JPH09294432A - Paddy field working machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a rice-planting machine without increasing frequency of lifting control and without raising a seedling planting device from a predetermined ground height. SOLUTION: In this paddy field working machine, a control system is provided which brings a seedling planting device to go down by deviating the swinging posture of a sensitive float 14A, which is installed to be swingable around a shaft center P having a lateral posture to the seedling planting device with a state pushed by a spring to direct the front part downward, to the front down side based on an objective form OF, go up by deviating the swinging posture to the front up side and stop lifting when the swinging posture is included in a range of a non-controlled zone NC of an angle including the objective form. The uncontrolled zone is set based on the objective form OF to have a larger width for raising the seedling planting device than that for descending the seedling planting device.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention connects a working device to a traveling machine body so that the working device can be moved up and down, and is swingable around a shaft in a lateral posture with respect to the working device, and its front portion is lowered. Equipped with a ground float with the spring biased toward
When the swinging posture of the ground contact float is deviated to the front lower side with respect to the target posture, the working device is lowered, and the swinging posture of the ground float is displaced toward the front upper side with respect to the target posture. The present invention relates to an improvement of a paddy work machine provided with an automatic lifting mechanism having a control characteristic that raises the working device and stops the lifting of the working device when the swinging posture of the grounding float is included in a dead zone of an angle range including the target posture.

[0002]

2. Description of the Related Art Conventionally, as an example of a riding type rice transplanter as a paddy working machine constructed as described above, a side for lowering a seedling planting device based on a target posture and a seedling planting device are used. The width of the dead zone formed on each of the rising sides was made equal.

[0003]

In the case where the dead zone is formed on the side for raising the seedling planting device and the side for lowering the seedling planting device, for example, the rocking posture of the grounding float is set to the dead zone by the control for raising the seedling planting device. When the climbing control is stopped within the zone, the oscillating posture of the grounding float is located at the outer end of the dead zone on the side that raises the seedling planting device. Is deviated by the posture corresponding to the width of the dead zone based on the target posture. This phenomenon also occurs in the control of lowering the seedling planting device. Therefore, in the case where the width of the dead zone on the side of raising the seedling planting equipment and the width of the dead zone on the side of lowering the seedling planting equipment are set equal to each other as in the conventional example, the posture of the ground contact float at the time of work is the target ground height. Therefore, it is displaced upward or downward by an equal amount.

However, as in the seedling planting device, the planting work is performed while the grounding float is kept in contact with the ground, and the dead zone is set as described above, immediately after the descending control is performed. Since the ground contact float is deviated from the target posture to the front lowering posture by an amount corresponding to the width of the dead zone, the seedling planting device is in a state of floating above the target ground height and the seedling planting depth is shallow. Therefore, there is room for improvement in that it will lead to the emergence of floating seedlings. In order to eliminate this inconvenience, it is effective to reduce the width of the dead zone, but when the width of the dead zone is reduced, the elevation control is performed even by a slight posture change of the grounding float, resulting in the frequency of the elevation control. However, it is not feasible because it will lead to inconvenience such as abnormal vibration of the seedling planting device.

An object of the present invention is to reasonably construct a paddy working machine that does not raise the working device from the target ground level without increasing the frequency of lifting control.

[0006]

A first feature of the present invention (Claim 1) is, as described at the beginning, that the work device is swingable around an axis in a lateral posture and before that. When the swinging posture of the ground contact float is biased to the front lower side with reference to the target posture with the spring portion biased downward, the working device is lowered, and the swing posture of the ground contact float changes to the target posture. The work equipment is lifted by displacing to the front upward side,
In a paddy working machine equipped with an automatic lifting mechanism having a control characteristic of stopping the lifting of the working device when the swinging posture of the grounding float is included in the dead zone of the angle range including the target posture, the dead zone is set to the target posture. It is formed only on the side where the working device is raised with respect to the reference, or the width on the side where the working device is raised is set to be larger than the width on the side where the working device is lowered with reference to the target posture. The operation is as follows.

A second feature of the present invention (claim 2) is that it comprises an adjusting means for adjusting the width of the dead zone.
The operation is as follows.

A third feature of the present invention (claim 3) is that the automatic lifting mechanism electrically measures a swing angle of the grounding float, and a setting device for setting a target attitude of the grounding float. The dead zone is set as a numerical value based on the signal value from the setting device, and the adjusting means is provided with the microprocessor. It is provided with a program for changing the value for setting the dead zone, and its operation is as follows.

