JPH0626484B2 - Lowering device for working unit in paddy working machine - Google Patents

Description

TECHNICAL FIELD The present invention relates to a descending control device for a working unit in a paddy working machine such as a rice transplanter, a fertilizer applicator, a seeder, and a transplanter.

[Problems to be Solved by the Related Art and Invention] Conventionally, in this type of paddy work machine, when the float is lowered from a high position away from the rice field to land, the descent speed is set to the work part. For example, Japanese Patent Application Laid-Open No. 57-18909 discloses a technique in which a slow slowing speed is set a little before landing on the ground to prevent splashing of muddy water at the time of landing.

However, when the working part is located lower than the stage just before landing, even if there is no risk of splashing muddy water, such as when working on a paddy where the float has already landed, this is at the above slow speed. As a result, the work unit is lifted and, as a result, the operation when the work unit descends at the time of the paddy work is slow, and the followability to the rice field becomes unfavorably bad, and good paddy work cannot be performed. There is a problem that you can only do something halfway because you have to set the slow descending speed just before landing to a speed between the speed at which muddy water does not jump up and the speed that is preferable for paddy work. .

[Means for Solving the Problem] The present invention was conceived with the object of providing a lowering control device for a working unit in a paddy working machine, which can eliminate these drawbacks in view of the above circumstances. In the paddy working machine in which the rear part of the float is pivotally supported so that the front part of the float is vertically movable, the paddy work machine is equipped with the float posture separated from the rice field. Is connected to a lowering control mechanism of the working unit that lowers the working unit, and the lowering control mechanism controls the lowering speed of the working unit and the float posture. It is determined whether the descent is lower or higher than the position where the posture changes from the suspended state to the grounded state, and when it is determined to be a lower descent, it is determined to be a slow speed mode and a higher descent. When it does, it determines whether or not the slow / quick speed switching means for switching to the fast speed mode and the descent of the working unit in the slow speed mode range are the descents accompanied by the change of the float posture from the suspended state to the grounded state, Slow descent speed control means for controlling the slow descent speed when it is determined that the descent changes from the suspended state to be slower than when it is determined that the descent is not the descent from the suspended state. It is what

According to this configuration, the present invention makes it possible to set the descending speed when the working unit descends from a high position and lands, the descending speed when performing paddy work, and the speed most suitable for each state. It is a thing.

[Embodiment] Next, an embodiment of the present invention will be described with reference to the drawings. In the drawings, reference numeral 1 denotes a traveling machine body of a riding type rice transplanter, and a planting section (working section) 3 is attached to a rear portion of the traveling machine body 1 through an elevating link mechanism 2. The planting portion 3 is vertically moved by the expansion / contraction operation of the hydraulic cylinder 4 which will be described later.

The planting part 3 is provided with a float 5, and the lower end of the operating bar 6 is pivotally connected to the front part of the float 5.
The upper end of the operating rod 6 has a sensor arm 8a of the float angle detection sensor 8 provided on the link holder 7 on the side of the planting portion 3 to which the elevating link mechanism 2 is connected (the sensor arm 8a contacts the stopper 8b). The corresponding position is set to be the lowest position). Then, a change in the tilt angle of the float 5 about the support shaft 5a is converted into a change in the swing axis angle of the sensor arm 8a, and this change is detected. On the other hand, the body-side link holder 9 of the lifting link mechanism 2 has a tilt angle of the lifting link mechanism 2,
That is, the link angle detection sensor 1 for detecting the height of the planting part 3
0 is provided, and the height adjusting lever 12 of the planting part 3 is arranged on the side of the driver's seat 11. The lever operating position (angle) of the height adjusting lever (hydraulic lift lever) 12 is set. ) Is detected by the lever angle detection sensor 13. Further, a control panel 14 arranged in front of the driver's seat 1 is provided with a float angle setting device 15 capable of freely setting the angle posture of the float 5 according to the hardness of the rice field.

Next, each of these sensors 8, 10, 13 and the setting device 15
The control procedure based on the input value from FIG.
This will be described with reference to the block circuit diagram, flow chart diagram, and timing chart diagram shown in FIGS. Here, 16 is an automatic control unit (automatic control mechanism) formed by using a microcomputer or the like, 17 and 17a are rising solenoids and lowering solenoids for expanding and contracting the hydraulic cylinder 4, and 18 is an automatic switching switch. Is. Further, A indicates a detection value of the lever angle detection sensor 13, which is hereinafter referred to as “lever angle detection value A”, and is set to have a larger value as the height adjusting lever 13 is operated backward. There is. B indicates a detection value of the link angle detection sensor 10, which is hereinafter referred to as "link angle detection value B", and is set to have a larger value as the planting unit 3 rises. C indicates a set value of the float angle setter 15, which is hereinafter referred to as "float angle set value C", and as shown in FIG. Is set to be Further, D indicates a detection value of the float angle detection sensor 8, which is hereinafter referred to as "float angle detection value D", and is set to have a larger value as the float 5 is in a front rising state.

