JPH09327213A - Working machine for paddy field - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a paddy field working machine capable of lifting or lowering a working device in a state highly maintaining the followingness of the working machine to the paddy field, even when the weight of the working machine is changed. SOLUTION: This paddy field working machine is provided with a float sensor 28 used for detecting the counter-ground height of a seedling-planting device and attached to the seedling-planting device liftably supported on a travel frame with a cylinder 8, with a controller 43 for operating an electromagnetic operation type control valve 42 for the cylinder 8 so as to maintain the detection result of the float sensor 28 to a target value, with EERPOM 49 for holding a parameter for setting the value of an electric power charged into the control valve 42 in response to the deviation of the detection result of the float sensor 28 from the target value, and further with a parameter- changing meats E for rewriting the parameter held in the EEPROM 49.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention includes a grounding sensor for supporting a working device so that it can be moved up and down by driving a hydraulic actuator with respect to a traveling machine body, and detecting the ground height of the working device with respect to the working device. A control device for operating an electromagnetically-operated control valve for the hydraulic actuator so as to maintain the detection result of the ground sensor at a target value is provided, and the control operation of the control device is performed by comparing the detection result of the ground sensor and the target value. The present invention relates to an improvement of a paddy work machine in which the larger the deviation is, the more the power supplied to the control valve is increased so that the opening degree of the control valve is increased.

[0002]

2. Description of the Related Art Heretofore, taking a rice transplanter as an example of a paddy working machine constructed as described above, a seedling planting device was connected to a traveling machine body so as to be vertically movable by the operation of a hydraulic cylinder. As a grounding sensor, the sensing float is swingably supported around the lateral axis, and equipped with a sensing spring that applies a biasing force toward the side that displaces the front part of the sensing float downward. By including a potentiometer-type sensor that measures the swinging posture with respect to the attached device,
When the swinging posture of the sensing float detected by this sensor deviates from the predetermined target posture, the hydraulic cylinder is driven to control the raising and lowering of the seedling planting device. There is a type in which a control operation is set such that the opening degree of a control valve for controlling a hydraulic cylinder is increased as the amount of deviation from the posture is increased, and the seedling planting apparatus is moved up and down at a higher speed.

[0003]

In the rice transplanter, the weight of the whole seedling planting apparatus differs depending on whether it is provided with the fertilizer application device or not. However, in the conventional control operation, the seedling planting device is used. Regardless of the weight of the whole, the opening of the control valve is adjusted with a fixed characteristic, so if the weight of the whole seedling planting equipment becomes heavier than the weight assumed at the time of designing, the lifting and lowering will not be performed quickly and When the weight of the whole seedling planting device becomes lighter than the weight assumed at the time of design, such as when the seedling planting device is replaced with a plant with a small number of planting rows, the followability will decrease. There is room for improvement because overshooting occurs during up-and-down control and the followability to the field scene is similarly reduced.

An object of the present invention is to rationally configure a paddy working machine that allows the working device to move up and down while maintaining a high trackability to the field even when the weight of the working device changes.

[0005]

As described at the beginning, the first feature of the present invention (claim 1) is to ground a working device which is supported by a hydraulic actuator so as to be vertically movable on a traveling machine body. A control device that includes a sensor and operates a control valve for the hydraulic actuator so as to maintain the detection result of the ground sensor at a target value is provided. In a paddy work machine in which the opening of the control valve is set to be larger as the value is larger, the value of electric power supplied to the control valve is set corresponding to the deviation between the detection result of the ground sensor and the target value. Means for holding the parameters for storing the parameters, a parameter changing means for rewriting the parameters held in the storing means, and a parameter rewriting operation by the parameter changing means are started. Located that it includes an operation member, the effect is as follows.

A second feature of the present invention (claim 2) is that it is provided with a notifying mechanism for notifying that the mode held by the parameter changing means is rewritable in the storage means. And its action is as follows.

In a third aspect of the present invention (claim 3), the operating tool adjusts the sensitivity of the gear shifting lever for setting the traveling speed of the paddy working machine, the lever for operating the clutch, and the lifting control of the working device. It is a point that it is also used by multiple operating tools such as dials used when working with the paddy working machine,
The operation is as follows.

