JPH0889033A - Controlling device for lifting agricultural working machine - Google Patents

Abstract

PURPOSE: To provide a controlling device for lifting an agricultural working machine capable of improving the efficiency of reciprocal lifting movements in the lifting and lowering of the agricultural working machine during an agricultural working. CONSTITUTION: This controlling device for lifting various agricultural working machines capable of being installed to a main machine by freely lifting and lowering, comprises providing a lifting detecting means (102) detecting the lifted amount at the lifting of the agricultural working machine to the main machine and a lowering deciding means (95) deciding the lowering rate and range thereof in the next lowering based on the detected lifted amount.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention detects a change in the distance between a planting part and a paddy field by detecting a tilt angle of a center float with a paddy field sensor, and controls the planting part up and down to control the planting depth. The present invention relates to an elevating control device for agricultural work machines such as rice transplanters that maintain a constant level.

[0002]

2. Description of the Related Art For example, in a rice transplanter, the descending speed of a planting section is set or limited to be a slow speed by squeezing or the like, and there is a danger that the planting section suddenly descends and collides with the rice field with a large impact force. To prevent.

[0003]

However, at such a slow speed, the planting part is raised on a headland or the like to rotate the aircraft, and then the planting part is lowered to the rice field. There is a problem in that it takes a long time to bring it into contact with the ground, and the work efficiency is extremely poor.

[0004]

SUMMARY OF THE INVENTION Therefore, according to the present invention, in an agricultural working machine in which various agricultural working machines are vertically mounted, the lifting detecting means for detecting the amount of lifting of the agricultural working machine with respect to the machine is provided. It is equipped with a descending determination means for determining the descending speed and the range of the agricultural working machine at the time of the next descending based on the detection of the amount of ascending. Since the distance is close to the position and the depth of the tiller does not change extremely, and there is no difference in the amount of rise and fall of the planting part, the lowering speed in such cases should be faster than the lowering speed during normal work. In addition, the descending control is performed so that the descending amount is substantially the same value as the ascending amount, and it is possible to turn the machine body with good efficiency without impairing safety and improve the work efficiency. It is a thing.

Further, an elevating control means for detecting a change in the distance between the agricultural work machine and the farm scene by an elevating sensor to control the elevating of the agricultural work machine, and a descending control means for performing a descending control of the agricultural work machine based on the descending determining means. And is provided so as to give priority to the control operation of the ascending / descending control means with respect to the descending control means.
If the depth of the tiller changes suddenly (due to wheel marks, grooves, etc.) during the lowering operation of the planting part of the rice transplanter at a lowering speed than during normal work, for example, the lifting sensor will detect it near the lowering position. Based on the above, the work is performed while maintaining the planting depth with high accuracy by performing control with excellent safety by returning to the normal work descending speed.

[0006]

Embodiments of the present invention will now be described in detail with reference to the drawings. 1 is a side view of a planting lift control circuit, FIG. 2 is a side view of a passenger rice transplanter, and FIG. 3 is a plan view of the same. In the figure, (1) is a traveling vehicle that is a main machine on which an operator rides, and an engine (2) is mounted on the body frame (3) and the mission case (4)
A front wheel (6) for traveling paddy fields is supported forward through a front axle case (5), and a rear wheel (8) for traveling paddy fields, which is a wheel, is disposed behind the mission case (4) through a rear axle case (7). ) Support. The spare seedling mounts (10) are attached to both sides of the hood (9) that covers the engine (2) and the like, and the mission case (4) is provided by the vehicle body cover (12) on which an operator rides through the step (11). Etc., a driver's seat (13) is attached to the upper portion of the vehicle body cover (12), and a steering handle (14) is provided in front of the driver's seat (13) at the rear of the hood (9).

Further, (15) in the figure is a planting section which is an agricultural working machine equipped with a seedling table (16) for 6-row planting and a plurality of planting claws (17). A rotary that allows a synthetic resin seedling table (16) to be slidably supported by a planting case (20) through a lower rail (18) and a guide rail (19) in a left-right reciprocating manner and to rotate in one direction at a constant speed. The case (21) is supported by the planting case (20), and a pair of claw cases (22) (22) arranged at symmetrical positions around the rotation axis of the case (21) are provided at the tips of the planting claws (22). 17) Install (17).

