - Google Patents

Abstract

PURPOSE:To improve following performance of working machine to ground by restraining rolling control to local unevenness on the ground. CONSTITUTION:A rolling control means (A) for carrying out driving control of a rolling cylinder 4 is provided so that difference between detection signals from ground sensors 5R and 5L on both lateral sides may be put within prescribed value. When change of either one detection signal of each ground sensor is within the prescribed insensitive band and the other detection signal is changed beyond the prescribed insensitive band in a prescribed short time, a means (B) for restraining driving of rolling cylinder is provided.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention connects a ground work device to a traveling machine body by a drive means so as to be able to drive and roll around a front-rear axis, and grounds the mud surface on both left and right sides of the ground work device. A grounding sensor that detects the ground height of the ground work device while following the grounding sensor is provided, and a rolling control means that drives and controls the driving means so that a difference between detection signals from the grounding sensors falls within a predetermined level. The present invention relates to a rolling control device for a working machine.

[0002]

2. Description of the Related Art In the rolling control device for a working machine described above, conventionally, as disclosed in, for example, Japanese Patent Application Laid-Open No. 3-58701, the difference between the output values of the left and right ground sensors is eliminated during the rolling control operation. It was configured to control the rolling cylinder to expand and contract.

[0003]

However, in the above-mentioned conventional structure, when the output values of the left and right ground sensors exceed the predetermined dead band width, the rolling cylinder is always extended / contracted. Therefore, for example, even if the cultivator and the mud surface are in a flat state as a whole, a dent on the wheel passage or a soil If there is a local uneven portion due to a lump, the output value of the ground sensor on the side changes, and a difference occurs between the left and right sensor outputs, and the rolling control operation is executed. Then, the mud surface portion other than the above-mentioned uneven portion is rolling even though it is flat, and as a result, the seedling planting device tilts with respect to the mud surface, and the left and right planting strips are inclined. There is an adverse effect such as a difference in planting depth. The present invention aims to solve the above-mentioned problems.

[0004]

According to a characteristic configuration of the present invention, in the rolling control device for a working machine described at the beginning, a change in a detection signal of any one of the ground sensors is within a predetermined dead zone, and When the other detection signal changes beyond the predetermined dead zone within a predetermined short time, the drive control means for controlling the drive of the drive means based on the detection signal is provided.

[0005]

In the rolling control operation, when the output value of one of the ground sensors does not change significantly and the other ground sensor changes abruptly within a predetermined short time, Since the drive of the drive means is restrained against the detection signal, the rolling control operation due to the local unevenness is not performed when the other part of the ground is flat, and the ground work device This means that the ground posture can always be maintained in a parallel state.

[0006]

Therefore, since the rolling control is not performed for the local unevenness on the ground, the ground following performance of the working device is improved.

[0007]

Embodiments will be described below with reference to the drawings. Figure 3
Fig. 1 shows a riding-type rice transplanter, which is an example of a working machine. In this rice transplanter, a seedling planting device 2 (an example of a ground work device) is connected to a rear portion of a riding type traveling body via a link mechanism 1 so as to be vertically movable and rollable around a front-rear axis. That is, the lift cylinder 3 is connected between the machine body side and the middle part of the link mechanism 1, and the lift cylinder 3 is driven to expand and contract to drive and elevate the seedling planting device 2. A rolling cylinder 4 [an example of a driving means] is installed over the rear part of the plant and the left and right sides of the seedling planting device 2, and the rolling cylinder 4 is driven to expand and contract, whereby the rolling posture of the seedling planting device 2 against the body. Is configured to be changed.

On the left and right sides of the seedling planting device 2, ground sensors 5R and 5 for detecting the height of the mud surface while following the ground contact.
L is provided, and each ground sensor 5R, 5L is composed of a swing arm 6 that follows the ground and a potentiometer PM that detects the swing angle of this swing arm. A rolling control means A for driving and controlling the rolling cylinder 4 is provided so that the difference between the detection signals of the ground sensors 5R and 5L falls within a predetermined level. Further, each of the ground sensors 5R,
When the change of one of the detection signals of 5L is within the predetermined dead zone and the change of the other detection signal exceeds the predetermined dead zone within the predetermined short time, the rolling cylinder 4 based on the detection signal is changed. A drive restraint means B for restraining the drive is provided. That is, as shown in FIG. 1, the hydraulic control valve V for the rolling cylinder 4 is electromagnetically driven, the outputs of the respective ground sensors 5R, 5L are given, and the hydraulic control valve V is switched based on the signal. A control device 7 for controlling is provided, and the respective means A and B are
Is provided in the form of a control program, and the control device 7 executes control as follows.

As shown in FIG. 2, each of the ground sensors 5
The output values of R and 5L are read (step S1), and it is determined whether or not one of the ground sensors exceeds the dead zone width (step S2). If the dead zone width is exceeded even after several seconds have passed, the rolling cylinder 4 is drive-controlled so that the difference between the detection values of the left and right ground sensors 5R and 5L falls within the dead zone width, and the other is reached within the above elapsed time. If the ground sensor of No. 1 does not exceed the dead zone width, rolling control is not performed (steps S3 to S5). Step S5
The rolling control means A is constituted by
4 constitutes the drive restraint means B.

The hydraulic control valve V is configured to change the duty ratio D of the supply pulse current to change the valve opening stepwise to control the cylinder drive speed. The current attitude state of No. 2 is detected by a detection means (not shown), and the duty ratio D is changed and controlled based on the deviation H between the control target position and the current position to make the deviation H
When the deviation H is small, the operation is quick, and when the deviation H is small, the operation is slow so that the operation is smooth. As shown in FIG. 4, the change characteristic of the deviation H and the duty ratio D is set to be a quadratic curve in which the larger the deviation H, the larger the change rate.

It should be noted that reference numerals are added to the claims for facilitating the comparison with the drawings, but the present invention is not limited to the configuration of the accompanying drawings by the entry.

[Brief description of drawings]

FIG. 1 is a control block diagram.

[Fig. 2] Control flowchart

[Figure 3] Overall side view of rice transplanter

[Fig. 4] Control characteristic diagram

[Explanation of symbols]

 2 Ground work device 4 Drive means 5R, 5L Grounding sensor A Rolling control means B Drive restraint means

Claims (1)

Claims: 1. A ground working device (2) is connected to a traveling machine body by a driving means (4) so as to be freely drive-rollable around a longitudinal axis, and the ground working device (2) is left and right. Ground sensors (5R), (5) for detecting the ground height of the ground working device (2) while following the ground contact on the mud surface on both sides.
L) is provided, and rolling control means (A) is provided to drive and control the driving means (4) so that the difference between the detection signals from the ground sensors (5R) and (5L) falls within a predetermined level. A rolling control device for a working machine, wherein a change in the detection signal of one of the ground sensors (5R), (5L) is within a predetermined dead zone, and the other detection signal is within a predetermined short time. A rolling control device for a working machine, comprising a drive restraint means (B) for restraining the drive of the drive means (4) based on the detection signal when the change exceeds a predetermined dead zone.