[Action]

According to the first feature, for example, when the total weight of the working device becomes heavy, the parameter changing means causes the unit deviation between the detection value of the ground sensor and the target value on the side of raising the working device. By rewriting the parameter of the storage means to the side of increasing the opening degree of the control valve with respect to, the working device can be quickly raised with a strong driving force. On the contrary, when the total weight of the working device becomes lighter, the working device can be lifted with the optimum driving force by rewriting the parameter to the side where the opening degree of the control valve is reduced.

According to the second feature described above, when the parameter rewriting mode is set, the operator can recognize it by the notification of the notification mechanism, and it is erroneously recognized that this mode is the working state. There is nothing to do.

According to the third feature, since the mode is switched to the mode in which the parameters are rewritten by using a plurality of operating tools in common, not only special switches are not required, but also the operation is performed by operating a single operating tool. In the case of a plurality of operating tools, it is less likely to switch to a mode in which the parameters are rewritten due to an erroneous operation.

[0012]

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, the belt transmission 5, and the transmission case 6 are arranged in the front part of the traveling machine body 3 provided with, and the driver's seat 7 is arranged in the center of the traveling machine body 3 with respect to the rear end portion of the traveling machine body 3. An example of a paddy working machine in which a seedling planting device A as a working device is connected through a parallel four-link type link mechanism L that is driven up and down by a lifting cylinder 8 as a hydraulic actuator so that it can be freely rolled around a longitudinal axis X. As a passenger type rice transplanter. The elevating cylinder 8 is configured such that the piston rod is arranged in a posture that is directed obliquely downward and the contraction operation is performed to raise the seedling planting apparatus A.

The plant A for planting seedlings is provided with a seedling mount 9 on which a mat-shaped seedling W is placed, a transmission case 10 to which power from the traveling machine body 3 is transmitted, and power transmitted from the transmission case 10 via a chain case 11. Rotating rotary case 12,
The rotary case 12 includes a pair of planting arms 13 provided in pairs and a plurality of ground leveling floats 14, respectively, and is configured for a plurality of rows. Based on the posture of the sensing float 14A), the seedling planting device A for the field scene S
The height of the plant is measured and the seedling planting apparatus A follows the field scene S and is controlled to move up and down.

As shown in FIGS. 1, 3 and 4, the steering handle 15 is arranged at the front position of the driver's seat 7 and the mission case 6 is arranged on the right side of the engine hood.
The main shift lever 16 for operating the internal gear shift system is arranged,
An auxiliary shift lever 17 for shifting the belt transmission 5 is arranged on the left side of the engine hood, and a forced lifting lever 18 for forcibly controlling the raising and lowering of the seedling planting apparatus A is arranged on the right side of the post portion of the steering handle 15. are doing. Further, on the right side of the driver's seat 7, the raising / lowering control of the seedling planting device A and the planting clutch (not shown) built in the mission case 6 are provided.
An elevating lever 19 for controlling the above is arranged, and a control case 20 for setting the rolling control operation of the seedling planting apparatus A is arranged near the driver's seat 7.

The main transmission lever 16 has a reverse position formed on the rear side with reference to a neutral position where the traveling of the machine body 3 is stopped, and the traveling machine body is located on the front side at a low speed position for planting work. It forms a high speed position for driving on the road. The auxiliary transmission lever 17 has a high speed transmission position on the front side and a low speed transmission position on the rear side.

As shown in FIG. 4, the forced lift lever 1
8 is urged by a spring (not shown) so as to return to the neutral position N, and is formed on the upper side based on the neutral position N and on the lower side based on the neutral position N. And the descending position D, and when operated to the ascending position U, the seedling planting device A is raised to the upper limit, and the descending position D
When it is operated to, the sensing float 14A of the seedling planting apparatus A is lowered until it comes into contact with the ground, and the base end portion has a raising switch 21 and a lowering switch 21 for detecting that it has been operated to the raising position U and the lowering position D, respectively. And a switch 22.

