CN1475098A - Working machine for paddy field - Google Patents

Working machine for paddy field Download PDF

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Publication number
CN1475098A
CN1475098A CNA021480419A CN02148041A CN1475098A CN 1475098 A CN1475098 A CN 1475098A CN A021480419 A CNA021480419 A CN A021480419A CN 02148041 A CN02148041 A CN 02148041A CN 1475098 A CN1475098 A CN 1475098A
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CN
China
Prior art keywords
aforementioned
valve
paddy
field
pressure
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Granted
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CNA021480419A
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Chinese (zh)
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CN1262166C (en
Inventor
木村浩人
夫
安田真
高冈学
服部彰夫
林宏明
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KUBOTA SEIKI CORP
Kubota Corp
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KUBOTA SEIKI CORP
Kubota Corp
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Publication of CN1475098A publication Critical patent/CN1475098A/en
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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
    • 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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/08—Servomotor systems without provision for follow-up action; Circuits therefor with only one servomotor
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G5/00—Means for preventing, limiting or returning the movements of parts of a control mechanism, e.g. locking controlling member
    • G05G5/05—Means for returning or tending to return controlling members to an inoperative or neutral position, e.g. by providing return springs or resilient end-stops

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  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Soil Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Environmental Sciences (AREA)
  • General Engineering & Computer Science (AREA)
  • Fluid Mechanics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Lifting Devices For Agricultural Implements (AREA)
  • Transplanting Machines (AREA)
  • Fluid-Pressure Circuits (AREA)

Abstract

To provide a paddy field implement elevator in which a single acting type hydraulic cylinder for elevating or lowering the paddy field implement is controlled with an electromagnetic control valve and in which a hydraulic circuit structure is simple and can be made at a low cost. A pilot type check valve 29 is disposed in a pressure oil-charging or discharging oil passage(b) communicating with the hydraulic cylinder 6. When a main spool 23 is placed at a neutral position, a pressure oil-charging oil passage(a) and the pressure oil-charging or discharging oil passage(b) are shut off, when the main spool 23 is placed at the neutral position. A pilot oil passage(d) for opening the passage of a pilot type check valve 29 communicates with a tank via the main spool 23. The pressure oil-charging oil passage(a) communicates with the tank via a pressure-compensating valve 33 energized and closed with a spring 32. A pilot oil passage(f) for opening the passage of the pressure-compensating valve 33 is connected to the pressure oil-charging oil passage(a). A pilot oil passage(e) for opening the passage of the pressure-compensating valve 33 communicates with the pressure oil-charging or discharging oil passage(b) and the pilot oil passage(d) for opening the passage of a pilot type check valve 29 via a shuttle valve 31.

Description

Working in paddy field
[technical field]
The present invention relates to working in paddy field such as rice transplanter.More particularly, the present invention relates to be equipped with the fuselage and being connected in the working in paddy field of paddy-field-working device at rear portion of this fuselage that travels of travelling, its elevating mechanism is equipped with respect to the fuselage lifting of travelling and drives the single-acting formula hydraulic cylinder of aforementioned paddy-field-working device and control the working in paddy field of magnetic valve of the action of this hydraulic cylinder.
[background technology]
As the elevator of the rice transplanter of representative working in paddy field, for example, (or the corresponding spy of Japan opens flat 8-84514 communique to specially permit No. 3242535 communique as Japan.Be referred to as prior art 1 below) described in, in order to press with the control of electromagnetism proportional pressure-reducing valve make be connected to lifting with the lifting transfer valve on the hydraulic cylinder when the mode of switching displacement forward or backwards, making hydraulic cylinder carry out expanding-contracting action constitutes, to make stability of flowization in order making when the above-mentioned vertical motion, pressure-compensated valve to be connected to the primary side of lifting transfer valve.
In addition, elevator as rice transplanter, the apparatus for work liftable is connected to drivingly the rear portion of the fuselage that travels, when neutral gear homing position type operator when aforementioned neutral position is operated automatic rising operating position, aforementioned apparatus for work rises to the set upper limit position automatically, when the aforementioned operation device when aforementioned neutral position is operated automatic step-down operation position, aforementioned apparatus for work drops to the operation height of regulation automatically.For example, open in the 2001-275415 communique (below be called prior art 2) disclosed as the spy of Japan, between neutral position and automatic rising operating position, manual rising operating position is set, in addition, between neutral position and automatic step-down operation position, manual step-down operation position is set, only carry out during operator being operated manual rising operating position that apparatus for work rises manually on lift operations, only during operator is operated manual step-down operation, carry out the manual step-down operation that apparatus for work descends.In addition, as other prior art, for example, open in the flat 9-294426 communique (below be referred to as prior art 3) disclosed as the spy of Japan, be equipped with along with any one position in automatic lifting position that reaches operator and the automatic down position, send the suggestion device of prompt tone.In addition, in the prior art, carry out when operating the second time of this operating position after operator is operated automatic down position from neutral position, apparatus for work switches to operating state.
In addition, elevator as rice transplanter, known, for example, as the spy of Japan open flat 11-89341 communique (below be referred to as prior art 4) disclosed, its structure also is equipped with the reverse gear controlling organization that makes seedling-transplanting device force the action of rising for when can controlling the lifting action of seedling-transplanting device by controlling organization when driving transmission is operated into going-back position.
[summary of the invention]
Invent problem to be solved
In above-mentioned prior art 1, when being in neutral position, when being connected with primary side and primary side, the pressure oil that is supplied to primary side is all constituted the lifting transfer valve by the mode that the lifting transfer valve is discharged to tank side, and must be processed to form on the neutral position of the main slide valve of lifting transfer valve, be communicated with primary side and primary side, and, be communicated with the pressure oil supply oil circuit of primary side and the oil circuit of tap, the processing cost of guiding valve is very high.
Therefore, the elevator of first purpose of the present invention working in paddy field that provide that a kind of hydraulic circuit is simple in structure, cost is low, that constitute with the single-acting formula hydraulic cylinder that drives lifting paddy-field-working device with solenoid electric valve operation control.
In addition, utilize prior art 2, has following advantage, promptly, by operating in except that the apparatus for work automatic lifting is operated to the automatic lifting of the operation height position of set upper limit position or regulation of operator, can also carry out the apparatus for work hand-operated lifting to the hand-operated lifting operation of the position of height arbitrarily.But, in this prior art constructions, human pilot is operated manual rising operating position or manual step-down operation position to operator from neutral position, to carry out apparatus for work is elevated to the hand-operated lifting operation of arbitrary height position, but when owing to maloperation operator being operated automatic rising operating position or automatic step-down operation position, the apparatus for work automatic lifting is to the operation height position of set upper limit position or regulation.In this case, owing to all can not carry out the hand-operated lifting operation of apparatus for work up to the automatic lifting EO, so, also leave some room for improvement at raising descending operation aspect of performance.
On the other hand, according to prior art 3, human pilot is grasped whether operator is operated automatic rising operating position or automatic step-down operation position reliably.But, because along with operator arrives automatic step-down operation position, send prompt tone from suggestion device, the operation of carrying out to automatic step-down operation position for the operation tool of the operation height position that apparatus for work dropped to the automatically regulation first time with operate for the second time that operator is carried out to automatic step-down operation position that job position is switched to operating state between, the prompt tone that sends from suggestion device is identical, so can not grasp this from this operation sound is to the operation first time of automatic step-down operation position or operation for the second time with operator.Thereby might cause only planning apparatus for work is dropped to the operation height position of regulation automatically, but cause apparatus for work to switch to duty, begin to carry out the problem of operation when the operator is original.Perhaps, might cause original plan that apparatus for work is switched to duty and beginning to carry out operation, but can only make apparatus for work drop to the operation height position of regulation automatically, and the problem that operation can not begin.In order to eliminate these problems, be accompanied by operator and reach automatic down position sends prompt tone from suggestion device structure although adopted, but when operator being operated automatic step-down operation position at every turn, the operator must later observe the state of the apparatus for work at rear, carries out pretty troublesome action.
Therefore, second purpose of the present invention be, utilizes the automatic lifting operation that rational operation can the aborting job device, improves the descending operation performance.
