JPH09308332A - Working machine position-detecting apparatus in mobile farm machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To detect the position of the vertical motion of a transplanting unit linked to the back of a traveling machine body. SOLUTION: In a sulky rice transplanter, a transplanting unit is supported at the back of a traveling machine body, and the transplanting unit is freely moved in the vertical direction by a hydraulic cylinder 30 through a linking device. Further, a linear-type potentiometer 32 placed in a state parallel to the hydraulic cylinder 30 enables the detection of the amount of stretching and shrinking of the hydraulic cylinder 30, and thus the potentiometer 32 detects the position of the vertical motion of the planting unit.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a mobile agricultural machine such as a rice transplanter for riding, and more particularly, to a working machine position detecting device in a mobile agricultural machine in which a working machine is connected to a traveling machine body so as to be vertically movable.

[0002]

2. Description of the Related Art Generally, in a riding rice transplanter as a mobile agricultural machine, a planting portion is supported on a rear side of a traveling machine body so as to be able to move up and down through a link, and the link is appropriately operated by operating a hydraulic cylinder device. Thus, the planting part is controlled to move up and down in response to the operation of the lifting operation lever.
The planting part is swingably supported at the rear end of the link by a rolling shaft, and slides in a field scene by a float provided below the planting part and drives a large number of planters, The mat seedlings placed on the seedling stand are planted one after another.

[0003]

By the way, for example, when seedlings are fully loaded on the seedling placing table and the weight of the planting section is large,
When the planting section is lowered to plant seedlings, there is a problem that the seedling buckles because the shock when the planting section touches the rice field is great.

Further, when the hydraulic cylinder device for controlling the elevation of the planting section has a high hydraulic sensitivity, a hunting phenomenon may occur when the planting section contacts the rice field.
This may make it difficult to perform good planting work.

However, conventionally, since the apparatus for detecting the elevation position of the planting section is not provided, it is not possible to know the current position of the planting section in the middle of raising and lowering, for example, raising the planting section. When descending from the state where it was made to perform, various controls interlocked with the raising and lowering position of the planting part are performed, such as slowing down the raising and lowering speed of the planting part at the time of reaching the predetermined position to ease the contact pressure with the rice field There was a problem that I could not do it.

The present invention has been made in order to solve such a problem, and its purpose is to detect the ascending / descending position of a working machine connected to a traveling machine body so as to correspond to the working machine position. Another object of the present invention is to provide a working machine position detecting device in a mobile agricultural machine capable of performing such interlocking control.

[0007]

To achieve this object, the present invention relates to a mobile agricultural machine (1) in which a working machine (5) is movably connected to a traveling machine body (2) via a link device (3). ), A sensor means (32) for detecting an operating position of an actuator (30) for controlling the working machine (5) to move up and down is provided, and the position of the working machine (5) can be detected by the sensor means (32). It is characterized by

The present invention also provides the actuator (3
0) is provided with speed control means (42) for controlling the operating speed, and when the position of the working machine (5) is detected by the sensor means (32), the speed of the working machine (5) being lowered from the position. Is capable of deceleration control.

Further, the present invention is based on the detection of the cyclic operation amount of the actuator (30) within a predetermined time by the sensor means (32) when the working machine (5) is in the lowered position. Decelerating the operating speed of the actuator (30) through the speed control means (42),
It is characterized in that the periodical operation operation is eliminated.

(Operation) According to the above-mentioned matters specifying the invention, in the present invention, the mobile agricultural machine (1) supports the working machine (5) connected to the traveling machine body (2) so as to be vertically movable by the actuator (30). , This actuator (3
0) is provided with a sensor means (32) for detecting the operating position, and the up and down position of the working machine (5) can be detected by a detection signal from the sensor means (32).

The mobile agricultural machine (1) is provided with speed control means (42) for controlling the operating speed of the actuator (30), and the working means (5) is moved to a predetermined position by the sensor means (32). When it is detected that the work machine (5) is down, the lowering speed of the working machine (5) is controlled to be decelerated from the predetermined position.

