CN1057190C - Rise-and-fall controller for operation vehicle operating on ground - Google Patents
Rise-and-fall controller for operation vehicle operating on ground Download PDFInfo
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- CN1057190C CN1057190C CN95121552A CN95121552A CN1057190C CN 1057190 C CN1057190 C CN 1057190C CN 95121552 A CN95121552 A CN 95121552A CN 95121552 A CN95121552 A CN 95121552A CN 1057190 C CN1057190 C CN 1057190C
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- lifting
- ground
- feed unit
- plant feed
- control
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B63/00—Lifting or adjusting devices or arrangements for agricultural machines or implements
- A01B63/02—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors
- A01B63/10—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors operated by hydraulic or pneumatic means
- A01B63/118—Mounting implements on power-lift linkages
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C11/00—Transplanting machines
- A01C11/02—Transplanting machines for seedlings
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C17/00—Fertilisers or seeders with centrifugal wheels
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- Life Sciences & Earth Sciences (AREA)
- Soil Sciences (AREA)
- Environmental Sciences (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Lifting Devices For Agricultural Implements (AREA)
- Transplanting Machines (AREA)
Abstract
To provide a rice transplanter having excellent workability, equipped with an automatically backward moving means for detecting separation of a soil preparation float attached to a seedling planting device from the surface of a field and starting backward movement of a traveling machine body, reducing the effect of the seedling planting device on lifting control during the backward movement of the traveling machine body. This rice transplanter is equipped with an automatically backward moving means E which sets the timing of the control start of a forcibly lifting means D so as to start the lifting of a seedling planting device before a traveling machine body is moved backward when speed change operation for moving the traveling machine body backward is carried out and which detects the rise of the seedling planting device to set height laid lower than fixed height by the lifting or detects separation of a soil preparation float 21 attached to the seedling planting device from the surface of a field and starts the backward movement of the traveling machine body. The rice transplanter is preferably equipped with an informing means 32 for continuously operating as long as the flow of control exists in a control routine of the forcibly lifting means D after the start of the control of the forcibly lifting means D.
Description
But the present invention relates to a kind of apparatus for work over the ground by bindiny mechanism's free lifting be connected the body rear end that travels and have Operation Van's apparatus for controlling of lifting of apparatus for work over the ground that lifting drives the transmission device of bindiny mechanism, in more detail, be a kind ofly to have advance and retreat variable speed operation according to the body that travels the rice transplanter apparatus for controlling of lifting of the pressure riser of apparatus for work rising certain altitude over the ground.
As an example of above-mentioned the sort of Operation Van, be with rice shoot plant feed unit (being equivalent to apparatus for work over the ground) but by bindiny mechanism and transmission device free lifting be connected the transplanting rice seedlings machine of After-Body.
In this transplanting rice seedlings machine, as the spy open flat 3-83503 communique disclosed, its structure is the gear lever (being equivalent to the speed change producing device) with speed change gear of travelling to be operated to when retreating side, to make bindiny mechanism go up lift operations automatically by transmission device.Like this, with under rice shoot plant feed unit and the situation that field face (ground) contacts body is retreated, thereby preventing the breakage of (grounding bodies) such as floating drums of plant feed unit.
But in above-mentioned transplanting rice seedlings machine, body begins to retreat and begins to rise with the rice shoot plant feed unit roughly is at synchronization, and when body retreated beginning, retreating at floating drum (grounding body) the ground state lower body of plant feed unit was temporary transient state.
Here, floating drums etc. (grounding body) have utilized with respect to plant feed unit free lifting ground in setting range and have supported this point, gear lever is operated when retreating side, at first begin the last lift operations of plant feed unit, drop to following (being equivalent to) in limited time of setting range from the sagging state of plant feed unit at the floating drum (grounding body) of plant feed unit, judge that plant feed unit carries out going up completely lift operations from the field face, begin to retreat with speed change gear by travelling.
In addition, as the spy open flat 6-276805 communique disclosed, when when operation, main shift lever being operated the body going-back position, have the control system that plant feed unit is risen to the upper limit.
In having the transplanting rice seedlings machine of above-mentioned this structure, in the paddy field, crossing under the situation of field as shown in Figure 6, lift operations is gone up near the upper limit of range by bindiny mechanism's (perhaps plant feed unit), thereby striden across field Z.
In this case, because field is than higher, body was the posture that lift the front portion when front-wheel was stepped up field, even lift operations is gone up near the upper limit of range by bindiny mechanism's (plant feed unit), the floating drum of plant feed unit (being equivalent to grounding body) also can abut in field face G (being equivalent to ground) and go up (floating drum can not drop to the state of the lower limit of setting range).