And then, in the paddy-field-working device, be equipped with the paddy-field-working device (being seedling-transplanting device under the situation of rice transplanter) by being connected to fuselage afterbody to rise, fuselage retreats the rear end that makes the paddy-field-working device and field etc. once in a while and " the reverse gear control " controlled such as bumps against under the decline state when the paddy-field-working device is in operation.
For example, in rice transplanter, in field, make seedling-transplanting device integrate field sometimes, in this case, must rice transplanter be moved forward and backward under the subaerial state repeatedly in maintenance near under the state on ground.But, in this case, in the structure of prior art 4, when retreating owing to must make reverse gear mechanism action, so the apparatus for work that the operator must utilize reverse gear control to rise descends once more and integrates the field operation again.Therefore, can not integrate the field operation expeditiously.
Thereby the 3rd purpose of the present invention be, in the paddy-field-working device of the rice transplanter that is equipped with reverse gear control function etc., can only carry out the reverse gear control action in the case of necessary, improves operating characteristics.
Solve the scheme of problem
In order to reach above-mentioned first purpose, as follows according to the architectural feature of paddy-field-working device of the present invention.
Promptly, the aforementioned electromagnetic control valve is equipped with via pressure oil is communicated with the main slide valve that connects the aforementioned hydraulic cylinder for the oil extraction road, the rising of Electromagnetic Drive is with operating valve and descend and to use operating valve, these rise with operating valve and descend and use operating valve, be connected with the pair of control grease chamber that is provided in aforementioned main slide valve two ends respectively, big or small corresponding aperture by means of being applied to a controlled pressure in the control grease chamber makes main slide valve be displaced to uplifted side or decline side from neutral position
Dispose the controlling non-return valve that allows to go out from the hydraulic cylinder effluent to hydraulic cylinder side flow, prevention pressure oil at aforementioned pressure oil to installing additional on the oil extraction road from the pressure oil that aforementioned main slide valve is sent,
When aforementioned main slide valve was positioned at neutral position, the pressure oil that is connected with pump supply oil circuit and aforementioned pressure oil were isolated for row respectively by obturation with oil circuit when, the open circuit of aforementioned controlling non-return valve was communicated with fuel tank via aforementioned main slide valve with the control oil circuit,
Aforementioned main slide valve is when lifting position, and aforementioned pressure oil supply oil circuit and pressure oil are communicated with for row via aforementioned main slide valve with oil circuit,
When aforementioned main slide valve was in down position, aforementioned pressure oil supply oil circuit was communicated with via the control oil circuit of this main slide valve with the open circuit usefulness of aforementioned controlling non-return valve, and,
Aforementioned pressure oil supply oil circuit is communicated with fuel tank by utilizing the closed pressure-compensated valve that loads of spring, when the open circuit of this pressure-compensated valve was connected on the pressure oil supply oil circuit with the control oil circuit, the closed circuit of aforementioned pressure recuperation valve with the aforementioned control oil circuit of oil circuit and controlling non-return valve was connected for row by reciprocable valve with aforementioned pressure oil with the control oil circuit.
According to said structure, as shown in Figure 2, rise with operating valve 25 and descend and be failure to actuate simultaneously when being positioned at neutral gear with operating valve 27, when pressure oil flowed into oil circuit a and uses oil circuit b respectively by main slide valve 23 obturations to oil extraction, the hydraulic control system of controlling non-return valve 29 was made loop d and is opened.Because in this state, pressure does not act on the closed circuit with on the control oil circuit e of pressure-compensated valve 33, so by flowing into the open circuit pressure of controlling oil circuit f that oil circuit a is communicated with pressure oil, the elastic force that pressure-compensated valve 33 is resisted spring 32 is opened, and the whole pressure oils that are supplied to pressure oil to flow into oil circuit a are discharged to tank side via pressure-compensated valve 33.In addition, by the self-closing effect of controlling non-return valve 29, prevention work oil flows out from hydraulic cylinder 6, and hydraulic cylinder 6 is maintained at existing position.Here, the closed loading force that pressure overcomes spring 32 acts on the pressure oil inflow oil circuit a, and the closed loading force of spring 32 diminishes, and the pressure loss of the oil that the pressure-compensated valve in moving by neutral gear is discharged is little.
When above-mentioned operating valve 25 is driven by batch (-type), when controlled pressure that the supply vertical motions of control grease chamber 24 are used, main slide valve 23 is displaced to uplifted side according to the size of controlled pressure, utilizes the aperture according to the size of controlled pressure, and pressure oil flows into oil circuit a and is communicated with the oil circuit b that uses to oil extraction.Whereby, controlling non-return valve 29 is forced to open by the pressure that pressure oil flows into oil circuit a, and hydraulic cylinder 6 receives the pressure oil supplyings and is driven to uplifted side.
In this case, control on the oil circuit e by closed circuit the using that reciprocable valve 31 affacts pressure-compensated valve 33 with the pressure of oil circuit b to oil extraction, the pressure ratio that pressure oil flows into oil circuit a goes out the loading force that is caused by spring 32 to oil extraction greatly with the pressure of oil circuit b, promptly, the front and back pressure differential of main slide valve 23 equals the on-load pressure that caused by spring 32, and pressure-compensated valve 32 is according to carrying out on-off action to oil extraction with the pressure (load pressure of hydraulic cylinder 6) of oil circuit b.Thus, irrelevant if the aperture of main slide valve 23 is the same with load, stably keep oil mass by main slide valve 23, make the responsiveness of hydraulic cylinder 6 obtain certain compensation.
Make valve 27 when the decline recruitment and driven off and on controlled pressure is offered control during hydraulic chamber 26, main slide valve 23 is displaced to the decline side according to the size of this controlled pressure.In this case, pressure oil flows into oil circuit a and is communicated with control oil circuit d, and controlling non-return valve 29 is opened, and the hydraulic cylinder open C is by being communicated with tank side with oil circuit b and main slide valve 23 to oil extraction, work oil in the hydraulic cylinder 6 flows out, and rice transplanting machine 5 descends by deadweight.At this moment because at two of pressure-compensated valve 33 control oil circuit e, on the f respectively effect same pressure is arranged, pressure-compensated valve 33 cuts out by spring 32, is admitted to control oil circuit d from the oil pressure of pump 22, controlling non-return valve 29 is opened.
Thereby, according to the present invention, the pressure-compensated valve of the stability of flowization by will make vertical motion the time is as not making the amount of whole supply oil pressure flow out unloader by main slide valve when the neutral gear, needn't form on main slide valve that whole supply pressure oil flow out to the oil circuit of tank side and make pressure oil be communicated to the oil mass that tank side is used with oil circuit for row when making neutral gear, simplify the processing of guiding valve, because hydraulic circuit is simple in structure, can make with low cost.
For reaching above-mentioned second purpose, according to the structure of the device of the paddy-field-working of invention, its feature is as follows.
That is, on the aforementioned fuselage that travels, the operator of the neutral gear homing position type of getting in touch with the aforementioned electromagnetic control valve is set,
When the aforementioned operation device being operated on the manual rising operating position from neutral position, the aforementioned operation device be maintained on this operating position during in, the aforementioned paddy-field-working device of control that rises,
When the aforementioned operation device being operated on the automatic rising operating position that surmounts previous manual rising operating position from aforementioned neutral position, aforementioned paddy-field-working device is risen automatically controls to the set upper limit position,
When aforementioned neutral position is operated manual step-down operation position with the aforementioned operation device, during the aforementioned operation device was maintained at this operating position, aforementioned paddy-field-working device was lowered by control,
When aforementioned neutral position is operated the automatic step-down operation position that surmounts previous manual step-down operation position with the aforementioned operation device, aforementioned paddy-field-working device is descended always automatically controls to the operation height position of regulation,
When according to the aforementioned operation device in the operation of aforementioned automatic lifting position, the way in the automatic rising of aforementioned paddy-field-working device with the aforementioned operation device when aforementioned neutral position is operated the previous manual down position, position in the aforementioned paddy-field-working device rising way at this moment stops to rise, and
According to the aforementioned operation device in the operation of aforementioned automatic down position, automatic decline way at aforementioned paddy-field-working device, when aforementioned neutral position was operated the previous manual lifting position, the position in the aforementioned paddy-field-working device decline way at this moment stopped to descend with the aforementioned operation device.
