JPH08331939A - Ground working device lifting and lowering structure for working vehicle for paddy field - Google Patents

Abstract

PURPOSE: To suppress the effect on lifting and lowering operation of the longitudinal inclination angle of a machine body in a working vehicle for a paddy field which comprises a ground working device equipped with a ground material vertically rocking around a horizontal shaft center at the rear side and a forcing means for working the ground material downward and is constituted to operate the ground working device based on the lifting and lowering angle of the ground material. CONSTITUTION: This ground working device lifting and lowering structure for a working vehicle for a paddy field changes a standard value C of an angle sensor 19 to a front lowering side of a ground material 16 by a longitudinal inclination sensor 14 for detecting the longitudinal inclination of a machine body from a horizontal plane when the machine body becomes a front lifting position and changes the standard value C to a front lifting side of the ground material 16 when the machine body becomes a front lowering position. In a state of the machine body greatly becoming a front lifting position, the change degree of the standard value C to the front lowering side of the ground material 16 is suppressed.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a paddy field work vehicle in which a ground working device such as a seedling planting device or a direct seeding device, such as a riding type rice transplanter or a riding type direct sowing device, is connected to a machine body so that it can be freely moved up and down. In regard to the lifting structure of the ground work device.

[0002]

2. Description of the Related Art In a riding type rice transplanter, which is an example of a paddy field work vehicle as described above, a seedling planting device (corresponding to a ground working device) is vertically movably connected to the rear part of the body so that the seedling planting device can be installed. It has an actuator that moves up and down with respect to the machine body.
In this case, as disclosed in, for example, Japanese Unexamined Patent Publication No. 6-105606, the front side oscillates up and down around the horizontal axis on the rear side (P2 in FIG. 4 of the publication) to follow the ground contact with the rice field. Grounding float (16 in FIG. 4 of the publication) (corresponding to the grounding body), spring (21 in FIG. 4 of the publication) for urging the grounding float downward (corresponding to urging means), seedling planting An angle sensor (19 in FIG. 4 of the publication) for detecting the vertical angle of the ground float with respect to the apparatus is provided, and an elevating control means for operating the actuator so that the detection value of the angle sensor becomes a reference value is provided. There is something. As a result, the seedling planting device is maintained at the set height from the paddy field, and the seedling planting device is planting the seedlings at a predetermined planting depth.

[0003]

As planting work progresses in a riding-type rice transplanter, the front and rear wheels of the machine touch the ground, and the unevenness of the tiller causes the machine to move up and down. It becomes. As a result, as described above, if the front body swings up and down around the horizontal axis on the rear side and follows the ground contact with the paddy field, if the aircraft is in the forward rising posture, the grounding body also moves in the forward rising posture (rear). Fall position)
When the aircraft is in the front-lowering posture, the grounding body is also in the front-lowering posture (rear-raising posture).

As described above, if the grounding body is in the front-lowering posture, the front part of the grounding body will come into contact with a large amount of land on the paddy field, and the grounding body will react sensitively to the unevenness of the paddy field and swing up and down. Therefore, when the unevenness of the paddy field is severe, the lifting control means may cause a hunting phenomenon, resulting in floating seedlings or extreme deep planting of seedlings. On the other hand, if the grounding body rises to the front, the front part of the grounding body will not contact the paddy field much and the grounding body will not react properly to the unevenness of the paddy field. May be delayed. SUMMARY OF THE INVENTION It is an object of the present invention to prevent a state in which a lifting control means is not properly operated in a paddy work vehicle in which a ground work device is connected to a machine body so as to be vertically movable.