In this state, if the operator does not prepare to cross high field in this position, but body to be retreated from other position leap field, thereby operate when retreating side with speed-changing operation device will travelling, function by above-mentioned conventional art is moved, will allow bindiny mechanism go up near lift operations (be actually bindiny mechanism rise be operated to the upper limit), drop to the following of setting range at the floating drum (grounding body) of plant feed unit and prescribe a time limit, begin to retreat.
Yet, can not drop at floating drum (grounding body) under the situation of lower limit of setting range, just can not become fallback state, thereby form the lock-out state that body can not advance and can not retreat.
In addition, when the body that travels carries out back operation on smooth usually operation ground, be operated at speed-changing operation device under the situation of going-back position, the rice shoot plant feed unit is very common thing by forcing lift operations to continue to make plant feed unit to rise to certain height.But, when body carries out back operation on this tabular surface, can occur the operator turn one's head rearward by eyes confirm the seedlings of cereal crops of seedling carrying base surplus, plant feed unit with the situation of the residual volume of fertilizer, preferably can temporarily interrupt the rising of plant feed unit in this case.That is, for example can appear at plant feed unit and rise to and stop the rising control of plant feed unit, begin the to plant situation of rice shoot operation once more when the body that is supported on ground before the height of setting is finished the direction conversion, preferably also control action can be arranged for this situation.
Therefore, the defective when the object of the invention is to eliminate the higher barrier of above-mentioned the sort of leap provides a kind of Operation Van with the structure that makes apparatus for work over the ground go up lift operations automatically when retreating apparatus for controlling of lifting of apparatus for work over the ground.
In order to finish above-mentioned purpose, feature of the present invention is to have following structure in the apparatus for controlling of lifting of apparatus for work over the ground in above-mentioned Operation Van.
That is, but the apparatus for controlling of lifting of described apparatus for work over the ground has the apparatus for work over the ground that is provided with respect to body free lifting ground by elevating mechanism at After-Body; And, drive the transmission device of above-mentioned elevating mechanism; And, action bars that can operation is switched between the action of above-mentioned transmission device, above-mentioned apparatus for work over the ground and free position; And, the grounding body over the ground that free lifting ground is provided with in the setting range in above-mentioned apparatus for work over the ground;
Above-mentioned apparatus for controlling of lifting has:
Being set at the aforesaid operations bar under the state of free position travels to body carries out handover operation with speed change gear, speed-changing operation device is operated to retreats side, corresponding to this operation, pin down retreating of prevention body by above-mentioned travelling with speed change gear, and above-mentioned transmission device is operated to the pressure riser of uplifted side;
Remove retreating of above-mentioned pressure riser and pin down in limited time making above-mentioned grounding body arrive the following of above-mentioned setting range by above-mentioned pressure riser by the rising of apparatus for work over the ground, what allow that body retreats the 1st allows setback device;
When making above-mentioned elevating mechanism arrive near the height of setting the upper limit of range by the rising of apparatus for work over the ground by above-mentioned pressure riser, remove retreating of above-mentioned pressure riser and pin down, what allow that body retreats the 2nd allows setback device.
Above-mentioned structure when body advances above barrier, if the operator does not want to cross over high barrier in this position, will allow body retreat from other position across obstacle as shown in Figure 6, retreats side thereby can operate with speed-changing operation device travelling.In this case, stop retreating of body by forcing riser to pin down, transmission device will turn round, and is operated to the uplifted side of connection (lifting) mechanism (perhaps apparatus for work) over the ground.
Above-mentioned speed-changing operation device is being operated under the state that retreats side, front-wheel is stepped up barrier as shown in Figure 6, body is in the posture that lift the front portion, apparatus for work does not contact with field face G over the ground, if the floating drum of apparatus for work (grounding body) has arrived the lower limit of setting range (floating drum has been free state with respect to the rice shoot plant feed unit over the ground, promptly, sagging state), then unhinderedly make body begin to retreat, just body can be moved to other low barrier position afterwards by the 1st setback device.
Yet speed-changing operation device is operated to retreat under the state of side above-mentioned, apparatus for work contacts with ground G over the ground, and the floating drum of apparatus for work (grounding body) is the state of the lower limit that can not drop to setting range over the ground.Even in this case, if adopt structure of the present invention, bindiny mechanism is being operated to speed-changing operation device when retreating side and can bindiny mechanism is being operated near the upper limit by forcing riser, (perhaps, retreat the rear flank in that speed-changing operation device is operated to, bindiny mechanism risen be operated near the upper limit by operating other action bars etc.), allow setback device to begin to retreat by the 2nd by body, afterwards, just can make body move to other low barrier position.