According to said structure, when since with operator to the maloperation of automatic rising operating position cause make apparatus for work rise to automatically the set upper limit position go up the unexpected beginning of lift operations automatically the time, by operator being operated manual step-down operation position, can end immediately because the automatic lift operations of going up of the apparatus for work that this maloperation causes.Otherwise, when because the automatic step-down operation that operator makes apparatus for work drop to the operation height position of regulation automatically to the maloperation of automatic step-down operation position when beginning unexpectedly, by operator being operated manual rising operating position, can end immediately because the automatic lift operations of going up of the apparatus for work that this maloperation causes.
Promptly, even estimating that operator is operated manual rising operating position or manual step-down operation position from neutral position, carry out apparatus for work is elevated to the hand-operated lifting operation of arbitrary height, and because maloperation is operated the automatic rising operating position that surpasses these operating positions with operator or automatically under the situation of step-down operation position, also can make because the automatic lifting operation of the apparatus for work that this maloperation causes stops immediately, switch to the hand-operated lifting operation of operating the apparatus for work that carries out according to operator to manual rising operating position or manual down position.
And, the operating position that the automatic lifting operation of the apparatus for work that causes according to maloperation is ended, it is the operating position that apparatus for work is moved to the opposite direction of the moving direction of the apparatus for work that is caused by this maloperation, and, because this position is the operating position near neutral position, so the operator can carry out the automatic lifting hang up of apparatus for work by the light of nature, forthwith, rapidly.
Thereby, according to the present invention, can utilize rational processing ease and stop the automatic lifting operation of the apparatus for work that the maloperation because of operator causes immediately, promptly carry out the descending operation of appropriate apparatus for work then, its descending operation excellent performance, and can avoid the reduction of the operating efficiency that causes because of maloperation.
And then, assembled suggestion device, after the aforementioned operation device is operated the operation of aforementioned automatic step-down operation position from aforementioned neutral position, carrying out when operating the second time of this operating position, aforementioned paddy-field-working device switches to duty, and, arrive automatic step-down operation position according to the aforementioned operation device, when aforementioned apparatus for work drops to the position of operation height of regulation automatically, with arrive aforementioned automatic down position according to the aforementioned operation device, between when aforementioned apparatus for work switches to duty, described suggestion device produces prompt tone according to different situations, adopt this structure, have the following advantages.
According to said structure, as operator is operated automatic step-down operation position, made apparatus for work drop to next one operation after the operation height position of regulation automatically from neutral position, by operator being operated once more its automatic step-down operation position, apparatus for work can be switched to job state.Usually, as operator being operated automatic down position, the operation height position next one operation afterwards that makes apparatus for work drop to regulation can not be carried out the operation of operator to automatic step-down operation position, but in the present invention, owing to effectively utilize this operation, use it for the switching of the job state of apparatus for work, so, needn't be provided with again apparatus for work is switched to the dedicated operations position that job state is used.
Thereby, utilize single operator not only can carry out the descending operation of apparatus for work simply, apparatus for work is switched to job state, and its operating characteristics excellence, the structure that simplifies the operation reduces manufacturing cost.
In addition, according to said structure, if with operator when the automatic step-down operation position operation by suggestion device generation prompt tone, the operator is grasped, operation at this moment is the optimum operation that operator is operated into automatic step-down operation position reliably.By at this moment prompt tone the operator is grasped is based on the automatic step-down operation that job position is carried out in this operation, still switches to the operation of job state.In addition, if suggestion device does not produce prompt tone, the operator is grasped, operation at this moment is inappropriate operation, operator can not be operated into automatic down position reliably, can not carry out the automatic step-down operation of apparatus for work and to the handover operation of job state.
Promptly, whether the operator can be easy to grasp operator appropriate to the operation of automatic step-down operation position, when incorrect, can impel the operator to carry out the appropriate operation again of operator in operation, the operator can promptly make operator carry out appropriate operation again to automatic down position.In addition, carry out the operation of apparatus for work owing to can be easy to make the operator to grasp basis operator at this moment to the operation of automatic step-down operation position, thereby when only planning to make apparatus for work drop to the operation height of regulation automatically, can prevent from advance to cause out of a clear sky apparatus for work to be switched to the generation that duty begins to carry out this inappropriate situation of operation.Perhaps, can take precautions against original plan in advance switches to apparatus for work that duty begins to carry out operation but only apparatus for work is dropped to the operation height of regulation automatically and do not begin the generation of the problem of operation.In addition, even cause in supposition under the situation of these problems, the operator also can be easy to grasp the generation of these problems, and the operator can promptly carry out the operation at these problems.
Thereby, can avoid because operator is inappropriate to the operation of automatic down position, because the automatic step-down operation that can not carry out apparatus for work that causes of this operation and reduce to the operating efficiency that the handover operation of duty causes.In addition, also can avoid at an easy rate because unexpected beginning operation maybe can not begin the operating efficiency that problem such as operation causes descends.
In order to reach above-mentioned the 3rd purpose, as follows according to the characteristics of the structure of paddy-field-working device of the present invention.
That is, it is provided with: the driving transmission that detects the aforementioned fuselage that travels is set at the testing agency that retreats on the going-back position,
Detection is configured in the ground state testing agency of the ground state of the grading smoother on the aforementioned paddy-field-working device,
Receive the aforementioned fallback state testing result that retreats testing agency, make aforementioned paddy-field-working device force vertical motion to carry out the controlling organization of reverse gear control, and,
Aforementioned controlling organization is with the aforementioned electromagnetic control valve and aforementionedly retreat testing agency and ground state testing agency connects, although retreat that testing agency detects fallback state but aforementioned ground state testing agency is not detected under the situation of ground state aforementioned, can stop the action of aforementioned reverse gear control.
According to said structure, only when the paddy-field-working device dropped to the grading smoother of operation height fuselage is in fallback state under ground state, control device was carried out reverse gear control, and the paddy-field-working device rises automatically.When configuration land readjustment device was earth-free, because control device is not carried out reverse gear control, even fuselage is in fallback state, the paddy-field-working device did not rise yet.
Thereby, according to the present invention, the paddy-field-working device is dropped under the situation of carrying out the forward-reverse operation under the state of the earth-free height of grading smoother (promptly, the operation of so-called integration field), do not need under the situation of reverse gear control, prevention reverse gear control action can be automatically restricted, transaction capabilities can be improved.
About further feature structure of the present invention, effect, effect and advantage can become clearer by the explanation of being carried out with reference to the accompanying drawings.
[simple declaration of accompanying drawing]
Fig. 1 is the overall end view of rice transplanter;
Fig. 2 is a seedling-transplanting device lifting hydraulic circuit diagram;
Fig. 3 is the control block diagram;
Fig. 4 is preferential lifting control flow chart;
Fig. 5 is preferential lifting control flow chart;
Fig. 6 is the reverse gear control flow chart.
[working of an invention form]
Below with reference to the accompanying drawings, be the preferred implementing form of example explanation with riding-type rice planter according to working in paddy field of the present invention as an example of working in paddy field.
The whole side of this rice transplanter of expression among Fig. 1.In this rice transplanter, liftably be connected to the four-wheel driving type that is equipped with front-wheel 1 and trailing wheel 2 (being equivalent to mobile devices) through hydraulically powered linkages 4 in the middle of the seedling-transplanting device (example of paddy-field-working device) 5 and travel on the rear portion of fuselage 3.On the rear portion of fuselage 3 of travelling, further be equipped with fertilizer apparatus 7.This linkage 4 drives lifting by single-acting formula hydraulic cylinder 6.
Engine 8 is loaded in the front portion of the aforementioned fuselage 1 that travels, the power that sends from this engine 8, but carry out infinite variable speed Hyaulic infinite variable speed mechanism (example of driving transmission) 9 and carry out speed change with can just changeing and reversing, this variable-speed dynamic is imported in the gearbox body 10, is branched to pass to the dynamical system that mobile devices are used with dynamical system and apparatus for work.The power that the mobile devices that are branched are used becomes multistage with gear type auxiliary variable speed mechanism (not shown) speed change in gearbox body, this variable-speed dynamic is bearing on the left and right sides front-wheel 1 on the gearbox body 10 being passed to axle, simultaneously, the part of variable-speed dynamic is delivered on the left and right sides trailing wheel 2 via power transmission shaft 11 and rear portion transmission case body 12.In addition, the power that the apparatus for work that is branched in casing is used has only its turn power to be taken out with axle from the casing rear portion and passes to seedling-transplanting device 5, with the speed drive seedling-transplanting device 5 synchronous with travel speed.
