JP6974793B2 - Work vehicle - Google Patents

Description

The present invention relates to a work vehicle equipped with a seedling planting device for planting pot seedlings.

Conventionally, there is a seedling transplanting machine provided with a traveling vehicle body and a seedling planting portion provided at the rear of the traveling vehicle body and for planting pot seedlings in a field. The seedling planting part is empty from the pot seedling box introduction part and the empty box accommodating part arranged one above the other, the planting device provided at the lower end of the rear part, and the seedling planting part from the pot seedling box introduction part. A transport unit for transporting the pot seedling box to the box accommodating unit is provided (see, for example, Patent Document 1).

This type of pot seedling transplanting type seedling transplanting machine is equipped with the above-mentioned transporting part in the seedling planting part, so the seedling planting part is extremely heavy, so the weight is concentrated on the rear of the machine when the pot seedlings are loaded. This is especially true when the seedling planting section is replenished with pot seedlings in the spare seedling frame on the front side of the machine.

In the seedling planting part where such a large mass is concentrated, the height of the field scene can be adjusted by an elevating device, and in order to maintain the predetermined planting depth, the field scene is placed under the seedling planting part. It is equipped with a ground leveling float that detects and prepares the ground, and also controls the raising and lowering of the seedling planting part according to the unevenness of the field.

JP-A-2017-51121

However, there is a time lag until the leveling float detects unevenness and operates the elevating device to reach a predetermined height, and due to the limitations of the support rigidity of the components and the operating characteristics of the related equipment, the goal is to increase the elevating speed. There is a time lag between reaching the height and stopping the ascent and descent, and there is a problem that the target height position is exceeded. If the ascending / descending speed is increased in order to suppress such a time lag, the problem that the seedling planting part causes hunting and the planting is disturbed is unavoidable.

An object of the present invention is to provide a work vehicle that improves planting property and leveling property by improving the inconvenience of raising and lowering the seedling planting portion and stabilizing the raising and lowering operation.

The invention according to claim 1 is a ground leveling member (43) for leveling a field scene, a work device (18) for field work on a field scene leveled by the ground leveling member (43), and the ground leveling member (43). A detection means for detecting the height of the field scene of the work device (18) in a work vehicle that is provided with a lift device (23) that lifts and supports the work device (18) while leveling the field while traveling in the field. When the control device (C) for controlling the elevating operation of the elevating device (23) is provided and the working device (18) is held at a predetermined field scene height, the detection height by the detection means changes. When the peak of elevating is reached, the elevating operation control of the elevating device (23) is stopped for a predetermined time , and further,
The ground leveling member (43) is a float (43) configured to move up and down together with the working device (18) and to rotate up and down according to the height of the float (43) in contact with the field scene.
The detecting means is a float sensor capable of detecting the field height of the working device (18) from the rotation angle of the float (43).
When the field height of the work device (18) is controlled to be raised or lowered to a predetermined target height, the larger the rotation angle of the float (43) is with respect to the target angle, the higher the height to reach the target height. It is characterized in that the time is exponentially decreased, and the descent time to reach the target height is exponentially decreased as the time becomes smaller with respect to the target angle .

The invention according to claim 6 is the invention according to claim 1 , wherein the detection means supports the ground leveling member (43) so as to be vertically rotatable according to a field scene, and the ground leveling member (43) can be rotated. It is characterized in that the height of the field scene is detected by the angle.

In the invention according to claim 1, the work device (18) performs field work so that the support height can be raised and lowered by the elevating device (23) while leveling the field with the ground leveling member (43) while traveling in the field, and further, detection is performed. Detection when the control device C controls the elevating device (23) to hold the work device (18) at a predetermined field scene height based on the field scene height of the work device (18) detected by the means. When the height changes and reaches the peak of ascending / descending, the height adjustment of the working device (18) is stopped for a predetermined time, so that the excess due to the time lag of the elevating device (23) and the excess amount are returned (hunting). It is possible to improve the leveling property and the workability in the field by the stable operation of the work device (18).

