JPH1118517A - Control unit for working machine attached to traveling vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide the subject control unit designed to control at a set level the operating section height of a working machine such as a seeder, fertilizer applicator or agrochemical applicator mounted on a traveling vehicle such as a tractor. SOLUTION: This control unit has such a scheme that the rear portion of a traveling vehicle is mounted with a working machine, i.e., a fertilizer applicator or a seeder F, which, in turn, is mounted with a height sensor 27 and a motor for the vertical motion of a furrowed 24, the traveling vehicle is detachably mounted with a higher setter for the working section and a control circuit, the furrower 24 and a soil-covering disk 35 are designed to be capable of left control operation, a travel resistance sensing means is provided on the rear portion of the working machine and connected to the control circuit, and, based on the value given from the travel resistance sensing means, the height of the soil-covering disk is corrected.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a working unit such as a seeding machine, a fertilizer, a transplanter, a chemical sprayer or a soil disinfecting machine, which is mounted on a traveling vehicle such as a tractor. Related to controlling technology.

[0002]

2. Description of the Related Art Conventionally, a rotary tilling device or a working machine is attached to a rear portion of a tractor to work the rotary tilling device or a working machine at a certain depth (height). The height of the rotary tilling device and the working machine is controlled by feeding back the height of the ground contact and driving the lifting device of the tractor so that the height or the depth becomes constant. For example, Japanese Patent Application Laid-Open No. Hei 5-301584.

[0003] Further, a sowing machine, a fertilizer applicator or a chemical spraying machine is mounted as a working machine, and means for detecting the running speed of the working machine and means for changing the spraying amount are provided. A technique of controlling the spraying for each distance is also known. For example, Japanese Patent Application Laid-Open No. 6-141605.

[0004] In the above-mentioned work, in the case of sowing work, there is an appropriate sowing depth. If it is too shallow, it will be exposed and eaten by birds, or will be washed away by rain, and if it is too deep, buds will bud. It was hard to come out and the growth was delayed or rotten.
Also, in the case of fertilizer, it was washed away or the effect of fertilizer was poor. Therefore, a technique for controlling the seeding depth to be constant has been proposed by the present applicant. For example, this is a technique disclosed in Japanese Patent Application Laid-Open No. 2-222604. Also,
The present applicant has proposed a technique in which a display device is provided so that the remaining amount in a hopper or a tank can be seen from a driver's seat, and a seeding amount can be set. For example, Japanese Patent Application Laid-Open No. 9-3762
This is the second technology.

[0005]

However, Japanese Patent Application Laid-Open No. 5-3
According to the technology of No. 01584, since the control device and the detection means are provided in the main body of the tractor, when a work machine is mounted on a rear portion of the rotary tilling device, the height of the work machine and the rotary cultivator are separately set. As a result, it was not possible to control the height of the work implement alone.

In the case of Japanese Patent Application Laid-Open No. 6-141605, when a working machine is mounted at the rear of the rotary tilling device, the slip of the running speed of the tractor is different from that of the working machine, and the height is also different. It was not possible to do sowing or spraying. And, since the two technologies have a detection device built into the tractor body, if the type or manufacturer of the tractor is different, the working machine cannot be used, or it is necessary to reset the setting,
The work was cumbersome, and the work equipment could only be used for the tractor.

In the technique disclosed in Japanese Patent Application Laid-Open No. 2-222604, the height of the seeding device is detected by grounding the arm, so that if the field is soft, the field enters deeply and an error occurs in the height. Because it is located on the side of the working unit, the height may differ from the working unit. In addition, the water content of the field was electrically detected to change the height of the pits, soil covers, and pressure-reducing rollers.However, only the surface was detected. It could be very different. In addition, the technology disclosed in Japanese Patent Application Laid-Open No. Hei 9-37622 can display the work state and set the work state, but does not detect the height of the work machine.
The cost was also high.

[0008]

The present invention uses the following means in order to solve the above problems. That is, a working machine is mounted on the rear part of the traveling vehicle, and the working machine is provided with a non-contact type height detecting means and a lifting / lowering means for the working section, and the traveling vehicle is provided with a working section height setting means and a control circuit. It is provided detachably. The working machine may be a fertilizer or a seeding machine, and a ditch generator and a soil covering device may be configured to be able to be lifted and lowered. A running resistance detecting unit may be provided at a rear portion of the working machine and connected to a control circuit. The work machine is provided with a traveling speed detecting means, a feeding device is provided with a feeding driving device, and the running speed detecting device and the feeding driving device are connected to a control circuit. And
The running speed is corrected by the value from the running resistance detecting means, and the fertilizer or the seed is fed out in accordance with the corrected speed.

[0009]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a block diagram showing an embodiment of the present invention; FIG. 1 is a side view and a control block diagram in which a seeding machine is mounted on a traveling vehicle of the present invention, FIG. 2 is a side view of the seeding machine, and FIG. 3 is a front view of a display / setting device.

