JPH08308333A - Lifting and lowering control device for agricultural working machine for paddy field - Google Patents

Abstract

PURPOSE: To improve the accuracy of a lifting and lowering control device for an agricultural working machine for a paddy field, always maintaining the height of a working machine part from the ground constant by equipping the working machine part with a grounding material rockingly around a right and a left shafts and lifting and lowering the working machine part against a machine body based on the change of the elevation angle of the grounding angle. CONSTITUTION: This lifting and lowering control device for an agricultural working machine for a paddy field is equipped with a pitching mechanism 47 for allowing a working machine part to rotate around a right and a left shafts in a fixed region according to a reaction force received from the surface of soil in a field and a longitudinal inclination sensor 61 for detecting the longitudinal inclination of a machine body, and corrects a control target value of the elevation angle according to the detected value of the longitudinal inclination angle 61 when the longitudinal inclination of the machine body detected by the longitudinal inclination reaches an angle exceeding the rotation range of the working machine part of the pitching mechanism 47.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a lifting / lowering control device for a paddy field agricultural work machine in which a working machine portion is mounted on a machine body so as to be able to move up and down.

[0002]

2. Description of the Related Art A grounding body is provided in a working machine part so as to be swingable about a left-right axis, and the working machine part is moved relative to the machine body based on a change in the angle of inclination of the grounding body (the angle of travel of the grounding body with respect to a horizontal plane). There is a lifting control device for a paddy farming machine that raises and lowers the ground and maintains the ground level of the working machine at a constant level.

[0003]

When the vehicle starts or when the front wheels ride on the convex part of the cultivator, the machine rises forward as shown in FIG. 12 (a), and when the car stops or the front wheels fall into the concave part of the cultivator. At times, the airframe moves backward as shown in FIG. 12 (b). Such a variation in the height of the working machine portion due to the front-back inclination of the machine body is larger and more rapid than a variation in the height of the ground surface due to the unevenness of the soil surface of the field. For this reason, it is not possible to deal with it only by raising / lowering control of the work implement portion based on the angle of inclination of the grounding body, which causes a control delay.

[0004]

In order to solve the above problems, the present invention has the following constitution. That is, the lifting control device for a paddy field agricultural working machine according to the present invention is provided with a grounding body swingably around the left and right axes in the working machine part, and the working machine part is moved relative to the machine body based on the change in the angle of inclination of the grounding body. In a lifting control device for a paddy field farming machine that constantly raises and lowers the ground level of the working machine part, the working machine part rotates within the predetermined range around the left and right axes according to the reaction force received from the surface soil of the field. A pitching mechanism that allows rotation is provided, and a front-back inclination sensor that detects the front-back inclination of the machine body is provided. The front-back inclination of the machine body detected by the front-rear tilt sensor determines the working machine partial rotation range of the pitching mechanism. It is characterized in that the control target value of the heading angle is corrected according to the detected value of the front-back inclination sensor when the angle exceeds the limit.

[0005]

When the longitudinal inclination of the machine body detected by the longitudinal inclination sensor is within the working machine partial rotation range of the pitching mechanism,
Due to the action of the pitching mechanism, the working machine part rotates around the left and right axes in response to the reaction force received from the surface soil surface of the field, and the angle of inclination of the grounding body is maintained at the control target value. When the front-back inclination of the machine body detected by the front-rear tilt sensor exceeds the working machine part rotation range of the pitching mechanism, the rotation of the work machine part around the left and right axes by the pitching mechanism is not sufficient to support the grounding body. Changes its heading angle, and raises and lowers the working machine part with respect to the machine body based on the amount of change in the heading angle.

That is, when the longitudinal inclination of the machine body is small, the pitching mechanism is used, and when the longitudinal inclination of the machine body is large, the control based on the heading angle of the grounding body is used. Even when the height changes greatly or is abrupt, it is possible to accurately and promptly perform the lifting / lowering control of the working machine part.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An elevator control device for a rice transplanter will be described below as an embodiment of the present invention. This riding rice transplanter 1
Has a structure in which a planting section 4 which is a working machine portion is mounted on the rear side of the traveling vehicle body 2 via an elevating link device 3 so as to be able to move up and down.

The traveling vehicle body 2 includes a pair of left and right front wheels 2a, 2
In a four-wheel drive vehicle including a and rear wheels 2b, 2b, an engine 7 is mounted on a main frame 6 extending rearward from a rear portion of a mission case 5 arranged in a front portion of the airframe, and further, A fuel tank 8 is arranged above the engine. A cockpit 11 is installed on an engine cover 10 that covers the upper portion of the engine 7 and the fuel tank 8, and a handle 12 is provided in front of the cockpit 11. Various operation levers L, ..., Various operation pedals P, ..., Operation panel 13, Operation box 14 and the like are provided around the cockpit 10 and the steering wheel 11.

