JPH1189341A - Paddy field working machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To constitute a rice transplanter capable of avoiding breakage of a grounding arm for measuring mud hardness when a seedling transplanter is forcibly raised and a machine body is retreated. SOLUTION: In this paddy field working machine, control action of a controller 48 is set so that control for forcibly raising a seedling transplanter up to upper limit is started when a traveling machine body is retreated and retreat of the traveling machine body is started after it is judged that the tip of grounding arm is separated from field face based on measured result of a mud face sensor 44 for measuring oscillation amount of the grounding arm in the raising control.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a work device which is connected to a rear end of a traveling body so as to be able to be driven up and down freely, and based on a posture displacement of a ground float provided in the work device, the height of the work device with respect to a field height. Equipped with a float sensor that measures
A mud surface sensor that measures the hardness of the mud based on the amount of sinking of the sled-shaped ground arm in contact with the field scene is set based on the mud hardness measured by the mud surface sensor. The present invention relates to a paddy field working machine including a control device for performing a lifting / lowering operation of a working device based on a control sensitivity and a height of a field measured by a float sensor. About technology.

[0002]

2. Description of the Related Art There is a paddy working machine constructed as described above in Japanese Patent Application Laid-Open No. Hei 6-14627. In this conventional example, a swing amount of a grounding arm (mud hardness detecting tool 11) is measured by a potentiometer. At the same time, the pressure acting on the grounding arm is measured by a pressure sensor, and the elevation control sensitivity of the ground work equipment is automatically set based on the measurement result, and the elevation control sensitivity corresponding to the hardness of the mud in the field The ground work equipment can be raised and lowered.

[0003]

Taking a riding type rice transplanter as an example, there is a type in which a seedling planting device is forcibly raised to an upper limit in conjunction with a reverse movement of the aircraft. By raising the seedling planting device to the upper limit when moving backwards,
The contact between the seedling planting device and the ridges is avoided to prevent damage to the seedling planting device. However, in the case where the seedling planting apparatus is provided with the ground arm on the sled as described above, as shown in the conventional example, the front end of this ground arm is supported by the seedling planting apparatus, and the rear end is Since the grounding arm has a structure that freely projects downward, not only does the grounding arm have a lower support strength compared to the grounding float, but also the reversing of the aircraft starts with the grounding arm sunk into the field scene. Then, when the mud in the field is hard, it is considered that the pressure from the mud acts in the direction of pushing down the grounding arm, causing the grounding arm to swing to its limit and break.

[0004] In particular, even if the grounding arm is provided at the bottom of the seedling planting apparatus, even if it is broken, it is difficult for an operator to detect the breakage. Improper elevating control sensitivity, so that the planting depth of the seedlings is extremely shallow, causing floating seedlings, or extremely deep, leading to poor seedling growth, leaving room for improvement. .

An object of the present invention is to rationally configure a paddy field working machine that avoids damage to a ground arm when the running machine is moved backward by forcibly raising the working device.

[0006]

According to a first aspect of the present invention, as described at the outset, a posture of a ground float provided on a working device which is connected to a rear end of a traveling body so as to be able to drive up and down. A mud surface comprising a float sensor for measuring the height of the working device with respect to the field based on the displacement, and measuring the hardness of the mud based on the sinking amount of the sled-shaped grounding arm in contact with the field scene with respect to the field scene. The paddy field working machine having a control device for performing a lifting / lowering control of a working device based on control sensitivity set based on mud hardness measured by a sensor and height relative to a field measured by a float sensor. When moving the aircraft backward, start the control to raise the working device to a predetermined height, at the time of this rise control that the tip of the grounding arm is separated from the field scene based on the measurement result of the mud surface sensor Determined There the control for starting the reverse of the vehicle body to the point that is set on the control device, its operation, and effects are as follows.

[0007] A second feature of the present invention (claim 2) is the control device according to claim 1, wherein when the mud surface sensor measures an abnormal value during the ascent control, the control device prevents the traveling body from moving backward. The control operation is set, and the operation and effect are as follows.

[0008] A third feature of the present invention (claim 3) is that, in claim 1 or 2, the grounding arm is arranged so as to coincide with the position of a rut of an auxiliary wheel provided on the traveling body, and the grounding arm is provided. The contact width is set to be smaller than the width of the rut, and the operation and effect are as follows.

According to the first feature, when the traveling body is moved backward, the working device starts to rise, and it is determined that the tip of the grounding arm is separated from the field scene by this rise. After that, since the backward movement of the traveling body is started, the body does not move backward in a state where the contact arm is submerged in the field scene.

