JP2635864B2 - Ground work machine lifting control - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a ground working device which is connected to a traveling machine so as to be able to move up and down by driving an actuator, and a grounding sensor for detecting a ground height is provided on the ground working device. A lifting / lowering control means for driving and controlling the actuator so that the detected value of the grounding coincides with a set value; and a swinging grounding body that swings up and down while following the grounding, and a pair of the swinging grounding body. The present invention relates to a lifting and lowering control device for a ground working machine, comprising an angle detecting means for detecting a body swing angle.

[0002]

2. Description of the Related Art In the above-mentioned lifting and lowering control device for a ground working machine, conventionally, as disclosed in, for example, Japanese Patent Application Laid-Open No. 2-283206, an operating arm of a potentiometer as the angle detecting means and a swing grounding body are used. The height detection range is set such that the rocking grounding body can be rocked only within a predetermined range by the engagement of the elongated hole and the pin.

[0003]

However, in the above-mentioned conventional structure, if the swing grounding body and the potentiometer are respectively mounted at regular positions, and the swing movement is reliably performed within the set range, there is no adverse effect. Does not occur, for example, if the mounting position is shifted due to a collision with an external object, etc., the control state will be abnormal, but if the height detection sensor swings In some cases, it was not possible to determine where the abnormality was, and there was room for improvement. An object of the present invention is to eliminate the above disadvantages.

[0004]

According to a feature of the present invention, in the lifting and lowering control device for a ground working machine described at the beginning, the ground working device is raised to a high position where the rocking grounding body is in a floating state above the ground. And a warning means for issuing a warning when the detected value of the angle detecting means is out of a predetermined area when the rising detecting means is in a detecting state. It is in.

[0005]

In the case where the ground working device has been raised to a high position where the rocking ground is in a state of floating above the ground, the rocking ground is at its maximum lowered position due to its own weight, that is, the maximum height. In the detection state, if the mounting position of the angle detection means and the height grounding sensor is displaced, the detection angle at this time will be a different value from that in the normal mounting state. When it is off, it can be determined that there is an abnormality, and the pilot can determine that by issuing an alarm.

[0006]

Accordingly, in the case where the relative mounting position between the swing grounding body and the angle detecting means is shifted or the swing grounding body is twisted and fixed at an intermediate position within a normal operating range. Even if there is, abnormalities can be easily determined, and quick responses can be made.

[0007]

Embodiments will be described below with reference to the drawings. FIG.
Shows a riding rice transplanter. In this rice transplanter, a seedling planting device 3 (an example of a ground working device) is mounted on a rear portion of a riding type traveling body 1 via a parallel quadruple link mechanism 2 with a lift cylinder CY.
1. Drive up and down and rolling cylinder CY2
(An example of an actuator) so as to be rotatably connected around the longitudinal axis.

The seedling placement device 3 includes a seedling rest 5, which reciprocates and moves laterally with a constant stroke with respect to a frame transmission transmission case 4 connected to the link mechanism 2, from the lower end of the seedling rest 5. The planting mechanism 6 is configured to cut out seedlings for planting one plant at a time, and plant the seedlings in a field.
The center of a rotating case 7 that is driven to rotate around a horizontal axis is pivotally supported at the rear of the planting transmission case 4, and a pair of planting claws 8 are attached to both sides thereof, and not shown with the rotation of the rotating case 7. The planting claw 8 is configured to cut out and plant the seedlings one by one from the seedling rest 5 while the planting claw 8 draws an almost elliptical locus in a side view by the cam mechanism. A pair of left and right ground-following swing arms 9 are provided on the left and right sides of the front lower portion of the planting transmission case 4.
Type ground height detection sensors 10R and 10L are provided.
This detection sensor 10R. 10L is configured to detect a relative swing angle of the swing arm 9 (an example of a ground swing body) with respect to the planting transmission case 4 by a potentiometer PM1 (an example of an angle detecting unit).