A case will be described in which the traveling vehicle is a tractor A and the working machine mounted on the rear part of the rotary tilling device is a seeder. In the tractor A, an operation unit D is disposed at the rear of the hood 2, and the engine E and the battery 1 are stored in the hood 2. The operation unit D has a handle 4 disposed on an operation column 3 erected at the rear of the hood 2. The seat 5 is arranged at the rear of the operation column 3. A display / setting unit 10 is provided on the hood 2, on the operation column 3, or on the side of the seat 5 in a range where the operator faces the front in front of the driving unit D and does not interfere with driving. The unit 10 is detachably attached. For example, it is fixed with an adhesive or a screw. The display / setting unit 10 also houses a control circuit C. However, the control circuit C may be arranged on the working machine side. The power supply to the control circuit C and the actuators is performed by the battery 1.
Connected via a cord.

At the rear of the tractor A, a three-point link type working machine mounting device B is provided, and the working machine mounting device B includes a top link 6, a lower link 7.7, and a lift link 8.3.
The lower arm 7 is rotated via the lift link 8.8 to rotate the lower arm 7 via the lift link 8.8 so that the working machine can be raised and lowered. As a working machine to be mounted on the rear part of the working machine mounting device B, a rotary tillage device R, a seeding machine F, and a fertilizer, a soil disinfecting machine, a transplanter, and the like are mounted. However, the working machine to which the present invention is applied is not limited to the working machine described above, and is not limited as long as it is mounted on a tractor and acts on a set depth.

Next, a specific configuration of the rotary tiller R
An example in which the seeding machine F is mounted at the rear of the apparatus will be described.
In FIG. 2, the depth frame 1 of the rotary tiller R
The mounting bracket 12 is fixed to the rear end of the main frame 13 and the front end of the main frame 13
It is pivoted up and down freely. However, a stopper 15 is provided on the lower surface of the mounting bracket 12, and when the rotary tilling device R is raised, when the main frame 13 rotates more than a predetermined rotation, the main frame 13 comes into contact with the stopper 15 so that the rotation is limited and the seeding machine F So that it can be turned up and down following work on the surface of the field during operation.

An upper portion of a chain case 17 is rotatably supported on the side of the main frame 13, a grounding wheel 16 is pivotally supported at a lower end of the chain case 17, and a spring is provided between the main frame 13 and the chain case 17. 18 is interposed to urge the chain case 17 downward so that the grounding wheel 16 comes into contact with the field scene. The chain case 1
A rotation speed sensor (or speed sensor) 19 is provided on the upper part of the motor 7, and the sensor 19 is connected to a control circuit C shown in FIG. However, the rotation speed sensor 19 may be provided on a pressure-reducing wheel 20 described later to detect the speed.

A seeding machine F is arranged on a middle part of the main frame 13. The seeding machine F is provided with a hopper 22 at an upper part of a feeding device 21, and a hose 23 is communicated at a lower part thereof. The lower end is inserted between the left and right disks of the groove generator 24. The feeding device 21 includes a motor M1.
The motor M1 is connected to the control circuit C to drive the motor M1 according to the set amount according to the traveling speed so that the seeding can be performed. Further, a remaining amount detection sensor 30 is disposed in the hopper 22,
The remaining amount detection sensor 30 includes a non-contact type ultrasonic sensor or the like, and detects the height of the seed upper surface in the hopper 22 to detect the remaining amount. In addition, the hose 23
A seed drop detection sensor 31 is disposed in the inside, and the seed drop detection sensor 31 is formed of a piezoelectric sensor and detects the number of seeds. In addition, when the motor M1 is driven, if the seeds are clogged in the hopper 22 or the feeding portion, the seeds do not drop, and thus it is detected whether the seeds are being fed reliably. The remaining amount detection sensor 30 and the seed drop detection sensor 31 are connected to a control circuit C.

A support pipe 25 is vertically provided at a front portion of the feeding device 21, and an extendable support rod 26 is inserted into the support pipe 25.
The groove generator 24 has two disk-shaped disks arranged in a V-shape in plan view with its front side closed, and rotatably supports the disks at the lower end of a support rod 26. A motor M2 is disposed at the upper end of the support pipe 25, and the height of the support rod 26 can be adjusted vertically by driving the motor M2. The motor M2 is connected to the control circuit C. However, the above configuration may be an electric cylinder.

A height sensor 27 is disposed on the main frame 13 so that a height from the ground can be detected at a position in front of the groove generator 24 or near the side thereof. It is a contact type sensor composed of an ultrasonic sensor or the like, which detects the height of a working unit (a groove making device in this embodiment) from the ground surface, and is connected to the control circuit C. In the present embodiment, the height of the lower end of the groove generator 24 is detected, and the height when the ground is placed on the hard ground surface before the work is detected. Based on this height, the groove is formed during the work. The motor M2 is driven so that the heater 24 is located at the set depth.