The seedling carrying base 14 that on seedling-transplanting device 5, is equipped with the mounting rice shoot to move back and forth with certain stroke, from the lower end of this seedling carrying base 14 more than ground of rice shoot are transported on the ground of planting, the Rotary Water rice transplanter structure 15 on eight ridges or ten ridges is with a plurality of grading smoothers (float) 16 of the part leveling of rice transplanting on the ground etc.In 16 groups of the grading smoothers that disposes side by side, the grading smoother 16 of central authorities as hereinafter described, is used as and detects the sensor smoother SF that seedling-transplanting device 5 is used with respect to the height on ground.
On fertilizer apparatus 7, be equipped with: the hopper 17 of storing powder shape fertilizer, utilize wind-force to transport the electric blower 18 of discharging a certain amount of fertilizer by the feed mechanism (not shown) from this hopper 17, be installed on each grading smoother 16 and should be on various rice transplantings ridge, form the plough 19 of fertilising on the ground with ditch, will be directed to the supply hose 20 in each plough 19 with the fertilizer that wind-force transports.Simultaneously,,, utilize plough 19 to form the fertilising groove, fertilizer supply is buried underground it in this fertilising groove near near the cross side of rice transplanting position along with advancing of fuselage.
Aforementioned hydraulic cylinder 6 utilizes solenoid electric valve to move control.That is, hydraulic cylinder 6 and solenoid electric valve V all constitute the elevating mechanism of seedling-transplanting device.In Fig. 2, express the hydraulic circuit figure of the solenoid electric valve V inside that is used to drive this hydraulic cylinder 6.In addition, in this rice transplanter, being stored in travels also is used as work oil in this hydraulic circuit with the lubricating oil in the gearbox body 10.
As shown in Figure 2, on the valve body 21 of solenoid electric valve V, the pump intake P of the pressure oil that receives power-actuated pump 22 supplies utilize engine is set, is connected to hydraulic cylinder inlet C on the hydraulic cylinder 6, and will discharge oil and turn back to the interior fuel tank inlet T of gearbox body 10 with pipe arrangement.On valve body 21, further be assembled with: the reciprocating type main slide valve 23 of neutral gear that the control that receiving is provided is pressed, moved forward or backwards; Supply is risen with the rising operating valve 25 of controlled pressure oil in the control grease chamber 24 on an end of being located at main slide valve 23; Descend with the decline operating valve 27 of controlled pressure oil to 26 supplies of the control grease chamber of the other end that is configured in main slide valve 23; The pressure-reducing valve 28 that is supplied to the primary side of two operating valves 25,27 to use the pressure oil of authorized pressure; Be installed at main slide valve 23 and hydraulic cylinder outlet C connect to oil extraction with the controlling non-return valve 29 in the way of oil circuit b; Stop and descend with hand switch valve 30; Be arranged on reciprocable valve 31 to high pressure between the control oil circuit d of oil extraction with the open circuit usefulness of oil circuit 6 and controlling non-return valve 29, in the pressure of taking-up two oil circuit b, d; The pressure-compensated valve 33 that utilizes spring 32 to load to closing direction; Safety valve 34; Pressure oil flows into the in-line filter 35 among the oil circuit a etc.The pressure that takes out from reciprocable valve 31 is applied on the recuperation valve 33 by control oil circuit e.
Below the lifting action that utilizes the aforementioned hydraulic loop is described.
[neutral gear]
Fig. 2 represents that the control grease chamber 24,26 of main slide valve 23 all is in neutral gear " N " state of not supplying controlled pressure.At this moment, pressure oil flow into oil circuit a and to oil extraction with oil circuit b the time respectively by main slide valve 23 obturations, the control loop d of controlling non-return valve 29 opens.In this state, with controlling on the oil circuit e pressure does not appear the closed circuit of pressure-compensated valve 33, so, by the open circuit pressure of controlling oil circuit f that is connected on the pressure oil inflow oil circuit a, pressure-compensated valve 33 is resisted spring 32 and is opened, and is discharged from reservoir port T via the pressure oil that this pressure valve 33 all is supplied to pressure oil to flow into oil circuit a.In addition, effect has the load pressure of the hydraulic cylinder 6 of the weight of bearing seedling-transplanting device 5 on hydraulic cylinder port C, can not flow out by the self-closing effect of controlling non-return valve 29, and seedling-transplanting device 5 is held existing height and position.Here, flow on the oil circuit a at pressure oil, the pressure of the closed loading force of spring 32 occurs overcoming, the closed loading force of spring 32 diminishes, and the pressure loss that causes via the oil extraction that is in the pressure-compensated valve 33 in the neutral gear action is very little.
[vertical motion]
Driven off and on operating valve 25 when rising, when control grease chamber 24 supplied the controlled pressure that vertical motions use, main slide valve 23 was displaced to rising " U " side according to the size of controlled pressure.Like this, utilize the aperture according to the size of controlled pressure, pressure oil flows into oil circuit a and is communicated with oil circuit b to oil extraction.Whereby, controlling non-return valve 29 is by the pressure positive opening of pressure oil inflow oil circuit a, and hydraulic cylinder 6 is accepted the pressure oil supplying and is shortened driving, and seedling-transplanting device 5 rises.
In this case, control on the oil circuit e, via closed circuit the using that reciprocable valve 31 affacts pressure-compensated valve 33 with the pressure of oil circuit b to oil extraction according to the on-off action that carries out pressure-compensated valve 33 to oil extraction with the pressure (load pressure of hydraulic cylinder 6) of oil circuit b.At this moment, set pressure ratio that pressure oil flows into oil circuit a for and go out the on-load pressure that spring 32 causes to oil extraction greatly with the pressure of oil circuit b, that is, the front and back pressure differential of main slide valve 23 equals the on-load pressure of spring 32 generations.Whereby, if the aperture of main slide valve 23 equate, no matter load pressure how, can stably keep surpassing the oil mass of main slide valve 23, the responsiveness of hydraulic cylinder 6 is necessarily compensated.
[down maneuver]
Make valve 27 when the decline recruitment and intermittently driven when control grease chamber 26 supplies controlled pressures, main slide valve 23 is displaced to decline " D " side according to the size of this controlled pressure.In this case, pressure oil flows into oil circuit a and is communicated with controlled pressure oil circuit d, and controlling non-return valve 29 is opened, and hydraulic cylinder port C is via being communicated with tank side with oil circuit b and main slide valve 23 to oil extraction, and the work oil in the hydraulic cylinder 6 flows out; Seedling-transplanting device 5 descends by own wt.At this moment, owing on two control oil circuit e, f of pressure-compensated valve 33, act on identical pressure respectively, so pressure-compensated valve 32 is by spring 32 obturations, be admitted to control oil circuit d from the pressure oil of pump 22, the pressure one side that one side stays open controlling non-return valve 29 is discharged from from discharging oil circuit g.In addition, when the pressure of pressure oil inflow oil circuit a was elevated to setting pressure, whole oil hydraulic circuit was protected in safety valve 34 actions.
Shown in the control block diagram of Fig. 3, aforementioned electromagnetic control valve V is connected on the control device 40 that adopts microprocessor, when controlling automatically, also can operate, below relevant therewith structure is described according to artificial instruction according to the detection information of acquisitions such as sensor smoother.
Near the right side that is provided in the driver's seat 36 on the fuselage 3 that travels, can free swing ground configuration rice transplanting bar 41.On the courses of action of this rice transplanting bar 41, the past sets gradually " rice transplanting ", " decline " backward, " neutral gear " reaches " rising " four operating positions, more rear at them is provided with " automatically " position, the operating position of rice transplanting bar 41 utilizes potentiometer 42 to detect, and is input in the control device 40.
Be assembled to each grading smoother 16 on the seedling-transplanting device 5, can be supported in from horizontal smoother fulcrum shaft 43 around fulcrum x with swinging up and down and be backward on the rear end of a plurality of supporting arms 44 that cantilever-shaped extension is provided with.In one group of grading smoother 16, the smoother that is positioned at the central portion of left and right directions has the effect of sensor smoother SF.Utilize potentiometer (example of ground state testing agency) 45 to detect sensor smoother SF around the swinging up and down of fulcrum x, this potentiometric output is imported in the control device 40 as the elevation information of seedling-transplanting device 5 with respect to ground.