The invention according to claim 2 has the effect of the invention according to claim 1, and the unevenness of the field is increased by increasing the ascending / descending speed of the working device (18) when the height is separated from the target height by a predetermined separation standard or more. The height can be adjusted according to the size of the, and the followability is improved.

In the invention according to claim 3, in addition to the effect of the invention according to claim 1, the ascending / descending speed of the working device (18) is increased as the distance from the target height is increased, so that the speed is adjusted to the degree of unevenness in the field. The height can be adjusted with, and the followability is improved.

In the invention according to claim 4, in addition to the effect of the invention according to claim 1, the ascending / descending speed of the working device (18) is increased as the distance from the target height is increased, so that the ascending / descending speed is adjusted to the unevenness of the field. Since control is possible, followability is improved, and when the approach to a predetermined proximity reference is approached, the ascending / descending operation is stopped, so that the time lag of the elevating device (23) causes the elevating device (23) to go over the predetermined height and then return (hunting). It is possible to improve the plantability and the leveling property by stabilizing the operation of the working device (18).

In the invention according to claim 5, in addition to the effect of the invention according to claim 1, the ground leveling device and the field followability are more stable when the vehicle is stopped near the target value, but it is actually after the elevating device issues an elevating stop signal. Since the response until the seedling planting part stops is delayed and there is a risk of hunting exceeding the target value when moving up and down at high speed, the ascending / descending speed is increased as the detected height is farther from the target value, and the target value is reached. Hunting can be prevented by issuing a signal to stop ascending and descending earlier at a predetermined proximity reference position and stopping ascending and descending before the target value is exceeded, and tracking stability and leveling are improved.

The invention according to claim 6 is particularly for detecting the field height of the working apparatus (18) by the ground leveling member (43) also serving as a detecting means in addition to the effect of any one of claims 1 to 5. It is possible to control the elevating operation of the elevating device (23) without requiring the detecting means of the above.

Side view of seedling transplanter Floor plan of seedling transplanter Elevation control flowchart Flowchart of sink peak point processing subblock Flowchart of floating peak point processing subblock Flowchart of ascending regulation processing subblock Flowchart of descending regulation processing subblock Control characteristics of field height by rising signal Example of speed setting for float angle of attack for ascending (a) and descending (b) Sensitivity characteristic diagram when climbing Sensitivity characteristic diagram when descending Control characteristics of field height by descent signal Hydraulic system diagram A (a) and piping configuration diagram (b) Hydraulic system diagram B

An embodiment specifically configured based on the above technical idea will be described below with reference to the drawings. In the description, it is referred to as front / rear and left / right with reference to the forward direction F of the aircraft.

(overall structure)
The seedling transplanting machine 1, which is a work vehicle to which the present invention is applied, travels in the field by the front wheels 20 and the rear wheels 21 as shown in the side view and the plan view of the eight-row planting configuration example in order of FIGS. 1 and 2. Regarding the traveling vehicle body 22 that was possible to support, the front cover 73, the handle 72 and the spare seedling frames 74 and 74 on both sides, the cockpit 70 and the fertilizer application device 71 in the front and rear center, and the ground leveling device 77 and the seedlings in the rear part of the machine body. The planting portion 18 is provided.

(Seedling planting department)
The seedling planting portion 18 is configured to be eight-row planting by the two-row planting device 4 and the float 43 arranged between the rows, and the elevating device 23 for raising and lowering the elevating link mechanism 22a at the rear of the machine body by the elevating cylinder 22b. The height of the field scene can be adjusted.

(float)
The float 43 is an elevation sensor that detects the amount of rotation when passing through the unevenness of the field in order to slide on the field scene and level the ground by supporting it so as to be rotatable up and down, and to make the planting depth of the seedlings uniform. (Potentiometers) are provided on the floats 43 and 43 arranged inside, and the solenoid valve (not shown) is opened and closed according to the change in the rotation angle detected by the elevation sensor to expand and contract the elevating cylinder 22b, and the seedling planting portion 18 Automatically adjusts the planting work height.