And, on for example smooth usually operation ground, to travel to be operated to and retreat side with speed-changing operation device, when making bindiny mechanism's (elevating mechanism) go up lift operations, make because of filling in of soil under the situation that the floating drum of apparatus for work (grounding body) can not descend over the ground, by the 1st permission setback device body is retreated,, then can allow the setback device body will have no obstacle ground and begin to retreat by the 2nd if will allow bindiny mechanism's (apparatus for work over the ground) go up lift operations near the upper limit in this state.
As mentioned above, in that being operated, speed-changing operation device retreats side, thereby automatically make apparatus for work over the ground go up lift operations and the Operation Van that constitutes over the ground in the apparatus for controlling of lifting of apparatus for work, when crossing over high barrier, can make body have no retreating of obstacle and advance, thereby improve the operation and the travelling of Operation Van.
In addition, for smooth usually operation ground, operate when retreating side with speed-changing operation device will travelling, along with the last lift operations of apparatus for work over the ground, even the floating drum of apparatus for work (grounding body) do not descend (not being in sagging state) over the ground, be operated to as if bindiny mechanism is risen near the upper limit, body can appear under the situation that does not have obstacle and retreat, thereby can improve the transaction capabilities of Operation Van on this plane.
And, thereby the objective of the invention is when retreating, to carry out automatically lift operations fabrication process car in the pressure of apparatus for work over the ground over the ground in the apparatus for controlling of lifting of apparatus for work, the pressure of lift operations on the plant feed unit is controlled at midway interruption temporarily, make it force control to stop by operator's will, but also can begin the operation of planting once more, force to rise the purpose of control thereby realized reducing for the negatively influencing (loss of time etc.) of operation integral body.
And, when allowing above-mentioned apparatus for controlling of lifting in a single day enter above-mentioned speed-changing operation device is set in above-mentioned going-back position, just allow the above-mentioned pressure rising control device in the elevator of plant feed unit produce the duty of action, the aforesaid operations device is removed from going-back position, can not break away from above-mentioned pressure rising duty yet, so come the action of above-mentioned pressure riser is controlled, during entering this pressure rising duty, can also constitute the structure that has the continuous action alarm device simultaneously.
For above-mentioned this structure, speed-changing operation device is being set under the situation of going-back position, by forcing riser to begin the rising control of plant feed unit, simultaneously, this speed-changing operation device when removing, going-back position can interrupted the rising control of plant feed unit.
In addition, the elevator control flow of the plant feed unit of this interruption not be owing to can deviate under the pressure rising duty of forcing riser, in case thereby speed-changing operation device be set to once more on the going-back position, the plant feed unit control of rising will start once more.And control flow under situation with the control duty of forcing riser because the alarm device continuous firing, make the operator can recognize that the control flow of plant feed unit is in the control duty of forcing to rise, thereby can suppress the generation of maloperation.
And, above-mentioned apparatus for controlling of lifting is made it to do above-mentioned pressure riser action allowing above-mentioned speed-changing operation device be set under the state of above-mentioned going-back position, enter and force to rise the control duty, above-mentioned speed-changing operation device is being removed from going-back position, interrupt under the state of rising control of above-mentioned plant feed unit, corresponding to traveling machine body is operated to the clutch of above-mentioned plant feed unit transferring power, also can have under above-mentioned control duty, stop the control decontrol of the control action of pressure riser.
For said structure, speed-changing operation device is being set under the situation of going-back position, by forcing riser to begin the pressure rising control of plant feed unit, simultaneously, under the situation that this speed-changing operation device is removed from going-back position, can temporarily interrupt plant feed unit rising control.And the control flow of this interruption is not deviate under can not controlling from forcing to rise.And operate by the clutch of the necessary incision operation of the beginning of the operation of planting, even can not rise at plant feed unit under the situation of predetermined altitude, control flow is controlled under the duty from forcing to rise, stop forcing the control of riser, thereby the operation of planting is begun once more.
