JPH0549305A - Controller for rolling of ground working machine - Google Patents

Abstract

PURPOSE:To suppress frequent rolling operation by protruding parts on muddy surfaces and enable continuation of smooth ground operation though the ground posture of a working device can always be kept in a prescribed posture. CONSTITUTION:A tilt angle sensing means 12 for sensing the tilt angle in the transverse direction from the horizontal posture of a mobile machine body 1 is installed. Furthermore, a control retaining means (A) for retaining the rolling control operation based on sensed values of height detecting sensors (10R) and (10L) when the tilt angle sensing means 12 senses a prescribed value or below of the tilt angle 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 so that the ground work device can be driven and rolled by an actuator around a longitudinal axis of the machine body, and ground heights are provided on both left and right sides of the ground work device. A pair of left and right height detection sensors for detection is provided, and rolling control of a ground work machine is provided with rolling control means for driving and controlling the actuator so that a difference between detection values of the height detection sensors falls within a predetermined level. Regarding the device.

[0002]

2. Description of the Related Art In a rolling control device for a ground work machine, conventionally, as disclosed in, for example, Japanese Unexamined Patent Publication No. 1-222706, rolling control is performed based only on the detection results of a pair of left and right height detection sensors. Was configured to do.

[0003]

However, in the above conventional structure, one detection sensor passage portion on the mud surface is
For example, when the mud that has been bounced up by the wheels is accumulated in a lump form in a protruding state, the detection values of the left and right detection sensors are different even if the other field scene is flat, so rolling Since the control is executed and the work device is set to be inclined with respect to the mud surface, there is a drawback that the ground work depth is different between the left and right. The present invention aims to eliminate the above-mentioned problems.

[0004]

According to a characteristic configuration of the present invention, in the rolling control device for a ground work machine described at the beginning, a tilt angle detecting means for detecting a lateral tilt angle of the traveling machine body from a horizontal posture is provided. When the tilt angle detecting means detects that the tilt angle is less than or equal to a predetermined value, the control restraining means restrains the rolling control operation based on the detection value of the height detection sensor in the rolling control means. The point is that

[0005]

Since the traveling machine always travels on the basis of the lower cultivator regardless of the condition of the mud surface, when the cultivator is in a flat state, the inclination angle detected by the inclination angle detecting means is a predetermined value. Since it is less than the value, the rolling control is restrained in such a case, so that the presence of the protruding portion on the mud surface can be ignored. When the cultivator has unevenness such as passage marks of wheels, the traveling machine body tilts and the tilt angle detected by the tilt angle detection means becomes a predetermined value or more, and the difference between the detected values of the left and right detection sensors accompanying it. Based on the above, the rolling control is performed, and the ground work device can be maintained in a predetermined posture against the mud surface.

[0006]

Therefore, based on the change in the posture of the traveling machine body that is the basis of the rolling operation of the ground work device, the resulting change in the ground posture of the ground work device is corrected by the rolling control. Although the ground posture of the working device can be always maintained at a predetermined posture, the frequent rolling operation due to the protrusion on the mud surface is suppressed, and the smooth ground work can be continued.

[0007]

Embodiments will be described below with reference to the drawings. Figure 5
Shows a riding type rice transplanter. This rice transplanter has a lift cylinder CY provided with a seedling planting device 3 (an example of a ground work device) at a rear portion of a riding type traveling body 1 via a parallel four-link mechanism 2.
Driven up and down by 1 and rolling cylinder CY2
(An example of an actuator) is connected so as to be able to drive and roll around the longitudinal axis.

The seedling planting device 3 comprises a seedling stand 5 which reciprocates laterally with a constant stroke with respect to the framed planting transmission case 4 connected to the link mechanism 2 and a lower end portion of the seedling stand 5. The planting mechanism 6 for cutting out the seedlings for planting each plant and planting them in the field is constructed.
The center of a rotating case 7 which is rotationally driven around a horizontal axis is pivotally supported at the rear of the planted transmission case 4, and a pair of planting claws 8 are attached to both sides of the case, which is not shown as the rotating case 7 rotates. With the cam mechanism, the planting claw 8 draws an almost elliptical locus in a side view, and each seedling is cut out from the seedling stand 5 and planted. Further, a pair of left and right ground-following swing arms 9 are provided on the left and right sides of the front lower part of the planted transmission case 4.
The ground height detection sensors 10R and 10L are provided.
The detection sensors 10R and 10L are configured to detect the relative swing angle of the swing arm 9 with respect to the planted transmission case 4 by a potentiometer PM.

Further, there is provided rolling control means for driving and controlling the rolling cylinder so that the difference between the detection values by the detection sensors 10R and 10L falls within a predetermined range. More specifically, as shown in FIG. 1, the lift cylinder C
The hydraulic control valves V1 and V2 of Y1 and the rolling cylinder CY2 are electromagnetically operated, and the control valves V1 and V2 are
2 is controlled based on the detection values of the detection sensors 10R and 10L. That is, the control device 11 controls and drives the lift cylinder CY1 so that the average value of the detection values of the left and right detection sensors 10R and 10L matches a preset predetermined value, and the difference between the detection values of the left and right detection sensors 10R and 10L is predetermined. The rolling cylinder CY2 is drive-controlled so as to be within the range so that the seedling planting device 3 can always carry out planting work while maintaining a horizontal posture against mud surface and a predetermined height. The rolling control means is provided in the control device 11 in the form of a control program.

On the traveling machine body side, an inclination angle sensor 1 for detecting a lateral inclination angle of the traveling machine body 1 from a horizontal posture.
2 (an example of the inclination angle detecting means) is provided, and when the detected value of the inclination angle detecting sensor 12 is less than or equal to a predetermined value, the control restraining means A for restraining the rolling control operation is provided. This control restraint means A is also provided in the control device 11 in the form of a control program, and the control device 11 executes control as follows.

FIG. 2 shows a lifting / rolling control routine. The detection values X1 and X2 of the left and right height detection sensors 10R and 10L are read (step S1), and the detection value of the tilt angle detection sensor 12 is read (step S).
2). Then, when the detection value of the tilt angle detection sensor 12 is smaller than a preset predetermined value (step S
3) Then, it is determined whether or not each of the detected values X1 and X2 is within a predetermined range (step S4). If it is not within the predetermined range, the amount of change in the detection value per predetermined unit time is calculated (step S5). If the calculation result is less than or equal to the set value, the change is gradual and the surface is muddy. It is determined that the change is not caused by the lump in the protruding state, and the rolling cylinder CY2 is drive-controlled so that the difference between the detected values is reduced (steps S6, S7, S8), and the seedling planting device 3 is placed in a mud. Maintain a plane-parallel posture. Next, the average value X of the left and right detected values X1 and X2 is calculated (step S9), and the lift cylinder CY1 is drive-controlled until the detected average value X substantially matches the preset target value Y, and seedling planting is performed. The attachment device 3 is maintained at an appropriate mud surface height (steps S10 and S1).
1, S12). Then, in step S3, when it is detected that the horizontal inclination angle of the traveling machine body is less than or equal to a predetermined value (see FIG. 4), and in step S6, the change amount of the detected value per predetermined unit time is greater than or equal to the set value. At this time, that is, as shown in FIG. 3, when one of the detection sensors rides on the protrusion, the driving operation of the rolling cylinder CY2 is restrained and the lift cylinder CY1 is restrained.
Only drive it.

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 configurations of the accompanying drawings by the entry.

[Brief description of drawings]

[Figure 1] Control system diagram

[Fig. 2] Control flowchart

[Figure 3] Rear view of rice transplanter

[Figure 4] Rear view of rice transplanter

[Figure 5] Overall side view of rice transplanter

[Explanation of symbols]

 1 Traveling Aircraft 3 Ground Work Device 10R, 10L Height Detection Sensor 12 Tilt Angle Detection Means A Control Checking Means CY2 Actuator

Claims (1)

[Claims] 1. A ground working device (3) is rotatably driven by an actuator (CY2) around a longitudinal axis of the machine to the traveling machine body (1), and the right and left sides of the ground working apparatus (3) are connected. A pair of left and right height detection sensors (10R) and (10L) for detecting the height above the ground are provided in the section, and the difference between the detection values of the height detection sensors (10R) and (10L) is set within a predetermined range. Actuator (C
A rolling control device for a ground working machine, comprising a rolling control means for driving and controlling Y2), the inclination angle detecting means (12) detecting a lateral inclination angle of the traveling machine body (1) from a horizontal posture. The tilt angle detecting means (1
When 2) detects that the tilt angle is less than or equal to a predetermined value, control for restraining the rolling control operation based on the detection values of the height detection sensors (10R), (10L) in the rolling control means. A rolling control device for a ground work machine equipped with a restraint means (A).