JP3443213B2 - Paddy field machine - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a working device provided on a traveling body which can be moved up and down by driving an actuator so that a grounding float can be swung about an axis in a lateral posture. A paddy working machine equipped with a control device that drives an actuator to lift and lower the working device so that the detection result of the float sensor that detects the swinging posture of the ground float is maintained at a set value set by the setting device. More specifically, the present invention relates to a technique for switching control modes. 2. Description of the Related Art Conventionally, there is a paddy working machine configured as described above as disclosed in Japanese Patent Application Laid-Open No. Hei 6-292422. [0003] Taking a rice transplanter as an example of a paddy field working machine, the rice planting machine is used only for seedling planting work, so the annual operation rate is low, and after the seedlings are planted. For the purpose of spraying fertilizers and chemicals or weeding according to the degree of seedling growth, it is also considered to connect a device that performs this kind of management work to the traveling machine instead of the seedling planting device. . When a device for managing seedlings transplanted to a field is connected to a traveling machine to perform work, the height of the device is set higher than the height of the seedlings so that the device does not come into contact with the seedlings. Not only is it necessary to carry out the work, but also during the work of spraying fertilizers and chemicals, it is necessary to set the apparatus at a height that does not leave the seedlings significantly in order to reduce the deviation in the spray amount due to the influence of wind. However, conventional rice transplanters do not have a control system for maintaining the seedling planting device at an arbitrary height based on the traveling machine body, and there is room for improvement. Further, when managing the seedlings transplanted to the field, it is necessary to stop the lowering at a height at which the seedlings do not come in contact with the seedlings when the management device is lowered, so that the operator is not bothered. There is also a demand for a technique for stopping the descent at a reasonable height. Furthermore, when using a seedling planting device, a technology for performing elevating control following a field scene, and when using a device for management, a technology for switching the control mode without difficulty to perform elevating control based on the traveling machine. Is desired. An object of the present invention is to utilize a control system for elevating and lowering a working device with a ground float in contact with a field, and to switch the operating device to a control mode for raising and lowering the working device on the basis of a traveling machine body. The point is to configure a paddy field working machine that can reasonably set the lowering limit of the paddy field. [0007] The feature of the present invention is that a traveling machine body is provided with a working device that moves up and down by driving an actuator ,
Actuator to maintain the ground float to the working device provided swingably in axis around the horizontal position, the detection result of the float sensor for detecting a swinging attitude of the ground float, the values set in the setting device A paddy field working machine having a control device for automatically controlling the lifting and lowering of the working device by driving the working device, wherein the sensor detects the height of the working device with respect to the traveling body.
Feed back the signal from the
The value of the sensor whose device height is set by adjusting the operating tool
To maintain the aircraft at a height corresponding to the
Provided with a port <br/> Jishon control means for position control of the working device by driving the Yueta, the automatic elevation control
Selectable control mode and position control control mode
In addition to being configured to enable mode switching,
And the setting control means for setting the set value of the setting device to the lower limit of the working device at the time of ascent / descent control by the position control means switched to the control mode of the operation control. The operation is as follows. . [0008] According to [action] above, wherein, at the time of control by the position control means will be capable Complete set to an arbitrary height with respect to the traveling machine body to the working device, also create <br/> by position control At the time of operation, the lower limit of the working device is set by the setting device, so the setting height of the working device with respect to the traveling machine by the operating tool
Lower limit of the working equipment, no matter how low
Only it is set to an appropriate value setter for setting, Misao
Depending on the height (position) and traveling aircraft set by the tool
Detection by the signal of the sensor that detects the height of the work equipment
Even if the working device is lowered to the lower limit by the position control based on the detection result of the output value, the working device is set by the setting device.
Since the working device does not contact the seedling because it does not descend below the lower lower limit position, even when the seedling grows and the lowering limit needs to be changed, the value of the lowering limit can be set by operating the setting device. It can be set appropriately. In other words, according to the present invention, it is possible to use the control sensitivity setting device which is used for raising and lowering the seedling planting apparatus, and to work at a height that does not greatly separate the seedlings above the seedlings, such as when spraying chemicals. Also in this case, for example, by setting the descent limit by the setting device to a slightly higher value from the seedling, the working device is controlled by the setting device during control by the position control means .
By simply lowering to the lower limit set in this way, the working device does not lower from the lower lower limit position and the height of the working device can be optimally set without performing a complicated operation. 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 a hydraulic motor, and a hydrostatic continuously variable transmission 5 to which power from the engine 4 is transmitted and a transmission case 6 are arranged on the rear part of the traveling body 3. In addition, a driving seat 7 is arranged at the center of the traveling body 3, and a seedling planting as a working device A is provided via a link mechanism 9 driven up and down by a hydraulic cylinder 8 as an actuator with respect to a rear end of the traveling body 3. A rice transplanter is configured as an example of a riding work machine by connecting the devices An. A seedling plant An is provided on the right side of the driver's seat 7.