[0005]

The feature of the present invention resides in the following structure in the above-described structure for raising and lowering the ground work device for the paddy field work vehicle. [1] A ground work device is movably connected to the machine body and equipped with an actuator that moves the ground work device up and down with respect to the machine body. The front side oscillates up and down around the horizontal axis on the rear side and touches the rice field. The ground work device is equipped with a grounding body that follows, a biasing means that biases the grounding body downward, and an angle sensor that detects the vertical angle of the grounding body with respect to the ground work device. With the elevating control means for operating the actuator so that the value becomes a value, the front-back inclination sensor that detects the front-back inclination angle of the aircraft with respect to the horizontal plane, and the more the aircraft is in the forward-raising posture based on the detection value of the front-back inclination sensor, The aircraft is equipped with adjustment means that changes the reference value to the front-lowering side of the grounding body, and changes the reference value to the frontward-raising side of the grounding body as the aircraft is in the front-lowering posture. The composed state, comprises correction means for suppressing the change degree of the reference value of the previous edge side of the tread.

[2] In the configuration of the above item [1], when the reference value changed by the adjusting means on the basis of the detection value of the front and rear tilt sensor reaches the set value on the front lowering side, the body is further moved to the front rising posture. Even if it becomes, the correction means is configured to hold the reference value at the set value on the front rising side. [3] In the configuration of the above item [2], a changing unit that can artificially change the set value on the front rising side to the front rising side and the front falling side of the grounding body is provided.

[0007]

[Action]

[I] With the configuration as described in [1] above, for example, as shown in FIG. 4, the actuator 5 is operated by the lifting control means so that the detection value of the angle sensor 19 becomes the reference value C by the grounding body 16 and the angle sensor 19. Is operated and the ground work device is maintained at the set height from the field.

In the above-mentioned state, when the body is in the forward-raising posture, the grounding body 16 is also in the forward-raising posture (rear-lowering posture) from the initial posture. In this way, when the grounding body 16 is in the forward rising posture, the front part of the grounding body does not come into contact with the rice field so much that the grounding body does not properly react to the unevenness of the rice field,
In some cases, the lifting operation of the ground work device by the lifting control means may be delayed. In this case, the reference value C
Is automatically changed to the front lower side of the grounding body 16, so
When the actuator 5 is actuated by the elevating and lowering control means so that the detection value of the angle sensor 19 becomes the reference value C changed to the front-down direction, the grounding body 16 returns to the initial posture. As a result, it is possible to prevent the grounding body 16 from appropriately reacting to the unevenness of the rice field and swinging up and down, which may cause delay in the lifting operation of the ground work device by the lifting control means.

On the contrary, when the body is in the front-lowering posture, the grounding body 16 is also changed from the initial posture to the front-lowering posture (rear-raising posture). In this way, if the grounding body 16 is in the front-lowering posture,
Since the front part of the grounding body 16 is grounded a lot on the rice field and the grounding body 16 sensitively reacts to the unevenness of the rice field and swings up and down, the lifting control means may cause a hunting phenomenon. In this case, since the reference value C is automatically changed to the front rising side of the grounding body 16 by the adjusting means, the lifting control is performed so that the detection value of the angle sensor 19 becomes the reference value C changed to the front rising side. When the actuator 5 is operated by the means, the grounding body 16 returns to the initial posture. As a result, it is possible to prevent the grounding body 16 from sensitively reacting to the unevenness of the rice field and swinging up and down, and to prevent the hunting phenomenon of the lifting control means.

[II] In general, paddy field vehicles as described in [1] above are often provided with a biasing means 21 for biasing the grounding body 16 downward, as shown in FIG. 2, for example. As a result, the reference value C
Is changed to the front lower side of the grounding body 16 and the grounding body 16 returns to the initial posture, the biasing force of the biasing means 21 is weakened. Therefore, although the grounding body 16 returns to the initial posture, the urging force of the urging means 21 is weakened, so that the grounding body 16 becomes uneven on the paddy field as much as the urging force of the urging means 21 is weakened. It reacts sensitively and it becomes easy to swing up and down.