In the left side of the steering wheel 37 of being located at Drive Section the place ahead, but the main shift lever 46 of the aforementioned stepless speed change device 9 of swing ground setting operation.This main shift lever 46 mechanically is connected on the stepless speed change device 9, by operating the speed change zone F that advances in the place ahead, infinitely variable speeds in the middle of can advancing, retreat the speed change region R by what operate the rear, infinitely variable speeds in the middle of can retreating, and the neutral position N of the centre by operating two speed change zones can stop to advance.Simultaneously, near the courses of action of this main shift lever 46, configuration using is operated the test rod (retreating an example of testing agency) 47 of the main shift lever 46 contact swing that retreats speed-change area R, and retreats switch (retreating an example of testing agency) 48 by the swing bulldozing operation of this test rod 47.This testing result that retreats switch 48 is imported in the control device 40, judges whether main shift lever 46 is operated to retreat in the speed change region R.
Near the right side of steering wheel 37, be equipped with cross swing type control stick (example of operator) 50 as the artificial operator that sends preferential lifting instruction usefulness.This control stick 50 is when can bobbing and weaving, to the neutral position N loading that resets, can be from neutral position N to operating with upper/lower positions, these positions are, the manual rising operating position U1 of top, more depend on the automatic rising operating position U2 of top than this manual rising operating position U1, manual step-down operation position D1 to neutral position N below, more depend on the automatic step-down operation position D2 of below than this manual step-down operation position D1, the left side sign operating position M (L) in neutral position N the place ahead, and the right side at neutral position N rear sign operating position M (R).Simultaneously, detect to these operating positions U1 with multicontact switch 51, U2, M (L), the operation of M (R), its testing result is imported in the control device 40.
On the fuselage 3 that travels, the rice transplanting that is arranged on a stroke forms the pair of right and left line concentrator marker 52 of cut of the datum line that travels of next stroke on the ground when travelling, the set-up mode of described concentrator marker is, they can freely swing around fulcrum y and switch so that can protrude between the posture (posture shown in Figure 2) that holding up of the effect posture of the lodging in the field and its front end built on stilts come at its front end.Line is connected with operation steel wire 53 on the concentrator marker 52 about these, by rising to the upper limit position interlock with seedling-transplanting device 5, and the operation of pilot operationp steel wire 53, the loading force of resisting spring 54 is switched and becomes to hold up posture.Simultaneously, hold up posture at this, the left and right sides maintaining body 55 that is connected on the corresponding operation steel wire 53 works automatically, also can keep operating the traction state of steel wire even seedling-transplanting device 5 descends, and the concentrator marker 52 of will ruling remains on holds up posture.
About each maintaining body 55 remove it by the energising action of solenoid 56 and keep function, when detecting aforementioned control stick 50 with multicontact switch 51 when being operated into left concentrator marker operating position M (L), the maintenance function of the maintaining body 55 in left side is disengaged.On the contrary, when multicontact switch 51 detects control stick 50 when being operated into right concentrator marker operating position M (R), the maintenance function of the maintaining body 55 on right side is disengaged.Thereby, when seedling-transplanting device 5 is dropping to rice transplanting operation height position or dropped to rice transplanting operation height position, be disengaged the line concentrator marker 52 that keeps functioning side because the loading force of spring switches to the lodging position.
In addition, on aforementioned control device 40, be connected with seedling-transplanting device 5 is risen to the upper limit switch 57 that set upper limit position (as the height and position of linkage 4) is detected, the operation clutch 58 that carries out transmission of power to seedling-transplanting device 5 and fertilizer apparatus 7 is off and on connected the electromotor 59 that disconnects, and the control sensitivity controller 60 of the control sensitivity when stably keeping transplanting depth to adjust automatic lifting control seedling-transplanting device 5.
In this rice transplanter, the operator can select to operate the form of rice transplanting bar 41 any lifting seedling-transplanting devices 5, and in order to make the form of transplanting depth stabilisation automatic lifting control seedling-transplanting device 5.The following describes the action of various lifting forms.
[utilize and manually carry out lifting]
When the operator operated rice transplanting bar 41 on " rising " position, solenoid electric valve V was switched to propradation, and whereby, seedling-transplanting device 5 carries out vertical motion till upper limit switch 57 detects action.Prescribe a time limit when seedling-transplanting device 5 rises to, solenoid electric valve V switches to neutral state, and seedling-transplanting device 5 is maintained at upper limit position.In addition, rice transplanting bar 41 is operated " rising " position, before arriving the upper limit, rice transplanting bar 41 is turned back to " neutral gear " position, can make seedling-transplanting device 5 risings and stop at height arbitrarily at seedling-transplanting device 5.In addition, in " rising " position and " neutral gear " position, utilize electromotor 59 that operation clutch 58 is switched to the state that clutch disconnects.
Be under the aerial state at seedling-transplanting device 5, when the operator operates " decline " position to rice transplanting bar 41, switch to " transplanting depth control automatically " pattern.This control model, as hereinafter described, be for the posture detection information according to sensor smoother SF maintains the rice transplanting operation height of regulation with seedling-transplanting device 5, be lowered by control until sensor smoother SF ground connection becomes till the benchmark posture of regulation so be positioned at aerial seedling-transplanting device 5.In addition,, before sensor smoother SF ground connection, turn back to " neutral gear " position, seedling-transplanting device 5 is descended and stop to any height by rice transplanting bar 41 being operated " decline " position.This external " decline " position of being somebody's turn to do switches to the state that clutch disconnects by electromotor 59 with operation clutch 58.
[transplanting depth control automatically]
When the operator operates " rice transplanting " position to rice transplanting bar 41, when switching to " transplanting depth control automatically " pattern, detect sensor smoother SF ground connection according to the information from potentiometer 45, operation clutch 58 is switched to the clutch on-state by electromotor 59.In this control model, for the angle that swings up and down sensor smoother SF remains on target benchmark angle, according to solenoid electric valve V being moved control from potentiometer 45 detected information.Promptly, when calculating the moving average that swings up and down the angle of utilizing the sensor smoother SF that potentiometer 45 detects (below abbreviate as detect the angle), this detection angle and the target reference angles set in the input control device 40 are in advance compared, magnetic valve V is moved control according to target reference angle and the deviation that detects the angle.
That is, when judge detecting the angle, to seedling-transplanting device 5 control of rising greater than target reference angle (sensor smoother SF is than the more forward top of target reference angle).Otherwise, when being judged as when detecting the angle, to seedling-transplanting device 5 control that descends less than datum target angle (sensor smoother SF is than the more close front lower place of target reference angle).Therefore, the angle that swings up and down of sensor smoother SF is contained in the blind area of target reference angle.Whereby, even, carry out the rice transplanting of prescribed depth because moving up and down or tilting forward and back of the fuselage 3 that travels that ploughing and weeding change in depth in the fields etc. cause also can stably keep the height of seedling-transplanting device 5 with respect to the surface, field.
In this case, with the oil mass of discharging from hydraulic cylinder 6 when descending control becomes flow with n function (for example 4 functions) computing of at that time aforementioned deviation, the oil mass of supplying from hydraulic cylinder 6 when rising control becomes deviation at that time m function (m＜n.The mode of flow 3 functions for example) is set ride gain.Like this, though the sensor smoother SF that causes because of the lifting of seedling-transplanting device 5 promptly carries out restoring to the benchmark posture of regulation, but still the rate of climb that can prevent seedling-transplanting device 5 can suppress to float because of each grading smoother 16 floats the rice shoot that causes from the surface, field greater than decrease speed.
In addition, aforementioned target reference angle in this automatic transplanting depth control, can utilize aforementioned control sensitivity controller 60 to regulate seven grades that are set in " 1 "～" 7 ", scale value is set more for a short time, the posture that is in the sensor smoother SF of target reference angle (being in the control neutral state) changes to the front lower place more, scale value is set greatly more, and the posture that is in the sensor smoother SF of reference angle (being in the control neutral state) changes to the front upper place more.Simultaneously, input in advance is set in the target reference angle in the control device 40, is equivalent to control the scale value " 4 " in the sensitivity controller 60, and the posture of sensor smoother SF at this moment is along the fore-and-aft direction approximate horizontal.