A main shift lever 12 for shifting the continuously variable transmission 5 is provided on the left side of the steering handle 11 in front of the driver's seat 7. On the left side of the driver's seat 7, there is provided an auxiliary transmission lever 13 for performing a shift operation of a gear transmission system inside the transmission case 6. The planting clutch C is built in the transmission case 6,
The transmission case 14 is configured to be capable of switching between a transmission state where power is transmitted from the transmission case 6 to the seedling planting device An via the transmission shaft 14 and a cutoff state where power is cut off. The seedling plant An is supported at the rear end position of the link mechanism 9 so as to be freely rotatable around an axis X in a front-rear direction, and a seedling table 1 on which a mat-shaped seedling W is placed.
5, a transmission case 16 to which the power from the transmission shaft 14 is transmitted, a rotary case 18 rotated by the power transmitted from the transmission case 16 via a chain case 17, and a pair of planting arms provided in each of the rotary cases 18. 19, plural leveling floats 20 (an example of a ground float)
And is configured for multiple planting. In addition, traveling body 3
A line marker 21 is provided on both left and right sides of the front part of the front panel so as to be switchable between a working posture falling down on a field scene and a non-working posture lifted upward. As shown in FIG. 2, a switching lever 22 as an operating tool is provided on the right side surface of the post portion of the steering handle 11. The switching lever 22 has a neutral position "N" in a substantially horizontal posture. An ascending position "U" whose end is displaced upward based on the neutral position "N", a descending position "D" whose end is displaced downward, and an end displaced forward. The left marker operation position "L" and the right marker operation position "R" whose end is displaced rearward can be freely operated. When not operated, the neutral position is set to the neutral position "N" by a spring (not shown). It is configured to be returned and held, and a lever switch 23 for determining the operation state of the switching lever 22 is provided inside the post portion. The switching lever 22 enables the raising and lowering of the seedling planting apparatus An. When the switch lever 22 is operated to the rising position "U" as described later, the lower surface of the seedling planting apparatus An is moved to the upper limit Lt.
(See FIG. 5), the planting clutch C is disengaged, and the lowering position “D” is operated.
n is lowered to the working height, and after being lowered in this manner, the planting clutch C is turned on by operating the lowering position “D” again, and further, the right marker operating position “R” or the left marker operating position “ When the "L" operation is performed, a control system is formed so as to perform an operation of switching the line marker 21 on the selected side to the action posture and simultaneously enter and operate the planting clutch C. As shown in FIG. 3, the raising / lowering lever 10 is in the "on" and "off" positions for controlling the clutch mechanism C along the path formed in the guide 25, and the "down" for raising and lowering the seedling plant An. "Neutral", "up", and "auto" are operable at respective positions, while the seedling planting device An is connected to the rear end of the link mechanism 9, and in the control mode described later, "rice planting" is performed. Is selected, the lifting lever 10
Is set in front of the “down” position in the path, the seedling planting device An is lowered, and if it is set in the rear side of the “up” position, the seedling planting device An is raised, and the seedling is set in the “neutral” position. When the raising / lowering lever 10 is set to the "on" position, the planting clutch C is engaged and the planting device An is operated while the planting device An is maintained at that level. When the float 20 is in contact with the ground, automatic elevation control is performed to maintain a predetermined height with respect to the field, and “off”
When set to the position, the planting clutch C is turned off, and
When the raising / lowering lever 10 is set to the “automatic” position, the raising and lowering of the seedling plant An by the operation of the switching lever 22 is permitted. As shown in FIG. 4, a control box 26 is arranged on the side of the driver's seat 7. The box 26 has a mode changeover switch 28 operated by a dial 27 and a seedling plant An. A potentiometer-type control sensitivity setting device 30 operated by a dial 29 to set the sensitivity of the elevating control; a potentiometer-type rolling angle setting device 32 operated by a dial 31 to set the rolling posture of the seedling plant An; Each of the forced rolling switches 34 is operated by a knob 33 that is biased by a spring so as to return to the neutral position so as to change the setting of the rolling position of the seedling placement apparatus An with respect to the traveling body 3.
The dial 27 is configured to be switchable between a “rice planting” position and a “control” position.
Is set, the control mode is switched by setting the dial 27 to the "rice planting" position, and setting the dial 27 to the "control" position when the control device Ab of the link mechanism 9 described later is connected. It is gaining. As shown in FIG. 1, a potentiometer-type link sensor 37 is provided as a height sensor for measuring the height of the working unit A with respect to the body from the swing angle of the link mechanism 9, and the seedlings are planted. The device An is provided with a rolling sensor 38 for measuring the rolling posture and the seedling planting device A.
An electric rolling motor 39 for setting the n rolling posture is provided (see FIG. 7, the specific structure is not described in detail). The plurality of leveling floats 20 are swingably supported around a lateral axis Y formed at a rear position, and of the plurality of floats 20 at a central position in the left and right directions around the axis Y. A float sensor 40 for measuring the moving posture is provided (see FIG. 7, the detailed structure is not described in detail), and the automatic elevating control maintains a feedback signal from the float sensor 40 at a value set by the sensitivity setting device 30. The raising and lowering of the seedling planting device An is controlled so as to be performed. In this rice transplanter, instead of the seedling planting device An, as shown in FIG. 5, a control device Ab as a working device A for spraying chemicals such as insecticides and herbicides is provided at the rear end of the link mechanism 9. It is configured to be able to be connected. The control device Ab includes a tank 41 for storing a liquid medicine, a compressor 42 driven by power transmitted from the traveling machine body 3 via the transmission shaft 14, and compressed air from the compressor 42 and the medicine from the tank 41. The spray arms 43, 43 are provided with a pair of left and right spray arms 43, 43, which are fed in. The spray arms 43, 43 are switched between a working posture in which the spray arms extend in the horizontal direction and a storage posture in which the ends are directed upward, as shown in FIG. Spray nozzles 43A are formed at predetermined intervals while being freely configured. A control system is constructed as shown in FIG. 7. In this control system, a potentiometer type lever sensor 46 for measuring the operating position of the lifting lever 10 with respect to a control device 45 having a microprocessor, the switching lever 22
Signals from the lever switch 23, the mode changeover switch 28, the control sensitivity setting device 30, the rolling angle setting device 32, the forcible rolling switch 34, the rolling sensor 38, and the float sensor 40 for detecting the operation position of And the link sensor 37 and the clutch sensor 47 for determining the state of the clutch mechanism C.
And a system for outputting signals to the solenoid valve 48 for controlling the hydraulic cylinder 8, the electric clutch motor 49 for operating the clutch mechanism C, and the rolling motor 39, respectively. Made up of In this control system, when the seedling planting device An is connected to the rear end of the link mechanism 9 and "rice planting" is selected in the control mode, the same elevation control as the conventional rice planting machine is performed. In the state where the control device Ab is connected to the rear end of the link mechanism 9 and “control” is selected in the control mode, the height of the control device Ab with respect to the traveling machine can be adjusted by the elevating lever 10. The control system is configured as follows. That is, at the time of control, the mode switch 2
8, it is determined whether the control mode of "rice planting" is selected or the control mode of "control" is selected. If the control mode of "rice planting" is selected,
Only when the switching lever 22 is operated in a state where the elevating lever 10 is set to the “automatic” position, in the forced elevating control step, the seedling plant An is moved up and down, and the elevating lever 10 is operated. At this time, the seedling planting apparatus An is raised and lowered in the manual lifting control step (# 101 to # 103 steps). In the forcible raising / lowering control step, when the switching lever 22 is operated to the raising position "U" to raise the seedling plant An, the raising is performed to the upper limit position indicated by Lt in FIG. D "to lower the seedling planting device An to lower the seedling planting device An to a working height at which the leveling float 20 comes into contact with the ground and the automatic ascent / descent control can be performed. In the control step, as described above, the seedling plant A
This is a control operation for raising and lowering n. Next, when the seedling planting device An is at the working height, the target attitude of the leveling float 20 is set based on the signal from the control sensitivity setting device 30, and the signal of the float sensor 40 is input. A feedback-type automatic elevating control is performed (steps # 104 to # 107). During this automatic lifting / lowering control, as the control target posture of the grounding float 20 is set to the front ascending side, a spring (not shown) for pressing the front part of the grounding float 20 downward is compressed, and the control sensitivity is lowered (insensitive). Then, as the control target posture of the grounding float 20 is set to the lower front side, a spring (not shown) for holding down the front part of the grounding float 20 is relaxed and the control sensitivity increases (becomes more sensitive). In addition, the operation direction is set such that the larger the value indicated by the dial 29 of the control sensitivity setting device 30 is, the lower the control sensitivity becomes (the less sensitive). In step # 101, if the control mode of "control" is selected by the mode changeover switch 28, the signal value from the control sensitivity setting device 30 is used as the control device Ab.
The lower limit LL to LL ′ of the control device, the upper limit of the control device Ab is set to a value LT set in advance so as to be lower than the upper limit Lt in the forced lifting control, and the lifting lever 10 is set. The signal of the lever sensor 46 is input so that the height of the control device Ab with respect to the body can be adjusted by the operation of the link sensor 3.
7 is fed back to perform the ascending / descending control within the range between the lower limit LL and the upper limit LT (steps # 108 to # 112). In step # 108, the setting switching means E is constituted. In this setting switching means E, as shown in FIG. The control range is set so that it can be changed within the range G indicated by LL ′.
As the numerical value indicated by 9 is smaller, the control device Ab is raised,
The control direction is set such that the larger the value indicated by the dial 29 of the control sensitivity setting device 30 is, the lower the control device Ab is.
The direction in which the seedling planting device An is displaced when 0 is operated (is slightly displaced in a state where the leveling float 20 is in contact with the ground) is matched with the operation direction at the time of switching the setting of the lower limit.
When the lower limit LL is changed to a position higher than the current height of the control device Ab, the control operation is set so that the control device Ab rises to the lower limit. The position control means F is constituted by steps # 110 to # 112.
In this example, the control for setting the height of the working device A to the height of the machine body corresponding to the operation position of the lifting lever 10 is performed. When the control mode of "control" is selected by the mode changeover switch 28, only the lifting and lowering of the working device can be performed by the lifting lever 10, and the planting clutch C
The control action is set to disable the on / off operation of
The operation of the switching device 22 to the upper position "U" and the operation to the lowering position "D" also disable the lifting and lowering of the working device, and the operation of the switching lever 22 to the right marker operation position "R" and the left marker operation position " The control operation is set so that the line marker 21 is not switched to the action posture even when the operation is performed to "L". Further, when the switching lever 22 is operated to the lowered position "D", the raised position "U" or the lowered position " D), if the planting clutch C is in the off state, perform the on operation,
A control operation is set so that a cutting operation is performed if the vehicle is in the on state (the control operation is not shown). As described above, according to the present invention, it is possible to raise and lower the working device in an appropriate control mode corresponding to the working device connected to the traveling machine body 3 by selecting the control mode. When the control device Ab is connected instead, the height of the control device Ab is adjusted with reference to the traveling machine body 3 so that the seedlings can be sprayed with a chemical or the like. Since the lower limit of the control device Ab is set by the setting of the control sensitivity setting device 30 for setting the sensitivity of
There is no need to provide a dedicated setting device for this setting.
The setting of the control sensitivity setting device 30 corresponding to the amount of sinking of the traveling wheels 1 and 2 in the field and the degree of growth of the seedling enables the spraying of the medicine from a height that does not greatly separate from the seedling. [Another Embodiment] The present invention is not limited to the above embodiment. For example, in a state where a control device is connected to a traveling body, an operation of a dedicated operation lever or the like for adjusting the height of the control device with respect to the body is performed. It is also possible to comprise with a tool . Therefore, when the control mode for raising and lowering the working device with the ground float in contact with the field can be used to switch to the control mode for raising and lowering the working device on the basis of the traveling machine. Thus, a paddy field working machine capable of rationally setting the lower limit of the working device was rationally constructed. Incidentally, reference numerals are written in the claims for convenience of comparison with the drawings, but the present invention is not limited to the configuration of the attached drawings by the entry.

[Brief description of the drawings] FIG. 1 is an overall side view of a rice transplanter. FIG. 2 is a side view showing a switching lever. FIG. 3 is a plan view showing an operation path of a lifting lever. FIG. 4 is a plan view of a control box. FIG. 5 is a side view of the control device in a state where the control device is connected to a traveling machine body. FIG. 6 is a rear view of the control device. FIG. 7 is a block circuit diagram of a control system. FIG. 8 is a flowchart of a control operation. [Explanation of symbols] 3 traveling aircraft 8 Actuator 20 ground float 30 Setting device 40 float sensor 45 Control device A Working device Y axis core E Setting switching means F Position control means

Claims (1)

(57) [Claims] [Claim 1] An actuator (8) is attached to a traveling body (3).
A working device (A) that moves up and down by the drive is provided. The working device (A) is provided with a grounding float (20) so as to be swingable around an axis (Y) in a horizontal posture.
The actuator (8) is driven to maintain the detection result of the float sensor (40) for detecting the swinging posture of (0) at the set value set by the setter (30).
A paddy field working machine provided with a control device (45) for performing automatic lifting and lowering control of a traveling machine, wherein the height of the working device (A) with respect to the traveling body (3) is detected.
The feedback of the signal of the sensor (37)
The height of the working device (A) with respect to the body (3) is
Corresponds to the value of the sensor (46) set by the adjustment of 0)
The actuator so as to maintain the
(8) to control the position of the working device (A).
Performing the position control means (F), the control mode of the automatic elevating control and the control of the position control
Configuration so that mode switching can be performed selectively between
At the same time, the setting switch for setting the set value of the setting device (30) to the lower limit of the working device (A) during the elevation control by the position control means (F) switched to the control mode of the position control . A paddy field working machine comprising the means (E).