According to the second feature, for example, when the traveling body is to be moved backward in a situation where a protruding portion is present in a rear field scene, or in a situation where a ridge is present in a near rear position, for example, If the ground arm touches a protruding object immediately after the leading edge of the aircraft separates from the field scene and reversing of the traveling machine starts, the mud surface sensor can detect this contact, and based on this detection, prevent reverse By doing so, the action of excessive force on the grounding arm can be avoided.

According to the third feature, the rut through which the auxiliary wheels have passed is formed into a groove by the action of the weight of the body, and bulges are formed on both sides of the groove to be in a rough state. If the grounding arm is brought into contact, the measurement will be incorrect.However, if the grounding width of the grounding arm is within the width of the rut, the grounding arm will not come into contact with the rough field around the rut without error. Detection is also reduced.

[Effect of the Invention] Therefore, when the traveling machine is moved backward by forcibly raising the working device, it is only necessary to set the timing of starting the backward movement based on the signal from the mud surface sensor linked to the grounding arm. Thus, a paddy field working machine capable of avoiding breakage of the grounding arm without providing sensors is rationally configured (claim 1). In addition, the ground arm can be prevented from being damaged even after the traveling body starts moving backward (claim 2), and the ground work device can be raised and lowered with proper control sensitivity even when working with auxiliary wheels. (Claim 3).

[0013]

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 is mounted on the front part of the traveling body 3 provided with the vehicle, and a hydrostatic continuously variable transmission 5 to which power from the engine 4 is transmitted and the transmission case 6 are arranged on the rear part of the traveling body 3. In addition, a steering handle 7 and a driver seat 8 are disposed at the center of the traveling body 3, a main speed change lever 9 is disposed at a front position of the traveling body 3, and a lift cylinder 10 is provided at a rear end of the traveling body 3. A seedling planting device A as a working device is connected via a parallel four-link type link mechanism 11 driven and raised and lowered to constitute a rice planting machine as an example of a paddy working machine.

The seedling planting device A is supported at the rear end position of the link mechanism 11 so as to be freely rollable around an axis X in a front-rear posture, and the lower end of a mat-shaped seedling W placed on a seedling mounting table 13. A planting mechanism 14 having a planting arm is configured to perform an operation of cutting out seedlings one by one and planting the seedlings in a field scene P, including three leveling floats 15 at a lower portion, and a traveling body at a center position in the left-right direction. A transmission case 17 to which power is transmitted from the transmission case 16 via a transmission shaft 16 is arranged, and the power from the transmission case 17 drives the eight-row planting mechanism 14 to be configured for eight-row planting. An elevating lever 12 for controlling the raising and lowering of the seedling plant A is arranged on the right side of the driver's seat 8.

The main transmission lever 9 is operable in a neutral position n for stopping the traveling of the traveling body 3, a forward area f for moving the traveling body 3 forward, and a reverse area r for moving the traveling body 3 backward. At the same time, a shift operation form is set such that the traveling speed increases as the operation is performed further away from the neutral position n in both the forward range f and the reverse range r. The raising / lowering lever 12 is configured to perform on / off control of a planting clutch C built in the transmission case 5 simultaneously with raising / lowering control of the seedling planting apparatus A. As shown in FIG. "Down" in the path formed in the guide 18
The seedling planting device A is lowered by setting it to the position, and the seedling planting device A is raised by setting it to the “up” position.
When set to the "neutral" position, it is linked with the control system so as to maintain the seedling planting device A at that level. When the raising / lowering lever 12 is set to the "on" position, the planting clutch C is engaged and the seedling is operated. In cooperation with the control system to perform an automatic elevating control to maintain a predetermined height to the field when the leveling float 15 provided in the planting device A is in contact with the ground, and to set an automatic elevating control when the “off” position is set. When the planting clutch C is disengaged and the lifting lever 12 is set to the "automatic" position, the seedling planting apparatus A is operated in accordance with the operation of the compulsory lifting lever described later.
Is allowed, and at the same time, control for forcibly raising the seedling plant A when the traveling machine body 3 moves backward is permitted.

As shown in FIG. 2, on the right side of the post portion of the steering handle 7, there is provided a forced elevating lever 19 for forcibly elevating and lowering the seedling planting apparatus A, and the forced elevating lever 19 is in a substantially horizontal posture. A spring position is biased to the neutral position "N", and a rising position "U" for raising the seedling planting apparatus A to the upper limit in a posture in which an end thereof is directed upward with respect to the neutral position "N"; With reference to "N", the lower part is configured to be freely switchable to a lowering position "D" for lowering the seedling planting apparatus A to a working height at which the raising and lowering of the seedling planting apparatus A is automatically controlled in a posture in which the end faces downward.