Furthermore, when the working machine (5) is in the lowered position, if the actuator (30) carries out a cyclic operation operation within a predetermined time, this is detected by the sensor means (32), And the speed control means (42)
Thus, the operating speed of the actuator (30) is controlled to be decelerated, and the periodical operation (hunting operation) of the actuator (30) is eliminated.

Note that the reference numerals in parentheses described above are for reference to the drawings, and do not limit the configuration of the present invention at all.

[0014]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 shows a riding rice transplanter as a mobile agricultural machine to which the present invention is applied. The riding rice transplanter 1 includes a traveling machine body 2 supported by front wheels 10 and rear wheels 12, and the traveling machine body is Engine 8 in front of 2 front wheel 10
Is mounted, and the planting part 5 as a working machine is movably supported on the rear side via a link device 3. A seedling stand 7 for placing a nursery is provided above the planting section 5, and a float 20 is attached below the planting section 5.

The seedling placing table 7 is provided with a plurality of seedling placing portions for vertically placing a seedbed in the lateral direction of the machine body, and the lower ends of the seedling placing portions are moved in the left and right directions with respect to the planting portion 5. Arranged freely. In addition, the seedbed is sequentially conveyed to the lower end side on the seedling placing table 7 and planted on the rice field by the planting unit 5.

Further, in the upper front part of the traveling machine body 2,
A steering means such as a steering handle 14 is arranged, a driver's seat 15 is arranged in a central portion between the front and rear wheels, and the traveling body 2
Driving means such as the rear axle 17 is disposed in the lower rear part of the.

On the left and right sides of the front part of the traveling machine body 2,
A fertilizer tank 18 containing paste fertilizer is installed, and the paste fertilizer is passed through a pipe 23 to the float 2
Nozzle 16 attached to
Injected into the soil from 6.

The present invention is characterized in that it is provided with a sensor means for detecting an operating position of an actuator for controlling the working machine 5 to be lifted and lowered, and the position of the working machine 5 can be freely detected by the sensor means.

That is, as shown in FIG. 1 and FIG.
The link device 3 includes an upper link 26 and a lower link 2.
8, a hydraulic cylinder 30 as an actuator is arranged between the traveling machine body 2 and the upper link 26 via a fixing member 36, and the operating rod 30a of the hydraulic cylinder 30 expands and contracts. , The planting section 5
Is controlled to move up and down.

The hydraulic cylinder 30 has an operating rod 3
A linear potentiometer 32 as a sensor means for detecting the expansion / contraction amount of 0a is arranged in parallel. By detecting the expansion / contraction amount of the operating rod 30a by this potentiometer 32, the elevation position of the planting part 5 is detected. To be done.

The present invention also relates to the actuator 30.
When the position of the working machine 5 is detected by the sensor means 32, the speed of the working machine 5 can be controlled to be decelerated from the position when the position of the working machine 5 is detected.

FIG. 3 is a diagram showing a hydraulic circuit in the present embodiment, in which the expansion / contraction speed of the operating rod 30a of the hydraulic cylinder 30 is decelerated by a solenoid valve 42 for restricting the amount of oil as speed control means. It has become so.

That is, the power transmitted from the engine 8 by the V-belt 44 is transmitted to the hydraulic shaft 48 of the transmission 46, and the hydraulic pump 50 directly connected to the shaft end of the hydraulic shaft 48 is constantly driven to operate. Oil flows from the hydraulic pump 50 to the control valve 5
2 and the hydraulic amount restricting solenoid valve 42 to supply to the hydraulic cylinder 30.

Therefore, for example, when the planting unit 5 descends from a state where it is stopped at the upper limit position, if the potentiometer 32 detects that the planting unit 5 has reached a predetermined position while descending, the detection signal will be described later. The solenoid valve 42 for restricting the oil amount via the microcomputer 54 of
Sent to As a result, the solenoid valve 42 is actuated, the amount of oil discharged from the hydraulic cylinder 30 is throttled, and the descending speed of the planting part 5 is decelerated.