According to a fourth aspect of the present invention (claim 4), the drive speed of an actuator for raising and lowering the working device is adjustable, and the drive speed of the actuator is controlled to be lower than that of the actuator during lift control. The control operation of the automatic elevating mechanism is set so as to increase the driving speed of the actuator, and its operation is as follows.

A fifth feature of the present invention (claim 5) is that the driving speed of an actuator for raising and lowering the working device is adjustable, and the swinging posture of the grounding float deviates from the target posture. The control operation of the automatic lifting mechanism is set so as to increase the driving speed of the actuator, and its operation is as follows.

[Operation] According to the first feature, for example, the dead zone is formed only on the side where the working device is raised with reference to the target posture, and the ground float is biased toward the front-lowering posture with reference to the target posture. In this case, since the dead zone is not formed on this side, the descent control starts immediately when the posture changes to the front descent posture, and even when the descent control stops, the grounding float deviates from the target posture to the front descent. There is nothing to do. On the contrary, when the ground contact float is deviated from the target posture to the front rising posture side, the dead zone is formed on this side, so control is not performed until the dead zone is crossed, and when the climb control stops The float is displaced to the forward rising posture by an amount corresponding to the width of the dead zone based on the target posture.

Further, in the case where the width of the dead zone on the side of raising the working device is set to be larger than the width of the dead zone on the side of lowering the working device on the basis of the target posture, the grounding float moves from the target posture to the raising control side and descends. Even when the work device is deviated by an equal amount, the work device is lowered more frequently than it is raised, and the amount of deviation of the ground float in the front-down direction when the descending control is stopped is small. .

That is, even if the width of the dead zone is not reduced, the work device can be controlled with a tendency to deviate from the target ground height to the lower side as compared with the conventional example.

According to the second feature, for example, when working in a situation where the ground float frequently swings, such as when the aircraft is traveling at a high speed on the ground where unevenness is large due to roughness, raising control is performed. The descent control often occurs in a short time, leading to the inconvenience of hunting the work device.However, even when the ground is rough like this, the adjustment means widens the dead zone to control the elevation. It is also possible to reduce the frequency of.

According to the third feature, as compared with a mechanical elevator control system, even when the dead zone width is adjusted, the dial or the like is operated without adjusting the mechanical linkage. Only then, the microprocessor changes the numerical value for setting the dead zone based on the program, and the operator does not have to perform complicated operations.

According to the fourth feature, since the control for lowering the work device is performed at a higher speed than the control for raising the work device, the frequency at which the work device is located above the target ground height is lowered and the target is set. This makes it possible to control the work device with a tendency to maintain the working device on the lower side with respect to the ground height.

According to the fifth feature, when the attitude of the grounding float greatly deviates from the dead zone within a short period of time such as when the traveling vehicle greatly sways, the larger the deviation amount, the higher the driving speed of the actuator. As a result, the ground contact float can be returned to the target posture at high speed.

[0018]

Embodiments of the present invention will be described below with reference to the drawings. As shown in FIG. 1, a drive-type front wheel 1 and a drive-type rear wheel 2 that are steered.
The engine 4 is mounted on the front part of the traveling body 3 provided with a hydraulic motor, and a hydrostatic continuously variable transmission 5 to which power from the engine 4 is transmitted and a transmission case 6 are arranged on the rear part of the traveling body 3. A steering handle 7 and a driver's seat 8 are arranged at the center of the traveling machine body 3, and a seedling is provided as a working device via a link mechanism 10 driven up and down by a lift cylinder 9 with respect to a rear end of the traveling machine body 3. The rice transplanter as a paddy working machine is configured by connecting the devices A.

The seedling planting device A cuts out the mat-shaped seedling W placed on the seedling placing table 11 by a planting arm 13 provided in a rotary case 12 which rotates in synchronization with the traveling speed of the machine body and puts it in a field scene. A ground leveling float 1 as a plurality of grounding floats with a system for performing the planting operation at the bottom.
It is equipped with 4 and is configured for 8 rows planting.

As shown in FIG. 3, a plurality of leveling floats 1
Leveled float at the center position in the left-right direction out of 4 (hereinafter,
The sensing float 14A) is attached to the planting depth adjusting shaft 15.
A spring 17 for sensing pressure setting, which is swingably supported around an axis P in a horizontal posture with respect to a swing end of an arm-shaped member 16 formed integrally with the arm-shaped member 16 and biases a front portion thereof downward.
In addition, the swinging posture of the float 14A can be measured by the float sensor 19 by linking the arm 18 swinging integrally with the sensing float 14A and the operating arm 19A of the float sensor 19 via the rod 20. It is configured. Further, when the planting depth adjusting shaft 15 is rotated, the position on the spring receiving side is maintained so as to maintain the urging force of the spring 17 for setting the sensing pressure, and the posture of the float 14A is changed to the float sensor 19. And a correction link 21 for correcting the attitude of the case of the float sensor 19 around the axis of the operation arm 19A of the float sensor 19 so as to accurately detect the case. Also, this sensing float 14A is a seedling planting device A
The height of the seedling planting device A with respect to the field scene S is fed back to the control system during the control of automatically moving up and down according to the height change of the field scene S (hereinafter referred to as automatic lifting control).