As shown in FIG. 7, the elevating lever 19 is configured to be operable along a path formed in the guide 23.
When the elevating lever 19 is set to the front side of the "down" position in the path, the seedling planting device A is lowered, and when it is set to the rear side of the "up" position, the seedling planting device A is raised to "neutral".
When set to the position, the seedling planting device A is maintained at that level,
Further, when the raising / lowering lever 19 is set to the “ON” position, the planting clutch is engaged and operated, and at the same time, the sensing float 14A provided in the seedling planting device A is automatically raised and lowered to maintain a predetermined height against the field. When control is enabled and the switch is set to the “off” position, the planting clutch is disengaged, and the lifting lever 1
When 9 is set to the "auto" position, the forced lift lever 18
In accordance with the above operation, the raising and lowering of the seedling planting apparatus A is permitted, and at the same time, the planting clutch is automatically disengaged when the seedling planting apparatus A is raised.

As shown in FIG. 8, after the arm 25 provided on the planting depth adjusting shaft 24 rotatably supported on the lower surface of the chain case 11 of the seedling planting apparatus A about the axis of the horizontal posture. Each of the leveling floats 14 is swingably supported around the swing axis Y in the lateral position with respect to the end position,
The front and rear ends of the respective leveling floats 14 are bent and stretched link members 2
6, the front side of the leveling float 14 is supported so as to be vertically swingable around the swing axis Y. In addition, the rod 27 connected to the front part of the sensing float 14A arranged in the center in the left-right direction among these ground floats 14 and the operation arm 29 of the potentiometer type float sensor 28 (an example of a ground sensor) are connected. In addition, the sensing float 1 is provided via the operation arm 29.
Compression spring type sensing spring 3 for displacing the front part of 4A downward
0 is provided so that the swing amount around the swing axis Y of the sensing float 14A can be detected. In addition, by artificially manipulating the planting depth adjusting lever 31 connected to the planting depth adjusting shaft 24 to engage and support the lever guide 32, the planting depth adjusting lever 31 can be vertically moved between the whole seedling planting device and the field S. The planting depth of the seedlings in the field can be adjusted by changing the relative distance between the plants.

As shown in FIG. 3, on the panel 33 in front of the driver's seat, there is a potentiometer type sensitivity setting device 34 operated by a dial 34A to set a target posture of the sensing float 14A with respect to the seedling planting device A, and an engine. 4 is provided with a main switch 35 for starting and turning on / off the electric system by operating keys. The dial 3 of the sensitivity setting device 34 is provided.
4A is configured so that it can be set and held in 7 positions, 1 to 7, and the larger the number, the more the sensing float 1
The control characteristic is set so that the target posture of 4A is set to the front rising side.

As shown in FIG. 5, the control case 20 is provided with a horizontal switch 36 for performing control for maintaining the rolling posture of the seedling planting apparatus A horizontal during rolling control.
, A lower right switch 37 for forcibly rolling the right side of the seedling planting apparatus A downward, a lower left switch 38 for forcibly rolling the left side of the seedling planting apparatus A downward, a green light emitting diode 39, and a red light emitting diode 40. , And an orange light emitting diode 41.

In this rice transplanter, when the seedling planting apparatus A is moved up and down following the field scene S, the elevating cylinder 8 increases as the deviation between the measured value of the float sensor 28 and the set value of the sensitivity setting device 34 increases. The control operation is set so as to drive at a higher speed, and in order to enable this control operation, an electromagnetic operation type control valve 42 for controlling the lifting cylinder 8 is used that obtains an opening proportional to the control current. Also, in the control system of this rice transplanter, when a fertilizer application device is attached to the seedling planting device A,
A setting system is provided that can adjust the opening degree of the control valve 42 according to the weight change of the seedling planting device A with respect to the pump P, such as when the pump P that supplies hydraulic oil to the lifting cylinder 8 is replaced.

That is, the control case 20 contains a control device 43 equipped with a microprocessor, and the control device 43 is connected to the electric system of the machine body prior to starting the engine 4 as shown in FIG. The main switch 35 for supplying electric power, the neutral switch 44 for detecting that the main shift lever 16 is in the neutral position, the raising switch 21, the lowering switch 22, and the elevating lever for detecting the operating position of the elevating lever 13. Sensor 45, sensitivity setting device 3
4, the float sensor 28, the horizontal switch 36 for the rolling control, the lower right switch 37, the lower left switch 3
8. The input system from each rolling sensor 46 for measuring the rolling posture of the seedling planting apparatus A is formed, and the hydraulic oil from the hydraulic pump P driven by the engine 4 is supplied to and discharged from the lifting cylinder 8. Electromagnetically operated control valve 4
2, a rolling motor 48 for rolling the seedling planting device A, an output system for each of the three light emitting diodes 39, 40, 41 is formed, and EE as a storage means.
An input / output system for the PROM 49 and an input / output system for the checker C are formed.