Further, a support frame (2) is provided on the front side of the planting case (20) via a rolling fulcrum shaft (23).
4) is provided, and the support frame (24) is connected to the rear side of the traveling vehicle (1) through the elevating link mechanism (27) including the top link (25) and the lower link (26), and the link mechanism (27) is provided. An elevating cylinder (28) for elevating the planting part (15) via a lower link (26) is connected to the lower link (26) to drive and move the front and rear wheels (6) and (8), and at the same time reciprocally slide left and right. The seedlings for one strain are taken out from the seedling mounting table (16) to be picked up by the planting claws (17), and the seedlings are continuously planted.

Further, in the figure, (29) is a main transmission lever, and (3
(0) is a sub-shift lever for planting up / down and work traveling gear shifting, (3
1) is a planting sensitivity adjusting lever, (32) is a main clutch pedal, (33) and (33) are left and right brake pedals, and (3)
4) is a center float for two-line leveling, and (35) is a side float for two-line leveling, which is arranged at the rear position of the rear wheel (8) and passes through the traces of the rear wheel (8).

As shown in FIGS. 4 to 8, a center float (34) is arranged in the lower center of the planting part (15), and side floats (35) (35) are arranged on the left and right sides of the center float. , A pitching fulcrum shaft (36) for swingably supporting the front part of the center float (34) up and down is provided on a bracket (37) on the rear upper surface of the float (34), and pivots to the planting case (20). The base end of the planting depth adjusting link (39) is fixed to the planting depth adjusting fulcrum shaft (38) that freely pivots, and the tip of the link (39) is fixed to the pitching visual fulcrum shaft (36). ).

Then, the middle of the output link (41) is rotatably supported by the support shaft (40) fixedly supported on the planting case (20) side, and the base end is fixed to the adjustment fulcrum shaft (38). The rear end of the output link (41) is connected to the tip of the swing arm (42) to be installed via a coupling pin (43), and the sensor link (4) is attached to the shaft (44) at the front end of the output link (41).
The long hole (46) of 5) is engaged and connected, and the lower end of the sensor link (45) is connected and supported via the shaft (48) to the bracket (47) fixed to the front upper surface of the center float (34). ing.

Further, a potentiometer type field sensor (50) which is an elevation sensor is attached to a sensor base (49) fixed to the right side surface of the output link (41) and fixed to the sensor link (45). The detection shaft (52) of the detection plate (51) is engaged with the long hole (54) of the sensor arm (53) of the rice field sensor (50) to be planted by the unevenness of the tiller or the change of the depth. When the depth changes, the rice field sensor (50) detects this.

Further, the bracket (37) on the substantially central upper surface of the side float (35) is supported by the adjustment fulcrum shaft (38) via the pitching fulcrum shaft (36) and the adjustment link (39) so as to be freely pitched. , A substantially central portion of the plant depth correction output link (56) is rotatably supported by a support shaft (55) fixedly supported on the planting case (20) side, and a base end of the adjustment fulcrum shaft (38). Fixed rocking arm (5
The front end of 7) and the rear end of the output link (56) are engaged and connected via a shaft (58) and an elongated hole (59).

Furthermore, the front end of the output link (56) is inserted into the elongated hole (63) of the sensor link (62) supported by the fixed bracket (60) on the upper surface of the front part of the left and right side floats (35) through the shaft (61). Left and right potentiometer type sensitivity sensors (66a) (6) which are installed on the sensor base (65) of the output link (56) while connecting the shaft (64) of
The shaft (69) of the sensor link (62) is engaged and connected to the long hole (68) of the sensor arm (67) of 6b), and the pitching fulcrum is changed when the implantation depth is changed by the rotation of the adjustment fulcrum shaft (38). The vertical displacement of the shaft (36) and the output link (4
1) The vertical displacements of the shafts (44) and (64) of (56) are made approximately the same, and even if the planting depth is changed, the outputs of the rice field and the sensitivity sensors (50), (66a) and (66b) are It is configured not to change.

As shown also in FIG. 7, a planting depth adjusting lever (70) for setting a reference planting depth, which has a base end fixed to the fulcrum shaft (38), is appropriately driven and controlled by a planting depth motor (71). The motor mounting part (72) of the planting case (20) is provided with the motor (71), and the feed groove of the spiral member (73) connected to the motor shaft of the motor (71) is provided with the motor. The engaging piece (74) of the lever (70) is appropriately engaged and coupled, and the reference planting depth set by the adjusting lever (70) is adjusted by forward and reverse driving of the motor (71), The planting depth position is detected by a planting depth feedback sensor (77) installed on the lateral pipe (75) of the planting case (20) via a mount (76).