In this case, if the correction means as described in the above item [1] or [2] is provided, even if the reference value C is changed to the front lowering side of the grounding body 16, the vehicle body is in a large forward rising posture. In the state, the reference value C is suppressed so as not to be changed to the front lowering side of the grounding body 16 (or stopped at the set value on the front lowering side). As a result, the grounding body 16 is sensitive to the unevenness of the rice field and easily swings up and down by the amount by which the biasing force of the biasing means 21 is weakened. Based on this, the lifting control means causes the hunting phenomenon. Is prevented.

[III] When configured as in the preceding paragraph [3], the "action" described in the above paragraphs [I] and [II] is provided as in the case of the configurations in the preceding paragraphs [1] and [2]. In addition to this, it has the following “action”. With the configuration of [3] above, the set value on the front falling side in the configuration of [2] above can be arbitrarily changed. As a result, if the paddy field is likely to cause the hunting phenomenon of the lifting control means, the set value on the front falling side may be changed to the front rising side of the grounding body, and the paddy field is unlikely to cause the hunting phenomenon of the lifting control means. In that case, the set value on the front falling side may be changed to the front falling side of the grounding body.

[0013]

According to the first or second aspect of the invention, in the paddy work vehicle in which the ground work device is connected to the machine body so as to be able to move up and down, the grounding body is automatically operated even if the front and rear tilt angles of the machine body are changed. Since it is automatically returned to the initial posture, it is possible to prevent the delay of the lifting operation by the lifting control means and the hunting phenomenon regardless of the front and rear inclination angles of the machine body. As a result, delays in the lifting operation by the lifting control means and work problems due to hunting phenomena (such as floating seedlings and the extreme deep planting of seedlings during seedling planting work) can be prevented and the paddy field vehicle Was able to improve the work performance of. And since the state in which the lifting control means easily causes the hunting phenomenon is prevented by the amount by which the biasing force of the grounding body is weakened, further trouble of work is prevented, and the paddy work vehicle We were able to further improve work performance.

According to the third aspect, similar to the case of the first and second aspects, the above-mentioned "effects of the invention" are provided. According to the third aspect of the present invention, the set value on the front lower side (which prevents the lifting control means from easily causing the hunting phenomenon due to the weakening of the biasing means of the grounding body) is set as follows.
Since it can be changed to an appropriate value according to the condition of the paddy field, the working performance of the paddy field vehicle could be further improved.

[0015]

Embodiments of the present invention will be described below with reference to the drawings. (1) As shown in FIG. 1, a link mechanism 4 is movably supported at a rear portion of a machine body supported by front wheels 1 and rear wheels 2,
A hydraulic cylinder 5 (corresponding to an actuator) for moving up and down the link mechanism 4 is provided, and a seedling planting device 3 (corresponding to a ground work device) is connected to the rear portion of the link mechanism 4, which is an example of a paddy field vehicle. A type rice transplanter is constructed. The seedling planting device 3 supports a planting case 8 provided with a pair of planting claws 7 on the rear part of the support case 6 so as to be rotatable, and to support the seedling planting table
To the support case 6 so as to be freely reciprocated laterally and laterally, and as the planting case 8 rotates, a pair of planting claws 7 alternately take out the seedlings from the seedling stand 9 and plant them on the rice field G. Is configured.

As shown in FIGS. 2 and 3, the seedling planting device 3
One sensor float 16 (corresponding to a grounding body) is arranged at the center of the left and right of the sensor float 16, and a pair of side floats (not shown) are arranged on both left and right sides of the sensor float 16. The rear side of the sensor float 16 is swingably supported around the horizontal axis P1 of the support arm 17 of the support case 6, and the front side of the sensor float 16 follows the ground plane G while swinging vertically. A balance-shaped first arm 26 and a second arm 27 are vertically swingably supported by a frame 18 fixed to the front end of the support case 6, and the first and second arms 2 and 2 are supported.
A bracket 28 having an L-shape in plan view is supported by the tips of the brackets 6, 27, and is supported by the first and second arms 26, 27 so that the bracket 28 can move up and down in parallel.