The control valve 42 has a structure in which the opening degree of the control valve 42 is increased in proportion to an increase in the supplied electric power. For this control valve 42, the duty ratio of the intermittent signal is changed. By changing, that is, by changing the ratio of the ON time t with respect to the period T of the intermittent signal as shown in FIG. 6, the electric power is adjusted and supplied (in PWM type) to obtain a desired opening degree. .

Further, the control device 43 is constructed so as to perform control for raising and lowering the seedling planting device A and control for rolling the seedling planting device A based on a signal from the input system, and also for raising and lowering control. A control operation (control operation of the parameter changing means E) for changing the parameter used to set the opening degree of the control valve 42 is set at times, and the seedling planting device is followed by following the field scene S below. The automatic raising / lowering control for raising / lowering A and the parameter changing control for changing the parameters will be described.

As shown in the flow chart of FIG. 10, in the automatic lifting control routine, a signal from the sensitivity setting device 34 is input to set a control target, and the float sensor 28 is also used.
The signal from is input and the deviation is calculated by comparison with the control target (steps # 101 to # 104). This procedure is an operation for obtaining the deviation amount of the posture of the actual sensing float 14A with respect to the target posture as the control target, and the larger the number set by the sensitivity setting unit 34, the more the target posture of the sensing float 14A is displaced forward and upward. By doing so, the urging force that acts downward from the sensing spring 30 on the sensing float 14A is increased.

Next, if the deviation obtained by this processing is within the dead zone set with the control target as a reference, the elevation control is not performed, and if it is outside the dead zone, it is on the ascending side or the descending side. And whether the deviation is the EEPRO
The parameter held in M49 is read out, a multiplication operation is performed to set the duty ratio, and a signal of the duty ratio is output to the control valve 42 to raise and lower the seedling planting apparatus A (# 105). ~ Step # 110). In this process, the larger the amount of deviation of the posture of the actual sensing float 14A with respect to the target posture, the higher the operation of raising and lowering the seedling planting device A is set, and the control during the descent control even when the deviations are equal. In order that the opening degree of the control valve 42 during the ascending control becomes larger than the opening degree of the valve 42, the value of the ascending control parameter may be set larger than the value of the ascending control parameter so that the ascending operation can be performed strongly. It has become.

As shown in the flow chart of FIG. 11, in the parameter changing routine as the parameter changing means E, when the main switch 35 is turned on, the neutral switch 44 detects that the main shift lever 16 is in the neutral position. The elevating lever sensor 45 detects that the elevating lever 19 is in the neutral position, and the dial 3 of the sensitivity setting device 34 is detected.
The sensitivity setter 34 detects that 4A is set to the position "7", and when the lower right switch 37 and the lower left switch 38 are simultaneously ON, the start condition is satisfied and the parameter can be changed. When the starting condition that a plurality of switches are in the positions determined at the same time is satisfied, the red light emitting diode 40 and the orange light emitting diode 41 are made to blink at the same time. The operator is made to recognize that the mode has been changed (steps # 201, # 202).

Next, the EEPRO is operated by operating the sensitivity setting device 34.
Select the address in which the parameter is written in M49. This selection is made by setting the ON time and O of the parameter for rising control.
FF time, ON time and OF of parameters for descending control
This is a selection for changing the F time independently, and when the sensitivity setter 34 is set to the position of "6", the ON time of the parameter for the rise control can be changed, and the sensitivity setter 34 can be changed.
Is set to the position of "5", the OFF time of the ascending control parameter can be changed, and when the sensitivity setter 34 is set to the position of "4", the descending control parameter O
The N time can be changed, and when the sensitivity setter 34 is set to the position "3", the OFF time of the descending control parameter can be changed.

After making the selection in this way, when the forced lift lever 18 is operated once to the raised position U, a predetermined value set in advance is added to the parameter, and conversely the forced lift lever 1 is moved.
When 8 is moved to the lowered position D once, a predetermined value set in advance is subtracted from the parameter. In this processing operation, the lower right switch 37 and the lower left switch 38 are simultaneously turned ON to change the parameter. It continues until the routine is completed (steps # 203 to # 208).