(Working device elevating control)
The raising and lowering control of the work device is such that the seedling transplanting machine 1 is a working device provided with a float 43 which is a ground leveling member for leveling the field scene and a plurality of rows of planting devices 4 for performing the seedling transplanting work for the field scene. The planting section 18, the elevating device 23 for raising and lowering the seedling planting section 18, the detecting means 43 for detecting the field height of the seedling planting section 18, and the raising and lowering based on the detection values of the detecting means 43. A control device C for controlling the operation of the device 23 is provided.

The ground leveling member 43 is in contact with the field scene and rotates up and down according to its height to configure the field scene so that the land can be leveled. A float sensor capable of detecting the height of the field scene of the planting device 4 is configured from the above, and the field work by the planting device 4 is configured while the field is leveled by running in the field.

As shown in the ascending and descending control flowchart of FIG. 3, the ascending and descending control processing is composed of subblocks of peak point processing of "sinking" and "floating" and subblocks of regulation processing of "ascending" and "descending" respectively.

First, if the sinking peak point processing subblock is not applicable, as shown in FIG. 4, according to the first processing step (hereinafter, abbreviated as “S1”) for determining the rising signal. , The sinking peak point is reset (S1a), the rise regulation is lifted (S1b), and then the process ends.

On the other hand, if the determination is an ascending signal, the descending regulation is lifted (S2), and if the subsequent float ascending start determination (S3) is met, the sinking peak point is updated (S4), and the sinking peak point is above a certain level (S5). ), The rise regulation is permitted (S6) and the process ends, and when the float rise does not start or the sinking peak point does not reach a certain value, the process ends.

The next floating peak point processing subblock is a control in the case of a descending signal and a float descending with respect to the sinking peak point processing, and in detail, as shown in FIG. 5 in the flowchart, determination of the descending signal. In step (S11), if not applicable, the floating peak point is reset (S11a), the descent regulation is released (S11b), and then the process ends.

On the other hand, in the case of determining the descending signal, the ascending regulation is released (S12), and if the subsequent float descending start determination (S13) is met, the floating peak point is updated (S14), and the floating peak point is above a certain level (S15). ), The descent regulation is permitted (S16) and the process ends, and if the float descent does not start or the floating peak point does not reach a certain value, the process ends.

Next, as shown in FIG. 6, the ascending regulation processing subblock transmits the ascending signal for a certain period of time if the float angle is in the range of the expansion dead zone (for example, the normal 5 bits are expanded to 11 bits) (S21). (90 ms) Stop (S22).

Further, as shown in FIG. 7, the descending regulation processing subblock outputs a descending signal for a certain period of time (S31) if the float angle is in the range (for example, expanding the normal 5 bits to 11 bits). 90ms) Stop (S32).

(Elevation control 1)
Next, the control characteristics of the elevating control will be specifically described.
In the ascending / descending control 1, as shown in FIG. 8, the control characteristic diagram of the field height by the ascending signal is shown. The deviation of the portion changed to is updated as the sinking peak point of the float 43.

By detecting this peak point, it is possible to detect the timing at which the seedling planting unit 18 actually moves up and down after outputting the ascending / descending signal, and after the raising / lowering signal is output until the seedling planting unit 18 actually moves up and down. Further, it is possible to solve the problem that a response delay occurs between the time when the signal is stopped and the time when the seedling planting unit 18 is actually stopped.

In addition, by knowing the magnitude of the float subduction, it can be used for other controls such as stopping the signal in advance by taking into account the response delay from when the signal is stopped until the seedling planting unit 18 actually stops. can.
In this way, the operation delay can be eliminated by recording the descending peak point of the deviation at the start of ascending after the ascending signal.

(Elevation control 2)
As shown in FIG. 9, the elevating control 2 is such that the angle of the float 43 deviates from the target angle (deviation) during the elevating control by float detection (elevation automatic mode) as shown in FIG. 9 as an example of elevating speed setting according to the float angle of attack. By increasing the ascending / descending speed (according to the above), it becomes possible to control the ascending / descending at a speed that matches the unevenness of the field.