Fig. 1 is the unitary side view of transplanting rice seedlings machine;
Fig. 2 is the schematic diagram of the connection status of gear lever, action bars, plant feed unit lifting driving usefulness oil hydraulic cylinder and static oil pressure endless gearing device etc.;
Fig. 3 is the plane of the bar guider of action bars;
Fig. 4 is with the draw back schematic diagram of half control flow before side when operation of gear lever;
Fig. 5 A is with the draw back schematic diagram of half control flow after side when operation of gear lever;
Fig. 5 B is a schematic diagram of gear lever being controlled this program when going-back position is removed operation;
Fig. 6 is the side diagrammatic sketch of the transplanting rice seedlings machine state of crossing the high raised path through fields;
Among the figure: the 4th, bindiny mechanism, the 6th, apparatus for work over the ground, the 5th, transmission device, the 10th, action bars, the 13rd, grounding body, the 15th, body travels and uses speed change gear, and the 19th, gear controller,
Embodiments of the invention are described below with reference to the accompanying drawings.
As shown in Figure 1, be formed with operation part 3 on the body by front-wheel 1 and trailing wheel 2 supports, but be connected with bindiny mechanism 4 (1 embodiment of elevating mechanism) the rear portion free lifting of body, have the oil hydraulic cylinder 5 (being equivalent to transmission device) that lifting drives bindiny mechanism 4, the rear portion of bindiny mechanism 4 is connected with rice shoot plant feed unit 6 (being equivalent to apparatus for work over the ground) thereby has constituted transplanting rice seedlings machine as an embodiment of Operation Van.
Rice shoot plant feed unit 6 is the seedling carrying bases 115 that have the seedling W of mounting stratiform, pass through the transmission case 117 of jackshaft transferring power from the body of walking, the rotary box 119 that rotates by drive chain case 118 transferring power from this transmission case 117, this rotary box 119 has a pair of transplant arm 120, and the multirow that has a plurality of sensing floating drums 13 (the being equivalent to grounding body) structure of planting.
As shown in Figures 1 and 2, carry out the row's of giving operation of hydraulic oil in oil hydraulic cylinder 5, it has hydraulically operated control valve 7, gives the clutch 8 of planting (being equivalent to clutch C) of plant feed unit 6 with transmission of power and the motor 9 of will plant clutch 8 joints and opening operation.The action bars 10 that has the oil hydraulic cylinder 5 and the clutch 8 of planting on the operating portion 3 of body, the operating position of action bars 10 is by in the input control devices 11 such as potentiometer 10A.And be provided with detection and carry out the connection sensor 22 of the bindiny mechanism 4 of descending operation with respect to the relative position of body by oil hydraulic cylinder 5, in its value of detecting input control device 11.In addition, the operating state of the clutch 8 of planting detects by clutch sensor 29, also is transfused in the control device 11.Have, above-mentioned control device 11 inside keep microprocessor again, as shown in Figure 1, are arranged on operator's seat bottom.
When action bars 10 is operated on lifting position, neutral position and down position along bar guider 12 as shown in Figure 3, the clutch 8 of planting is in the state by motor 9 handover operations, control valve 7 is operated in supply position, neutral position and the drain position of hydraulic oil, by oil hydraulic cylinder 5 carry out plant feed unit 6 rising, stop and step-down operation.Be operated to planting during the position of bar guider 12 at action bars 10, the clutch 8 of planting is operated to engagement state by motor 9, rice shoot plant feed unit 6 is maintained the height of setting from field face G (suitable with ground), operation control valve 7 makes oil hydraulic cylinder 5 do flexible operation, thereby make plant feed unit 6 automatically carry out descending operation, this is the common state of planting.
As shown in Figures 1 and 2, plant feed unit 6 about around the central transverse axis axle center P1 sensing floating drum 13 (being equivalent to grounding body) but by mechanical connection mechanism free lifting be supported in the scope that sets.In addition, also have the potentiometer 14 of detection sensing floating drum 13 with respect to the last lower angle of seedling-transplanting device 6.Thus according to the position of planting of action bars 10, detect height with respect to the plant feed unit 6 that is pasting the sensing floating drum 13 that field face G moves, detect the last lower angle of sensing floating drum 13 by potentiometer 14, in the input control device 11.Like this, the detected value according to potentiometer 14 passes through control device 11 operation control valves 7.
As shown in Figures 1 and 2, in this transplanting rice seedlings machine, also have the static oil pressure endless gearing device 15 (be equivalent to travel use speed change gear) of the usefulness of travelling.Static oil pressure endless gearing device 15 has at neutral stop position N, advance side F and retreats the structure that continuously variable ground is operated between the side R, and static oil pressure endless gearing device 15 has the electronic cylinder 16 of variable speed operation, detects the potentiometer 17 of the telescopic location of electronic cylinder 16.In potentiometer 17 detected detected value input control devices 11.
