JPH0998614A - Elevation control unit for ground working machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an elevation control unit designed to realize favorable planted state by dealing with mud push, etc., just after departure of a working machine, and unfavorableness in speed up/down during working travel of the machine. SOLUTION: This control unit has the following means: a sensitivity control dial 13 to set the sensitivity of an elevation control means A, a halt detection means 21 to detect whether the traveling machine body stands halted or not, a speed up/speed reduction detection means 22, and a promptness detection means 23 to detect the promptness degree of speed up and speed reduction, and also, a 1st sensitivity correction means B to switch the set value into a higher sensitivity level when the traveling machine body 11 stands halted and return it to the set value a specified time after departure, a 2nd sensitivity correction means C to switch a sensitivity into a higher sensitivity level in speeding up and to switch a sensitivity into a lower sensitivity level in making a speed reduction, and a 3rd sensitivity correction means D to switch into higher sensitivity side the greater, the more rapidly the speed of the traveling machine body 11 is raised, while to switch into lower sensitivity side the greater, the more rapidly the speed is reduced.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a ground work machine such as a rice transplanter or a tractor, and more particularly to a lifting control for maintaining a ground height of a ground work equipment such as a planting device or a tiller at a predetermined height. The present invention relates to a technique for automatically changing the sensitivity according to the driving situation.

[0002]

2. Description of the Related Art Conventionally, the sensitivity of an elevating control device can be changed by a sensitivity adjusting dial or the like so that appropriate elevating control can be performed even if the mud hardness of a field or rice field is different. It is common. For example, JP-A-6
In the rice transplanter disclosed in Japanese Patent No. 105606, the maximum speed becomes slower when the raising / lowering control sensitivity is changed from the reference value to the sensitive side or the insensitive side, which is caused by the change in the control sensitivity according to the unevenness of the rice field. There is known a technique of automatically correcting the sensitivity according to various work situations, such as making it possible to prevent inconveniences such as hunting.

[0003]

For example, to start planting work with a rice transplanter, first lower the planting device until the float is in a planting posture in which it touches the rice field, and then start the aircraft. It also drives the planting device,
At this time, before starting, the operator determines the mud hardness of the rice field and operates the sensitivity adjustment dial to a position that seems appropriate. However, despite the relatively fine setting of the lift control sensitivity, mud pushing by the float immediately after starting (with this, seedlings can not be planted firmly, or already planted seedlings are pushed down, etc.) However, there is room for improvement.

It has also been found that even when the traveling speed is changed during the planting operation, the planting state becomes unfavorable at the time of the change. In other words, mud pushing tends to occur when accelerating to increase the speed, and floating seedlings tend to occur when decelerating to decrease the speed. An object of the present invention is to solve the problems such as mud pushing immediately after starting and acceleration / deceleration during work traveling so that a good planting state can be revealed.

[0005]

[Means for Solving the Problems]

[Structure] The first invention for achieving the above-mentioned object is (a) a ground work device that is vertically connected to a traveling machine body by an elevating mechanism, and a grounding type that detects a ground height of the ground work device. Height detecting means, and an elevating control means for driving the elevating mechanism so as to maintain the ground height of the ground working apparatus at a predetermined height based on the detection information of the height detecting means, and the elevating control means. Sensitivity setting means for setting the lift control sensitivity,
In a lifting control device for a ground work machine equipped with,
(B) Stop detection means for detecting whether or not the traveling body is stopped is provided, and when the traveling body is stopped, the lift control sensitivity is switched to a more sensitive side than the value set by the sensitivity setting means, and the traveling body is It is characterized in that a first sensitivity correcting means for returning to a set value after a predetermined interval from the start of running is provided.

According to a second aspect of the invention, in the elevator control device for a ground work machine having the construction of (a), (c) acceleration / deceleration detection means for detecting whether the traveling machine body is accelerating or decelerating is provided, The control is performed such that the lift control sensitivity is switched to a more sensitive side than the value set by the sensitivity setting means when the speed is increasing, and the lift control sensitivity is switched to a less sensitive side than the value set by the sensitivity setting means when decelerating. It is characterized in that sensitivity correction means is provided.

A third invention is the above-mentioned second invention,
(D) Providing a speed detection means for detecting acceleration and deceleration of the traveling machine body, switching the correction value by the second sensitivity correction means to a sensitive side as the traveling machine body accelerates rapidly, and decelerating the traveling machine body. It is characterized in that a third sensitivity correction means for controlling so as to switch to the insensitive side to a greater extent is provided.

