JPH11187717A - Lift controller for working machine of agricultural machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a rice transplanter capable of lifting a seedling-planting device without deteriorating the stability of a travel frame, when the travel frame climbs a ridge at the exit of a paddy field, simultaneously planting seedlings at the corner of the paddy field with the seedling-planting device used as a work device in the final stage of the planting work in a butt and subsequently lifting the seedling-planting device with respect to the travel frame. SOLUTION: This lifting control device for the work device of an agricultural work machine has a longitudinal frame inclination detection sensor 22 for detecting the longitudinal inclination of a travel frame, and a control means 32 for lowering a velocity V for lifting a seedling-planting device and switching the velocity V into a slow forcible lifting speed V', when the longitudinal frame inclination detection sensor 22 detects the front-lifted inclination of the travel frame and when an operation for lifting a seeding-planting device is commanded.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a working device for an agricultural working machine which is configured such that a working device mounted on a traveling machine body so as to be able to move up and down by means of a raising and lowering drive means can be driven up and down forcibly based on a manual operation command to the raising and lowering operation means. It relates to a lifting control device.

[0002]

2. Description of the Related Art Conventionally, when a lifting operation device is operated, a working device is raised and lowered at a predetermined lifting speed.

[0003]

However, in the final stage of planting on the headland, while climbing the ridge at the exit of the field, the seedling is planted in the corner of the field with a seedling planting device as a working device in the field scene. After the operation, the seedling planting device is raised with respect to the traveling body while leaving the field and climbing the ridge. In this case, vibration or the like occurs when the seedling planting device is further moved up and down in a state where the traveling body is in the forward-upward posture, so that the posture stability of the aircraft is reduced and traveling performance and maneuverability are reduced. It is considered that the properties and the like are reduced.

[0004] It is an object of the present invention to provide a lifting and lowering control device for a working device of an agricultural work machine, which can maintain the stability of the running machine as much as possible even when the forward and backward inclination of the running machine increases.

[0005]

According to a first aspect of the present invention, a working device which is mounted on a traveling body so as to be able to move up and down by a lifting drive means based on a manual operation command to the lifting operation means. While being configured to be able to drive up and down freely, a front-rear inclination detecting means for detecting the front-rear inclination of the traveling body is provided, and in a state where the front-rear inclination detecting means detects that the traveling body is inclined in the vehicle front-rear direction, There is provided a control means for changing the operation speed of the working device to a low speed, and the operation and effect are as follows.

[Operation] In other words, when an ascending / descending operation command is issued to the working device in a state where the traveling body is inclined, the ascending / descending is performed at a slow speed lower than the normal ascending / descending speed.

[Effects] In this way, while following the work mode in which the working device is raised and retracted, vibrations and the like at the time of lifting and lowering of the working device are suppressed, and the traveling stability and the maneuverability as well as the posture stability of the traveling machine body are improved. Improvement was able to be aimed at.

[0008] The object of the invention according to claim 2 is as follows.
Is the same as

According to a second aspect of the present invention, a working device which is attached to a traveling machine body so as to be able to move up and down by means of up and down driving means is configured to be able to be forcibly moved up and down based on a manual operation command to the up and down operation means. Along with the longitudinal inclination detecting means for detecting the longitudinal inclination of the traveling body,
In a state in which the front-rear inclination detecting means detects that the traveling aircraft is inclined in the longitudinal direction of the aircraft, control means for changing the forcible operation speed of the working device to a low speed is provided. The effects are as follows.

[Function and Effect] In the present invention, the slow speed control is applied only when the working device is raised. This is because the influence on the vibration of the aircraft becomes larger when the machine body center of gravity gradually rises when ascending, and it is considered that the center of gravity becomes lower when descending and the direction in which the vibrations also subside. The slow speed control is limited only to the ascent.

According to a third aspect of the present invention, a working device which is mounted on a traveling machine so as to be able to move up and down by means of up and down driving means is configured to be capable of being forcibly moved up and down based on a manual operation command to the up and down operation means. Along with the longitudinal inclination detecting means for detecting the longitudinal inclination of the traveling body,
In a state in which the front-rear inclination detecting means detects that the forward rising inclination of the traveling body is equal to or more than a set value, control means for changing the forcible operation speed of the working device to a low speed is provided. The operation and effect are as follows.

[Function and Effect] In the present invention, the slow rise control of the working device is applied when the forward rising inclination of the traveling machine body exceeds the set angle. This is because a slight inclination of the traveling body can be regarded as having no inclination. As a result, the slow rise control is performed only when the influence of the vibration at the time of rise is large.