As shown in FIG. 6, one of the three leveling floats 15 located at the center in the left-right direction is a seedling planting apparatus A.
Float 15C that measures the relative height of the surface to the mud surface
As shown in FIGS. 4 and 5, the sensing float 15 </ b> C has a planting depth adjusting shaft 29 at its rear end.
The arm 30 is swingably supported at the swing end position of the arm 30 which swings integrally with the arm 30 around the first axis Y1 in the laterally oriented posture. Although not shown, the left and right leveling floats 15, 15 are also supported at the swing end position of the arm connected to the planting depth adjusting shaft 29. Further, the sensing float 15C is supported by the seedling planting device A via a link member 31 whose front portion is configured to be freely bent, and a frame 3 fixed to the seedling planting device A is provided.
A plate 34 which can be moved up and down via a parallel four-link type link mechanism having upper and lower link pieces 33, 33 is disposed with respect to 2 and an operation arm 35A of a potentiometer type float sensor 35 supported by this plate 34. Intermediate member 3 between the swinging end of the sensor and the front position of the sensing float 15C.
6, the float sensor 35 detects the amount of displacement of the front part of the sensing float 12C in the vertical direction.
It is configured to be able to measure the swing amount of
Is provided with a compression spring type sensing spring 37 for urging the operation arm 35A to swing downward.

The planting depth adjusting shaft 29 is configured to be rotatable around the axis of the adjusting shaft 29 by a planting depth adjusting lever 38, and the planting depth adjusting lever 38 is connected to the lever 38.
The set position is maintained by selecting and engaging one of the many engagement grooves formed in the lever guide 39 with the engagement piece 38A provided in the lever guide 39. A pin 40 projecting from the base end of the planting depth adjusting lever 38 is connected to the parallel
By engaging the extension end portion of the upper link piece 33 constituting the continuous link, the relative distance in the vertical direction of the three leveling floats 15 with respect to the planting mechanism is changed when the planting depth adjusting lever 38 is operated. And adjusting the planting depth and displacing the plate 34 in the vertical direction by swinging the link piece 33 so as to maintain the relative distance between the float sensor 35 and the sensing float 15C in the vertical direction at a constant value. Has become.

As shown in FIGS. 4 to 6, the plate 3
The frame 42 is provided with a horizontal posture in a horizontal position with respect to the frame 4 with its ends reaching both sides of the sensing float 15C, and swings around both ends of the frame 42 around the second axis Y2 in the horizontal posture. A potentiometer type mud surface sensor 44, 44 that movably supports the front end of the ground arm 43 and measures the amount of swing of the left and right ground arms 43, 43.
It has. The ground arm 43 has a ground portion 43A formed at the rear end of the band-shaped member, and includes a spring 45 for urging the rear end of the belt-shaped member toward the field scene P.

The left and right grounding arms 43, 43
The amount of subsidence with respect to the field scene P is changed in accordance with the hardness of the mud in the field scene P, and the amount of swing of the grounding arms 43 corresponding to the amount of subsidence is determined by the mud surface sensor 4.
4 and 44. Since the left and right grounding arms 43 and 43 are supported by the plate 34 as described above, the mud surface sensor 44 is operated even when the planting depth adjusting lever 38 is operated. , 44 and the field scene P can be kept constant to maintain the sensing performance. still,
The ground arm 43 and the mud surface sensor 44 together constitute a mud surface sensor.

As shown in FIGS. 6 and 7, when the left and right grounding arms 43, 43 are provided with auxiliary wheels 2S, 2S inside the body of the rear wheels 2, 2, the auxiliary wheels 2
The left and right grounding arms 43, 43 are arranged so that the grounding portions 43A, 43 of the grounding arms 43, 43 are fitted into the groove widths of the tracks G, G formed in the field scene S by S, 2S. The width of 43A, 43 is set smaller than the width of the grooves G, G. With this configuration, when traveling, as shown in FIG. 7, bulges are formed on both sides of the grooves of the ruts G, G, resulting in a rough state, but the rut portions of the auxiliary wheels 2S, 2S are thus formed. The grounding arms 43, 4
By arranging 3, the part damaged by the auxiliary wheels 2S, 2S is not measured, and the measured value does not greatly change.