The potentiometer 19 is attached to the bracket 28.
(Corresponding to an angle sensor) is fixed, and the detection arm 19a of the potentiometer 19 and the sensor float 16 are fixed.
Is connected by a rod 20 to the front part of the. The rod 23 supported on the front part of the sensor float 16 is vertically movably inserted into a bracket 24 fixed to a bracket 28, and between the rod 23 and the bracket 24,
A spring 21 (corresponding to a biasing unit) that biases the sensor float 16 downward is provided.

(2) Next, the elevation control means 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 sensor float 16 is input to the control device 10, and the dial type sensitivity setting switch 11 capable of artificially setting the control sensitivity of the lifting control means is provided. ing.

With the above structure, when the sensor float 16 follows the paddy field G along with the grounding work, the detected value becomes the reference value C based on the detected value from the potentiometer 19 (potentiometer 19 Of the detection arm 19a of the control unit 1) so that the detection arm 19a of
When the control valve 12 is operated by 0, the hydraulic cylinder 5 is expanded and contracted, 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 seedling planting depth is maintained at the set value (corresponding to the elevating control means).

As shown in FIGS. 2 and 3, a planting depth adjusting lever 29 is fixed to the base of the support arm 17 of the sensor float 16. As a result, the adjustment lever 29
Is operated up and down to engage and fix the lever guide 30,
The vertical angle of the support arm 17 (positions of the horizontal axis P1 and the sensor float 16 with respect to the seedling planting device 3) is changed up and down, and the setting of the seedling planting device 3 to be maintained with respect to the field G (sensor float 16). The height is changed up and down, and the planting depth of seedlings is changed.

In this case, as shown in FIG.
The other end of the first arm 26 is engaged with the pin 29a of 9 and even if the planting depth of the seedling is changed by the adjusting lever 29,
Along with this, the first arm 26 and the bracket 28 are vertically swung. As a result, the vertical distance between the sensor float 16, the potentiometer 19, the bracket 24, the spring 21 and the like can be reduced regardless of the change in the planting depth of the seedling.
The sensitivity setting switch 1
There is no change in the reference value C set in 1.

(3) Next, the setting of the control sensitivity of the lifting control means of the seedling planting device 3 in the riding type rice transplanter will be described. In the raising / lowering control means of the seedling planting device 3 as described above, when there are many irregularities on the rice field G, the sensitivity setting switch 11
To the insensitive side. In this case, the reference value C shown in FIG.
Is changed to the upward side corresponding to the operation positions "1" to "7" of the sensitivity setting switch 11.

As a result, the seedling planting device 3 is automatically operated so that the detected value from the potentiometer 19 becomes the upward reference value C (so that the detection arm 19a of the potentiometer 19 is in the upward reference value C posture). Is vertically operated. Sensor float 1 at this upward reference value C
Since the posture of 6 is on the front rising side, sensor float 1
The contact area of the No. 6 with the field G is reduced, and the spring 21 shown in FIG.
Is compressed and the biasing force of the spring 21 is strengthened. Therefore,
The ground contact tracking sensitivity of the sensor float 16 to the field G (control sensitivity of the ascending / descending control means) is changed to the insensitive side.

On the contrary, when the unevenness of the surface G is small, the sensitivity setting switch 11 is operated to the sensitive side. In this case, FIG.
The reference value C indicated by is changed to the downward side corresponding to the operation positions "1" to "7" of the sensitivity setting switch 11. As a result, the detection value from the potentiometer 19 is set to the downward reference value C (the detection arm 19a of the potentiometer 19 is set to the downward reference value C posture).
The seedling planting device 3 is automatically moved up and down. Since the posture of the sensor float 16 at the downward reference value C is on the front lower side, the contact area of the sensor float 16 with the rice field G increases, and the spring 21 shown in FIG.
The bias of 1 is weakened. Therefore, the sensor float 1
The ground contact tracking sensitivity (control sensitivity of the ascending / descending control means) of No. 6 to the field G is changed to the sensitive side.