FIG. 4 is a diagram showing an input / output connection state by the microcomputer, that is, the microcomputer 54.
The potentiometer 32, the detection switch 56 for detecting whether or not the fertilizer application device is mounted on the riding rice transplanter 1, the solenoid valve 42 for restricting the oil amount, and the like are connected to the. Thereby, the potentiometer 3
A control signal is sent from the microcomputer 54 to the solenoid valve 42 on the basis of a detection signal or the like from 2, so that an oil passage communicating with the hydraulic cylinder 30 is throttle-controlled.

Further, according to the present invention, when the working machine 5 is in the lowered position, the speed control means 42 is controlled based on the detection of the cyclic operation amount of the actuator 30 within the predetermined time by the sensor means 32. It is characterized in that the operating speed of the actuator 30 is controlled to be decelerated via the above.

That is, for example, when the planting section 5 is stopped at the upper limit position and descends to come into contact with the paddy field, the float is set so that the height of the planting section 5 with respect to the paddy field is constant in this grounded state. Although the change of the inclination angle of 20 is detected, when the hardness of the paddy field and the sensitivity balance of the hydraulic pressure are sensitive, the hydraulic cylinder 30 is detected based on the eccentric position of the float 20.
The amount of expansion and contraction of the plant increases, and as shown in FIG.
May cause a periodic ascending / descending operation (hunting phenomenon) within a predetermined time.

In such a case, when the hunting phenomenon of the planting part 5 is detected by the potentiometer 32,
A control signal is sent from the microcomputer 54 to the oil amount reducing solenoid valve 42, and the oil passage communicating with the hydraulic cylinder 30 is throttled by the solenoid valve 42. As a result, the amount of oil supplied to the hydraulic cylinder 30 and the amount of oil discharged from the hydraulic cylinder 30 are reduced, the change in the expansion / contraction amount of the hydraulic cylinder 30 is moderated, and the hunting operation is suppressed.

FIG. 6 is a view showing a control flow chart for suppressing the above-mentioned hunting operation, and the contents thereof will be briefly described below with reference to FIG.

In step S1, the hydraulic cylinder 30
The expansion / contraction amount of the operating rod 30a is detected by the potentiometer 32, and the detection data at this time is stored in the storage device in step S2. Next, in step S3, the planting unit 5
It is determined whether or not the hydraulic cylinder 30 has contracted from the position in which the hydraulic pressure is in the ascended position. If Yes, the lowering flag is set in step S5, and if No, the process proceeds to step S4.

In this step S4, it is judged whether or not the planting part 5 is at the most raised position. If Yes, the process proceeds to step S7 to reset the descending flag, and if No, the process proceeds to step S6. In step S6, it is determined based on the past cylinder data whether or not the hydraulic cylinder 30 is repeatedly expanding and contracting. If Yes, in step S8, it is determined whether or not the descending flag is set. If the descending flag is set, the process proceeds to step S10 to throttle the oil amount restricting solenoid valve 42, and the descending flag must be set. If so, go to step S12.

If the hydraulic cylinder 30 has not repeatedly expanded and contracted in step S6, step S6 is performed.
9, the process determines whether the hydraulic cylinder 30 has stopped expanding and contracting. If the expansion and contraction is stopped, the descending flag is reset in step S11, and the oil amount restricting solenoid valve 42 is opened (step S1).
2). If expansion and contraction have not stopped in step S9, the oil amount restricting solenoid valve 42 is opened in step S12.

Next, the operation of this embodiment described above will be described.

When planting seedlings in the field with the riding rice transplanter 1, the operator starts the engine 8 and
Operate the planting part raising / lowering operation lever (not shown) to the raised position. As a result, a signal is output from the microcomputer 54 to the control valve 52, and the hydraulic cylinder 30
Is activated to raise the planting part 5. And the planting part 5
When reaches the upper limit position, the operation of the hydraulic cylinder 30 is stopped and the planting part 5 stops at that position.

In this state, the riding rice transplanter 1 is steered to the rice planting start position in the field and the elevating operation lever is operated to the lower position. Then, a signal is output from the microcomputer 54 to the control valve 52, the pressure oil is drained from the hydraulic cylinder 30, and the planting part 5 is lowered.