An elevation control means A for driving and controlling the lift cylinder so that the average value of the detection values by the detection sensors 10R and 10L matches the set value is provided. More specifically, as shown in FIG. 1, the hydraulic control valves V1 and V1 of the lift cylinder CY1 and the rolling cylinder CY2, respectively.
2 is configured to be an electromagnetically operated type, and the control valves V1 and V2 are configured to be controlled based on the detection values of the respective detection sensors 10R and 10L. That is, the control device 11 controls and drives the lift cylinder CY1 so that the average value of the detection values of the left and right detection sensors 10R and 10L matches a preset predetermined value, and the difference between the detection values of the left and right detection sensors 10R and 10L is a predetermined value. The rolling cylinder CY2 is driven and controlled so as to fall within the range, so that the seedling planting apparatus 3 can perform the planting operation while always maintaining the horizontal posture against the mud surface and the predetermined height. That is, the elevation control means A is provided in the control device 11 in the form of a control program.

Further, the relative angle between the fuselage 1 and the link mechanism 2 is detected at the body-side pivot point of the link mechanism 2, and the seedling planting device 3 is moved to a high position where the swing arm 9 is in a floating state above the ground. A potentiometer PM2 for detecting the rise is provided (an example of a rise detection means), and the detection sensors 10R and 10L in such a rise detection state are provided.
A buzzer 12 that issues an alarm when the detected value of the detected value is out of the predetermined area is provided in the aircraft control section. The potentiometer PM2 and the buzzer 12 are connected to the control device 1 respectively.
1 and the control device 11 executes control as follows.

As shown in FIG. 2, the output of the ground floating state detecting potentiometer PM2 is read, and the detected value is larger than a first predetermined value of a high level.
Is determined to be above ground (step S
1, S2), and each detection sensor 10R, 1 in the floating state.
The detected values of 0L are read (step S3), and if each detected value is out of the predetermined area corresponding to the maximum height level of the detection area, the buzzer 12 is operated to indicate that the operator is abnormal. (Steps S4, S5, S
6). Further, the shift amount is calculated and stored as a correction value in the memory 13 (steps S7 and S8). When the output of the ground floating state detecting potentiometer PM2 is equal to or lower than the second predetermined value of the low level and the seedling planting apparatus 3 is at the grounding work position (step S9), each of the detection sensors 10R and 10L in the grounded state. The detected values X1 and X2 are read (step S10), and the actual detected values are corrected based on the correction values a1 and a2 stored as described above. Is not stored, the rolling control for driving the rolling cylinder CY2 is executed based on the uncorrected detection values X1 and X2 so that the left and right detection heights substantially match, and the average value of the left and right detection heights becomes a predetermined value. The lift control for controlling the lift cylinder CY1 is executed so as to match the set value (steps S11 and S1).
2, S13). Step S13 constitutes the elevation control means A.

In the claims, reference numerals are provided to facilitate comparison with the drawings, but the present invention is not limited to the configuration shown in the attached drawings.

[Brief description of the drawings]

FIG. 1 is a control system diagram

FIG. 2 is a control flowchart.

FIG. 3 is an overall side view of the rice transplanter.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Traveling body 3 Ground work device 9 Oscillating grounding body 10R, 10L Grounding sensor 12 Alarm means A Elevation control means PM1 Angle detection means PM2 Elevation detection means

Claims (1)

(57) [Claims] 1. A grounding sensor for connecting a ground working device (3) to a traveling body (1) by driving an actuator (CY1) so as to be able to move up and down, and detecting a ground height to the ground working device (3). (10R) and (10L) are provided, and elevation control means (A) for controlling the drive of the actuator (CY1) so that the detection values of the ground sensors (10R) and (10L) match the set values are provided, and A swinging grounding body (9) which swings the grounding sensors (10R) and (10L) up and down while following the grounding, and an angle detecting means (?) For detecting the body swinging angle of the swinging grounding body (9) PM
1) the lifting and lowering control device for a ground working machine, wherein the ground working device (3) is raised to a high position where the swinging grounding body (9) is in a floating state above the ground. An alarm detecting means for detecting a rise, and issuing an alarm when a detected value of the angle detecting means (PM1) is out of a predetermined area when the rising detecting means (PM2) is in a detecting state. A lifting and lowering control device for a ground working machine comprising (12).