JPH06125608A - Structure for changing posture of ground working device of working car - Google Patents

Abstract

PURPOSE:To construct a structure for changing the posture of a ground working device of a working car so as to enable the change in control sensitivity of posture change control with a manual operating tool and so as to enable fine regulation of the control sensitivity especially in a region on the sensitive side, in the structure formed so as to perform operation to change the posture of the ground working device so that the ground working device may be maintained at the set posture relatively to the ground surface based on the sensed value of a posture sensor. CONSTITUTION:A variation in a region on the sensitive side of the control sensitivity is set at a smaller one than that in a region on the insensitive side thereof in the variation in the control sensitivity to a unit manipulated variable of a manual operating tool 11 for changing the setting of the control sensitivity.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a structure of attitude control means (elevation control and rolling control) of a ground work device connected to a body of a work vehicle for a riding type rice transplanter or an agricultural tractor.

[0002]

2. Description of the Related Art There is a riding type rice transplanter as an example of the work vehicle as described above. In this riding type rice transplanter, a raising / lowering control (corresponding to a posture control means) of a seedling planting device (corresponding to a ground working device) is performed. As an example of the configuration of the lifting control,
It is disclosed in Japanese Patent No. 152821. With this configuration,
As a means for detecting the height from the rice field (corresponding to the ground surface) to the seedling planting device (corresponding to the posture of the ground work device with respect to the rice field), a ground contact float that follows the ground contact with the rice field (second part of the above publication).
9) in the figure (corresponding to the posture sensor) is provided in the seedling planting device, and the position of the grounding float with respect to the seedling planting device is detected by a wire, and this is used as the height to the seedling planting device. Then, based on this height detection, the seedling planting device is moved up and down so that the seedling planting device maintains a constant height above the rice field.

Then, the biasing force of the spring (23 in FIG. 2 of the above publication) for pressing the grounding float toward the rice field side is adjusted by the adjustment lever (24 in FIG. 2 of the above publication) (for changing the setting of the control sensitivity). (Corresponding to the manual operation tool), so that the control sensitivity can be adjusted. In this case, in a state where there are many irregularities on the rice field, the biasing force of the spring is increased and the control sensitivity is set to the insensitive side to suppress the hunting phenomenon in which the raising and lowering operation of the seedling planting device is frequently performed. On the other hand, when the unevenness of the rice field is small, the biasing force of the spring is weakened and the control sensitivity is set to the sensitive side so that the raising / lowering operation of the seedling planting device can be performed without delay with respect to the change of the rice field.

[0004]

In the above-mentioned configuration,
There is a 1: 1 relationship between the operation of the adjusting lever and the change in the control sensitivity, and the control sensitivity is changed at the same ratio with respect to the operation of the adjusting lever in any region of the operating range of the adjusting lever. When the control sensitivity is changed by operating the adjustment lever in the sensitive area, the control sensitivity is originally sensitive,
The change in the state of the lifting control becomes relatively remarkable. With this, in the aspect that it is possible to finely adjust the state of the elevation control (control sensitivity) in the sensitive side area,
There is room for improvement. It is an object of the present invention to configure the posture changing structure for a ground work device of a work vehicle as described above so that the state of posture control (control sensitivity) can be finely adjusted in the sensitive area.

[0005]

The feature of the present invention resides in that the above-described structure for changing the posture of the ground work device for a work vehicle is constructed as follows. That is, an actuator for changing the attitude of the ground work device with respect to the aircraft and an attitude sensor for detecting the attitude of the ground work device with respect to the ground are provided, and the ground work device is set to the set attitude with respect to the ground based on the detection value of the attitude sensor. In order to maintain, the attitude control means for activating the actuator is provided, and a manual operation tool for changing the setting of the control sensitivity of the attitude control means is provided, and in the change amount of the control sensitivity with respect to the unit operation amount of the manual operation tool,
The amount of change in the sensitive region of the control sensitivity is set smaller than the amount of change in the insensitive region of the control sensitivity.

[0006]

In the change amount of the control sensitivity with respect to the unit operation amount of the manual operation tool for changing the setting of the control sensitivity as in the present invention,
If the amount of change in the sensitive side is set to be smaller than the amount of change in the insensitive side of the control sensitivity, when the control sensitivity is changed by operating the manual operation tool, the sensitive side is changed compared to the insensitive side. In the area (2), the rate of change in control sensitivity with respect to the operation amount of the manual operation tool is smaller. Thus, when the control sensitivity is changed by operating the manual operation tool in the sensitive area of the control sensitivity, the change in the attitude control state becomes relatively small. Control sensitivity) can be finely adjusted.

[0007]

As described above, the control sensitivity of the attitude control can be finely adjusted by the manual operation tool in the sensitive area, and the attitude control (control sensitivity) in the sensitive area can be achieved.
Was easily set to the optimum state, and the operability of changing the control sensitivity in the sensitive area could be improved.

[0008]

Embodiments of the present invention will be described below with reference to the drawings. (1) As shown in FIG. 1, a seedling planting device 3 (corresponding to a ground work device) is provided at the rear of the machine body supported by the front wheels 1 and the rear wheels 2.
Are linked by a link mechanism 4 and a hydraulic cylinder 5 (corresponding to an actuator) so that they can be moved up and down to form a riding type rice transplanter which is an example of a work vehicle. As shown in FIG. 1, in the seedling planting device 3, a planting case 8 having a pair of planting arms 7 is rotatably supported by a rear part of the planting mission case 6 of the seedling planting device 3, The seedling stand 9 is supported by the planting mission case 6 so as to be freely reciprocated laterally and laterally, and a pair of planting arms 7 alternately take out the seedlings from the seedling placing stand 9 as the planting case 8 rotates. The field G (corresponding to the ground) is planted.

As shown in FIGS. 2 and 3, the seedling planting device 3
One ground float 16 (corresponding to an attitude sensor) is arranged in the center of the left and right of the ground float 16, and the rear part of the ground float 16 is swingable around the horizontal axis P1 of the support arm 17 on the side of the planting mission case 6 side. Supported by. 2 and 3
As shown in FIG. 2, the balance-shaped first arm 26 and the second arm 26 are attached to the frame 18 fixed to the front end of the planted mission case 6.
An arm 27 is supported so as to be vertically swingable, and a bracket 28 having an L-shape in plan view is attached to the tips of the first and second arms 26, 27.
The bracket 28 is supported by the first and second arms 26 and 27 so as to be vertically movable in parallel. The potentiometer 19 is fixed to the bracket 28, and the detection arm 1 of the potentiometer 19 is fixed.
9a and the front part of the ground float 16 are connected by a rod 20. The rod 23 supported by the front portion of the ground float 16 is inserted into a bracket 24 fixed to a bracket 28 so as to be vertically movable.
A spring 21 for urging the ground float 16 downward is provided between the bracket and the bracket 24.

As shown in FIGS. 2 and 3, a planting depth adjusting lever 29 is fixed to the base of a support arm 17 for the ground float 16. Accordingly, by operating the adjustment lever 29 up and down to engage and fix the lever guide 30, the vertical angle of the support arm 17, that is, the horizontal axis P1.
By changing the position of the ground contact float 16 up and down, the planting depth of the seedling is changed as described later. in this case,
As shown in FIG. 3, the other end of the first arm 26 is engaged with the pin 29a of the adjusting lever 29, and the adjusting lever 29 is operated up and down to change the positions of the horizontal axis P1 and the ground float 16 up and down. Even if the planting depth of the seedlings is changed, the first arm 26 and the bracket 28 are vertically swung along with this, and the ground float 16 is irrespective of the change of the planting depth of the seedlings.
The upper and lower intervals of the potentiometer 19, the rod 23, and the like are maintained at the intervals shown in FIG.