As shown in FIG. 10, the supply hydraulic circuit of the hydraulic pump (78) driven by the engine (2) is connected to the high pressure oil passage (8) by the flow control valve (79).
0) and the low-pressure oil passage (81), and the steering handle (1
4) the steering valve (8) of the steering cylinder (82).
The steering valve unit (84) for switching 3) and the lifting valve unit (87) for driving the lifting cylinder (28) by operating the solenoid type lifting and lowering valves (85) (86) are provided in the high pressure oil passage (80). A solenoid valve (89) for rolling operation of a rolling cylinder (88), which is provided and controls the left-right inclination posture of the planting part (15).
And a rolling valve unit (90) having a valve, and a solenoid valve (92) for pitching operation of a pitching cylinder (91) for controlling the front-back inclination posture of the planting part (15).
And a pitching valve unit (93) having a valve are provided in the low pressure oil passage (81) to control the elevation of the planting part (15) by the solenoids (85a) (86) of the valves (85) (86).
It is configured to be performed by the excitation operation of a).

Then, as shown in FIG. 1, the relay circuit (94) of the implantation depth motor (71) and the solenoid (8).
5a) and (86a), which are equipped with a controller (95) which is a planting descent determining means to be output-connected to the automatic switch (96) and the auxiliary transmission lever (3) as shown in FIG.
0) lowering and raising switches (97) (98) for detecting the planted lowering and raising positions respectively, a leveling switch (99) for setting a manual "leveling", and a planting section (15) manually.
Raise and lower switches (100) (10)
1), the rice field sensor (50), and a left and right sensitivity sensor (66) including a low-pass filter (LPF) (66c).
a) (66b) and, as shown in FIG. 4, a potentiometer type elevation displacement sensor (102) which is an elevation detection means that is connected to the link mechanism (27) to detect the elevation amount of the planting part (15). A planting depth setting device (103) for setting a reference planting depth, and the planting depth feedback sensor (77)
And an ascending / descending speed setting device (104) for setting the ascending / descending speed of the planting part (15) during the normal planting work, and the planting part (1
5) The controller (95) is connected to the descending setter (105) for setting the descending speed and the range for the next descending operation according to the ascending amount of 5), and the left and right side floats (35) are connected. The left and right sensitivity sensors (66a) and (66b) detect the hardness of the field surface hardness based on the change in the tilt angle, correct the target tilt angle of the up-and-down control of the center float (34), and plant the plant surface hardness according to the field surface hardness. It is configured to perform constant control of the coating depth.

The present embodiment is constructed as described above, and during the normal planting work, the rice field sensor (50) changes the inclination angle of the center float (34), that is, the planting portion (15). When it is detected that the distances between the paddy fields are close or apart, the planting part (1
5) is controlled to move up and down to keep the planting depth constant.

Thus, as shown in FIGS. 12 to 13, when the raising switch (98) is turned on by the raising operation of the auxiliary shift lever (30) when the body is turned on the headland of the field, etc., The planting part (15) is raised by the cylinder (28), and at this time, the amount of rise (L) of the planting part (15) is detected by the displacement sensor (102), and based on this amount of rise (L). The descending speed (V2) and its range (H) (H ≦ L) are set, and then the auxiliary transmission lever (3
When the lowering switch (97) is turned on by the lowering operation of (0), the planting part (15) is lowered by the cylinder (28) within the range (H) at the lowering speed (V2) set during the raising. . Then, when the center float (34) is grounded on the rice field until the most descending position of the descending range (H), the detection signal of the rice field sensor (50) is input to the controller (95). , Speed (V
The descent by 2) is stopped, and thereafter, the normal standard speed (V1) (V2> where the detection signal of the field sensor (50) is prioritized.
When the raising / lowering control of the planting part (15) in V1) is performed and the tilted posture of the center float (34) in which the detection value of the paddy sensor (50) and the target value match becomes the reference tilted posture, the descending thereof. Is stopped. As a result, as shown in FIG. 12, at the descending speed (V2) faster than the descending time (t2) of descending at the standard speed (V1) with respect to the ascending amount (L) between the ascending position and the rice field descending position of the planting part (15). The descending time (t1) for descending is short, and the descending time can be shortened by (t2-t1) to improve the work efficiency.