Next, the structure of the support portion of the cockpit 11 will be described. Rails 16, 16 are laid on both left and right upper surfaces of the engine cover 10, and slide members 17, 17 on the cockpit side are slidably engaged with the rails. Further, mounting pieces 19 and 19 fixed to a front end portion of the lower surface of the cockpit 11 are rotatably connected to a support shaft 18 provided so as to span the left and right slide members 17 and 17. Cockpit 11
The rear portion of the lower surface of the engine is supported by a support base 20 fixed to the upper surface of the engine cover 10. Therefore, when the fuel tank 8 is filled with fuel, the cockpit 11 can be rotated upward with the support shaft 18 as a fulcrum.

The cockpit 11 is slidable back and forth along the rails 16 and 16 and can be adjusted in three steps. Slide operation lever 2 used for this position adjustment
The reference numeral 2 is attached to the right slide member 17 via a lever attachment member 23 so as to be rotatable about the front-rear axis, and the lever is engaged with notches 16a formed at three front and rear portions of the rail 16. The portion 22a is adapted to be engaged. When adjusting the position of the cockpit, the cockpit 1 is removed with the locking portion 22a of the slide locking lever removed from the notches 16a, ....
1 is slid back and forth, and the locking portion 22a of the slide locking lever is engaged with the notch 16a to fix the cockpit 11.

The operation box 14 includes the left and right rails 1.
A base portion is fixed to a connecting plate 24 connecting the 6, 6 and is supported by a tip end portion of a supporting plate 25 protruding rightward. Therefore, when the cockpit 11 slides, the operation box 14 also slides, and even if the position of the cockpit 11 is adjusted, the positional relationship between the cockpit 11 and the operation box 14 does not change.

It should be noted that the operation box 14 is provided with operation tools, lamps and the like related to the position control of the planting section 4, and an indicator lamp, for example, an abnormal lamp, showing the operating state of the control device is provided on the front upper surface. 27, an automatic mode lamp 28, and a safety mode lamp 29 are provided, and operating tools for operating the control device, such as a lift control sensitivity adjusting dial 30, a tilt adjusting dial 31, and a rolling on / off switch 32, are provided below the upper lid 14a. A rolling manual switch 33 is provided, and an operating tool, which is rarely used, such as a rolling control sensitivity adjustment dial 34, a check switch 35, and a manual elevating switch 36 are provided inside the side lid 14b.

The elevating and lowering link device 3 has a parallel link structure and includes one upper link 40 and a pair of left and right lower links 41,
41 is provided. These links 40, 41, 41 are
The base side thereof is rotatably attached to a link base frame 42 provided upright at the rear ends of the main frames 11, 11 and a vertical link 43 is connected to the tip side thereof. The vertical link 43 is provided with a rolling shaft 43a for connecting the planting portion 4 in a freely rolling manner. A lifting / lowering hydraulic cylinder 45 is interposed between a support member (not shown) fixed to the main frames 11 and a tip of a swing arm 44 integrally formed with the upper link 40. By expanding and contracting with, the upper link 40
Rotates up and down, and the planting part 4 attached to the vertical link 43 moves up and down with a substantially fixed posture.

A pitching mechanism 47 is arranged at the connecting portion between the upper link 40 and the vertical link 43 to allow the planting portion 4 (working machine portion) to rotate about the left-right axis within a predetermined range. . That is, the pin 40a on the side of the upper link 40 is loosely fitted into the elongated hole 43a formed in the vertical link 43 (having an arc shape centering on the pin 41a of the lower link 41, 41), and the middle of the upper link 40 is formed. The upper portion of the vertical link 43 is pulled forward by a spring 48 provided between the above portion and the upper end of the vertical link 43. Therefore, the planting part 4 is rotatable within the range of the elongated hole 43a with the pin 41a, which is the left-right axis, as a fulcrum, and the planting part 4 is rotated depending on the reaction force received from the surface soil of the field. Posture changes. That is, when the reaction force received from the surface soil of the field is small and the moment to rotate the planting portion 4 downward is larger than the moment due to the tension of the spring 48 which opposes it,
The pin 40a engages with the front end of the elongated hole 43a. From that state, the reaction force received from the surface soil surface of the field becomes large, and when the moment that tries to rotate the planting part 4 downward and the moment due to the tension of the spring 48 that opposes it balance, the middle of the long hole 43a. The pin 40a is engaged with the portion. Further, when the reaction force received from the surface soil surface of the field is equal to or more than a certain value, the pin 40 is attached to the rear end portion of the long hole 43a.
The position a is engaged. The angle θ of the rotation range of the planting part by this pitching mechanism is, for example, about 3 degrees.