Like this, set scale value more little, the past more front lower place of posture that is in the sensor smoother SF under the target reference angle changes, sensor smoother SF is easy more to be subjected to the pressure that ground connection is caused, even the pressure of ground connection has very little variation, sensor smoother SF also can swing up and down, and it is carried out sensitive lifting control.Otherwise, make scale value big more, the posture that is in the sensor smoother SF of target reference angle changes to the front upper place more, sensor smoother SF is not easy to be subjected to the reaction force of ground connection, the pressure of ground connection changes little, sensor smoother SF does not swing up and down, and it is carried out the not high control of sensitivity.
Thereby, in the many and soft paddy field of water, by being set at little scale value, making it and suitably to drop excessively by controlling sensitivity, can controlling to sensor smoother SF, otherwise, in hard paddy field,, reduce control sensitivity by being set at big scale value, it is carried out stable lifting control, and making it can not have excessive induction to the concavo-convex grade on ground.
When rice transplanting bar 41 being operated " automatically " position, when setting above-mentioned " transplanting depth control automatically " pattern, can carry out " preferential lifting control " and " reverse gear control ", below these controls are described.
[preferential lifting control]
This preferential lifting control is carried out corresponding to the operation up and down of aforementioned operation bar 50, and Fig. 4, Fig. 5 are the flow charts of this preferential lifting control of expression.
As from flow process as can be seen, when action bars 50 being promoted when operating manual rising operating position U1, utilize multicontact switch 51 to detect these situations, proceed this detection during, solenoid electric valve V switches to above-mentioned vertical motion state, and seedling-transplanting device 5 continues to rise.Simultaneously, when interrupting this detection, solenoid electric valve V switches to above-mentioned neutral state, and seedling-transplanting device stops at above-mentioned position at this moment.
In addition, when action bars 50 is operated into automatic rising operating position U2, by multicontact switch 51 it is detected, suggestion device 61 actions by buzzer constitutes produce one time prompt tone, meanwhile, seedling-transplanting device 5 is controlled to upper limit switch 54 by rising and detects till the action, according to detecting the arrival upper limit, solenoid electric valve V is switched to neutral state, and the control of rising stops.
Otherwise, when detecting action bars 50 with multicontact switch 52 when being operated into manual down position D1, continuing between this detection period, solenoid electric valve V is switched to above-mentioned down maneuver state, seedling-transplanting device 5 descends by deadweight, when this detected interruption, solenoid electric valve V was switched to neutral state, and seedling-transplanting device 5 stops at down position at that time.
Simultaneously, stably remain on the state of the rice transplanting operation height position of regulation at seedling-transplanting device 5, when detecting action bars 50 by multicontact switch 51 when being operated into manual rising operating position U1 or rising operating position U2 automatically, automatically transplanting depth control finishes, in seedling-transplanting device 5 preferential risings, operation clutch 55 is switched to the state that clutch disconnects via electromotor 59.
In addition, when multicontact switch 51 detects action bars 50 when automatic down position D2 operates, suggestion device 61 actions, produce one time prompt tone, meanwhile, result in above-mentioned rice transplanting bar 41 is operated the identical state of " decline " location status, seedling-transplanting device 5 drops to sensor smoother SF with target reference angle and ground state of contact.
In addition, detect to the next one of automatic step-down operation position D2 as utilizing multicontact switch 52 to detect action bars 50, when detecting action bars 50 by multicontact switch 52 for the second time when this automatic step-down operation position D2 operates, when sending prompt tone by suggestion device 57 is double, electromotor 59 actions, operation clutch 58 switches to on-state from the clutch off-state, and beginning is carried out rice transplanting action by seedling-transplanting device 5 and by fertilizer apparatus 7 action of applying fertilizer.Simultaneously, after being transformed into this job state, carry out above-mentioned automatic transplanting depth control.
In addition, utilizing multicontact switch 51 to detect the next one of action bars 50 after automatic rising operating position U2 operation detects, it or not the detection that arrives upper limit position by upper limit switch 57, but utilize multicontact switch 51 detecting operation bars 50 when the operation of manual decline 7 position D1, solenoid electric valve V switches to neutral state, and seedling-transplanting device 5 stops at the position at that time the rising way.
In addition, when the next one that utilizes multicontact switch 52 detecting operation bars 50 after automatic step-down operation position D2 operation detects, not to utilize potentiometer 45 to detect seedling-transplanting device 5 to arrive rice transplanting operation height position, but by multicontact switch 34 detecting operation bars 50 when the operation of degree of depth rising operating position U1, solenoid electric valve V is switched to neutral state, and seedling-transplanting device 5 is stopped on the position at that time the decline way.
Promptly, though only assemble single action bars 50, simple in structure, but when this action bars 50 is operated the manual rising operating position U1 of top from neutral position N, only during being maintained this operating position U1, action bars 50 make seedling-transplanting device 5 rise, can make its rising to stop lift operations to height and position arbitrarily manual.Otherwise, when action bars 50 is operated the manual step-down operation position D1 of below from neutral position N, only action bars 50 is remained on this operating position D1 during in make seedling-transplanting device 5 declines, carry out making its decline to stop at the manual step-down operation of arbitrary height position.In addition, when action bars 50 when neutral position N operates the automatic rising operating position U2 of the manual rising operating position U1 that surpasses the top, what make that seedling-transplanting device 5 rises automatically goes up lift operations automatically, until till the upper limit position.Otherwise, when action bars 50 when neutral position N operates the automatic step-down operation position D2 of the manual down position D1 that surpasses the below, make seedling-transplanting device 5 drop to the automatic step-down operation of the operation height position of regulation automatically.
As next one operation, when carrying out when operating the second time of this operating position D2, can switching to operating state to seedling-transplanting device 5 and fertilizer apparatus 7 to the operation of automatic down position D2.As next again operation to the operation second time of this automatic step-down operation position D2, when carry out from neutral position N upward manually go up the operation of the ON operation position U1 or the operating position U2 that rises automatically the time, when can switching to non-action status to seedling-transplanting device 5 and fertilizer apparatus 7, carry out corresponding to this operating position U1, the manual of the seedling-transplanting device 5 of U2 goes up lift operations or goes up lift operations automatically, and then, by action bars 50 being operated left concentrator marker operating position M (L) or right concentrator marker position M (R), can select the line concentrator marker 52 that is used to rule.
In addition, according to the operation of action bars 50 to automatic rising operating position U2, seedling-transplanting device 5 automatically in the lift operations way, when when neutral position N operates manual step-down operation position D1 to action bars 50, seedling-transplanting device 5 is risen stop at the position in the rising way at that time.Otherwise, according to action bars 50 in the automatic step-down operation way of the operation of automatic down position D2, seedling-transplanting device 5, when action bars 50 when neutral position N operates manual rising operating position U1, seedling-transplanting device 5 is descended stop on the position in the decline way at that time.
Whereby, as the manual rising operating position U1 that wants to carry out action bars 50 is operated from neutral position N the top, make seedling-transplanting device 5 rise to the manual lift operations of going up of height and position arbitrarily, and because maloperation when action bars 50 is operated the automatic rising operating position U2 that surpasses this manual rising operating position U1, if action bars 50 is operated manual step-down operation position D1 with this rightabout below of maloperation direction, can end the automatic lift operations of going up immediately according to the seedling-transplanting device 5 of this maloperation, then, by action bars 50 being operated manual rising operating position U1, can manually rise to height and position arbitrarily to seedling-transplanting device 5.
Otherwise, if original plan is operated the manual step-down operation position D1 of below to action bars 50 from neutral position N, carry out seedling-transplanting device 5 is dropped to the manual step-down operation of arbitrary height position, but when action bars 50 being operated the automatic step-down operation position D2 that surpasses this manual down position D1 owing to maloperation, if action bars 50 is operated manual rising operating position U1 with the rightabout top of direction of this maloperation, can end the automatic step-down operation of the seedling-transplanting device 5 that carries out according to this maloperation immediately, then, operate manual step-down operation position D1 by action bars 50, seedling-transplanting device 5 manually can be dropped to height and position arbitrarily.