(4) Next, the automatic correction of the control sensitivity (reference value C) preset by the sensitivity setting switch 11 in the elevation control means will be described. (4) -1 As shown in FIG. 4, a front-back inclination sensor 14 for detecting the front-back inclination angle of the body with respect to the horizontal plane is provided,
The detection value of the front-back inclination sensor 14 is input to the control device 10. As a result, when the machine body is in the horizontal state in the front-rear direction, the sensitivity setting switch 11 is moved to the operation position "1"-
When operated to "7", the reference value C shown in FIG. 4 is set to the standard reference value C1 shown in FIG. 5, and at the standard reference value C1 at the operation position "4", the sensor float 16 is set to a seedling plant. It becomes parallel (front-back direction) to the attachment device 3.

If the body is in a forward-raising posture from the horizontal state in the front-back direction as described above, the sensor float 16 also
First posture (sensitivity setting switch 11 is operated position "1" ~
The posture based on “7”) is changed to the forward rising posture (rear falling posture). In this case, based on the detection value of the front-rear tilt sensor 14, as the front-back tilt angle of the body becomes a forward-raising posture, the reference value C is standardized in proportion to this tilt angle, as indicated by the solid arrow B1 in FIG. The reference value C1 is automatically changed to the front lower side of the sensor float 16 (corresponding to the adjusting means). This allows the sensor float 16
Is returned to the initial posture (the posture based on the operation positions "1" to "7" of the sensitivity setting switch 11).

As described above, the reference value C is changed to the front lower side of the sensor float 16, and the sensor float 1
When 6 is returned to the initial posture, the spring 21 shown in FIG. 2 expands and the biasing force of the spring 21 is weakened, as described in (3) above. As a result, the sensor float 16 is returned to the initial posture, but the biasing force of the spring 21 is weakened. Therefore, the weakening of the biasing force of the spring 21 causes the sensor float 16 to come into contact with the ground surface G. The follow-up sensitivity (control sensitivity of the elevation control means) is changed to the sensitive side.

In this case, as shown in FIG. 5, the set value A1 on the front lower side with respect to the reference value C (the standard reference value C1 at the operating position "1") is set, and the machine body is in the forward rising posture. Therefore, even if the reference value C is changed to the front falling side of the sensor float 16, the set value A1 on the front falling side is not exceeded (corresponding to a correction unit). As a result, if the sensitivity setting switch 11 is operated to the operation position "1", the reference value C is not changed from the standard reference value C1 even when the machine body is in the forward rising posture.

(4) -2 Sensor float 1 when the body is in the front-lowering posture from the horizontal state in the front-rear direction as described in (4) -1 above.
6 also changes from the initial posture (the posture based on the operation positions “1” to “7” of the sensitivity setting switch 11) to the front downward posture (backward upward posture). In this case, the front-back inclination sensor 14
Based on the detected value of the reference value C, the reference value C becomes the standard reference value C1 in proportion to the inclination angle of the front and rear of the aircraft in the forward descending posture, as shown by the double-dashed line arrow B2 in FIG.
Is automatically changed to the front side of the sensor float 16 (corresponding to adjusting means). As a result, the sensor float 16 is returned to the initial posture (the posture in which the sensitivity setting switch 11 is based on the operation positions “1” to “7”).

As described above, the reference value C is changed to the front rising side of the sensor float 16, and the sensor float 1
When 6 is returned to the initial posture, the spring 21 shown in FIG. 2 contracts and the biasing force of the spring 21 is strengthened, as described in (3) above. As a result, the sensor float 16 is returned to the initial posture, but the urging force of the spring 21 is strengthened. Therefore, the urging force of the spring 21 is strengthened. The follow-up sensitivity (control sensitivity of the elevation control means) is changed to the insensitive side.