Therefore, when going up and down at a constant speed regardless of the change in the float angle, if the follow-up is poor due to severe unevenness, or if the speed is increased in an attempt to increase the follow-up, hunting will occur in a place with few unevenness. Therefore, such a problem can be solved.

Further, as shown in FIGS. 10 and 11 for the sensitivity characteristic diagrams for ascending and descending, the sensitivity adjustment enables a wide range of applications for the ascending side and the descending side.

(Elevation control 3)
The ascending / descending control 3 records the deviation at the start of descending due to the descending signal as the ascending peak point.
That is, during the ascending / descending control by float detection (elevation automatic mode), as shown in FIG. 12, the control characteristic diagram of the field height by the descending signal, the float sensor value actually changes in the descending direction (after the descending signal is output). By updating the deviation of the changed part in the sinking direction as the floating peak point of the float 43, the elevating signal is output until the seedling planting portion 18 actually elevates, and after the signal is stopped, it is actually It is possible to eliminate the response delay until the seedling planting section 18 is stopped.

In this way, by detecting the peak point where the float 43 floats, it is possible to detect the timing when the seedling planting unit 18 actually rises and falls after outputting the ascending / descending signal, and by knowing the magnitude of the floating float. , The signal can be stopped in advance in consideration of the response delay from the stop of the signal to the actual stop of the seedling planting unit 18, and the like can be used for other control.

(Elevation control 4)
In the ascending / descending control 4, when the dead zone width is narrower in the ascending / descending control, the float 43 tends to be closer to the horizontal, so that the followability is stable. There is a delay until it stops, and when the float 43 is controlled to operate at the reference position by moving it up and down at a high speed due to severe unevenness, the float moves in the opposite direction beyond the dead zone due to the response delay of the valve. It tends to be a hunting control.

In order to solve such a situation, when the peak point when the peak point of the ups and downs of the float 43 is detected is equal to or more than a predetermined value (for example, 15 or more from the horizontal reference), the normal dead zone width (5 bits) is set. On the other hand, the dead zone is widened (11 bits) and the signal is stopped.

In this way, when the peak point of the ups and downs of the float 43 is large (the unevenness is severe), the ascending / descending signal is stopped at an earlier timing than the normal dead zone, so that the seedlings can be seeded at the float reference position in consideration of the response delay of the valve. The planting portion 18 can be stopped, the occurrence of hunting can be prevented, and the follow-up stability of the elevating control can be ensured.

(Elevation control 5)
In the ascending / descending control 5, when the ascending / descending signal is stopped in a wide dead zone (11 bits) and the float 43 is stopped at the end (11 bits) of the dead zone for a long time, the float 43 appears to be floating or sinking, and the followability is evaluated. Since it causes deterioration, it is necessary to stop the signal in consideration of the response delay, and to output an ascending / descending signal when the float 43 has not reached the target position.

That is, the signal is stopped for a certain period of time. For example, by restricting the ascending / descending signal for 90 ms, when the float 43 has not reached the target position, the elevating signal is output to bring the float closer to the target position. be able to.

(Elevation control 6)
In the ascending / descending control 6, when the ascending / descending signal is stopped in a wide dead zone (11 bit), if the float 43 is stopped at the end (11 bit) of the dead zone for a long time, the float 43 appears to be floating or sinking, and the followability is evaluated. If the float 43 has not reached the target position due to stopping the signal in consideration of the response delay, it is necessary to output an ascending / descending signal.

In this way, after stopping the ascending / descending signal for a certain period of time (90ms), if the elevating signal is not within the normal dead zone width (5bit), the elevating signal is output again until it is within the normal deadband width (5bit). , You can get closer to the target position.

(Elevation control 7)
The ascending / descending control 7 detects fine irregularities within 90 ms when the output is forcibly regulated for 90 ms, and outputs a regulated signal when the output of the ascending → descending → ascending signal is required. In order to solve the problem that the elevating signal cannot be obtained, the output regulation time of 90 ms is reset when the elevating signal in the opposite direction of the elevating signal is output.