Further, as will be described later, θ is a float reference angle value in which the float 5 is preset with respect to the horizon (in the embodiment, an angle preset in a paddy state slightly weaker than in the case of a paddle of standard hardness). Value) and α are the first dead zone set in the large region, and β is the second dead zone (α> β) set in the small region. And each of the sensors 8, 10, 13
Signals from the setter 15, the setting device 15 and the automatic switching switch 18 are input to the control unit 16. The control unit 16 makes a determination based on these input signals, and as a result, the solenoids 17 and 17a are instructed. It outputs an ON / OFF control command.

That is, when the main switch (not shown) is turned on to start the control unit 16, data reading is first performed. Next, whether or not the set value C of the float angle setter 15 is smaller than the predetermined float reference angle value θ (C <θ), that is, the setter 15 is set to a paddy condition side harder than the reference angle value θ. If it is determined to be YES, it is determined that it is small,
That is, if it is set to the hard side, a large first dead zone α is selected and set as a dead zone, and if NO is determined otherwise, a second dead zone β is selected and set as a dead zone. The height control sensitivity of the planting section 3 is determined by the dead zone α or β selected and set, and the dead zone selecting means in the automatic control mechanism is configured in this manner. There is.

Then, the lever angle detection value A is the link angle detection value B.
Is smaller than (A <B), and if YES is determined as smaller, it is then determined whether or not the automatic switching switch 18 is ON, and it is ON. If YES is determined, the float angle setting value C is further changed to the float angle detection value D.
Is smaller than (C <D), and if YES, the difference between the two is larger than the selectively set dead zone α or β (DC> α or β). ), And if YES, i.e., it is not within the range of dead zone α or β, an ON-side operation command is issued to the ascending solenoid 17 to extend the hydraulic cylinder 4. Then, the planting section 3 is raised, and conversely, when it is judged to be small, that is, NO in the dead zone, both solenoids 17 and 17a are turned on.
The height is controlled so as to be in the FF state, and the height of the planting part 3 against the rice field surface is maintained in that state.

On the other hand, when it is judged whether the float angle setting value C is smaller than the float angle detection value D or not, that is, when the judgment is NO, the difference is further determined by the dead zone α. Or larger than β (CD>
α or β) is determined, and if YES is determined as being large, it is adapted to be inherited by a descending processing command group of the defined planting unit 3 described later, and if it is small, dead zone is set. If NO is determined as being within the range, both solenoids 17 and 17a are controlled to be in the OFF state. Here, when the automatic control switch 18 is OFF, only the lever control is performed, and in this case as well, the descending processing command group is succeeded.

Further, when it is determined that the lever angle detection value A is smaller than the link angle detection value B and NO is not determined, both detection values A and B are further equal (A =
B), it is judged that they are not equal, and if NO is judged, the ascending solenoid 17 is turned on as it is.
If N is actuated, and if YES is determined because they are equal, then it is determined whether or not the automatic planting switch 18 is ON, and YES is determined because it is ON. In this case, it is further determined whether or not the float angle set value C is smaller than the float angle detected value D (C <D), and if YES is determined as being small, this difference is smaller than the dead zone α or β. Is also large (DC> α or β), and if YES is determined as being large, the raising solenoid 17 is switched to the ON side to move the planting part 3 upward, When it is determined to be NO because it is in a small dead zone, which solenoid 17,
17a is also controlled to be in the OFF state.

In this embodiment, the control panel 14 is provided with a monitor lamp 19 so that it can be visually recognized whether the planting section 3 is in the planting automatic control state. That is, the monitor lamp 19 is turned on and turned on when the solenoids 17 and 17a are turned off in the above-mentioned control procedure. It is possible to judge that the planting work has been completed, and after that, the planting work may be started. By doing so, the planting work is started at a stage before the planting section 3 is sufficiently lowered,
It is possible to prevent problems such as sky planting. Then, the monitor lamp 19 is turned off by operating the height adjusting lever 13 to the upward side when the aircraft is traveling,
This is a route in which the ascending solenoid 17a is turned on, and therefore reliable monitoring can be performed and highly accurate paddy field work can be performed.

The descending processing instruction group described above is configured as follows. That is, when it is necessary for the automatic control unit 16 to descend the planting unit 3, the planting unit 3 is routed by the descending processing command group.
However, in the float angle detection value D, “De” means that the planting part 3 is lifted from the paddy field and the float 5 is suspended in the air, and thus the posture is greatly lowered forward (first position). 3), the value when the sensor arm 8a contacts the stopper 8b (limit value), and "Df" is the value when the float front part comes in contact with the paddy field and the float 5 slightly Set the value of the lifted posture (the one-dot chain line posture in FIG. 3) (switching value), and
“G” is defined as a value (setting range value) of a range (two-dot chain line posture in FIG. 3) that can be adjusted and set by the float angle setting device 15, and the size thereof decreases in the order of Dg, Df, and De. (Dg>Df> De).