In this case, since the elevation position of the planting section 5 is constantly detected by the potentiometer 32, when the planting section 5 descends and reaches a predetermined position before approaching the rice field,
A signal is output from the microcomputer 54 to the oil amount restricting solenoid valve 42, the pressure oil drained from the hydraulic cylinder 30 is restricted by the solenoid valve 42, and the descending speed of the planting portion 5 is reduced. This allows
The shock when the planting part 5 touches the paddy field is alleviated, and buckling of seedlings is prevented.

Next, when the planting part 5 is in contact with the paddy field, the grounding state of the planting part 5 is fixed to the float 20 in order to keep the position (height) of the planting part 5 relative to the paddy field constant. However, if the hydraulic pressure sensitivity balance is sensitive, hydraulic pressure hunting may occur.

Therefore, this hunting phenomenon is interlocked with the operating rod 30a of the hydraulic cylinder 30, and the potentiometer 3 is operated.
2 and detects the operating rod 30a within a predetermined time.
Is cyclically expanded / contracted, it is determined that it is in the hunting state, and a control signal is output from the microcomputer 54 to the oil amount restricting solenoid valve 42. As a result, the solenoid valve 42 operates and the pressure oil supplied to and discharged from the hydraulic cylinder 30 is throttled, whereby the hydraulic cylinder 30 is decelerated and controlled, and the hunting operation of the hydraulic cylinder 30, that is, the planting portion 5. Is suppressed.

[0040]

As described above, according to the present invention, in a mobile agricultural machine in which a working machine is movably connected to a traveling machine body via a link device, the operating position of an actuator for controlling the lifting of the working machine is detected. Since the position of the working machine can be detected by the sensor means, it is possible to grasp the current position of the working machine and perform various interlocking controls corresponding to the position of the working machine.

Also, the present invention comprises speed control means for controlling the operating speed of the actuator, and when the position of the working machine is detected by the sensor means, the speed of the working machine being lowered from that position is controlled to be decelerated. By making it possible, the impact caused by the work implement descending at high speed and contacting the ground can be mitigated, and for example, buckling of planted seedlings can be prevented.

Further, the present invention is based on the detection of the cyclic operation amount of the actuator within a predetermined time by the sensor means when the working machine is in the lowered position.
By decelerating the operating speed of the actuator through the speed control means so as to eliminate the periodical operating operation, it is possible to prevent hunting of the working machine at the time of grounding.

[Brief description of drawings]

FIG. 1 is a side view of a riding rice transplanter to which the present invention is applied.

FIG. 2 is an explanatory view of a mounting state of a hydraulic cylinder to a link device.

FIG. 3 is a diagram showing a hydraulic circuit in the present embodiment.

FIG. 4 is a diagram showing a connection state of a microcomputer.

FIG. 5 is a diagram showing a hunting phenomenon in a grounded state of a planting part.

FIG. 6 is a view showing a control flowchart for suppressing the hunting phenomenon of the planting part.

[Explanation of symbols]

 1 Passenger rice transplanter 2 Traveling machine 3 Link device 5 Planting part 20 Float 26 Upper link 28 Lower link 30 Hydraulic cylinder 30a Operating rod 32 Potentiometer 42 Solenoid valve for oil amount restriction 52 Control valve 54 Microcomputer

Claims (3)

[Claims] 1. A mobile agricultural machine in which a working machine is connected to a traveling machine body so as to be able to move up and down through a link device. The moving agricultural machine is provided with a sensor means for detecting an operating position of an actuator for controlling the working machine to move up and down. A working machine position detecting device for a mobile agricultural machine, wherein the position of the working machine can be detected freely. 2. A speed control means for controlling an operating speed of the actuator is provided, and when the position of the working machine is detected by the sensor means,
The work implement position detection device for a mobile agricultural machine according to claim 1, wherein the speed of the work implement being lowered from the position can be controlled to be decelerated. 3. The working speed of the actuator is decelerated via the speed control means based on the detection of the cyclic working amount of the actuator within a predetermined time by the sensor means when the working machine is in the lowered position. The work machine position detecting device in the mobile agricultural machine according to claim 1 or 2, wherein the work machine position detecting device is controlled to eliminate the periodical operation.