As shown in FIG. 1, an elevating lever for controlling the raising and lowering of the seedling planting device A on the right side of the driver's seat 7 and for opening and closing a planting clutch (not shown) built in the mission case 6. 24 are provided. This lifting lever 24
As shown in FIG. 2, the seedling planting apparatus A is lowered by setting it to the “down” position in the path formed in the guide 25, and the seedling planting apparatus A is set in the “up” position. When raised and set to the "neutral" position, it cooperates with the control system to maintain the seedling planting device A at that level, and when the lifting lever 24 is set to the "on" position, the planting clutch is engaged and operated. , Leveling float 14 provided for seedling planting device A
When the (sensing float 14A) is in contact with the ground, it is linked with a control system to perform automatic lifting control to maintain a predetermined height against the field, and when it is set to the "OFF" position, the planting clutch is disengaged, and the lifting and lowering is further performed. When the lever 24 is set to the “auto” position, the raising / lowering of the seedling planting device A is allowed according to the operation of the forced raising / lowering lever 26 provided in the vicinity of the steering handle 7 and at the same time the seedling planting device A is lifted to automatically disengage the planting clutch. It is designed to enable easy cutting operations. Incidentally, a potentiometer type lever sensor 27 for measuring the operating position of the elevating lever 24 is provided at the base end of the elevating lever 24 as shown in FIG.

The sensing float 14A is urged by the spring 17 in a direction to push down the front portion, so that the sensing float 14A is displaced when the seedling planting apparatus A is relatively displaced in the ascending direction based on the field scene S. When the seedling planting device A is relatively displaced in the descending direction with respect to the field scene S, the sensing float 14A rises forward around the axis P. The float sensor 19 measures the posture change, and the seedling planting apparatus A is moved up and down so as to maintain the posture of the sensing float 14A in a predetermined posture based on a signal from the float sensor 19. The control operation of the automatic elevating control is set so that the height of the seedling planting device A with respect to the field scene S is maintained by performing the operation.

Further, in this automatic raising / lowering control, the width of the dead zone formed on the side where the seedling planting apparatus A is lowered is formed smaller than the width of the dead zone formed on the side where the seedling planting apparatus A is raised and controlled. The frequency of the rising control of the seedling planting apparatus A is reduced by providing a system that arbitrarily sets the width of the dead zone and a system that arbitrarily sets the dead zone formation ratio between the rising control side and the falling control side. Has become.

As shown in FIG. 6, the traveling body A has a dial 28A for setting the target posture of the sensing float 14A.
Control sensitivity setting device 28 operated by, dead zone N of control operation
Controls each having a dead band width setting device 29 operated by a dial 29A for setting the width of C, and a dead band ratio setting device 30 operated by a dial 30A for setting a dead band formation rate on the ascending control side and the descending control side. A box 31 is provided.

As shown in FIG. 7, the traveling machine body 3 is provided with a control device 32 having a microprocessor (not shown) for automatically raising and lowering the seedling planting device A. The lever sensor 27, the control sensitivity setting device 28, the dead band width setting device 29, the dead band ratio setting device 30,
A system for receiving a signal from the float sensor 19 is formed, and an output system for the solenoid valve 33 that controls the lift cylinder 9 is formed. Also, the control sensitivity setting device 28
Is configured so that the control sensitivity can be adjusted in seven steps from "1" to "7", and the dead band width setting device 29 sets the dead band width to "narrow".
It is configured to be adjustable steplessly in the "wide" range, and the dead zone ratio setting device 30 is stepless in the range of "0%" to "25%" for the dead zone formation rate on the descending control side with reference to the target posture. It is configured to be adjustable.

The solenoid valve 33 holds the neutral position in the non-driving state, is configured to be operated in the ascending position and the descending position by supplying electric power to the electromagnetic solenoid, and the electric power supplied to the electromagnetic solenoid is adjusted. It is configured to change the opening in proportion.