The right side of control crank 18 shown in Figure 1 (perhaps left side) has as shown in Figure 2 can and retreat the gear lever of freely handling between the side R 19 (being equivalent to speed-changing operation device) at neutral stop position N, advance side F.And the operating position of this gear lever 19 is detected by extensometer 19A, and its value of detecting is input in the control device 11.
Like this, operation is during gear lever 19, formed velocity location corresponding to the operating position of gear lever 19, and by control device 11 and electronic cylinder 16, static oil pressure endless gearing device 15 carries out variable speed operation.
The bar guider 12 of action bars 10 shown in Figure 3 is provided with automated location, to action bars 10 being operated to the situation of automated location, then describes according to Fig. 4 and Fig. 5.
When action bars 10 was operated to automated location, identical to the situation of the position of planting with aforesaid operations, the clutch 8 of planting carried out closed procedure, and plant feed unit 6 is maintained the height that sets apart from field face G, and plant feed unit 6 carries out descending operation automatically.
As shown in Figures 1 and 2, the right side of control crank 18 has rod type up-down switch 20, be operated at action bars 10 under the state of automated location (step S1), when direction switch 20 carries out once-through operation (step S2), if plant feed unit 6 carries out step-down operation (step S3), make the clutch 8 of to plant carry out opening operation by motor 9, by oil hydraulic cylinder 5 plant feed unit 6 is risen and be operated to upper limit position (step S4).
Otherwise during lift operations plant feed unit 6 (step S2, S3), plant feed unit 6 carries out step-down operation to field face G (step S6) by oil hydraulic cylinder 5 on the operation direction switch 20.At this moment, in case carry out selection when operation of scriber 21 as shown in Figure 1, make the clutch 8 of planting be operated to engagement state by motor 9, plant feed unit 6 carries out step-down operation to field face G (step S6).By this direction switch 20, the turning on the field edge under the state of just can planting of the descending operation of plant feed unit 6.
Secondly, be operated at action bars 10 under the situation of automated location (step S1), with gear lever 19 (step S7) when advance side F or neutral stop position N draw back side R operation, in case static oil pressure endless gearing device 15 variable speed operations to retreating side R, just can remain on neutral stop position N (step S8) by electronic cylinder 16.Then, made the clutch 8 of planting carry out opening operation (step S9) by electromotor 9, just can make oil hydraulic cylinder 5 elongations by control device 11 and control valve 7, plant feed unit 6 is just gone up lift operations (step S10) (being equivalent to force rising mechanism) from field face G.Like this, in the occasion of these plant feed unit 6 high operations, gear lever 19 is operated under the situation of going-back position, traction machine body retreats (carrying out the HST speed Control), the pressure of beginning plant feed unit 6 is risen and is controlled, meanwhile emergency warning lamp 32 is glittering, simultaneously buzzer 33 (being equivalent to warning device) (the step S11) that sound a buzzer.This control only limits to enter automatic rising control duty, knows this situation in order to make the operator, and what buzz will continue sends.
As mentioned above, during lift operations, the floating letter 13 of sensing drops to the lower limit (with respect to plant feed unit 6 state vertically downward) of the scope of setting because of reasons such as deadweights on the plant feed unit 6.Like this, plant feed unit 6 is gone up lift operations (step S10), during the corresponding value of the detecting A of the lower limit input control device 11 of the sensing floating drum 13 that detects from potentiometer 14 (step S12), plant feed unit 6 is gone up lift operations from field face G and is arrived on the level of leaving fully, in case when judging this situation, on the shift position that retreats side R, make static oil pressure endless gearing device 15 carry out speed change by control device 11 and change device 16 and operate corresponding to gear lever 19.Thus, body begins to retreat (step S15) (be equivalent to the 1st and allow to retreat mechanism).
In addition, the root of bindiny mechanism shown in Figure 24 have detect bindiny mechanism 4 with respect to body on the potentiometer 22 of lower angle.Even filled in soil etc. in sensing floating drum 13 support sections, sensing floating drum 13 do not drop to the scope of setting lower limit (in fact self-potential meter 14 corresponding to the detected value A of lower limit can not input control device 11 in), also can detect attended operation mechanism 4 and arrive (step S13) near the upper limit by potentiometer 22, thereby stop the last lift operations (step S14) of plant feed unit 6, allow static oil pressure endless gearing device 15 carry out variable speed operation by control device 11 and electronic cylinder 16, like this, body just begins to retreat (step S15) (be equivalent to the 2nd and allow to retreat mechanism).