(2) Next, the raising / lowering control (corresponding to the posture control) of the seedling planting device 3 in the riding type rice transplanter will be described. As shown in FIG. 4, the detection value from the potentiometer 19 of the grounded float 16 is input to the control device 10, and the dial type sensitivity setting switch 11 (manual operation) capable of artificially changing the control sensitivity of the lifting control. Equivalent to the ingredient) is provided. With the above structure, it is assumed that the sensitivity setting switch 11 is operated as a standard as shown in FIG. In this state, the grounding float 16 moves to the field G as the planting runs.
As shown in FIG. 2 and FIG. 4, when the ground contact is followed, the detected value becomes the sensing angle A4 based on the detected value from the potentiometer 19 (the detection arm 19a of the potentiometer 19 detects the attitude of the sensing angle A4). So that),
The control device 12 operates the control valve 12 to expand and contract the hydraulic cylinder 5, and the seedling planting device 3 is automatically moved up and down. As a result, the seedling planting device 3 is automatically maintained at the set height from the paddy field G, and the planting depth of the seedlings is kept at the set value (the above corresponds to the attitude control means).

(3) Next, the control sensitivity change of the elevation control of the seedling planting device 3 in the riding type rice transplanter will be described. In such raising / lowering control of the seedling planting device 3, when there are many irregularities on the rice field G, the sensitivity setting switch 11 is operated to the insensitive side. In this case, as shown in FIGS. 2 and 4, the initial sensing angle A4 is changed to sensing angles A5, A6, A7 corresponding to the operation position of the sensitivity setting switch 11. In such a state, the detection value from the potentiometer 19 becomes the sensing angles A5, A6, A7 (the detection arm 19a of the potentiometer 19 detects the sensing angles A5, A6, A7).
The seedling planting device 3 is automatically moved up and down. The attitude of the ground contact float 16 at the sensing angles A5, A6, A7 is higher than that shown in FIG. 2, so that the contact area of the ground contact float 16 with the paddy field G is reduced, and the spring 21 is compressed so that the spring is compressed. The urging force of 21 is strengthened. Therefore, in this state, the ground follow-up sensitivity of the ground float 16 to the field G, that is, the control sensitivity of the elevation control is changed to the insensitive side.

On the contrary, when the unevenness of the rice field G is small, the sensitivity setting switch 11 is operated to the sensitive side. In this case,
Also, as shown in FIG. 4, the initial sensing angle A4 corresponds to the operating position of the sensitivity setting switch 11 and the sensing angles A1 and A4.
2, changed to A3. In such a state, the detected value from the potentiometer 19 is the sensing angles A1, A2,
The seedling planting device 3 is automatically moved up and down so as to be A3 (so that the detection arm 19a of the potentiometer 19 has the postures of the sensing angles A1, A2, A3). The attitude of the ground contact float 16 at the sensing angles A1, A2, A3 is lower than that shown in FIG. 2, so that the contact area of the ground contact float 16 with the rice field G increases and the spring 21 extends to extend the spring 21. The urging force of is weakened. Therefore, in this state, the ground follow-up sensitivity of the ground float 16 to the field G, that is, the control sensitivity of the lifting control is changed to the sensitive side.

When the control sensitivity is changed as described above, as shown in FIGS. 4 and 5, the intervals C (corresponding to the unit operation amount) between the respective operation positions of the sensitivity setting switch 11 are set to be equal. Has been done. On the other hand, in the potentiometer 19, the sensing angle A4 to
Compared with the angular difference B2 of A7 (corresponding to the amount of change in control sensitivity), the angular difference B1 of the sensing angles A1 to A4 in the sensitive area
(Equivalent to the amount of change in control sensitivity) is set to small. As a result, as shown in FIGS. 4 and 5, the sensitivity setting switch 1
When 1 is changed to change the control sensitivity, the sensitive area has a smaller change rate of the control sensitivity with respect to the operation amount of the sensitivity setting switch 11 than the insensitive area. In the side area, the control sensitivity can be finely changed and adjusted.