Then, in the descending processing command group, first, it is determined whether or not the descending of the planting portion 3 is due to the lever operation of the height adjusting lever 12 (this determination is based on, for example, whether or not there is a change in the lever angle detection value A). Is determined by the lever operation, that is, when it is determined that the float posture is descending from a high position in which the float posture is suspended, if YES is determined, during a predetermined cycle timer time T. First and second O
In the cycle timer in which N times t ₁ and t ₂ (t ₁ <t ₂ ) are set, a short first ON time t _{1 that} is a slow slow speed corresponding to a case of descending from a high place is selected and set, and In the case of a descending in the grounding state not by lever operation, for example by automatic planting control at the time of planting work, a long second ON time t ₂ with a fast slowing speed corresponding to this case. Is selected and set, which constitutes the slow descending speed control means of the present invention.

With the speed thus set, the float angle detection value D is next smaller than the switching value Df (D <D
f), it is determined that it is small, that is, when the planting part 3 is at a high position and the float 5 is in a suspended state and is in a large front-down posture, a YES determination is made. Regardless of the timer, continuous ON commands are issued to the descending solenoid 17a to enter the rapid speed mode,
As a result, the planting part 3 descends at a high speed. On the other hand, when the determination is NO because the value is not small, the mode becomes the slow speed mode. However, when the mode becomes the slow speed mode, it is determined whether or not the cycle timer has ended, and it is determined that the cycle timer has ended. When the determination is YES, the cycle timer is set to the ON timer of the first or second ON time t ₁ or t ₂ which is selectively set, and then it is determined whether or not the ON timer has expired. If the determination is NO because it is not finished, the descending solenoid 17
The ON command is issued to a, and the OFF command is issued when the determination is YES because it has been completed. In this way, the reduction of the hydraulic cylinder 4 is performed by inching in correspondence with the ON times t ₁ and t _2. By doing so, the descending speed of the planting part 3 is set to be slow when the float 5 is descending from a high position away from the rice field, and is set to be a moderately decelerated slow speed otherwise. .

In the embodiment of the present invention configured as described above, in order to perform automatic planting control, the automatic switching switch 18 is turned on, and the float angle setter 15 is set according to the hardness of the paddy field.
Adjust and set. And if you do the planting work in this state,
Planting part 3 in the state set by the float angle setting device 15
The automatic control of the height of the rice field against the rice field will be performed. However, in the present invention, when the planting section 3 is moved downward, when the planting section 3 is close to the rice field, the descending speed depends on the descending condition. Will be automatically switched gradually.

Do this, as when restarting work after traveling the aircraft,
When the case where the planting part 3 that is largely lifted is lowered is described as an example, the float 5 is in a suspended state without being grounded on the rice field when the planting part 3 is largely lifted. If the height adjusting lever 12 is operated to the descending side in accordance with the planting work in this state, the lever angle detection value A exceeds the range of the dead zone α or β and becomes smaller than the link angle detection value B. The route is set by the descending processing instruction group. In this case, the short first ON time t ₁ is selected and set in the cycle timer, and the float angle detection value D is smaller than the switching value Df in the range where the float 5 is in the suspended state, as described above. When the descending solenoid 17a receives a continuous ON command, the planting unit 3 descends at a high speed as it is. And the planting part 3 descends to near the rice field,
When the front part of the float 5 which has been in a greatly lowered state comes into contact with the rice field and rises slightly, and when the float angle detection value D becomes larger than the switching value Df, the descending solenoid 17a is set by the set of the cycle timer. Is an inching O
In response to the N command, the planting unit 3 descends at a greatly decelerated slow speed and lands.

On the other hand, in the case where the float 5 is already grounded and the planting automatic control is performed and the descending command of the planting unit 3 is issued, the height adjustment lever 12 is not used. The ON time t ₂ is selected and set, whereby the planting unit 3 descends at a slow speed that is gently decelerated.

Thus, in the embodiment of the present invention, when the planting part descends from a high position and lands, it descends at a high speed until landing, and the descending speed is reduced slightly before the landing. Although it is designed to land at a slow speed, the slow speed is not caught at all by the descending speed required for planting work, and when the muddy water is descended from a high level such as jumping up. It is possible to lower at a slower speed suitable for surely preventing the occurrence of a defect. In this way, it is possible to set not to be caught by the planting work but to descend at a slow descending speed focusing only on the splashing of mud soil, but the planting part descends during the planting work when the float 5 is already in contact with the ground. In this case, the planting work can be performed at a speed corresponding to the planting work faster than the slower descending speed, and the planting work can be performed without any trouble such as a delay in the fall.