As mentioned above, when action bars 10 is operated automated location, as if being operated to, gear lever 19 retreats side R, plant feed unit 6 is just automatically gone up lift operations, thereby, action bars 10 is being operated under the situation of automated location, make plant feed unit 6 go up lift operations (step S10, S3, S4) by direction switch 20, variable speed operation bar 19 is operated to when retreating side R, just can not make plant feed unit 6 carry out step-down operation (step S2, S3, S5) by direction switch 20.
This control stick 10 is being operated under the situation of automated location, is retreating side R, just can not carry out the step-down operation of plant feed unit 6 with direction switch 20 in case gear lever 19 operated.Yet, by with action bars 10 when bar guider 12 automated locations shown in Figure 3 are operated to down position, neutral position and lifting position, retreat on the side R even gear lever 19 is operated in, plant feed unit 6 also can descend and go up lift operations (step S1, S17, S18, S19).
In above-mentioned control step, judge " No " between step S12 and step S13 and among the step S13 and can also append subprogram (X) shown in mark X among Fig. 5 a afterwards.Look like down shown in Fig. 5 b the subprogram (X) between step S12 and the step S13 is described.This subprogram (X) provides the operator that the descending operation of plant feed unit is selected.
That is, under the rising of operator's plant feed unit in the above-mentioned steps S10 operation occasion, gear lever 19 is transformed to other positions (neutral position N or progressive position F) from existing going-back position R thus become the state that can enter subprogram (X).
Promptly, in step 12, whether arrive the lower position and carry out judgement not by 14 pairs of sensing floating drums of potentiometer 13, under the situation that does not arrive the lower position, enter a side of " No ", that is, sensing floating drum 13 is interpreted as that from the process that the surface, field breaks away from plant feed unit does not rise.Here, under the operator has been interrupted situation that plant feed unit forces to rise, in step 201 (with reference to Fig. 5 B), can form gear lever 19 is indexed to form outside the going-back position.That is, in this step 201, the situation of operating outside the going-back position at gear lever 10 moves down into step 203,204, temporarily stops the compulsory lift operations of going up of plant feed unit.When action bars 10 carry out speed change potential operations to the position of plant clutch (step 205), stop alerts action (step 206) thereafter.Be generically and collectively referred to as automatic control cancel system after this step 205 and the step 206.Action bars 10 was forced to deviate under the riser state from plant feed unit in the mode of operation moment of the clutch of planting in this step 205, stopped the alarm of step 206, and made its running by the operator.Meanwhile carry out the step-down operation (step 207) of plant feed unit, the ground connection floating drum proceeds to contact the step-down operation (step 208) on surface, field.In above-mentioned steps 208, detect the ground connection of this sensing floating drum 13 by the potentiometer 14 of sensing floating drum 13, allow the clutch 8 of planting carry out bonding operation simultaneously.
In addition, in the above-mentioned steps 205 under action bars 10 can not be operated situation on the clutch position of planting, switch 201 closures, at this moment action bars 19 displacements are operated to continue to make under the situation that retreats side R plant feed unit to force rise (step 202), like this, as retreating side (R) and enter plant feed unit and force the state of a control that rises automatically by gear lever is operated in Fig. 5 step 7 that A is shown in.
Thereby, by temporarily neutral position or progressive position being operated in the speed change gear displacement, just can temporarily stop lift operations in the automatic pressure of plant feed unit, just can proceed lift operations in the automatic pressure of plant feed unit through step 201 once more by above-mentioned steps 201,203,204,205.Like this, above-mentioned gear lever 19 is removed from going-back position, be operated to the clutch position of planting, force the state of a control that rises automatically thereby can break away from plant feed unit by action bars 10 is become.
In addition, can also in the step S13 of Fig. 5 a, be judged to be " No " in above-mentioned subprogram (X), that is, judge plant feed unit 6 do not arrive the situation of setting height after regression append.Identical with the explanation of above-mentioned subprogram (X), carve plant feed unit at this moment and do not have to arrive predetermined height, in the time can not making plant feed unit force to rise the control interruption automatically by operator's judgement, can be same as described above, above-mentioned gear lever 19 is arrived outside the going-back position R (step 201 and step 203) by variable speed operation.In addition, after above-mentioned steps 204, owing to also being suitable for above-mentioned explanation thereby being omitted at this.
Above-mentioned in addition subprogram (X) under with its abridged state, also can be implemented the control that retreats of car body in order to select.
Below with reference to Fig. 6, be operated at control stick 10 under the situation of automated location automated location, the situation of crossing high field Z in the Y of paddy field shown in Fig. 6 is described.