[Operation] Here, as to why the mud pushing occurs immediately after the start of traveling,
That is, buoyancy acts on the float due to running resistance during running, and the appropriate lifting control sensitivity is obtained in that buoyancy acting state, so there is no buoyancy effect due to running when the aircraft is stopped, and therefore It was found that the rice field was pushed downwards, and it seemed to be about to move. Therefore, if the vehicle is started in that state, it will tend to be pressed until the traveling speed increases and a predetermined buoyancy is generated.

Therefore, according to the first aspect of the invention, when the airframe is stopped, the lift control sensitivity is switched to a more sensitive side than the set value, so that it tends to sink compared to when the vehicle is driven by buoyancy. The working device is corrected so that the working device is lifted up, and the ground height of the working device does not differ from the ground height during traveling. Then, after a predetermined interval (after a predetermined time or a predetermined distance has elapsed) after the vehicle has started, the value returns to the value set by the sensitivity setting means, so that the portion where the sensitivity shifts to the insensitive side is automatically corrected to the sensitivity sensitive side, and as a result, ,
The mud pushing from the stop state of the airframe in the rice transplanter to the ground work state where buoyancy acts will be eliminated. As another example, in a rotary tilling device towed by a tractor, the disadvantage that the tilling depth becomes deep immediately after starting is eliminated.

According to the structure of claim 2, there is the following action. That is, when accelerating the traveling speed, the airframe tends to move forward due to the torque reaction, and conversely, when decelerating, the vehicle tends to move down. Generally, in a working machine, the ground working device has a structure in which the working device is continuously provided behind the machine body. Therefore, when the machine body rises to the front, the work machine descends, and when it descends to the front, the work machine rises.

Therefore, by switching the sensitivity to the sensitive side during acceleration and to the insensitive side during deceleration, it becomes possible to maintain the sensitivity state set by the sensitivity adjusting means as much as possible during both acceleration and deceleration. Deep planting and mud pushing at the time of acceleration in the machine, and floating seedlings at the time of deceleration will be eliminated.

By the way, the attitude change of the airframe during acceleration / deceleration changes depending on the degree of acceleration / deceleration. For example, the steeper the acceleration, the greater the forward climb amount of the machine body. The posture changes greatly. Therefore, according to the configuration of claim 3, the correction amount of the sensitivity associated with the acceleration / deceleration is controlled so as to be larger for the sudden acceleration / deceleration and smaller for the looser acceleration / deceleration, so that it is more detailed according to the actual situation. It is possible to perform various sensitivity corrections and eliminate deep planting and mud pushing at the time of acceleration in the rice transplanter and floating seedlings at the time of deceleration in a higher dimension.

[Effects] With the lifting control device according to the first aspect, inconveniences at the start of work traveling, such as temporary deepening of plowing depth and mud pushing, are eliminated, and lifting control can be performed more accurately. I was able to do it.

In the elevation control device according to the second aspect, the posture of the machine body at the time of changing the working traveling speed, such as deep plowing or mud pushing when accelerating and floating seedlings when shallow plowing when decelerating. The inconvenience caused by the change can be suppressed, and in this respect, the elevation control can be performed with higher accuracy.

With the lifting control apparatus according to the third aspect, it is possible to more finely eliminate the inconvenience caused by the change in the posture of the machine body when the working traveling speed is changed, and it is possible to further improve the lifting control accuracy.

[0016]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below.
A case of a rice transplanter, which is an example of a ground work machine, will be described with reference to the drawings. The rice transplanter is shown in Fig. 1, 1 is the front wheel,
2 is a rear wheel, 3 is a driving part, 4 is a link mechanism, 5 is a lifting cylinder, 6 is a planting device, 7 is an engine, 8 is a mission,
9 is a planting mechanism, 10 is a grounding float, and 11 is a traveling body.

As shown in FIG. 2, a planting device (an example of a work device for ground) 6 is vertically connected to a traveling machine body 11 by an elevating cylinder (an example of an elevating mechanism) 5 and a link mechanism 4. , A grounding type height detecting means 12 for detecting the height of the planting apparatus 6 with respect to the ground, and maintaining the ground height of the planting apparatus 6 at a predetermined height based on the detection information of the height detecting means 12. Further, it is provided with a lift control means A for driving the lift cylinder 5, and a sensitivity setting means 13 for setting the lift control sensitivity of the lift control means A.