The planting section 4 has a six-row planting structure,
A transmission case 50 which also serves as a frame is assembled with a seedling placing table 51 on which six rows of seedlings are placed, and six sets of planting devices 52, etc. for planting the seedlings on the seedling placing table in a field scene. .

Below the planting section 4, a center float 5 is provided.
4 and a pair of left and right side floats 55, 55 are provided. The floats 54, 55, 55 are vertically swingably attached to the rear end of the float support arm 56, and a part of the weight of the body is received by the grounding portion when the float supporting arm 56 is grounded on the mud surface of the field. When the aircraft is advanced with each float grounded, each float slides while leveling the mud. The float support arms 56, ... Are fixed rearward to a float support pipe 57 arranged laterally, and when the float support pipe 57 is rotated by operating the planting depth adjusting lever 57a, the float mounting height is increased. Change and the planting depth of seedlings is adjusted.

Further, at the interval between the center float 54 and the side floats 55, 55, rakes 58, 58 for scraping and leveling the soil surface of the field are provided. This rake 58,5
Numeral 8 is attached to the rear ends of the rake support arms 59, 59 fixed to the float support pipe 57 rearward. The front and rear mounting positions of the rake and the float are the same. Therefore, when adjusting the planting depth of seedlings,
As the mounting height of the floats 54, 55, 55 changes, the mounting height of the rakes 58, 58 also changes, and is constantly maintained at a constant height with respect to the mud surface. Also, the rakes 58, 58
Since the front and rear positions of the float are behind the tips of the floats 54, 55, 55, the flow of water between the floats during work is good, and the mud pushing by the floats may adversely affect the seedlings of the planted row. Few.

The center float 54 is a grounding member for detecting the height of the planting part 4 above ground, and the float angle (orientation angle) in the traveling direction with respect to the horizontal plane is the float orientation angle sensor 60.
Detected by. The control target value of this facing angle is set by the elevation control sensitivity adjustment dial 30. The larger the control target value of the heading angle, the more sensitive the control sensitivity. Also,
The longitudinal inclination of the vehicle body of the traveling vehicle body 2 is detected by the longitudinal inclination sensor 61. Then, the detection result and the setting result are transmitted to the control device 62, an output command is issued to the control valve 63 of the hydraulic cylinder 45 based on the data, and the planting unit 4 keeps a constant height from the surface soil of the field. Control to be maintained.

The top-bottom follow-up / down control will be specifically described based on the following two control examples.

The top soil follow-up / down control of the first example shown in FIG.
When the front-rear tilt sensor value a is within the rotation range of the planting section by the pitching mechanism 47, the control target value A of the float facing angle is set to the set value A ₀ by the lift control sensitivity adjustment dial 30, and the front-rear tilt sensor value a is set. When the value a exceeds the rotation range of the planting portion by the pitching mechanism, the control target value A of the float facing angle is a value obtained by subtracting the front-rear tilt sensor value a from the set value A ₀ set by the elevation control sensitivity adjustment dial 30. Correct to. However, the pin 40 in the rotation range of the planting unit according to pitching mechanism a ₁ ~a _2, the state of orientation pins 40a in the front end portion of the long hole 43a is engaged a _1, the rear end portion of the long hole 43a
The state in which a is engaged is a ₂ . Then, the actual float facing angle A ′ detected by the float facing angle sensor 60 is compared with the corrected control target value A of the float facing angle, and if the difference is within the dead zone, the control valve 63 is set. If the difference is out of the dead zone on the A '<A side, the output command for raising the planting part is issued to the control valve 63 if the difference is out of the dead zone on the A'<A side. Issues an output command for lowering the planting portion to the control valve 63.

According to the top soil follow-up / down control of the first example, the control target value A of the float facing angle is as shown in FIG. 11 (a). When the front-back inclination of the machine body is within the rotation range a _{1 to} a ₂ of the planting part by the pitching mechanism, the pitching mechanism rotates the planting part around the left and right axes to maintain the planting part in a proper posture. Control to do. When the longitudinal inclination of the machine body exceeds the rotation range a _{1 to} a ₂ of the planting part by the pitching mechanism, the pitching mechanism controls and the control based on the change amount of the float facing angle. At that time, the control target value of the float facing angle is corrected by an amount corresponding to the change in the posture of the planting part beyond the control by the pitching mechanism.