In the above-described raising / lowering control, the adjusting lever 29 is operated up and down as described above, and the positions of the horizontal axis P1 and the ground float 16 are changed up and down with respect to the seedling planting device 3. In this way, the field surface G (ground contact float 1
For 6), the set height of the seedling planting device 3 to be maintained is changed up and down, and the seedling planting depth is changed. Even if the planting depth of the seedling is changed in this way, regardless of this,
By the action of the second arms 26 and 27, the vertical interval between the ground float 16 and the potentiometer 19 is maintained at the interval shown in FIG. 2, so that the sensing angle A1 or the like set by the sensitivity setting switch 11 does not change. .

As shown in FIG. 1, a pair of markers 13 on the left and right sides of the seedling planting device 3 are provided on the rice seedling planting device 3 to draw a line on the rice field G, which serves as a reference line for the next planting plant as the planting plant travels once. I have it. The marker 13 is switchable between the retracted posture shown in FIG. 1 and the lowered work posture in which the tip of the marker 13 is projected into the paddy field G, and when the seedling planting device 3 is operated to rise at the end of one planting process. The marker 13 in the descending work posture is configured to be automatically raised. Then, at the time of entering the next planting step, the operator selects which of the right and left markers 13 in the retracted posture to switch to the lowered work posture. As shown in FIGS. 1 and 6, the selection lever 15 of the marker 13 in this case is arranged on the right lateral side of the steering handle 14 for the front wheel 1. Thus, when the selection lever 15 is operated in the clockwise direction, the right marker 13 is switched to the descending work posture, and when it is operated in the counterclockwise direction, the left marker 13 is switched to the descending work posture.

[Other Embodiments] In the above-described embodiments, the present invention is applied to the elevation control of the seedling planting device 3 as the posture control, but the rolling control of the seedling planting device 3 is used as the posture control. The present invention may be applied to this rolling control. In this case, the control sensitivity may be changed by changing the dead zone width of the rolling control. INDUSTRIAL APPLICABILITY The present invention is applicable not only to a riding-type rice transplanter, but also to a riding-type direct sowing machine in which a direct sowing machine (corresponding to a ground working device) is vertically connected to a rear part of an airframe and an agricultural tractor in which a rotary tiller is vertically connected to a rear part of the airframe. Can also be applied.

It should be noted that reference numerals are added to the claims for convenience of 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]

[Fig. 1] Overall side view of the riding rice transplanter

FIG. 2 is a side view near the ground float and the potentiometer.

FIG. 3 is a front view around the ground float and the potentiometer.

FIG. 4 is a diagram showing a linked state of a sensitivity setting switch, a ground float, a potentiometer, a control valve, and the like.

FIG. 5 is a diagram showing a relationship between a sensitivity setting switch and a sensing angle (control sensitivity).

FIG. 6 is a plan view of the steering handle and the vicinity of the marker selection lever.

[Explanation of symbols]

 3 Ground work device 5 Hydraulic actuator 11 Manual operation tool 16 Attitude sensor G Ground C Unit operation amount B1, B2 Change amount

Claims (1)

[Claims] 1. An actuator (5) for changing a posture of a ground working device (3) with respect to a body, and a posture sensor (16) for detecting a posture of the ground working device (3) with respect to a ground (G). And a posture control means for activating the actuator (5) so that the ground work device (3) is maintained in a preset posture with respect to the ground (G) based on the detection value of the posture sensor (16). , A manual operation tool for changing the setting of the control sensitivity of the attitude control means (1
1), the change amounts (B1) and (B2) of the control sensitivity with respect to the unit operation amount (C) of the manual operation tool (11), the change amount (B2) in the insensitive side region of the control sensitivity. The structure for changing the posture of the work implement with respect to the ground of the work vehicle in which the amount of change (B1) in the region on the sensitive side of the control sensitivity is set to be small.