At the rear of the groove generator 24, a soil cover disk 35 is disposed.
The arm 36 is rotatably supported by a lower portion, and the arm 36 extends forward and upward, and has an upper end rotatably supported by the main frame 13. One end of a rod 37 is rotatably supported at an intermediate portion of the arm 36, and the other side of the rod 37 is slidably supported by a pivot support 34 rotatably supported by the main frame 13. One end of a spring 38 is locked at the other end of the spring 37 to urge the cover disc 35 against the ground. The other end of the spring 38 is connected to a motor M3 of an electric cylinder, and the rotation of the motor M3 pushes and pulls the spring to adjust the spring force. For example, when the field is soft, the spring force is reduced so that the covering disc 35 does not enter deeply, and when the field is hard, the spring force is increased so that the covering disc 35 enters deeply.

A support frame 40 is provided to project rearward and downward from the rear main frame 13, and the pressure-reducing wheel 20 is rotatably supported at the rear end of the support frame 40. And
The upper end of the detection rod 41 is rotatably supported at the rear end of the main frame 13.
The other end of the rod 42 is slidably supported on a support 43 rotatably provided on the main frame 13 at one end of the rod 42 in the middle of the support 43.
The springs 44 are externally fitted on the rods 42 on both sides of the detection rod 41 so that the detection rod 41 can maintain a constant angle. An angle sensor 45 is provided at the rotation base at the upper end of the detection rod 41 to detect the angle of the detection rod 41, and the tip of the detection rod 41 is inserted into the ground to serve as running resistance detection means. That is, the resistance received from the soil when the seeder F is pulled is regarded as a crushed soil state, and the hardness of the field can be detected. However, instead of the angle sensor 45, a configuration may be adopted in which the amount of movement of the rod 42 is detected.

As shown in FIG. 3, the display / setting unit 10 includes a power switch 50, a changeover switch 51, a display unit 52 including 7-segment LEDs, a level display unit 53, a selection display unit 54, and a setting knob serving as setting means. When the power switch 50 is turned on and the changeover switch 51 is pressed, the display is switched, and the selection display unit 54 is sequentially turned on, and each detected value is displayed on the display unit 52. It is displayed. Level display section 53
In the example, the ratio when the whole is set to 100% is displayed so that the approximate amount can be determined. Further, by turning the setting knob 55 when the setting is switched by the changeover switch 51, the set value can be arbitrarily changed.

In the above configuration, before starting the work, the rotary tilling device R is lowered on the flat ground, the seeding device F is grounded, and the height of the lower end of the groove generator 24 is detected. Enter as initial value. Then, in the field, the seeding depth and the seeding interval are set on the display / setting device 10, the tractor A is run, and the start button 56 is pressed. When the start button 56 is pressed, the motor M1 is driven to operate the feeding device 21 and the seeds are set. It is detected by the seed drop detection sensor 31 and counted whether it has fallen and dropped into the hose 23,
Through the hose 23, the seeds are made to fall into the ditch made on the field scene by the ditch generator 24.

At this time, the running speed is detected by the rotation speed sensor 19, and when the running speed is high, the rotation speed of the motor M1 is also increased in proportion to the running speed so that the seeding interval is constant. Since the traveling speed is detected by the rotation of the contact wheel 16, if the field is hard, the speed can be accurately detected without slipping. However, if the field is soft, slipping increases, and the accurate speed is detected. Can not. Therefore, in the present invention, the running speed is corrected based on the value obtained by detecting the crushed soil state so that the running speed is as close to the actual speed as possible so that the seeding can be performed accurately.

The depth of the groove can be calculated from the difference between the height detected by the height sensor 27 and the height of the lower end of the groove generator 24. The height of the lower end of the groove generator 24 is determined before the work. Because it is set, there are irregularities in the field scene, and the rotary tillage device R
Even if the tillage depth changes, the motor M2 is operated according to the change in the height to control the depth of the groove to be constant.

The seed after sowing is covered with soil by a soil covering disk 35. This covering disc 35 is a spring 3
8 is pressed against the field scene, and the penetration amount differs depending on the hardness of the field. In the present invention, the rotation amount of the detection rod 41 provided at the rear portion of the main frame 13 and pierced into the field, that is, the running resistance is used for hard / soft detection in the field. Therefore, when the amount of rotation is small, the resistance is small, the soil is finely crushed, or the field is soft with much moisture. In this case, since the cover disc 35 enters deeply, the motor M3 is driven to reduce the spring force so that a proper amount of cover can be formed in accordance with the hardness. When the field is hard, the motor M3 is driven so that the soil cover disk 35 is deeply inserted. Then, the pressure is suppressed by the pressure-reducing wheel 20 disposed at the rear.