In this case, as shown in FIG. 5, the set value A2 on the forward rising side is set with respect to the reference value C (the standard reference value C1 at the operation position "7"), and the aircraft is in the forward descending posture. Therefore, even if the reference value C is changed to the front rising side of the sensor float 16, the setting value A2 on the front rising side is not exceeded. As a result, if the sensitivity setting switch 11 is operated to the operation position "7",
The reference value C is not changed from the standard reference value C1 even when the aircraft is in the front-lowering posture.

[Embodiment] In the configuration shown in FIG. 5, each of the set value A1 on the front falling side and the set value A2 on the front rising side can be arbitrarily changed to the front rising side and the front falling side. A change switch (corresponding to a changing unit) (not shown) capable of changing both of the set values A1 and A2 independently may be provided.

Instead of the fixed set values A1 and A2 shown in FIG. 5, a plurality of set values D1 having a linear function shape as shown in FIG.
E1 may be set so that one of the plurality of set values D1 and E1 can be selected by the change switch described above. In this case, the reference value C is provided with set values D2 and E2 that are changed to the front falling side and the front rising side more than in proportion to the front and rear tilt angles, and these setting values D2 and E2 are selected by the change switch. It may be configured to be possible.

Setting values D1, D2, E1, E2 shown in FIG.
May be set in the form of a quadratic function that is convex downward, and the set values E1 and E2 may be set in the form of a quadratic function that is convex upward, instead of being a linear function. INDUSTRIAL APPLICABILITY The present invention can be applied not only to a riding type rice transplanter, but also to a riding type direct seeding machine in which a direct seeding device (corresponding to a ground work device) is connected to a rear part of the machine body so that it can be freely moved up and down and rolled.

It should be noted that reference numerals are given in 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 around the sensor float and the potentiometer.

FIG. 3 is a front view of the vicinity of a sensor float and a potentiometer.

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

FIG. 5 is a diagram showing a relationship between an operation position of a sensitivity setting switch and a reference value.

FIG. 6 is a diagram showing a relationship between an operation position of a sensitivity setting switch and a reference value in another embodiment.

[Explanation of symbols]

 3 Ground work device 5 Actuator 14 Front-rear tilt sensor 16 Grounding body 19 Angle sensor 21 Energizing means A1, D1 Setting value on the front-down side C Reference value G Field surface P1 Horizontal axis

Claims (3)

[Claims] 1. An actuator (5) for connecting a ground work device (3) to a machine body so that the work machine (3) can be moved up and down with respect to the machine body, and a horizontal axis core (on the rear side) P1) a grounding body (16) that grounds and follows the rice field (G) while the front side swings up and down, and a biasing means (21) that biases the grounding body (16) downward.
The ground working device (3) is provided with an angle sensor (19) for detecting a vertical angle of the grounding body (16) with respect to the ground working device (3), and a detection value of the angle sensor (19) is a reference value. (C) Equipped with a lifting control means for operating the actuator (5), a front-back inclination sensor (14) for detecting a front-back inclination angle of the body with respect to a horizontal plane, and the front-back inclination sensor (14).
The reference value (C) is changed to the front lowering side of the grounding body (16) as the machine body is in the forward-raising posture based on the detection value of 1., and the reference value (C) is changed as the machine body is in the front-lowering posture. Adjusting means for changing the grounding body (16) to the front rising side, and changing the reference value (C) to the front lowering side of the grounding body (16) in a state where the aircraft body is in a large front rising posture. A structure for raising and lowering a ground work device for a paddy field vehicle equipped with a correction means for suppressing the degree. 2. When the reference value (C) changed by the adjusting means reaches set values (A1), (D1) on the front-lower side, based on the detection value of the front-back inclination sensor (14), Even if the aircraft is in the forward rising posture, the reference value (C) is set to the set values (A1), (D) on the forward rising side.
2. The ground work device lifting structure for a paddy work vehicle according to claim 1, wherein the correction means is configured to be held in 1). 3. The set values (A1), (D
3. The changing means for changing 1) can be artificially changed to the front rising side and the front falling side of the grounding body (16).
Lifting structure for the ground work device of the paddy field vehicle described.