According to a fourth aspect of the present invention, a grounding sensor is configured to be able to move up and down with respect to a seedling planting device which is mounted on a traveling machine so as to be able to move up and down by means of raising and lowering driving means. Elevation control means for elevating and lowering the seedling planting device so as to maintain the height with respect to the planting device at the reference height, and forced elevating drive for forcibly driving the seedling planting device based on a manual operation command for the elevating operation device In the state where the longitudinal inclination detecting means for detecting the longitudinal inclination of the traveling body detects the longitudinal inclination of the body, the operation of the forced elevating drive means is performed even if a manual operation command is issued to the elevating operation means. A control means for preventing the movement and maintaining the operation of the elevation control means is provided, and the operation and effect are as follows.

[Function and Effect] In the rice transplanter, the reference height of the ground contact sensor with respect to the seedling planting device, that is, the planting depth of the seedling planting device, is fixed by the elevation control means based on the detection result of the grounding sensor. Control to maintain the This is called plowing depth control. During this plowing depth control, when a command for forced elevating control to the seedling planting device is input, and when the inclination angle of the traveling machine is detected, the plowing depth control is not performed without performing the raising / lowering control of the working device. maintain. By maintaining the plowing depth control state, for example, even in the upward posture before climbing the ridge, it is possible to use the grounding sensor or the like to make the treading effective. While maintaining the plowing depth control, if the tilting state of the traveling machine body is canceled and the forced lifting operation state is maintained, the seedling planting apparatus is forcibly raised and lowered at that time.

[0015]

Embodiments of the present invention will be described below with reference to the drawings. (First Embodiment) As shown in FIG. 1, an engine 4 is mounted on a front part of a traveling machine body 3 having a drive-type front wheel 1 and a drive-type rear wheel 2, which are steered.
A hydrostatic continuously variable transmission 5 and a transmission case 6 in which power from the engine 4 is transmitted to the rear of the traveling body 3 and a steering handle 7 and a driver seat 8 in the center of the traveling body 3. And a seedling planting device A as a working device is connected to a rear end of the traveling machine body 3 via a link mechanism 10 driven up and down by a lift cylinder 9 as a lifting / lowering driving means, and the rice planting as a paddy working machine is connected. Configure the machine. The seedling planting apparatus A performs an operation of cutting out a mat-shaped seedling W placed on the seedling placing stand 11 by a planting arm 13 provided in a rotary case 12 that rotates in synchronization with the running speed of the machine body and planting it in a field scene. In addition to the system, the lower part is provided with a plurality of leveling floats 14 as grounding floats, and is configured for eight-row planting.

As shown in FIG. 3, a plurality of leveling floats 1
4, the leveling float at the center position in the left and right direction
The sensing float 14A) is attached to the planting depth adjusting shaft 15.
With respect to the swinging end of the arm-shaped member 16 integrally formed with the shaft, it is swingably supported around an axis X in a lateral posture as a rear fulcrum, and urges a front portion thereof downward. It has a setting spring 17 and functions as a ground sensor. A sensor for detecting the swing amount of the front end around the rear fulcrum of the sensing float 14A is provided, and this sensor is referred to as a float sensor 19. Bracket 1 on sensing float 14A
8, the bracket 18 and the operation arm 19A of the float sensor 19 are linked via a rod 20, and the swing posture of the float 14A can be measured by the float sensor 19.

When the planting depth adjusting shaft 15 is rotated, the position of the spring receiving side is maintained so as to maintain the urging force of the spring 17 for setting the sensing pressure, and the attitude of the float 14A is determined by the float sensor. A correction link 21 is provided to correct the attitude of the case of the float sensor 19 around the axis of the operation arm 19A of the float sensor 19 so that the float 19 can accurately detect the position. The sensing float 14A connects the seedling planting device A to the field scene S.
At the time of control for automatically moving up and down by following a change in the height of the plant (hereinafter, referred to as automatic lifting control), the seedling planting apparatus A for the field scene S
Is fed back to the control system.

As shown in FIG. 1, a raising / lowering lever for raising and lowering the seedling planting device A and for turning on and off a planting clutch (not shown) built in the transmission case 6 is provided on the right side of the driver's seat 7. 24. As shown in FIG.
The raising and lowering lever 24 is set at the “down” position in the path formed in the guide 25 to lower the seedling planting apparatus A. When set to the “elevated” position, the seedling planting device A is elevated. When set to the "neutral" position, the seedling plant A is maintained at that level. When it is set to the “in” position, the planting clutch is operated to be engaged, and automatic raising and lowering control for maintaining a predetermined height with respect to the field when the leveling float 14 (the sensing float 14A) provided in the seedling planting device A is in contact with the ground is performed. Do. When set to the "off" position, the planting clutch is turned off. When the raising and lowering lever 24 is set to the "automatic" position, the raising and lowering of the seedling planting apparatus A is permitted according to the operation of the forced raising and lowering lever 26 provided near the steering handle 7. It is possible to perform a typical cutting operation. In addition, as shown in FIG. 2, a potentiometer type lever sensor 27 for measuring the operation position of the elevating lever 24 is provided at the base end of the elevating lever 24. Here, the lifting lever 24 and the forced lifting lever 26 are referred to as lifting operation means.