As shown in FIG. 9, the checker C is constructed so that it can be connected to the control device 43 through the connector 50. When the checker C is connected, the address of the EEPROM 49 is digitally displayed on the first display section 51 of the checker. The values of the parameters of the address are displayed on the second display section 52 by numbers, and the operation can be performed while checking the address and the parameter value using the checker C when changing the parameter. ing.

As described above, according to the present invention, the operation tool provided on the machine body for the purpose of use during work is simultaneously operated in a form that is not operated during work, and the main switch 35 is turned on.
By doing so, it becomes possible to change the parameter, and since the fact that the change is possible is notified by lighting the light emitting diodes 40 and 41, it is necessary to provide a dedicated switch for activating a routine for changing the parameter. Therefore, the worker can surely recognize that the state is changeable. In addition, when changing the parameters, the parameters for raising the
Since it is possible to change the ON time and the OFF time separately for the descending parameter, it is possible to easily and delicately change the setting of the value. By thus configuring the parameter for setting the opening degree of the control valve 42 at the time of raising / lowering control of the seedling planting apparatus A, the fertilizer application apparatus is attached to the seedling planting apparatus A and the whole seedling planting apparatus is installed. Is heavy, even if the amount of hydraulic oil supplied from the hydraulic pump P changes due to the replacement of the hydraulic pump P that supplies hydraulic oil to the lifting cylinder 8, the field scene is maintained without changing the hardware of the electric device. It is possible to control the raising and lowering of the seedling planting device A while keeping the followability with respect to S high.

[Other Embodiments] In addition to the above-described embodiment, the present invention may be other than the above-described operation tool used when starting a control operation for changing a parameter, and when changing a parameter. The operation tool used for may be other than the above.

[0033]

Therefore, even if the weight of the working device is changed, the paddy working machine which can raise and lower the working device while keeping the trackability to the field high has been rationally constructed (claim 1). Further, the operator is sure to recognize that it is in the mode for switching the parameter and does not make an erroneous operation (Claim 2), and the parameter is switched without increasing the number of parts and erroneous operation is unlikely to occur. It was possible (Claim 3).

[Brief description of drawings]

[Figure 1] Overall side view of rice transplanter

FIG. 2 is a block circuit diagram of a control system.

FIG. 3 is a plan view of a panel unit.

FIG. 4 is a side view showing a lever arrangement in the vicinity of a steering wheel.

FIG. 5 is a plan view of a control case.

FIG. 6 is a diagram showing a duty ratio of an intermittent signal.

FIG. 7 is a plan view showing an operation system of a lifting lever.

FIG. 8 is a side view showing the arrangement of float sensors.

FIG. 9 is a plan view of the checker.

FIG. 10 is a flowchart of an automatic lifting routine.

FIG. 11 is a flowchart of a parameter changing routine.

[Explanation of symbols]

 3 Travel Vehicle 8 Actuator 16 Gear Shift Lever 19 Lever 28 Grounding Sensor 34A Dial 40, 41 Notification Mechanism 43 Control Device 42 Control Valve 49 Storage Means A Working Device E Parameter Change Means

Claims (3)

[Claims] 1. A grounding sensor for supporting a working device so that it can be moved up and down by driving a hydraulic actuator with respect to a traveling machine body, and detecting a ground height of the working device with respect to the working device, and a detection result of the grounding sensor. Is provided with a control device for operating an electromagnetically-operated control valve for the hydraulic actuator so as to maintain the control value of the control valve as the deviation between the detection result of the ground sensor and the target value increases. To increase the power supplied to the opening of the control valve,
A paddy work machine that is set to be larger, and stores a parameter for setting a value of electric power supplied to a control valve corresponding to a deviation between a detection result of the ground sensor and a target value. Means, a parameter changing means for rewriting the parameters held in the storage means, and an operation tool for starting the parameter rewriting operation by the parameter changing means 2. The paddy work machine according to claim 1, further comprising an informing mechanism for informing that the parameter held by the parameter changing unit is in a mode in which the parameter can be rewritten. 3. The operation tool, such as a gear shift lever for setting a traveling speed of the paddy work machine, a lever for operating a clutch, a dial for adjusting the sensitivity of a lifting control of a working device, etc. The paddy work machine according to claim 1, wherein the paddy work machine is also used as a plurality of operating tools.