In this way, the planting part (1
The descending speed (V2) and its range (H) after turning are set based on the amount of ascent of 5), because the positions of the riding rice transplanter before and after turning are close in distance, and the depth of the tiller is set. This is because there is no extreme change in the height (D) and the descending amount is substantially the same.

When the first descent switch (97) is turned on immediately after the start of work, etc., the standard speed (V1) and range (H1) based on the standard plowing depth (D) are used as initial values.
The initial descent using is performed.

In this case, as a method for changing the descending speed of the planting part (15), the ascending and descending valve (85) is used.
Solenoid (85a) using on / off valve for (86)
A means for changing the pulse width of (86a) and a valve (8
5) Any means such as a means for changing the drive current value by using an electromagnetic proportional valve may be used in (86).

Further, in the setting of the descending range (H) based on the ascending amount (L), the same value as the ascending amount (L) is set, and a value somewhat smaller than the ascending amount (L) (for example, L). = 80c
If m is H = 70 cm, the safety can be further improved.

In the case of rice transplanters, the lifting cylinder (28)
Is a single-acting hydraulic pump (78)
It is affected by the weight of the planting part (15), the restriction of the hydraulic circuit, the oil temperature, etc.

[0025]

As is apparent from the above-described embodiments, the present invention is an agricultural work machine in which various agricultural work machines (15) are vertically movable in this machine (1). ) Ascending / descending detection means (102) for detecting the amount of ascent (L) at the time of ascent, and the descending speed (V2) at the time of the next descending of the agricultural work machine (15) and its range (based on the detection of the amount of ascent (L)). Since the lowering determining means (95) for determining H) is provided, the agricultural working machine (15) is raised from the work position and then returned to the original work position again when the machine is turning. In this case, it is possible to shorten the work time required for the descent and return, improve the work safety, and improve the work efficiency.

Further, the change in the distance between the farm work machine (15) and the field scene is detected by the lift sensor (50), and the farm work machine (1) is detected.
5) Elevating control means for performing the elevating control and descending control means for performing the descending control of the agricultural work machine (15) based on the descending determining means (95), and controlling the elevating control means with respect to the descending control means. Since the priority is provided, the distance between the agricultural work machine and the field scene is within a predetermined range while the agricultural work machine (15) is descending at a lowering speed (V2) higher than the normal lowering speed (V1). When it is within the working height region, the lifting / lowering control is performed at a safe normal working speed based on the detection of the lifting / lowering sensor (50), and the planting depth accuracy can be stably maintained, which is a remarkable effect.

[Brief description of drawings]

FIG. 1 is an elevation control circuit diagram.

FIG. 2 is an overall side view of a rice transplanter.

FIG. 3 is an overall plan view of a rice transplanter.

FIG. 4 is a side view of a planting part.

FIG. 5 is an explanatory plan view of a float portion.

FIG. 6 is a side view of a center float section.

FIG. 7 is a side view of a center float section.

FIG. 8 is a side view illustrating a side float portion.

FIG. 9 is a plan view of a sub shift lever portion.

FIG. 10 is a hydraulic circuit diagram.

FIG. 11 is a flowchart.

FIG. 12 is a diagram showing the relationship of the descending speed.

[Explanation of symbols]

 (1) Traveling vehicle (this machine) (15) Planting part (50) Pad surface sensor (elevation sensor) (95) Controller (descent determination means) (102) Elevation displacement sensor (elevation detection means) (L) Amount of rise ( V2) Falling speed (H) Falling range

Claims (2)

[Claims] 1. An agricultural work machine in which various agricultural work machines are vertically movable in the machine, and an elevating and lowering detection means for detecting an amount of increase when the agricultural work machine is elevated with respect to the machine, and an agricultural work machine based on the detection of the amount of increase. And a descending determination means for determining a descending speed and a range of the descending speed of the agricultural machine next time. 2. An elevating control means for detecting a change in the distance between the agricultural work machine and the farm scene by an elevating sensor to control the elevating of the agricultural work machine, and a descent control means for performing a descent control of the agricultural work machine based on the descending determination means. 2. The lifting control device for an agricultural work machine according to claim 1, further comprising: a lowering control means, which is provided so as to give priority to a control operation of the lifting control means.