Be operated to being positioned at of above-mentioned this action bars 10 under the situation of automated location, owing to carry out the descending operation of plant feed unit 6 with direction switch 20, thereby when crossing field Z as shown in Figure 6, at first operate direction switch 20 and make lift operations on the plant feed unit 6 (step S2, S3, S4), then, gear lever 19 is operated advance side F (step S7), body is advanced (step S16), become like this and crossed field Z.
In this state,, and to make body retreat the field of crossing other position, then gear lever 19 is operated to and retreat side R (step S7) if the operator does not want to cross in this position high field Z.In such cases, static oil pressure endless gearing is adorned 15 N that maintain a neutral position, afterwards, the clutch 8 of will planting disconnects and makes plant feed unit 6 do lift operations (step S8, S9, S10), at plant the constantly opening operation of clutch 8 of operation direction switch 20, make plant feed unit 6 go up lift operations (step S2, S3, S4).
For above-mentioned gear lever 19 being operated to the state that retreats side R, as shown in Figure 6, front-wheel 1 is gone up field Z more makes body be in anterior acclivitous posture, plant feed unit 6 contacts with field face G, sensing floating drum 13 arrives the lower limit (step S12) of set scope, the body that does not move in step S15 begins to retreat (be equivalent to the 1st and allow to retreat mechanism) with having obstacle, afterwards, body is shifted to the position of other field Z.
Otherwise, be operated to the state that retreats side R for above-mentioned gear lever 19, as shown in Figure 6, ride on the ridge at front-wheel 1, body is under the situation of the posture of lifting the front portion, contact with the field face at plant feed unit 6, sensing floating drum 13 is in the time of can not dropping to the state that sets the scope lower limit, just can not move on to step S15 from above-mentioned steps S12.
Yet, even under such occasion, in the operation moment of direction switch 20, bindiny mechanism 4 (plant feed unit 6) is operated near the upper limit (step S2, S3, S4) owing to rise, divide a word with a hyphen at the end of a line to step S15 from step S13, body begins to retreat (be equivalent to the 2nd and allow to retreat mechanism), and body then can move to the position of other field Z then.
In addition, control flow does not disclose is body when beginning to retreat, and retreats buzzer 34 (with reference to Fig. 2) and starts working, and retreating of body can be by being recognized on every side like this.
The present invention can be used as transplanting rice seedlings machine, but the rear portion that also goes for body operatively is connected with the rotary tillage device farm tractor of (being equivalent to apparatus for work over the ground) by bindiny mechanism's free lifting.In this case, using rotary cover but rotary tillage device rear portion easy on and off is swingingly supporting lifting control, also can be floating drum of the present invention (grounding body).
The load detection device that detection is applied to the load on the floating drum can be arranged on the sensing floating drum near.Like this, even can not reach at the sensing floating drum under the state of lower limit, plant feed unit arrives upper limit position and when allowing back mechanism that body is retreated by the 2nd, if on floating drum, produce superfluous load, also can detect the load of this surplus, but also have the buzzer that this is warned, thereby can avoid the breakage of sensing floating drum.
In addition, in claim scope every for the ease of contrast with drawing thereby mark symbol, the symbol of this mark does not constitute the qualification to accompanying drawing drawing structure of the present invention.
Claims (4)
1. a kind of apparatus for controlling of lifting of apparatus for work over the ground is equipped with:
Apparatus for work (6) over the ground, being located at the body back can be with respect to body lifting freely by elevating mechanism (4);
Transmission device (5) drives described elevating mechanism (4) in order to lifting;
Action bars (10) can switch between the operating position of described transmission device and described apparatus for work over the ground and free position;
Grounding body (13), be used for contact, dispose can lifting relatively be freely in setting range from described apparatus for work over the ground (6);
It is characterized in that described apparatus for controlling of lifting has:
Force riser, be set under the situation of free position at described action bars (10), operate and retreat side (R) according to switching the travel speed-changing operation device (19) of speed change gear (15) of usefulness of body, pin down and stop body to retreat, and handle described transmission device (5) it is operated towards uplifted side because of the speed change gear (15) of the described usefulness of travelling;
First allows setback device, removes the restraining function that retreats of described pressure rising mechanism in limited time down what described grounding body (13) reached described setting range because of described pressure riser rises apparatus for work (6) over the ground, allows body to retreat;
Second allows setback device, when described elevating mechanism (4) makes apparatus for work (6) over the ground rise near the upper limit that arrives range height because of described pressure riser, removes the restraining function that retreats of described pressure rising mechanism, and the permission body retreats.