The sensing float 14A is urged by the spring 17 in the direction of pushing down the front part, so that when the seedling plant A is relatively displaced in the ascending direction with respect to the field scene S, the sensing float 14A is moved. Changes to a forward-lowering position around the axis X, and conversely, when the seedling planting device A is relatively displaced in the downward direction with respect to the field scene S, the sensing float 14A rises forward around the axis X. Change to posture. This change in posture is measured by the float sensor 19, and based on the signal from the float sensor 19, the posture of the sensing float 14A is set to the target posture, that is, the seedling planting device A corresponding to the set value of the control sensitivity setting unit 28 described later. The control operation of the automatic raising and lowering control is set so that the height of the seedling planting apparatus A with respect to the field scene S is maintained by raising and lowering the seedling planting apparatus A so that the vertical interval L of the seedling is maintained constant. As shown in FIG. 2, the traveling body A is provided with a control sensitivity setting device 28 for setting the target attitude of the sensing float 14A, and is configured to be able to set the target attitude of the sensing float 14A. Here, float sensor 1
9, the sensing float 14A, the control sensitivity setting device 28, and the like are referred to as elevation control means for controlling the planting depth of the seedling planting apparatus A.

As shown in FIG. 2, the traveling machine body 3 is provided with a control device 32 as a control means having a microprocessor (not shown) for automatically controlling the raising and lowering of the seedling planting device A. For the control device 32, the lever sensor 27,
An input system for receiving signals from the control sensitivity setting unit 28 and the float sensor 19 is formed. An output system for the electromagnetic valve 33 that controls the lift cylinder 9 in response to an input signal is formed. The solenoid valve 33 holds a neutral position in a non-driving state, is configured to be operable at an ascending position and a descending position by supplying power to the solenoid, and is proportional to the power supplied to the solenoid. It is configured to change the opening.

Next, a description will be given of the up / down control by the up / down operation means 24 and 26 when the inclination of the traveling body 3 in the longitudinal direction of the vehicle becomes a predetermined angle or more. The traveling body 3 is provided with a body inclination sensor 22 of a potentiometer type as a longitudinal inclination detecting means to detect the longitudinal inclination of the body 3. A forward / backward tilt setting unit 23 is provided as a reference for determining whether or not the tilt has reached a predetermined angle. For example, as shown in FIG. 4, when a climbing start is performed while planting work is performed at a ridge or the like and the planting is finished and the field is retired, if there is a raising / lowering control command of the seedling planting apparatus A, FIG. If the absolute value θ3 of the inclination angle of the traveling body 3 in the longitudinal direction of the body is not larger than the set angle, the vertical speed V is set to the normal forced vertical speed V ″, and the vertical control is performed, and the absolute value of the vertical angle is calculated. If θ3 becomes larger than the set angle, the vertical speed V is set to the slow forced vertical speed V ′ and the vertical control is performed.The absolute value of the aircraft inclination angle θ3 is handled in either the front or rear direction of the aircraft. This control is also applied to the inclination of.

As shown in the flowchart of FIG. 6, first, the operating position of the elevating lever 24 is detected, and if the operating position is set to the "planting" position, the detection angle θ1 from the float sensor 19 and the control sensitivity described above are set. Automatic elevation control is performed based on the set angle θ2 from the setting unit 28 (# 101 to # 105). No consideration is given to the inclination of the traveling aircraft 3 in the longitudinal direction of the aircraft during the automatic elevating control. When the vertical operation position is the “down” or “up” position, as described above, if the front-rear inclination angle θ3 of the traveling body 3 becomes equal to or more than the set angle θ4, the vertical speed V is reduced to the slow forced vertical speed V. Set to '. When the front-rear inclination angle θ3 becomes equal to or larger than the set angle θ4, the vertical speed V is set to the normal forced vertical speed V ″ (# 106 to # 109).
If the vertical operation position is the “automatic” position and the vertical operation to the forced vertical lever 26 is performed, the front-rear inclination angle θ of the traveling machine body 3
When 3 is equal to or larger than the set angle θ4, the elevating speed V is set to the slow forced elevating speed V ′. The forward / backward tilt angle θ3 is equal to the set angle θ4
If not reached, the vertical speed V is set to the normal forced vertical speed V "(# 110 to # 114). The slow forced vertical speed V 'and the normal vertical speed V" are shown in FIG.