That is, as shown in FIG. 4, the target posture "O
The dead zone “NC” is formed in the area including F, and the dead zone “NC” is on the side of the ascending control range “UC” based on the target posture “OF” and on the side of the descending control based on the target posture “OF”. It is formed over the "DC" side. When the attitude of the sensing float 14A is included in the dead zone “NC”, the lifting control is not performed and the sensing float 1
When the posture of 4A reaches the rising control range, the rising control is started,
When the posture of the sensing float 14A reaches the lowering control range, the lowering control is started.

The dead zone "NC" is the rising control area "UC".
The side of the descending control area "DC" is formed narrower than the side of
When the dead zone width setter 29 and the dead zone ratio setter 30 are set to the standard positions as shown in FIG. 6, the dead zone “NC” is set to 87 on the ascending control side based on the target posture “OF” as shown in FIG. .5% and 12.5% on the descent control side, and if the dead band width setting device 29 is operated to the "wide" side from this state, the target posture "OF" is displayed as shown in FIG. On the side of the ascending control “UC” and the descending control “D”
If the width of the dead zone “NC” is widened without changing the ratio formed on the “C” side and the dead zone ratio setting device 30 is operated to the 0% position with the dead zone width setting device 29 set to the standard position. As shown in FIG. 5C, the dead zone "N" on the descending control side is changed without changing the entire width of the dead zone "NC".
It is configured to eliminate "C" (to 0%).

The operation of the automatic lifting control is set as shown in the flow chart of FIG. 8. In this control operation, signals from the control sensitivity setting device 28, dead band width setting device 29, dead band ratio setting device 30 are input. Then, the dead zone "NC" is set with the characteristics as described above (steps # 101 to # 104).

Next, the signal from the float sensor 19 is input, and the signal from the float sensor 19 becomes the dead zone "NC".
If it is in the zone, the solenoid valve 33 is held in the neutral position, and if it is not in the zone, the signal from the float sensor 19 is on the down control side or the up control. It is determined whether it exists on the zone side, the deviation from the end position of the dead zone "NC" is obtained, and in the case of the descending side, the obtained deviation is multiplied by the parameter K to obtain the duty ratio for driving the solenoid valve 33. On the down side, the deviation is multiplied by the parameter L to obtain the duty ratio for driving the solenoid valve 33, and the solenoid valve 33 is driven by the intermittent signal of the duty ratio thus obtained (# 105).
~ # 112 steps). The program forming the automatic raising / lowering control routine constitutes the raising / lowering control mechanism of claim 1, and the adjusting means C of claim 2 constitutes step 104 of setting the width of the dead zone.

In this control, the greater the deviation, the more the solenoid valve 33.
In order to increase the opening degree of the solenoid valve 33 by supplying a large amount of electric power to the plant, the larger the sensing float 14A deviates from the target posture, the faster the seedling planting device A is operated in the restoring direction. There is. In addition, the parameter K
Is set to a numerical value larger than the parameter L, and even if the deviation from the end of the dead zone “NC” is equal due to the setting of this parameter, a large amount of power is supplied to the solenoid valve 33 at the time of lowering control so that the solenoid valve 33 By increasing the opening degree, the seedling planting device A can be lowered at a higher speed than during the raising control.

When the raising / lowering control of the seedling planting apparatus A is performed by this automatic raising / lowering control device, if the field is hard, the control sensitivity setting device 28 is set to a large numerical value of 5 or more to detect the sensing float 14A. Spring 17 with the target posture set to the front
Control is performed in a state in which the urging force of the sensor strongly acts on the front part of the sensing float 14A, and when the field is soft, the target sensitivity of the sensing float 14A is set by setting the control sensitivity setter 28 to a small numerical value of 3 or less. The control can be performed in a state where the biasing force of the spring 17 weakly acts on the front portion of the sensing float 14A with "OF" on the front lower side.
Further, when the degree of roughness of the field scene is large, the dead zone width setting device 29 increases the width of the dead zone “NC” to lower the frequency of up-and-down control, and conversely when the degree of roughness of the field scene S is small. The dead zone setting device 29 reduces the width of the dead zone “NC” to improve the followability of the elevation control of the seedling planting device A with respect to the field scene S. Further, when the field is soft and floating seedlings are likely to occur, the dead zone ratio setting device 30 senses by adjusting the dead zone width on the descending control side to be small with reference to the target posture “OF” of the sensing float 14A. Even if the float 14A sways equally in the vertical direction, the descending control is performed more frequently, and the lifting of the seedling planting device A can be suppressed with the field scene S as a reference.