In addition, the place where the sudden speed is switched to the slow speed when descending is small regardless of whether the paddy field is deep or shallow, and the front end of the float 5, which is in a great forward descent position, touches the paddy field. It will be after the time when the posture changes to. Therefore, regardless of whether the paddy field is shallow or shallow, the timing of switching the rapid-slow speed when lowering the planting part 3 can be performed with a substantially constant height against the paddy field as a reference. The workability is excellent, the planting part 3 can be landed quickly and surely, and the problem of splashing muddy water can be reliably prevented.

In addition, since this product detects the landing of the float 5 at the front end of the float 5, it does not require a dedicated landing detection system, which is unacceptable, and the detection is reliable, and the landing shock Can be absorbed and relaxed.

Also, when the float for detecting the landing is a center float and side floats are arranged on both sides of the float, landing can be detected by the center float in the center of the aircraft, and more reliable and sensitive control can be achieved. Is something that can be done.

[Advantageous effects] In short, since the present invention is configured as described above, the descending speed when the working unit descends is a rapid speed at a position higher than the position where the float posture changes from the suspended state to the grounded state. The mode changes to the slow speed mode at the lower position, but when the slow speed mode is further entered, the descent is accompanied by a change in the float posture from the suspended state to the grounded state. The speed is further controlled so as to be slower than the case of the descent in the grounding state without.

As a result, when the working unit descends in the low position, the descending speed when the float is grounded from the suspended state is set to a slow speed slow enough so that the muddy soil does not jump at the time of grounding, The slow descending speed in the paddy work state where the float is already in contact with the surface of the paddy field and there is no concern that the mud soil jumps up, the optimum speed suitable for paddy field work without being bound by the slow speed for the mud soil not to jump up. Since it is possible to set the descending slow speed of No. 3, the following ability of the working unit is not impaired at all, and the workability cannot be significantly improved, and the paddy work can be performed with high accuracy.

In addition, the timing of switching from sudden speed to slow speed when descending is based on the time when the suspended float floats on the surface of the pad and changes its posture, regardless of whether the paddy field is deep or shallow. It is always performed with reference to a fixed height position against the surface, which is excellent in workability,
A quick and reliable landing of the working part can be performed while reliably preventing problems such as splashing muddy water.

Moreover, this one is designed to detect the ground contact of the float by changing the posture from the suspended state due to the grounding of the float itself, so it is not forbidden to need a dedicated landing detection system, and it is not possible to detect it. It is also reliable, and it is possible to absorb and relax the shock when landing.

[Brief description of drawings]

The drawings show one embodiment of the descending control device for the working section in the paddy field working machine according to the present invention. FIG. 1 is an overall side view of the riding rice transplanter, and FIG. 2 is a float angle setting unit section. FIG. 3 is a plan view, FIG. 3 is an operation explanatory view of a planting portion, FIG. 4 is an operation explanatory view showing a set state of a float angle detection value, FIG. 5 is a block circuit diagram of a control mechanism, and FIG. FIG. 7 is a flow chart showing the procedure, FIG. 7 is a flow chart showing the descending control procedure, and FIG. 8 is a timing chart of the control mechanism. In the figure, 1 is a traveling body, 3 is a planting part, 5 is a float, and 15
Is a float angle setter, 16 is a control unit, A is a lever angle detection value, B is a link angle detection value, C is a float angle set value, and D is a float angle detection value.

Claims (3)

[Claims] 1. A paddy working machine in which a rear part of a float is pivotally supported and a front part of the float is vertically movable so that the working part is vertically movable. A float posture detecting means for detecting whether it is in a suspended state or a grounded state is connected to a descending control mechanism of the working unit for lowering the working unit, and the descending control mechanism is configured to control the descending speed of the working unit. Judgment is made as to whether descending is lower or higher than the position at which the posture changes from the suspended state to the grounded state.If it is determined to be lower, it is set to the slow speed mode, and if it is determined to be higher, it is set to steep. Whether the slow speed switching means for switching to the speed mode and the lowering of the working portion in the slow speed mode range are such that the float posture is accompanied by a change from the suspended state to the grounded state. And a slow descent speed control means for controlling the slow descent speed when it is determined that the descent changes from the suspended state to be slower than when it is determined that the descent is not the descent from the suspended state. A lowering control device for a working unit in a paddy working machine, which is characterized by being provided. 2. The method according to claim 1, wherein the detection that the working unit touches the rice field is made by detecting that the front end of the float touches the rice field and the posture has changed. Lowering control device for the working part of the paddy work machine of Japan. 3. The working unit in a paddy working machine according to claim 1, wherein the float is a center float provided at the center of the working unit, and side floats are arranged on both sides thereof. Descent control device.