(Second Embodiment) In the second embodiment, only differences from the first embodiment will be described. In other words, a different embodiment will be described for handling when the inclination angle θ3 of the traveling body 3 in the longitudinal direction of the body exceeds the set angle θ4. About tillage depth control (# 201), FIG.
As described in steps # 102 to # 105 in the flowchart of FIG. When the raising operation of the seedling planting apparatus A is performed in order to escape from the field and cross the ridge while the planting operation is being performed on the ridge side while continuing the cultivation depth control, as shown in FIG. , The body inclination angle θ3 is equal to the set angle θ4
If so, the plowing depth control state is maintained without performing the raising operation. If the aircraft inclination angle θ3 does not exceed the set angle θ4,
Perform the ascent operation. However, in a case where the raising operation of the seedling planting device A is restricted in spite of the raising operation of the seedling planting device A and the machine body inclination angle θ3 returns to a state not exceeding the set angle θ4. Causes the seedling planting apparatus A to perform an ascending operation (# 201 to # 204). For the above control,
This is also shown in the time chart shown in FIG.

[Another Embodiment] The present invention has been described in the above embodiment in which the raising and lowering operation state of the seedling planting apparatus A is changed when the front-rear inclination angle θ3 of the traveling machine body 3 is inclined at a set angle or more. However, the above control may be performed by simply detecting that the traveling body 3 is tilted from the horizontal state without employing the set angle method. The present invention has been described in the above embodiment in which the raising and lowering operation state of the seedling planting apparatus A is changed when the front-rear inclination angle θ3 of the traveling body 3 is inclined at a set angle or more. Only based on this, control such as restricting the ascent operation or decreasing the ascending speed can be performed.

[Brief description of the drawings]

FIG. 1 is an overall side view of a rice transplanter.

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

FIG. 3 is a side view showing an arrangement of a float sensor.

FIG. 4 is an operation diagram showing a state of planting when escaping from a field surface.

FIG. 5 is a plan view showing an operation path of a lifting operation lever.

FIG. 6 is a flowchart in the case of slow lifting control;

FIG. 7 is a diagram showing a speed at the time of a lifting control operation

FIG. 8 is a flowchart showing control for maintaining the tillage depth control despite the raising operation.

FIG. 9 is a time chart corresponding to the flowchart of FIG. 8;

[Explanation of symbols]

 Reference Signs List 3 traveling machine body 9 elevating drive means 14A ground sensor 22 front and rear inclination detecting means 24, 26 elevating operation means 32 control means A working device (seedling planting device)

Claims (4)

[Claims] A working device mounted on the traveling body so as to be able to move up and down by means of an up-and-down driving means so as to be capable of being forcibly moved up and down based on a manual operation command to the elevating operation means;
Providing front-rear inclination detection means for detecting the front-rear inclination of the traveling body, and in a state where the front-rear inclination detection means detects that the traveling body is inclined in the vehicle front-rear direction, the forcible elevating operation speed of the working device is A lifting / lowering control device for a working device of an agricultural work machine provided with control means for changing to a low speed. 2. A working device which is mounted on a traveling body so as to be able to move up and down by means of raising and lowering drive means is configured to be capable of being driven up and down forcefully on the basis of a manual operation command to the raising and lowering operation means.
Providing front-rear inclination detection means for detecting the front-rear inclination of the traveling body, and in a state in which the front-rear inclination detection means detects that the traveling body is inclined in the vehicle front-rear direction, the forcible operation speed of the working device is increased. A lifting / lowering control device for a working device of an agricultural work machine provided with control means for changing to a low speed. 3. A working device which is attached to a traveling body so as to be able to move up and down by means of raising and lowering drive means is configured to be capable of being forcedly driven to move up and down based on a manual operation command to the raising and lowering operation means.
A fore-and-aft inclination detecting means for detecting the fore-and-aft inclination of the traveling body is provided, and in a state where the fore-and-aft inclination detecting means detects that the forward rising inclination of the traveling body is equal to or more than a set value, the working device is forcibly raised. A lifting / lowering control device for a working device of an agricultural work machine, provided with a control unit for changing an operation speed to a low speed. 4. A grounding sensor is configured to be able to move up and down with respect to a seedling planting device which is attached to a traveling body so as to be able to move up and down by means of raising and lowering driving means, and the height of the grounding sensor with respect to the seedling planting device is maintained at a reference height. Raising and lowering control means for controlling the raising and lowering of the seedling planting apparatus, and forcible raising and lowering driving means for forcibly raising and lowering the seedling planting apparatus based on a manual operation command to the raising and lowering operation means, and In the state where the front-rear inclination detecting means for detecting the front-rear inclination of the machine body, the operation of the forced elevating drive means is prevented and the operation of the elevating control means is maintained even if a manual operation command is issued to the elevating operation means. Lifting and lowering control device for a working device of an agricultural work machine, which is provided with a control means for performing such control.