In the second example of top-bottom soil follow-up / down control shown in FIG. 10, the change amount Δa of the front-rear tilt sensor value is calculated for a fixed time, and the control target value A of the float facing angle is determined based on the change amount Δa. . The amount of change Δa is a predetermined constant Δa ₀
In the following cases, when the front-rear inclination sensor value a (t + Δt) is within the rotation range a _{1 to} a ₂ of the planting part by the pitching mechanism, the control target value A is kept at the set value A ₀ and the front-rear inclination sensor When the value a (t + Δt) is out of the rotation range to the side where the machine body is lowered downward, the control target value A is set to the set value A _0.
Is corrected to a value obtained by subtracting the front-rear tilt sensor value a (t + Δt) from the front-rear tilt sensor value a (t + Δt).
Is corrected to a value obtained by subtracting the sum of the front-back inclination sensor value a (t + Δt) and the rotation range angle a ₂ (where a ₁ = 0) from the set value A ₀ . Further, when the variation amount Δa exceeds the predetermined constant Δa ₀ , the control target value A remains the set value A ₀ . Then, as in the case of the first example, an output to the control valve 64 is output from the actual float facing angle A ′ detected by the float facing angle sensor 60 and the corrected control target value A of the float facing angle. decide.

According to the top-bottom soil follow-up / down control of the second example, the control target value A for the float facing angle is as shown in FIG. 11 (b). When the front-rear tilt sensor value a (t + Δt) is out of the rotation range on the side of the front of the machine body, the angle of the rotation range is also taken into consideration to correct the control target value A, thereby making it more than the first example. Accurate control is possible. Further, a sudden change in the front-back inclination of the airframe may be caused by a change in running acceleration. Therefore, when the amount of change Δa exceeds a predetermined constant Δa ₀ , the control target value A is kept at the set value A ₀ to eliminate such erroneous information.

In the control of the above-mentioned two examples, the float heading angle control target value A is corrected from the float heading angle set value A ₀ based on the front-back tilting of the traveling vehicle body. The float angle control target value A may be corrected from the detected angle value A '.

[0025]

As described above, the lifting control device for a paddy farming machine according to the present invention uses both the control by the pitching mechanism and the control based on the change amount of the float facing angle, thereby making it possible to start the vehicle or to control the front wheels. It is now possible to accurately and promptly respond to large fluctuations and sharp fluctuations in the float facing angle that accompany the forward and backward inclination of the body, such as when riding on the convex part of the tiller.

[Brief description of drawings]

FIG. 1 is a side view of a riding rice transplanter.

FIG. 2 is a plan view of a riding rice transplanter.

FIG. 3 is a side view of an operation box mounting portion.

FIG. 4A is a plan view and FIG. 4B is a rear view of an operation box mounting portion.

FIG. 5 is a plan view (a) and a side view (b) of an operation box.

FIG. 6 is a side view of a planting part.

FIG. 7 is a plan view with a part of the planting part omitted.

FIG. 8 is a diagram showing a configuration of a ground follow-up / down control device.

FIG. 9 is a flowchart of a first example of ground follow-up / down control.

FIG. 10 is a flowchart of a second example of ground-following elevation control.

FIG. 11A is a diagram showing a relationship between a front-back inclination sensor value and a control target value of a float facing angle in the first example of ground-following elevation control; and FIG. 11B is a front-back inclination in a second example of ground-following elevation control. It is a figure which shows the relationship between a sensor value and the control target value of a float facing angle.

[Explanation of symbols]

 1 Passenger rice transplanter (agricultural working machine for paddy field) 2 Traveling vehicle body (machine) 3 Lifting link device 4 Planting part (working machine part) 30 Lifting control sensitivity adjustment dial 45 Hydraulic cylinder 47 Pitching mechanism 54 Center float (grounding body) 60 Float Heading angle sensor 61 Front-back inclination sensor 62 Control device

Continuation of the front page (72) Inventor, Hisashi Kamiya, No. 1 Yakura, Tobe-cho, Iyo-gun, Ehime Prefecture, Technical Department, Iseki Agricultural Machinery Co., Ltd. ) Inventor Takuya Okada 1 Yakura, Tobe Town, Iyo-gun, Ehime Prefecture, Engineering Department, Iseki Agricultural Machinery Co., Ltd. Eki Prefecture, Ito-gun, Tobe-cho, No. 1 Yakura, Iseki Agricultural Machinery Co., Ltd. (72) Inventor Isao Ishida, Ehime, Iyo-gun, Tobe-machi, No. 1 Yaseki Agricultural Machinery Co., Ltd.

Claims (1)

[Claims] 1. A work equipment part is provided with a grounding body swingable about a left and right axis, and the work equipment part is moved up and down with respect to the machine body based on a change in the angle of inclination of the grounding body, and the ground height of the work equipment part. In a lifting control device for a paddy field farming machine that constantly maintains a constant value, a pitching mechanism that allows the working machine part to rotate about the left-right axis within a predetermined range according to the reaction force received from the surface soil surface of the field is provided. Along with this, a front-rear tilt sensor for detecting the front-rear tilt of the machine body is provided. When the front-rear tilt of the machine body detected by the front-rear tilt sensor becomes an angle exceeding the working machine partial rotation range of the pitching mechanism, the front-rear tilt sensor detects it. An elevation control device for a paddy field agricultural work machine, which is configured to correct a control target value of a heading angle according to a value.