As described above, in the present invention, the dead zone ratio setting device 3
By operating 0, control is made to keep the seedling planting device A in contact with the field scene as much as possible without reducing the width of the dead zone “NC” to suppress the generation of floating seedlings, and, for example, rough surface of the ground. When working on the ground where the ground float frequently swings, such as when there is a large difference in unevenness, the dead band width setter 2
As a result of operating 9 to set the width of the dead zone “NC” to a large value, the frequency of lifting control can be reduced. Further, since the control for lowering the seedling planting apparatus A is performed at a higher speed than the control for raising the seedling planting apparatus A, it is possible to shorten the time in which the seedling planting apparatus A is located above the target ground height, and to drive the vehicle. When the posture of the seedling planting apparatus A largely deviates from the dead zone “NC” within a short time as in the case where the machine body A is greatly shaken, the drive speed of the lift cylinder 9 increases as the amount of the dislocation increases. Therefore, the sensing float 14A can be returned to the target posture at high speed to further suppress the generation of floating seedlings.

[Other Embodiments] In addition to the above-described embodiment, the present invention has, for example, the configuration of claims 1, 2, 4, and 5 in which the ground work device is lifted and lowered by a mechanical operation without using electricity. It is also possible to apply to what does. Further, the dead zone ratios formed on the ascending control side and the descending control side on the basis of the control target may be values other than those in the above-described embodiment.

[0035]

Therefore, the paddy work machine is constructed reasonably so that the work device is not lifted from the target ground height without increasing the frequency of raising and lowering control (claim 1). In addition, the frequency of lifting and lowering of the working device is reduced according to the rough surface of the ground to eliminate the occurrence of hunting (Claim 2), and this dead zone can be adjusted easily without the operator having to bother. In addition, (claim 3), it becomes more difficult to lift the work device from the target ground height (claim 4), and the work device can be quickly returned to the target ground height. (Claim 5).

[Brief description of drawings]

[Figure 1] Overall side view of rice transplanter

FIG. 2 is a plan view of an operation path of a lifting lever.

FIG. 3 is a side view showing the arrangement of float sensors.

FIG. 4 is a diagram showing a distribution of a control area based on a target posture.

5 (a), (b), and (c) are diagrams showing dead zone formation states, respectively.

FIG. 6 is a plan view of a control box.

FIG. 7 is a block circuit diagram of a control system.

FIG. 8 is a flowchart of an automatic lifting control routine.

[Explanation of symbols]

 3 Travel Aircraft 9 Actuator 14A Grounding Float 19 Sensor 28 Setting Device A Working Device B Automatic Lifting Mechanism C Adjusting Means P Sideways Position NC Dead Zone

Claims (5)

[Claims] 1. A working device is connected to a traveling machine body so as to be able to move up and down, and the working device is urged by a spring such that the working device is swingable around an axis of a lateral posture and its front portion is directed downward. In this state, the grounding float is provided, and the swinging posture of this grounding float deviates to the front lowering side with respect to the target posture to lower the work device, and the swinging posture of the grounding float rises forward with respect to the target posture. It is equipped with an automatic lifting mechanism having a control characteristic that raises the working device by displacing it to the side and stops the lifting of the working device when the swinging posture of the grounding float is included in the dead zone of the angle range including the target posture. Paddy working machine, wherein the dead zone is formed only on the side where the working device is raised with the target posture as a reference, or the working device is raised from the width on the side where the working device is lowered with the target posture as a reference. The width of the side Paddy field working machine that is to listen set. 2. The paddy work machine according to claim 1, further comprising adjusting means for adjusting the width of the dead zone. 3. A sensor for electrically measuring the swing angle of a grounding float, a setting device for setting a target posture of the grounding float, and a vertical direction of a working device based on signals from these sensors, the automatic lifting mechanism. The dead zone is set as a numerical value based on the signal value from the setter, and the adjusting means is provided with a program for changing the numerical value for setting the dead zone. The paddy work machine according to claim 2, which is configured. 4. The automatic raising / lowering mechanism is configured such that a drive speed of an actuator for vertically moving the work device is adjustable, and the drive speed of the actuator during the descending control is higher than the drive speed of the actuator during the ascending control. The paddy work machine according to claim 1, 2 or 3, wherein the control operation of (1) is set. 5. The automatic raising / lowering mechanism is configured such that a driving speed of an actuator for vertically moving the work device is adjustable, and the driving speed of the actuator is increased as the swinging posture of the grounding float deviates from a target posture. The paddy work machine according to claim 1, 2, 3, or 4, wherein the control operation of (1) is set.