For example, the ascending output is regulated by 90 ms at 0 ms. The float float is detected at 20 ms and the descending output is started, and the 90 ms regulation time of the ascending is reset to 0 ms. By detecting the float sinking in 50 ms and outputting an immediate rising signal, the regulation of 90 ms is reset.
In this way, when the ascending / descending signal in the opposite direction of the regulated ascending / descending signal is output, the output regulation time of 90 ms is reset, so that an immediate signal can be output for the detection of fine irregularities.

(Elevation control 8)
In the above, the position where the ascending / descending is stopped (widened dead zone) is set to 11 bits, and this value matches the value of 6 to 11 bits for ascending / descending at a constant speed beyond the dead zone in the elevating control.
In this way, by matching the range in which the ascending / descending is stopped and the range in which the ascending / descending speed becomes a constant speed, the followability when the ascending / descending signal is output again can be stabilized.

(Flood control circuit 1)
Next, to explain the hydraulic circuit configuration, the series connection between the swivel control valve and the torque generator caused a large power loss due to the addition of the pressure loss of each device. As shown in the hydraulic system diagram A in FIG. 13 (a), the oil discharged from the gear pump 81 is branched, and the swivel control valve 82 and the torque generator 83 are connected in parallel to form the piping configuration of FIG. 13 (b). As shown in the figure, the number of pipes straddling the mission case 84 on the left and right is reduced, which can be solved together with the simplification of the layout.

(Flood control circuit 2)
Further, as shown in the hydraulic system diagram B of FIG. 14, the control valve and the HST are connected in series by taking out the pressure reducing valve control pressure of the swivel control valve 82 and connecting it to the charge port (B) of the HST 84 via a throttle. By solving the problem of insufficient HST charge flow rate at the time of output of the control valve, stable charging becomes possible.

(Ridge clutch)
Next, the automatic return configuration of the ridge clutch will be described. When the seedling planting portion 18 is raised, a single working member acts on a plurality of levers via a cam attached to the upper link. The ridge clutch lever of the strip can be automatically returned to "on".

In detail, the working member is placed in the fulcrum crossing arm, the fulcrum of the member to be returned is simply configured to be the same as the fulcrum of the lever, and the shape of the cam is tapered so that the pulling pin does not come off. By setting the lever, the lever can be operated freely after returning, adjust the lever length according to the diagonal lever guide of the step cover, and lengthen it toward the center. Can be moved to planting.

That is, the working device 18 is composed of a plurality of planting devices 4 ..., and is provided with an inter-row switching mechanism for switching between operation and stop of each planting device 4 ..., and when it is raised to a predetermined height by the elevating device 23, The working device 18 of all the articles is configured to be switched to operation.

With the above configuration, regarding the row-specific switching mechanism that enables selection of planting rows, all the rows are reset by the rise of the work device 18 when the machine turns during work running, so the planting work running with a limited width of the planting strips is completed. After turning the machine, it is possible to restart the planting work by the planting device 4 for all the rows without requiring individual operation of the row-specific switching mechanism.

(Technical point)
The technical points of the work vehicle having the above configuration are summarized below.
First, the work vehicle is provided with a detection means for detecting the field height of the work device 18 and a control device C for controlling the elevating operation of the elevating device 23, and the work device 18 is provided with a predetermined field height. In the case of holding the vehicle, when the height detected by the detection means changes and the peak of the ascending / descending is reached, the elevating operation control of the elevating device 23 is stopped for a predetermined time. The work device 18 performs field work so that the support height can be adjusted up and down by the elevating device 23 while leveling the ground, and the control device C is the elevating device based on the field scene height of the work device 18 detected by the detection means. By controlling the 23 and holding the working device 18 at a predetermined field scene height, when the detected height changes and reaches the peak of ascending / descending, the height adjustment of the working device 18 is stopped for a predetermined time. It is possible to prevent an excessive movement (hunting) due to a time lag of the elevating device 23 and a movement (hunting) to return the excess amount, and it is possible to improve the leveling property and the workability in the field by the stable operation of the working device 18.