In addition, instead of a sowing machine, a fertilizer applicator, a chemical sprayer, a soil disinfecting machine, a transplanter, or the like can be mounted to control similarly. In addition, in the case of a soil disinfecting machine or a transplanter, the rotary tilling device R is often not directly mounted on the work machine mounting device B, and in the case of a soil disinfecting machine, the height of the injection claws is increased and lowered. It is sufficient to provide a means for changing, a height sensor for detecting the height of the field, and a sensor for detecting the amount of the chemical solution. In the case of a transplanter, a sensor that detects the height and a seedling connection sensor are required.

In such a configuration, the height sensor 27 and the remaining amount detection sensor 30 are composed of ultrasonic sensors, and the hardness of the field is detected by the angle sensor 45, and the speed is detected by the rotation speed sensor 19. Connected to control circuit C. The actuators are all controlled by a control circuit C using a motor. Therefore, since the above-mentioned control mechanism can be used in common for the drug spraying, soil disinfection, and transplanting machines, the sensor and the actuator are mounted on the working machine in advance, and the display / setting device 10 and the control circuit are connected by a cable. If the display / setting device 10 and the control circuit C are mounted on the tractor, the connection is changed every time the working machine is replaced, and the control is performed according to various operations. Work becomes possible. Also, if there is no plurality of working machines, the display / setting device 1 is used when the working machines are attached / detached.
0 and the control circuit C are also attached and detached at the same time, and have no relation to the control device of the tractor, can be controlled independently, and no confusion or loss occurs.

[0026]

According to the present invention having the above-described structure, the following effects can be obtained. That is, as described in claim 1, the working machine is mounted on the rear portion of the running vehicle, and the working machine is provided with the non-contact type height detecting means and the lifting / lowering means of the working unit. Separately, the height of the working unit can be controlled independently, even if the traveling vehicle moves up and down due to unevenness,
The working section can be controlled to a constant height regardless of the vertical movement. In addition, since the height setting means and the control circuit of the working unit are detachably provided on the traveling vehicle, the height setting means and the control circuit can be simultaneously removed and stored when the work machine is removed from the traveling vehicle. No loss or failure occurs while attached to the traveling vehicle. In addition, it can be easily attached to other traveling vehicles, and can be attached irrespective of the type and specification of the traveling vehicle.

The working machine may be a fertilizer applicator or a seeding machine, and the groove forming device and the soil covering device may be controlled to move up and down, and a running resistance detecting means may be provided at a rear portion of the working machine. Since the connection and the height of the soil covering device are corrected by the value from the running resistance detecting means, the hardness of the field is detected by the running resistance detecting means, and the soil covering device is moved up and down in accordance with the hardness. Thus, a certain amount of soil could be covered in the seeding part, and the seeding depth or fertilization depth could be kept constant.

Further, the working machine is provided with a running speed detecting means, the feeding device is provided with a feeding drive means, and the running speed detecting means and the feeding drive means are connected to a control circuit, so that the running speed is controlled by the running resistance. Corrected by the value from the detection means, so that the fertilizer or seeds are fed out according to the corrected speed, so that the interval or amount of sowing or fertilization becomes constant, so that the work of sowing or fertilizing can be performed accurately. It is.

[Brief description of the drawings]

FIG. 1 is a side view and a control block diagram in which a seeding machine is mounted on a traveling vehicle of the present invention.

FIG. 2 is a side view of the seeder.

FIG. 3 is a front view of a display / setting device.

[Explanation of symbols]

 Reference Signs List A Tractor C Control circuit F Seeding machine 10 Display / setting device 19 Rotation speed sensor 21 Feeding device 24 Groove device 27 Height sensor 30 Remaining amount detection sensor 35 Covering disk 41 Detection rod

Claims (3)

[Claims] A working machine is mounted on a rear portion of a traveling vehicle, and the working machine is provided with a non-contact type height detecting means and a working section elevating means, and the traveling vehicle has a working section height setting means. A control device for a working machine attached to a traveling vehicle, wherein the control circuit is detachably provided. 2. The work machine is a fertilizer or a seeder,
The ditch generator and the earth covering device are configured to be capable of raising and lowering control, and a running resistance detecting means is provided at a rear portion of the work machine and connected to a control circuit, and the height of the earth covering device is corrected by a value from the running resistance detecting means. The control device for a working machine attached to a traveling vehicle according to claim 1, characterized in that: 3. The working machine is provided with a traveling speed detecting means,
The feeding device is provided with a feeding driving means, the running speed detecting means and the feeding driving means are connected to a control circuit, the running speed is corrected by the value from the running resistance detecting means, and the fertilizer or seed is fed in accordance with the corrected speed. 3. The control device for a working machine attached to a traveling vehicle according to claim 2, wherein: