JPH0994012A - Working machine in paddy field - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable the reasonable practice of lifting and lowering of a chemical sprayer in a control mode based on the height from a machine body when connecting the chemical sprayer in place of a seedling transplanting device to a mobile machine body. SOLUTION: This working machine in a paddy field is equipped with a float sensor 40 capable of sensing the shaking posture around the shaft center Y in a transversely directing posture of a ground contact float 20 of a seedling transplanting device and a controller 45 for lifting and lowering the seedling transplanting device so as to maintain the results of sensing with the float sensor 40 at the set value set with a setter 30 when performing operations to transplant seedlings. The working machine is further provided with a control mode changeover means E capable of lifting and lowering a controlling device until the results of sensing with a height sensor for measuring the height of the controlling device from a mobile machine body attain the set value set with the setter 30 when connecting the controlling device in place of the seedling transplanting device to the mobile machine body.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a working device provided on a traveling machine body which can be lifted and lowered by driving an actuator, and is provided with a grounding float so as to be swingable around an axis of a horizontal posture. Regarding a paddy work machine equipped with a control device that raises and lowers a working device by driving an actuator so as to maintain the detection result of a float sensor that is detected at a set value set by a setting device, more specifically, a technique for switching control modes. Regarding

[0002]

2. Description of the Related Art As described above, a work device that moves up and down so as to maintain the swinging posture of a ground float detected by a float sensor at a value set by a setter is a sinking amount of a traveling body with respect to a field scene. Regardless of this, it is possible to raise and lower in accordance with the field scene so as to maintain the working device at a predetermined height based on the field scene, and is often adopted in the control system of a riding type rice transplanter (for example, Japanese Patent Laid-Open No. 6-237613
Issue).

[0003]

[Problems to be Solved by the Invention] Taking a rice transplanter as an example of a paddy working machine, since the rice transplanter is used only for seedling planting work, the annual operating rate is low, and after planting seedlings For the purpose of spraying fertilizers or chemicals or weeding according to the degree of growth, it has been considered to connect a device for performing this kind of management work to the traveling machine instead of the seedling planting device.

When a device for managing seedlings transplanted in a field is connected to a traveling machine to perform work, the height of the device is set higher than the height of rice so that it does not come into contact with seedlings. Not only is it necessary to perform work, but it is also necessary to set the device at a height that does not greatly separate from the seedlings in order to reduce the uneven distribution of the amount of spray due to the influence of wind during the work of spraying fertilizer or chemicals. However, conventional rice transplanters have room for improvement because they do not have a control system for maintaining the seedling planting device at an arbitrary height based on the traveling body.

Further, when the seedlings transplanted to the field are managed, it is necessary to stop the descending at a height that does not contact the seedlings when the management device is lowered, which does not bother the operator. There is also a demand for a technology that can stop the descent at a reasonable height. In addition, when using a seedling planting device, a technique to perform lifting control that follows the field scene, and when using a management device, reasonably switch to a control mode for performing lifting control based on the traveling machine body. Is also desired.

An object of the present invention is to rationalize a working machine capable of switching between a control mode for raising and lowering the working apparatus in a state where the grounding float is in contact with the field and a control mode for raising and lowering the working apparatus based on the traveling body. There is a point to configure, and also
In the control mode of raising and lowering the working device with the traveling machine body as a reference, the lower limit of the working device is rationally set, and each control mode is rationally switched.

[0007]

The first feature of the present invention is to:
A paddy work machine equipped with a control device that drives the actuator to raise and lower the work device so that the detection result of the float sensor that detects the swinging posture of the grounded float is maintained at the set value set by the setter A height sensor that measures the height of the working device with respect to the machine body is provided, and the actuator is driven via the control device to raise and lower the working device until the detection result reaches the set value set by the setting device. It is provided with a control mode switching means for performing the operation, and its operation is as follows.

A second feature of the present invention is that the lower limit of the height of the working device against the body at the time of switching the control mode by the control mode switching means is higher than the lower limit before the control mode switching so as to be separated from the field scene. It is provided with control limit switching means for setting, and its operation is as follows.

A third feature of the present invention is that the control mode switching means comprises a detection mechanism for detecting replacement of the working device with respect to the traveling machine body.
The operation is as follows.

[Operation] According to the first feature described above, when a working device equipped with a ground float such as a seedling planting device is used, the detection value from the float sensor is maintained at the value set by the setting device. By performing the control to perform the control, the work device can be moved up and down by following the field scene as a result of the control operation of raising and lowering the work device while maintaining the posture of the grounded float. , The work device is moved up and down so that the detection result of the height sensor is maintained at the value set by the setting device. Since the height can be set and the same setter is used in any control mode, the increase in the number of parts is suppressed, and this setter is related to the lifting control in any control mode. Nor cause an uncomfortable feeling to the operation feeling.

Further, according to the second feature, in the control mode in which the working device is moved up and down on the basis of the traveling machine body, the lower limit of the height of the working machine with respect to the machine body is set to a value separated from the field scene by the control limit setting means. Therefore, even if control is continued to lower the working device due to an erroneous operation, the working device is not grounded, and it is possible to prevent the working device from contacting the seedlings in the field scene.

Further, according to the third feature, when a working device for raising and lowering by using a height sensor is connected to the traveling machine body instead of the working device for raising and lowering by using the float sensor, the detection mechanism is provided. The changeover is detected and the control mode is switched.

[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.
An engine 4 is mounted on the front part of a traveling machine body 3 including a vehicle, and a hydrostatic stepless transmission 5 for transmitting power from the engine 4 and a mission case 6 are arranged on the rear part of the traveling machine body 3. Also, a driver's seat 7 is arranged in the center of the traveling machine body 3, and seedlings are planted as a working device A through a link mechanism 9 driven and moved up and down by a hydraulic cylinder 8 as an actuator with respect to the rear end of the traveling machine body 3. A rice transplanter is configured as an example of a riding work machine by connecting the devices An.

A seedling planting device An is provided on the right side of the driver's seat 7.
A raising / lowering lever 10 for controlling the raising and lowering of the vehicle and for opening and closing the planted clutch C is provided, and a main shift lever 12 for shifting the continuously variable transmission 5 is provided on the left side portion of the steering handle 11 in front of the driver's seat 7. An auxiliary shift lever 13 is provided on the left side of the driver's seat 7 to shift the gear shift system inside the mission case 6. The planting clutch C is built in the transmission case 6,
It is configured to be switchable between an on state for transmitting power from the mission case 6 to the seedling planting device An via the transmission shaft 14 and a cut state for cutting off the power.

The seedling planting device An is supported at the rear end position of the link mechanism 9 so as to be freely rotatable around the axis X in the front-back direction, and the seedling platform 1 on which the mat-like seedling W is placed.
5, a transmission case 16 to which the power from the transmission shaft 14 is transmitted, a rotary case 18 which is rotated by the power transmitted from the transmission case 16 via a chain case 17, and a pair of planted arms provided to the rotary case 18 19, multiple leveling floats 20 (one example of grounding floats)
It is configured for multiple row planting. Also, the traveling body 3
Line markers 21 are provided on both left and right sides of the front part of the robot so as to be able to switch between a working posture in which the subject falls in a field scene and a non-working posture in which the worker is 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, and the switching lever 22 has a neutral position "N" in which it is in a substantially horizontal posture. , A rising position "U" whose end is displaced upward with respect to this neutral position "N", a descending position "D" whose end is displaced downward, and its end being displaced forward. The left marker operating position "L" and the right marker operating position "R" whose ends are displaced rearward can be freely operated, and when not operated, the neutral position "N" can be adjusted by a spring (not shown). The post is provided with a lever switch 23 for discriminating the operation state of the switching lever 22 so as to be returned and held.

As shown in FIG. 3, the elevating lever 10 is in the "on" or "off" position for controlling the clutch mechanism C along the path formed in the guide 25, and "down" for elevating the seedling planting device An. "Neutral", "Rise" and "Automatic" positions are freely operable, and the seedling planting device An is connected to the rear end of the link mechanism 9 and the "rice planting" is performed in the control mode described later. Is selected, the lifting lever 10
Is set to the front side of the "descent" position in the path, the seedling planting device An is lowered; if it is set to the rear side of the "elevation" position, the seedling planting device An is raised and to the "neutral" position. When the planting device An is linked to a control system so as to maintain it at that level, and when the elevating lever 10 is set to the “ON” position, the planting clutch C is engaged and operated, and the leveling provided for the seedling planting device An is performed. Perform automatic lifting control to maintain a predetermined height against the field while the float 20 is in contact with the ground.
When set to the position, disengage and operate the planting clutch C,
When the raising / lowering lever 10 is set to the "automatic" position, the raising / lowering of the seedling planting device An is allowed according to the operation of the switching lever 22 and at the same time, the seedling planting device An can be automatically disengaged when the seedling planting device An is raised. To

Further, when the control device Ab is connected to the rear end of the link mechanism 9 as will be described later and when "control" is selected in the control mode described later, the elevating lever 10 moves the control device Ab up and down. Only the operation of the clutch mechanism C is allowed in a state in which the clutch is disabled.

As shown in FIG. 4, a control box 26 is arranged on the side of the driver's seat 7, and in this box 26, a mode selector switch 28 operated by a dial 27 and a seedling planting device An are installed. A potentiometer type control sensitivity setting device 30 operated by a dial 29 to set the sensitivity of the elevation control, a potentiometer type rolling angle setting device 32 operated by a dial 31 to set the rolling posture of the seedling planting device An, The knob 33 that is spring-biased to return to the neutral posture so as to temporarily change the rolling posture of the seedling planting device An with respect to the traveling machine body 3.
Equipped with each of the forced rolling switches 34 operated by
Further, a potentiometer type lower limit setting device 36 operated by the dial 35 is provided. The dial 27 is configured to be switchable between a "rice transplant" position and a "control" position,
When the seedling planting device An is connected to the link mechanism 9, the dial 27 is set to the "rice planting" position, and when the pest control device Ab of the link mechanism 9 described later is connected, the dial 27 is set.
The control mode can be switched by setting the to the "control" position.

As shown in FIG. 1, a potentiometer-type link sensor 37 is provided as a height sensor for measuring the height of the working device A from the swing angle of the link mechanism 9, and the seedling is attached. The device An is equipped with a rolling sensor 38 for measuring a rolling posture, and the seedling planting device A
An electric rolling motor 39 for setting a rolling posture of n is provided (see FIG. 7, specific structure is not described in detail). The plurality of ground leveling floats 20 are swingably supported around a lateral axis Y formed at a rear position, and of these, the one in the center position in the left-right direction has a swinging posture around the axis Y. A float sensor 40 for measurement is provided (see FIG. 7, the specific structure is not described in detail), and the automatic lifting control is performed so that the feedback signal from the float sensor 40 is maintained at the value set by the sensitivity setting unit 30. The seedling planting device An is vertically controlled.

Also, in this rice transplanter, a pest 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 as shown in FIG. It is also configured to be connectable. 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, a compressed air from the compressor 42, and a medicine from the tank 41. As shown in FIG. 6, the spray arms 43, 43 are provided with a pair of left and right spray arms 43, 43 to be fed, and the spray arms 43, 43 are switched between a horizontal work posture and a storage posture in which the end portions are directed upward. The spray nozzles 43A ... Are formed at predetermined intervals while being freely configured. It should be noted that the rear end of the link mechanism 9 is provided with a discriminating switch 44 for discriminating the type of the connected working device,
The discrimination switch 44 is an example of a detection mechanism that detects replacement of the work device A. When the seedling planting device An is connected, the discrimination switch 44 is turned on and a device such as a pest control device Ab that performs work in a non-grounded state is used. It is configured to maintain the OFF state when connected.

As shown in FIG. 7, a control system is constructed. In this control system, a potentiometer type lever sensor 46 for measuring the operating position of the elevating lever 10 with respect to a control device 45 equipped with a microprocessor, and the switching lever. 22
The lever switch 23, the lower limit setting device 36, the mode changeover switch 28, the control sensitivity setting device 30, the rolling angle setting device 32, the forced rolling switch 34, the determination switch 42, the rolling. A system for inputting a signal from each of the sensor 38 and the float sensor 40 and a signal from the link sensor 35 and the clutch sensor 47 for discriminating the state of the clutch mechanism C is provided, and an electromagnetic system for controlling the hydraulic cylinder 8 is provided. A valve 48, an electric clutch motor 49 for operating the clutch mechanism C, the rolling motor 3
7. A system for outputting a signal to each of the display units 50 for displaying erroneous operations is provided, and its control operation is as follows.

The control operation is set as shown in FIG. 8, and in this control, when it is determined that the operation position of the dial 27 is "Tapue" based on the signal from the mode selector switch 28, the determination switch 44 is used. The state of
Only in the F state, it is displayed on the display unit 50 that the mode change switch 28 has been erroneously operated (# 101
Steps # 103 to # 103), when the determination switch 44 is in the ON state, the raising / lowering of the seedling planting device An by operating the switching lever 22 (forced raising / lowering control) and the raising / lowering lever 1
Raising and lowering the seedling planting device An by operating 0 (manual raising / lowering control)
(Steps # 104 and # 105), and then, when the seedling planting device An is at the planting height by these operations, the signal value from the control sensitivity setting device 30 is set to the leveling float 2.
The target posture of 0 is set, and the signal from the float sensor 40 is input to perform feedback type automatic lifting control (#
106- # 109 steps). In this automatic raising / lowering control, as the control target posture of the grounding float 20 is set to the front rising side, a spring (not shown) that presses down the front portion of the grounding float 20 is compressed and the control sensitivity is lowered (becomes insensitive). ), The seedling planting device An is displaced downward, and the spring (not shown) for pressing down the front part of the ground contact float 20 relaxes as the control target posture of the ground contact float 20 is set to the front lower side. As a result of the increase in control sensitivity (sensitivity), the seedling planting device An is displaced upward, and
The operation direction is set such that the control sensitivity decreases (becomes insensitive) as the numerical value indicated by the dial 29 of the control sensitivity setting device 30 increases.

Further, when it is determined that the operation position of the dial 27 is "control" based on the signal from the mode changeover switch 28, the state of the determination switch 44 is determined and only when it is in the ON state. , Which indicates that the mode changeover switch 28 has been erroneously operated on the display unit 50 (# 1
01, # 110, # 103 steps), determination switch 4
When 4 is in the OFF state, the signal value from the control sensitivity setting unit 30 is set to the target height of the pest control device Ab against the body,
In addition, the signal from the lower limit setting device 36 is input to the pest control device Ab.
The lowering limits LL to LL 'are set to heights separated from the field scene, and a signal from the link sensor 37 is input to perform feedback type elevation control (steps # 111 to # 115). In this elevating control, the height of the pest control device Ab with respect to the traveling machine body 3 can be arbitrarily set by operating the control sensitivity setting device 30.
The operation relationship is set such that the higher the value indicated by the dial 29, the lower the height of the pest control device Ab with respect to the body,
As shown in FIG. 5, the lower limit setter 36 sets the lowering limits LL to LL ′ represented by the distance between the lower surface of the pest control device Ab and the field scene S within a range G shown in FIG. Even if the setting device 30 is largely operated, the lower surface of the pest control device Ab does not come into contact with the seedlings.

Further, as shown in FIGS. 4 and 8, the control sensitivity setting unit 30, the discrimination switch 44, and the control mode switching means according to claim 1 in each of the # 101 and # 110 steps of this control operation. E is configured, the lower limit setter 36,
Also, the control limit switching means F described in claim 2 is configured in step # 112.

When the pest control device Ab is connected, the line marker 21 cannot be operated by the switching lever 22.
As described above, although the control device Ab cannot be moved up and down by operating the switching lever 22 and the elevating lever 10, the operation of the clutch mechanism C is performed by operating the elevating lever 10 to the "ON" position. It is configured so that the clutch mechanism C can be disengaged by operating the disengagement position Ab.
It is possible to control.

In this way, the traveling machine body 3 is provided with the seedling planting device An.
In the case of connecting to the traveling machine body 3, the automatic raising / lowering control for raising / lowering the seedling planting device An according to the height displacement of the farmland scene S with respect to the traveling machine body 3 is made possible, and at the same time as the pest control device Ab,
When a working device A that needs to be adjusted in height based on the traveling machine body 3 is connected at a position spaced apart from the upper part of the working device A by using the control sensitivity setting device 30 used for automatic lifting control, the working device A is used. The height of the working device A can be adjusted when the height of the machine body is adjusted, and this adjustment direction is operated to the side that displaces the seedling planting device An to the rising side during the automatic lifting control (the side where the control sensitivity is sensitive). Since the operation direction is set so that the working device A is lowered when the seedling planting device An is operated to the side for displacing the seedling planting device An to the descending side (the side where the control sensitivity is insensitive), the operation tool is not specially provided. The operation feeling is comfortable. Further, when the working device A having no grounding float is connected instead of the seedling planting device An, the working device A is not lowered below the height set by the lower limit setting device 36, so that the control sensitivity setting is made. The lower surface of the working device A does not come into contact with the seedlings even if the working device A is moved to the side where the working device A is largely lowered due to an erroneous operation of the working device 30, and the lower limit setting device 36 is operated according to the growth of the seedlings, thereby The lower limit of A can be set arbitrarily.

[Other Embodiment] In addition to the above embodiment, the present invention can set a control operation, for example, as shown in FIG. 9, and in this control, the control mechanism is provided at the rear end of the link mechanism 9. The determination switch 44 determines the type of the work device A connected to the link mechanism 9 (step # 201), and when it is in the ON state, that is, when the seedling planting device An is connected, the above-mentioned control is performed. The forced lift control and the manual lift control as well as the automatic lift control are made possible (steps # 202 to # 207), and when the determination switch 44 is in the OFF state, that is, the pest control is performed. When a work device such as the device Ab for performing work in a non-grounded state is connected, the signal value from the control sensitivity setter 30 is used as the target height of the control device Ab as in the control operation described above. Set to , A signal from the lower limit setting device 36 is input to set the lower limit height of the pest control device Ab to a height separated from the field scene, and a signal from the link sensor 37 is input to perform feedback type elevation control (# 208- #
212 steps). In this another embodiment, as described in claim 3, the determination switch 44
Then, the control mode switching means E is constituted by step # 201 of the control operation.

[0029]

Therefore, it is possible to switch between the control mode in which the working device is moved up and down while the grounding float is in contact with the field, and the control mode in which the working device is moved up and down with the traveling body as a reference, and the operation is performed in each control mode. A work vehicle that does not change the sense was reasonably constructed (Claim 1). Further, in the control mode in which the working device is moved up and down on the basis of the traveling machine body, it is possible to rationally set the lower limit of the working device and avoid contact between the working device and the seedlings without any special operation by the operator. (Claim 2) Further, it becomes possible to rationally switch the respective control modes without requiring the operator to perform a special operation (Claim 3).

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

[Brief description of drawings]

[Figure 1] Overall side view of 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 pest control device in a state of being connected to the traveling body.

FIG. 6 is a rear view of the pest control device.

FIG. 7 is a block circuit diagram of a control system.

FIG. 8 is a flowchart of a control operation.

FIG. 9 is a flowchart of a control operation according to another embodiment.

[Explanation of symbols]

 3 Travel Aircraft 8 Actuator 20 Ground Float 30 Setting Device 37 Height Sensor 40 Float Sensor 44 Detection Mechanism 45 Control Device A Working Device E Control Mode Switching Means F Control Limit Switching Means S Field Scene Y Axis Core

Claims (3)

[Claims] 1. An actuator (8) for a traveling body (3)
A float for detecting the swinging posture of the grounding float (20) by swinging the grounding float (20) around the axis (Y) in the sideways posture in the working device (A) that can be lifted and lowered by the drive. The detection result of the sensor (40) is set to the setting device (30)
A paddy working machine equipped with a control device (45) that drives an actuator (8) to raise and lower the working device (A) so as to maintain the set value set in 1., and is a working device for a traveling machine body (3). A height sensor (37) for measuring the height of (A) is provided, and the actuator (45) is operated via the control device (45) until the detection result reaches the set value set by the setter (30). 8)
Paddy working machine provided with a control mode switching means (E) for driving the machine to raise and lower the working device. 2. The lower limit of the height of the working device (A) with respect to the machine body when the control mode is switched by the control mode switching means (E) is higher than the lower limit before the control mode is switched so as to be separated from the field scene (S). The paddy work machine according to claim 1, further comprising control limit switching means (F) for setting. 3. The control mode switching means (E) comprises a detection mechanism (44) for detecting replacement of the working device (A) with respect to the traveling machine body (3).
Paddy work machine described.