As shown in FIG. 8, the rice transplanter is provided with a control device 48 having a microprocessor. The control device 48 is provided with a potentiometer type speed changer for measuring the operating position of the main speed change lever 19. Lever sensor 9S,
An elevating lever sensor 12S for measuring the operation position of the elevating lever 12, a forcible elevating switch 19S for determining the operation direction of the forcible elevating lever 9, the float sensor 35,
A potentiometer-type sensitivity setting device 49 operated by a dial (not shown), left and right mud surface sensors 44, 44, a vehicle speed control switch 50 for automatically controlling the traveling speed, and pitching for measuring the longitudinal inclination of the traveling body 3 A sensor 51, a selection switch 52 for selecting a lifting control mode, a rotation signal of an alternator 53 that is rotationally driven by the engine 4, and a link for determining the height of the seedling plant A with respect to the body based on the attitude of the link mechanism 11. A system for inputting signals from the sensors 54 is formed, and the lift cylinder 10
, A transmission motor 56 for shifting the continuously variable transmission 5, and a clutch motor 57 for controlling the planting clutch C are each provided with a system for outputting a signal. The solenoid valve 58 is configured to obtain an opening proportional to a current value applied to the ascending and descending electromagnetic solenoids, and the control device 48 controls the duty ratio of the intermittent signal when energizing these electromagnetic solenoids. PWM by adjusting
The control action is set to adjust the current according to the equation.

In the control device 48, as shown in the flowchart of FIG. 9, a control operation is set such that the leveling float 15 follows the field scene P by touching the ground and moves the seedling planting device A up and down. That is, when the “manual” mode is selected by the selection switch 52, a signal from the sensitivity setting unit 49 is input, a control target corresponding to the set value is set, and a signal from the float sensor 35 is set. Then, the dead zone formed based on the control target is compared with a signal from the float sensor 35 (# 101 to # 105 steps). Next, when the signal from the float sensor 35 (the signal indicating the swinging posture of the sensing float 15C around the first axis Y1) is determined to be outside the dead zone by the comparison processing, the control target And float sensor 35
A value corresponding to the deviation from the signal from the sensor is set as the target opening of the solenoid valve 55, the ascending / descending direction is set on the side where the deviation becomes smaller, and the electromagnetic solenoid of the solenoid valve 55 is driven. Is in the dead zone, the solenoid valve 55 is not operated (held at the neutral position) (steps # 106 to # 107).

When the "auto" mode is selected by the selection switch 52, the left and right mud surface sensors 44, 44
And the sum of each signal is reduced by half.
An average value is obtained by a simple calculation, and the average value is set as a control target (steps # 108 and # 109), and the above-described #
The control is shifted to the step 104 to automatically set the control target based on the mud hardness of the field scene P and perform the raising / lowering control of the seedling planting apparatus A.

When a control target for setting the leveling float 15 provided with the float sensor 35 to the front-up attitude is set, the sensing spring 37 is compressed, and a strong urging force acts on the leveling float 15 so that The swing of the leveling float 15 is suppressed, and the control sensitivity is set to the insensitive side. Conversely, when the control target for setting the leveling float 15 to the forward lowered posture is set, the sensing spring 37 relaxes. As a result, the urging force acting on the leveling float 15 is also reduced, and the rocking of the leveling float 15 is facilitated. As a result, the control sensitivity is set to the sensitive side.
When the mud hardness is hard, the control sensitivity is reduced and the force in the direction of pushing up the seedling planting apparatus A from the field scene P is reduced to perform smooth control. Is soft, the control sensitivity is increased, and a subtle level change in the field scene P is properly detected, and smooth control following the field scene P is performed.

In the control device 48, as shown in the flowchart of FIG. 10, a control operation for automatically reducing the traveling speed of the traveling machine body 3 is set. That is, the inclination of the traveling body 3 in the front-rear direction is not measured based on the signal from the pitching sensor 51, and the leveling float 15 is set on the field scene P based on the signal from the link sensor 54 and the signal from the float sensor 35. When it is determined that the vehicle is in the ground contact state, the set position of the main shift lever 9 measured by the shift lever sensor 9S is set as a shift target, and the shift is performed so as to obtain the shift state corresponding to the set position. Motor 56
The basic control operation is set so as to set the traveling speed by driving the vehicle (steps # 201 to # 204), and the link sensor indicates that the leveling float 15 has risen to a level separated from the field scene P. When the vehicle speed control switch 50 is turned on based on the signal from the float sensor 35 and the signal from the float sensor 35, the engine speed is set to 2000 revolutions / minute (2
000 rpm) or more,
Instead of the shift target by the main shift lever 9 measured by the shift lever sensor 9S, a shift target having a value reduced from the shift target set by the shift lever 9 is set, and the traveling speed by the shift motor 56 is set in the same manner as described above. (Steps # 205 to # 207, # 204), and it is measured from the signal from the pitching sensor 51 that the traveling body 3 is tilted more than the set amount in the forward ascending direction. Also in this case, instead of the shift target by the main shift lever 9, a shift target having a value obtained by reducing the shift target set by the shift lever 9 is set, and shift control by the shift motor 56 is performed.