That is, the left and right side floats 14, 1
The grounding float 10 arranged between the four is pivotally attached to the bracket 15 on the side of the planting device so as to be swingable about the left and right fulcrum Y arranged substantially at the rear part, and is also pivotally supported on the front part of the float. Further, a vertical rod 16 and a horizontal link 17 pivotally supported on the side of the planting device are pivotally connected and mounted.
The oscillating fulcrum of the lateral link 17 is provided with a potentiometer 18
And a spring 19 for urging the lateral link 17 downward. The potentiometer 18 is height detecting means, and the structure in which the ground float 10 indirectly rotates the height detecting means corresponds to the “ground type”.

That is, the well-known lift control means A for detecting the swinging lift amount of the ground float 10 around the fulcrum Y by grounding by the potentiometer 18 and switching the control valve V of the lift cylinder 5 according to the detected information is a control device. Prepared for 20. Then, the sensitivity of the elevation control is adjusted by adjusting the reference position of the potentiometer 18 for performing the elevation control. Since this is also a known technique, only a brief description will be given next.

First, the sensitivity adjusting dial (sensitivity detecting means)
When 13 is operated to the insensitive side, the reference position of the potentiometer 18 is changed to, for example, the A2 position slightly lower than the A1 position. Then, in this state, the attitude of the ground contact float 10 is set higher than the attitude when the reference value is A1, the contact area is reduced, and the spring 19 is further compressed, so that it is difficult to follow ups and downs of the paddy field. Therefore, the elevation control sensitivity is adjusted to the insensitive side.

When the sensitivity adjusting dial 13 is operated to the sensitive side, the reference position of the potentiometer 18 is changed to the A3 position which is slightly elevated from A1. Then, in this state, the posture of the ground contact float 10 becomes lower than the posture when the reference value is A1, the ground contact area increases, and the spring 1
Since the compression of No. 9 is eased, it becomes easy to follow ups and downs of the rice field, and the elevation control sensitivity is adjusted to the sensitive side.

This rice transplanter has a function of automatically changing and adjusting the elevation control sensitivity according to the working traveling situation.
It is devised so that lifting control can be performed more accurately. As shown in FIG. 2, stop detection means 21 for detecting whether or not the traveling vehicle body 11 is stopped, and acceleration / deceleration detection means 22 for detecting whether the traveling vehicle body 11 is accelerating or decelerating.
And a speed / speed detection means 23 for detecting speed / speed of acceleration and deceleration of the traveling machine body 11 are connected to the control device 20. For example, by providing a pickup (not shown) for detecting the rotation of the differential output shaft in the mission 8 and examining the relationship between its output and time, the stop detecting means 21, the acceleration / deceleration detecting means 22, and the slow / fast detecting means 23 are combined. can do. Next, the function of each means will be described.

When the traveling machine body 11 is stopped, the elevation control sensitivity is switched to a more sensitive side than the value set by the sensitivity adjustment dial 13, and the sensitivity adjustment dial 13 is set after a predetermined interval after the traveling machine body 11 starts traveling. First sensitivity correction means B for returning the value is provided. When the stop detection means 21 detects the stop, the sensitivity is automatically shifted to a more sensitive side than the value set by the sensitivity adjustment dial 13 (for example, if the set value is 4, it is set to 3), and the stop detection means 21.
When is switched to traveling detection, the timer 24, which operates from that point, returns to the set value by the sensitivity adjustment dial 13 after a certain period of time.

For example, as shown in the graph of FIG. 3, when the traveling machine body 11 stops after traveling on the headland, the sensitivity is switched from 4 to 3, and then the planting portion is descended and grounded before restarting. However, the sensitivity is maintained at 3 for a few seconds after the vehicle restarts, and then returned to 4 as set by the sensitivity adjustment dial 13. Also, timer 2
Alternatively, the sensitivity may be returned to the original value after traveling for a certain distance instead of after the elapse of a certain time.