2. apparatus for controlling of lifting as claimed in claim 1 is characterized in that, it also is equipped with alarm device (32,33), is used for giving the alarm continuously during the uplifted side action because of described pressure riser at described transmission device (5).
3. apparatus for controlling of lifting as claimed in claim 1, it is characterized in that, it also is equipped with the control cancel system, stops described transmission device (5) because of the lifting action of described pressure riser towards uplifted side according to power is passed to the operation of closing of the clutch (C) of apparatus for work (6) over the ground from body (3).
4. as each described apparatus for controlling of lifting of claim 1～3, it is characterized in that, described speed change gear (15) is a static oil pressure endless gearing device, its described speed-changing operation device (19) can advance, neutral, retreat between gear shift, be equipped with the potentiometer (19A) that detects its operating position, thereby make described speed change gear (15) carry out the infinitely variable speeds operation corresponding to the velocity location of the operating position of the detected described speed-changing operation device of described potentiometer (19A) (19).
Applications Claiming Priority (6)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP274666/1994 | 1994-11-09 | ||
| JP27466694A JP3346919B2 (en) | 1994-11-09 | 1994-11-09 | Work vehicle ground work equipment lifting structure |
| JP274666/94 | 1994-11-09 | ||
| JP142966/1995 | 1995-06-09 | ||
| JP142966/95 | 1995-06-09 | ||
| JP7142966A JPH08331943A (en) | 1995-06-09 | 1995-06-09 | Rice transplanter |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1130978A CN1130978A (en) | 1996-09-18 |
| CN1057190C true CN1057190C (en) | 2000-10-11 |
Family
ID=26474813
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN95121552A Expired - Fee Related CN1057190C (en) | 1994-11-09 | 1995-11-09 | Rise-and-fall controller for operation vehicle operating on ground |
Country Status (3)
| Country | Link |
|---|---|
| KR (1) | KR0169171B1 (en) |
| CN (1) | CN1057190C (en) |
| TW (1) | TW302267B (en) |
Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4950691B2 (en) * | 2007-02-14 | 2012-06-13 | 株式会社クボタ | Tractor |
| CN102308692B (en) * | 2010-07-06 | 2014-01-29 | 中国农业机械化科学研究院 | Inserting depth adaptive adjustment method and device and rice transplanter with device |
| CN204377434U (en) * | 2012-08-06 | 2015-06-10 | 株式会社久保田 | Maize harvesting machine and combined harvester |
| KR101616802B1 (en) * | 2013-07-02 | 2016-04-29 | 이세키노우키가부시키가이샤 | Transplanter |
| CN104854979B (en) * | 2015-02-02 | 2017-01-04 | 星光农机股份有限公司 | A kind of operating mechanism of crawler-type rotary cultivator |
| CN105104338B (en) * | 2015-05-27 | 2017-12-08 | 陈仁 | Broadcast application spray all-in-one |
| KR102202050B1 (en) * | 2015-12-17 | 2021-01-12 | 엘에스엠트론 주식회사 | Apparatus and Method for Controlling Hitch of Agricultural Working Vehicle |
| EP3466230B1 (en) * | 2016-10-12 | 2023-01-18 | Kubota Corporation | Management system for a work device |
| CN109729792A (en) * | 2019-01-04 | 2019-05-10 | 丰疆智慧农业股份有限公司 | Intelligent transplanter and its self shifter method |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6276805A (en) * | 1985-09-30 | 1987-04-08 | Shigeaki Morita | High frequency gain control circuit |
| JP3083503B2 (en) * | 1997-11-12 | 2000-09-04 | コクヨ株式会社 | Attitude control device for rotating board |
-
1995
- 1995-11-01 TW TW084111555A patent/TW302267B/zh active
- 1995-11-09 KR KR1019950040414A patent/KR0169171B1/en not_active IP Right Cessation
- 1995-11-09 CN CN95121552A patent/CN1057190C/en not_active Expired - Fee Related
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6276805A (en) * | 1985-09-30 | 1987-04-08 | Shigeaki Morita | High frequency gain control circuit |
| JP3083503B2 (en) * | 1997-11-12 | 2000-09-04 | コクヨ株式会社 | Attitude control device for rotating board |
Also Published As
| Publication number | Publication date |
|---|---|
| CN1130978A (en) | 1996-09-18 |
| KR0169171B1 (en) | 1998-12-01 |
| KR960016694A (en) | 1996-06-17 |
| TW302267B (en) | 1997-04-11 |
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