In the control device 48, as shown in the flowchart of FIG.
Is automatically moved to the reverse area r when the seedling planting device A is automatically operated.
Is configured to perform control to increase the pressure to the upper limit.
That is, when the shift lever sensor 9S detects that the main shift lever 9 has been operated in the reverse range r with the lift lever 12 in the "automatic" position, the clutch motor 57
After the disengagement operation of the planting clutch C is performed by the operation of, the electromagnetic solenoid on the ascending side of the electromagnetic valve 55 is driven to start the forcible elevating operation of elevating the seedling planting device A to the upper limit. After the signals from the left and right mud surface sensors 44, 44 are input to determine that the left and right grounding arms 43, 43 are separated from the field scene P, the speed change motor 56 is operated to change the speed of the continuously variable transmission 5. The backward movement of the traveling body is started (# 301 to # 306 steps).

Next, after the backward movement of the traveling body 3 is started, an abnormal signal (a signal indicating swinging of the ground arm 43 in the lifting direction, or a mechanical signal of the ground arm 43) is output from the mud surface sensors 44, 44. Unless a signal indicating that the swing limit has been exceeded is detected, the traveling body 3 continues to move backward until the main shift lever 9 is released from the reverse range r (# 307,
# 308 step), the mud surface sensor 4
When an abnormal signal is detected from the signals 4, 44, the continuously variable transmission 5 is operated by the transmission motor 56 to stop traveling. In order to lower the seedling planting device A after the seedling planting device A has risen to the upper limit due to the forced upward movement, the seedling planting device A is brought into contact with the ground by operating the forcible raising / lowering lever 19 to the lowering position D. The level is lowered to the level (steps # 309 and # 310).

As described above, according to the present invention, the main shift lever 9
When the traveling body 3 is moved backward by operating the
By forcibly raising the seedling planting device A to the upper limit prior to the reversing of the traveling machine body 3, the contact between the seedling planting device A and the ridge can be avoided, and this rise causes the right and left ground contact. After the arms 43, 43 are both separated upward from the field scene P, the traveling body 3 starts to retreat, so that the grounding arms 43, 43 prevent reverse movement in a state where they sink into the field scene P, and , 43 can be prevented.

[Brief description of the drawings]

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

FIG. 2 is a side view of a forced lifting lever.

FIG. 3 is a plan view of an operation path of a lifting lever.

FIG. 4 is a side view showing an arrangement of a float sensor and a ground arm.

FIG. 5 is a front view showing an arrangement of a float sensor and a ground arm;

FIG. 6 is a plan view showing an arrangement relationship between an auxiliary wheel and a ground arm.

FIG. 7 is a rear view showing an arrangement relationship between the auxiliary wheels and a ground arm;

FIG. 8 is a block circuit diagram of a control system.

FIG. 9 is a flowchart of a lifting control routine;

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

FIG. 11 is a flowchart of a backup routine.

[Explanation of symbols]

 2S Auxiliary wheel 3 Traveling body 35 Float sensor 43 Grounding arm 44 Mud surface sensor 48 Control device A Working device P Field scene

Claims (3)

[Claims] 1. A float sensor for connecting a work device to a rear end of a traveling body so as to be able to drive up and down freely and measuring a height of the work device with respect to a field based on a posture displacement of a ground float provided in the work device. A mud surface sensor that measures the hardness of the mud based on the amount of sinking of the sled-shaped grounding arm in contact with the field scene to the field scene, based on the mud hardness measured by the mud surface sensor. A paddy working machine equipped with a control device that performs elevating control of the working device based on the control sensitivity set by the control and the height of the field measured by the float sensor. Control for raising the working device to a predetermined height is started, and at the time of this rising control, the traveling body is moved backward after it is determined that the tip of the ground contact arm is separated from the field scene based on the measurement result of the mud surface sensor. Paddy working machine control is set to the control device for. 2. The paddy field working machine according to claim 1, wherein a control operation of the control device is set so as to prevent the traveling body from moving backward when the mud surface sensor measures an abnormal value during the ascent control. 3. The grounding arm is arranged so as to coincide with the position of a rut of an auxiliary wheel provided on the traveling body, and the grounding width of the grounding arm is set smaller than the width of the rut.
Or the paddy field working machine according to 2.