And, if suggestion device 61 does not send prompt tone, the operation of action bars 50 at this moment is a kind of not to automatic rising operating position U2 or the operation to manual rising operating position U1 or manual step-down operation position D1 of step-down operation position D2 operation automatically, can make the operator grasp the hand-operated lifting operation of carrying out seedling-transplanting device 5 according to this operation.In addition, if the prompt tone that sends from suggestion device 61 is once, the operation of action bars 50 at this moment be surpass manual rising operating position U1 or manually step-down operation position D1, to automatic rising operating position U2 or the operation of step-down operation position D2 automatically, can make the operator grasp the automatic lifting operation of carrying out seedling-transplanting device 5 according to this operation.And then, if the prompt tone that sends from suggestion device is twice, the operation of action bars 50 at this moment is to operate the second time to automatic step-down operation position D2 that surpasses manual step-down operation position D1, the operator is grasped seedling-transplanting device 5 and fertilizer apparatus 7 are switched to operating state.Thereby the operator can judge at this moment whether the operation of action bars 50 is appropriate, when the operation of action bars 50 at this moment is incorrect, can promptly utilize action bars 50 to carry out appropriate processing with respect to this maloperation.
[reverse gear control]
So-called reverse gear control is meant and seedling-transplanting device 5 remained on when retreating under the state that drops to operation height, and the rear end of avoiding rice transplanting mechanism 5 and field etc. collide the mechanism of usefulness, and only the state that is operated into " automatically " position at rice transplanting bar 41 works.The starting conditions of reverse gear control is, seedling-transplanting device 5 descends, grading smoother 16 with contact, and main shift lever 46 is arrived going-back position by speed change.
Here, the judgement that whether contacts with ground of grading smoother 16 is undertaken by the output of the potentiometer 45 of the posture of detecting sensor smoother SF.Promptly, when seedling-transplanting device 5 from ground come-up time-out, sensor smoother SF is the posture that hangs down into the front lower place, when seedling-transplanting device 5 descends, when sensor smoother SF contacts with ground, be accompanied by sensor smoother SF and lift swing, the detected value of potentiometer 45 changes, so,, can distinguish grading smoother 16 ground connection by catching the variation of this detected value.
The flow chart of this reverse gear control of expression among Fig. 6.As from this flow chart as can be seen, when the operating position of rice transplanting bar 41 is in " automatically " position, utilizing when the information of potentiometer 45 detects sensor smoother SF ground connection, when utilization retreats switch 48 and detects main shift lever 46 and be operated into going-back position, satisfy the starting conditions of reverse gear control.Thereby, utilize electromotor 59 to make the operation clutch automatically opening operation the time, solenoid electric valve V is switched to " rising ", and seedling-transplanting device 5 is raise.Simultaneously, arrive upward in limited time when detect seedling-transplanting device 5 with upper limit switch 57, solenoid electric valve V turns back to " neutral gear " position, and the rising of seedling-transplanting device 5 stops, and in addition, when carrying out reverse gear control, transplanting depth is controlled and stopped automatically.
In addition, do not reach the upper limit if (for example 2 seconds) also detect through official hour after the rising of seedling-transplanting device 5 begins, vertical motion stops.In other words, when utilizing reverse gear control vertical motion to begin, (for example 2 seconds) implementation vertical motion at least at the appointed time.Has following advantage like this.
For example, after the reverse gear control action, immediately the instruction that descends is input under the situation in the control device, switch to immediately in the structure of down maneuver, because direction of action sharply changes, so, it is unstable that the fuselage that travels becomes, can be because decline instruction and the continual input of climb command cause the fluctuation of control.In this point, in the present invention, in case when the reverse gear controlling organization begins to move, because the propradation of apparatus for work is kept official hour, so can suppress the generation of this situation.
In addition, when the ground place of operation device below more close than upper limit position stopped, the operator can not distinguish clearly that the state of apparatus for work is positioned at propradation sometimes.In this case, when switching to forward travel state and carrying out operation,, carry out the danger that operation is travelled thereby have because operator's error forgets about making apparatus for work to descend.In this, in the present invention, in case because the reverse gear controlling organization when beginning to move, can keep official hour with the propradation of apparatus for work, so also can avoid the generation that this kind of thing.
In addition, the seedling-transplanting device 5 that utilizes reverse gear control to rise can descend by the above-mentioned operation downwards of aforementioned operation bar 50.
[other form of implementation]
The present invention also can implement with following form.
(1) as working in paddy field, the paddy-field-working device that the direct seeding apparatus in paddy field liftably can be connected to as the fuselage afterbody that travels constitutes the direct sower of riding type.In addition, also fertilizer apparatus can be assembled on the paddy-field-working devices such as the direct seeding apparatus of seedling-transplanting device and paddy field and constitute working in paddy field.
(2) adopt following structure, promptly, according to action bars 50 to the operation of automatic rising operating position U2, seedling-transplanting device 5 automatically on lift operations midway, operate under the situation of automatic down position D2 even action bars 50 is crossed manual step-down operation position D1 from neutral position N, seedling-transplanting device 5 stops at the position in the rising way in this moment.Otherwise, its structure is, according to action bars 50 in the way of the operation of automatic step-down operation position D2, seedling-transplanting device 5 automatic step-down operations,, operates under the situation of automatic rising operating position U2 by action bars 50 seedling-transplanting device 5 position in the decline on the way that stops at this moment that descends even being surpassed manual rising operating position U1 from neutral position N.
(3) as suggestion device 61, replace the buzzer in the above-mentioned form of implementation, also can adopt electronic alarm and sound generator etc.
(4) detect as utilizing multicontact switch 51 detecting operation bars 50 to arrive the automatic down position D2 next one afterwards, when utilizing multicontact switch 51 detecting operation bars 50 to arrive automatic rising operating position U2 or automatic step-down operation position D2, and when utilizing multicontact switch 51 detecting operation bars 50 to arrive this automatic step-down operation position D2 for the second time, the length of the prompt tone that suggestion device 61 produced can be changed, also its tone color can be changed.
(5) can adopt when utilizing multicontact switch 52 to detect action bars 50 manual rising operating position U1 of arrival or manual step-down operation position D1, suggestion device also sends the structure of prompt tone.In this structure, for example, when utilizing multicontact switch 51 detecting operation bars 50 to arrive manual rising operating position U1 or automatic step-down operation position D1, at this detection tempus continuum, send prompt tone from suggestion device 61, when arriving automatic rising operating position U2 or automatic step-down operation position D2 by multicontact switch 51 detecting operation bars 50, the suggestion device 61 double prompt tones that send, and, detect as the automatic step-down operation position D2 next one afterwards that utilizes multicontact switch 51 to detect arrival action bars 50, when utilizing multicontact switch 51 to detect action bars 50 when arriving its automatic step-down operation position D2 for the second time, suggestion device 61 sends prompt tone continuous three times.
(6) when utilizing multicontact switch 51 detecting operation bars 50 to arrive manual rising operating position U1 between when detecting the manual step-down operation of arrival position D1 during in, can change the number of times of the prompt tone that suggestion device 61 sends and tone color etc.In addition, when utilizing multicontact switch 51 detecting operation bars 50 to arrive automatic rising operating position U2 between when detecting the automatic step-down operation of arrival position D2 during in, also can change the number of times of the prompt tone that suggestion device 61 sends and tone color etc.
(7) as the testing agency that retreats of judging reverse gear control starting conditions, can adopt the operating position that utilizes potentiometer to detect can to carry out the aforementioned main shift lever 46 that forward-reverse switches structure, utilize the mechanism of this potentiometric testing result.
(8) as the MIN stipulated time, can be set at from the lodging posture of line concentrator marker 52 and switch to the required time of the posture of standing up according to reverse gear control maintenance vertical motion.
(9) in above-mentioned form of implementation, as driving transmission, utilize and to carry out the Hyaulic infinite variable speed mechanism of a series of variable speed operations up to back-off region, but also can replace this hydraulic-gear to use speed change gear from Qianjin District.
(10), also can additionally be provided with and the posture detection of sensor smoother SF grounding sensor with the different special use of potentiometer 45 as the ground state testing agency of the ground state that detects grading smoother 16.As the grounding sensor of special use, can utilize piezoelectric element equal pressure sensor and the grounding body of the sled shape that swings up and down owing to the pressure of ground connection.