Acceleration / deceleration detection means 22 for detecting whether the traveling machine body 11 is accelerating or decelerating is provided, and when the traveling machine body 11 is accelerating, the lift control sensitivity is switched to a more sensitive side than the value set by the sensitivity adjustment dial 13, and A second sensitivity correction means C is provided to control so as to switch to the insensitive side of the set value when decelerating. For example, as shown in FIG. 4, when the sensitivity by the sensitivity adjustment dial 13 is set to 4 at the time of constant speed running, it is controlled to be automatically adjusted to 3 during acceleration and to 5 during deceleration. is there.

A slow / fast detection means 23 for detecting slow / fast acceleration and deceleration of the traveling machine body 11 is provided, and the second sensitivity correction means C is provided.
The third sensitivity correction means D is provided to control so that the correction value according to (1) is switched to the sensitive side as the acceleration of the traveling machine body 11 is steeper, and is switched to the insensitive side as the deceleration is steeper. For example, as shown in FIG. 5, when the traveling speed changes stepwise, the sensitivity by the sensitivity adjustment dial 13 is 4
If it is set to 3, it will be switched to 3 for slow acceleration, to 2 for sudden acceleration, and to 5 for slow deceleration.
Then, when the vehicle decelerates suddenly, it is switched to 6.

In practice, the above three types of means B, C and D are all taken into consideration to bring them into a mixed control state, and are controlled so that a stable planting state can be maintained even if the running state changes. Of.

It should be noted that although reference numerals are given in the claims for convenience of comparison with the drawings, the present invention is not limited to the structures of the accompanying drawings by the entry.

[Brief description of drawings]

Fig. 1 Side view of rice transplanter

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

FIG. 3 is a diagram showing a sensitivity correction graph when stopping and starting.

FIG. 4 is a diagram showing a sensitivity correction graph during acceleration / deceleration.

FIG. 5 is a diagram showing a sensitivity correction graph during acceleration / deceleration with a gradual change.

[Explanation of symbols]

 5 Lifting mechanism 6 Ground work device 11 Traveling machine 12 Height detecting means 13 Sensitivity setting means 21 Stopping means 22 Acceleration / deceleration detecting means 23 Slow / fast detecting means A Lifting control means B 1st sensitivity correcting means C 2nd sensitivity correcting means D 3rd Sensitivity correction means

Claims (3)

[Claims] 1. A traveling machine body (1) is provided by a lifting mechanism (5).
Ground work device (6) that is vertically connected to 1)
A grounding type height detecting means (12) for detecting the height of the ground working device (6) to the ground, and the height detecting means (1)
Elevating control means (A) for driving the elevating mechanism (5) so as to maintain the ground working device (6) at a predetermined height based on the detection information of 2), and the elevating control means. Sensitivity setting means (1) for setting the elevation control sensitivity of (A)
3) An elevator control device for a ground work machine, comprising: a stop detection means (21) for detecting whether or not the traveling machine body (11) is stopped, and the traveling machine body (11) is When it is stopped, the lift control sensitivity is switched to a more sensitive side than the value set by the sensitivity setting means (13), and is returned to the set value after a predetermined interval after the traveling machine body (11) starts traveling. An elevation control device for a ground work machine provided with sensitivity correction means (B). 2. A traveling machine body (1) is provided by a lifting mechanism (5).
Ground work device (6) that is vertically connected to 1)
A grounding type height detecting means (12) for detecting the height of the ground working device (6) to the ground, and the height detecting means (1)
Elevating control means (A) for driving the elevating mechanism (5) so as to maintain the ground work device (6) at a predetermined height based on the detection information of 2), and the elevating control means. Sensitivity setting means (1) for setting the elevation control sensitivity of (A)
3) An elevation control device for a ground work machine, comprising: an acceleration / deceleration detection means (22) for detecting whether the traveling machine body (11) is accelerating or decelerating. Sometimes the elevation control sensitivity is switched to a more sensitive side than the value set by the sensitivity setting means (13), and when decelerating, the elevation control sensitivity is switched to a less sensitive side than the value set by the sensitivity setting means (13). An elevation control device for a ground work machine, which is provided with a second sensitivity correction means (C) for controlling. 3. A slow / fast detection means (23) for detecting slow / fast acceleration and deceleration of the traveling machine body (11) is provided,
The correction value by the sensitivity correction means (C) is used as the traveling body (1
A third sensitivity correction means (D) is provided to control so that the steeper the acceleration of 1) is switched to the sensitive side, and the deceleration of the traveling machine body (11) is switched to the insensitive side. Item 3. A lifting control device for a ground work machine according to Item 2.