Secondly, when the field height of the work device 18 is controlled to be raised and lowered to a predetermined target height, if the deviation of the field height with respect to the target height is equal to or more than a predetermined separation reference, the raising and lowering device By increasing the elevating operation speed of 23, the elevating speed of the work device 18 is increased when the distance is more than a predetermined separation reference to the target height, so that the height can be adjusted according to the size of the unevenness of the field. The followability is improved.

Thirdly, when the field height of the work device 18 is controlled to move up and down to a predetermined target height, the lifting operation speed of the lifting device 23 is increased in proportion to the deviation of the field height with respect to the target height. Therefore, by increasing the ascending / descending speed of the work device 18 as the distance from the target height increases, the height can be adjusted at a speed according to the degree of unevenness in the field, and the followability is improved.

Fourth, when the field height of the work device 18 is controlled to be raised and lowered to a predetermined target height, if the deviation of the field height with respect to the target height is equal to or less than the predetermined proximity reference, the raising and lowering device 23 Since the elevating operation speed of the elevating device 23 is increased in proportion to the deviation on condition that the elevating operation of the work device 18 is stopped, the elevating speed of the working device 18 is increased as the distance from the work device 18 to the target height is increased. Since it is possible to control the elevating and lowering at a speed that matches the unevenness of the above, the followability is improved, and by stopping the elevating operation when approaching a predetermined proximity reference, the time lag of the elevating device 23 causes the height to exceed the predetermined height. Since it is possible to prevent the movement (hunting) that returns after that, it is possible to improve the plantability and the leveling property by stabilizing the operation of the working device 18.

Fifth, when the field height of the work device 18 is controlled to move up and down to a predetermined target height, the lifting operation speed of the lifting device 23 is increased according to the deviation of the field height with respect to the target height. Then, when the deviation becomes a predetermined proximity reference, the elevating operation of the elevating device 23 is stopped, so that the detected height is adjusted at a higher speed as the distance from the target value increases, and the position of the elevating device 23 becomes a predetermined proximity reference position. Hunting can be prevented by issuing a signal to stop ascending and descending early and stopping ascending and descending before the target value is exceeded, improving follow-up stability and leveling.

Sixth, the detection means supports the ground leveling member 43 so as to be vertically rotatable according to the field scene, and the ground leveling member 43 detects by detecting the height of the field scene by the rotation angle of the ground leveling member 43. Since it also serves as a means, it is possible to control the elevating operation of the elevating device 23 without requiring a special detection member.

1 Work vehicle (seedling transplanter)
18 Working equipment (seedling planting section)
23 Lifting device 43 Leveling member C Control device

Claims (2)

A ground leveling member (43) for leveling a field scene, a work device (18) for field work on a field scene leveled by the ground leveling member (43), and an elevating support for the ground leveling member (43) and the work device (18). In a work vehicle that is equipped with an elevating device (23) to work in the field while leveling the field when traveling in the field.
A detection means for detecting the height of the field scene of the work device (18) and a control device (C) for controlling the lift operation of the lift device (23) are provided, and the work device (18) is used as a predetermined field scene. When the height is maintained, the elevating operation control of the elevating device (23) is configured to be stopped for a predetermined time when the detection height by the detecting means changes and reaches the elevating peak.
The ground leveling member (43) is a float (43) configured to move up and down together with the working device (18) and to rotate up and down according to the height of the float (43) in contact with the field scene.
The detecting means is a float sensor capable of detecting the field height of the working device (18) from the rotation angle of the float (43).
When the field height of the work apparatus (18) is controlled to be raised or lowered to a predetermined target height, the larger the rotation angle of the float (43) is with respect to the target angle, the higher the height to reach the target height. A work vehicle characterized in that the time is exponentially reduced, and the descent time to reach the target height is exponentially reduced as the time is smaller than the target angle. The detection means is characterized in that the ground leveling member (43) is supported so as to be vertically rotatable according to the field scene, and the height of the field scene is detected by the rotation angle of the ground leveling member (43). The work vehicle according to 1.

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