Rise to descend with operating valve 26 control grease chambeies 27 and use oil circuit control with the automatic step-down operation of operating valve 29 control check valve 31 reciprocable valve, 32 spring 33 pressure-compensated valves, 50 operators (action bars) N neutral position U1 Manual lifting operating position U2 automatic-ascending operating position D1 Manual descending operating position D2 position SF sensor smoother V solenoid electric valve a pressure oil supply oil circuit b pressure oil to arranging with closed circuit the open circuit with oil circuit control f of oil circuit d oil circuit control e in [symbol description] 3 fuselage 5 seedling-transplanting devices (example of paddy-field-working device) 6 hydraulic cylinders, 9 Hyaulic infinite variable speed mechanisms (example of driving transmission) the 16 grading smoothers 22 pumps 23 main slide valves 24 control grease chambeies 25 of travelling

Claims (4)

1, a kind of elevator of working in paddy field, described working in paddy field are equipped with the fuselage that travels (3) and are connected to the paddy-field-working device (5) of this fuselage afterbody that travels,
Elevating mechanism is equipped with single-acting formula hydraulic cylinder (6) that aforementioned paddy-field-working device is driven with respect to the aforementioned fuselage lifting of travelling and the solenoid electric valve (V) of controlling this hydraulic cylinder (6) action, it is characterized by,
The aforementioned electromagnetic control valve, (V) be equipped with via pressure oil and use oil circuit for row, (b) with the aforementioned hydraulic cylinder, (6) be communicated with the main slide valve that connects, (23) and by the rising operating valve of Electromagnetic Drive, (25) and descend and to use operating valve, (27), these rise and use operating valve, (25) and descend and to use operating valve, (27) be connected to respectively and be provided in aforementioned main slide valve, the pair of control grease chamber at two ends (23), (24), (26) on, utilize aperture according to the size that is added to a controlled pressure in the control grease chamber with main slide valve, (23) be displaced to uplifted side or decline side from neutral position
Give at aforementioned pressure oil and to install configuration authorized pressure oil on the oil extraction road (b) additional and send to hydraulic cylinder side flow, the controlling non-return valve (29) that stops pressure oil to go out from the hydraulic cylinder effluent from aforementioned main slide valve (23),
When aforementioned main slide valve (23) when being positioned at neutral position, oil circuit (a) supplied by pressure oil on being connected to pump (22) and aforementioned pressure oil uses oil circuit (b) quilt to be distinguished in inaccessible the partition for row, the open circuit of aforementioned controlling non-return valve (29) is communicated with fuel tank by aforementioned main slide valve (23) with control oil circuit (d)
When aforementioned main slide valve (23) when being positioned at lifting position, aforementioned pressure oil supply oil circuit (a) is given to arrange with pressure oil and is communicated with via aforementioned main slide valve (23) with oil circuit (b),
When aforementioned main slide valve (23) when being positioned at down position, aforementioned pressure oil supply oil circuit (a) is communicated with controlling oil circuit (d) with the open circuit of aforementioned controlling non-return valve (29) via aforementioned guiding valve (23), and,
Aforementioned pressure oil supply oil circuit (a) is via being communicated with fuel tank to the pressure-compensated valve (33) that closing direction loads with spring (32), when the open circuit of this pressure-compensated valve (33) was connected on the pressure oil supply oil circuit (a) with control oil circuit (f), the closed circuit of aforementioned pressure recuperation valve (33) with the aforementioned control oil circuit (d) of oil circuit (b) and controlling non-return valve (29) was connected for row via reciprocable valve (31) with aforementioned pressure oil with control oil circuit (e).
2, a kind of working in paddy field, the paddy-field-working device (5) that it is equipped with the fuselage that travels (3) and is connected to this fuselage afterbody that travels,
Its elevating mechanism is equipped with single-acting formula hydraulic cylinder (6) that aforementioned paddy-field-working device is driven with respect to the aforementioned fuselage lifting of travelling and the solenoid electric valve (V) of controlling this hydraulic cylinder (6) action, it is characterized by,
On the aforementioned fuselage that travels, the neutral gear homing position type operator (50) that is connected with aforementioned electromagnetic control valve (V) is set,
When operator (50) when neutral position (N) is operated manual rising operating position (U1) and aforementioned operation device (50) is maintained this operating position, to aforementioned paddy-field-working device (5) control of rising,
When aforementioned operation device (50) when aforementioned neutral position (N) is operated the automatic rising operating position (U2) that surpasses previous manual rising operating position (U1), aforementioned paddy-field-working device (5) is risen automatically controls to the set upper limit position,
When aforementioned operation device (50) is operated manual step-down operation position (D1) and when aforementioned operation device (50) is maintained at this operating position from aforementioned neutral position, to aforementioned paddy-field-working device (5) control that descends,
When aforementioned operation device (50) when aforementioned neutral position (N) is operated the automatic step-down operation position (D2) of crossing previous manual step-down operation position (D1), aforementioned paddy-field-working device (5) is descended automatically controls to the operation height position of regulation,
When according to aforementioned operation device (50) in the operation of aforementioned automatic rising operating position (U2), the automatic rising way at aforementioned paddy-field-working device (5) with aforementioned operation device (50) when aforementioned neutral position (N) is operated previous manual step-down operation position (D1), aforementioned paddy-field-working device (5) stops to rise in the position in the rising way in this moment, and
According to the operation of aforementioned operation device (50) to aforementioned automatic step-down operation position (D2), in the automatic decline way of aforementioned paddy-field-working device (5) with aforementioned operation device (50) when aforementioned neutral position (N) is operated previous manual rising operating position (U1), the position of aforementioned paddy-field-working device (5) in the decline way in this moment stops decline.
3, working in paddy field as claimed in claim 2 is characterized by,
Aforementioned operation device (50) is operated into aforementioned automatic step-down operation position (D2) afterwards from aforementioned neutral position (N), and when the operation of carrying out for the second time to this operating position (D2), aforementioned paddy-field-working device (5) is switched to operating state, and,
Be provided with according to aforementioned operation device (50) and arrive operation height position that aforementioned automatic step-down operation position, aforementioned apparatus for work drop to regulation automatically and arrive aforementioned automatic step-down operation position, when aforementioned job position switches to operating state, according to circumstances send the suggestion device (61) of prompt tone according to aforementioned operation device (50).
4, a kind of working in paddy field, the paddy-field-working device (5) that it is equipped with the fuselage that travels (3) and is connected to this fuselage afterbody that travels,
Its elevating mechanism is equipped with single-acting formula hydraulic cylinder (6) that aforementioned paddy-field-working device is driven with respect to the aforementioned fuselage lifting of travelling and the solenoid electric valve (V) of controlling this hydraulic cylinder (6) action, it is characterized by,
It is provided with: the driving transmission (9) that detects the aforementioned fuselage that travels (3) is set at and retreats testing agency (47,48) on the going-back position,
Detection is configured in the ground state testing agency (45) of the ground state of the grading smoother (16) on the aforementioned paddy-field-working device (5),
Receive the aforementioned fallback state testing result of testing agency, the controlling organization (40) that makes aforementioned paddy-field-working device (5) force the reverse gear of vertical motion to be controlled of retreating, and,
Aforementioned controlling organization (40) connects aforementioned electromagnetic control valve (V) and aforementioned testing agency and the ground state testing agency of retreating, it is configured to, although retreat that testing agency detects fallback state but aforementioned ground state testing agency when not detecting ground state aforementioned, can stop the action of aforementioned reverse gear control.
CNB021480419A 2002-08-12 2002-10-23 Working machine for paddy field Expired - Fee Related CN1262166C (en)

Applications Claiming Priority (3)

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JP2002234847A JP3776067B2 (en) 2002-08-12 2002-08-12 Elevator for paddy field machine
JP234847/02 2002-08-12
JP234847/2002 2002-08-12

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CN1475098A true CN1475098A (en) 2004-02-18
CN1262166C CN1262166C (en) 2006-07-05

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Publication number Publication date
CN1262166C (en) 2006-07-05
JP2004073029A (en) 2004-03-11
JP3776067B2 (en) 2006-05-17
KR100460649B1 (en) 2004-12-09
KR20040014897A (en) 2004-02-18

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