JP2015226474A - Work machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a work machine excellent in remote operability in which an operator can hear operation guidance with appropriate sound volume according to a work environment.SOLUTION: A work machine includes a work part mounted on a travelling machine body that can work in response to the movement of the travelling machine body, and a remote controller for controlling the work part. The remote controller is equipped with a sound volume adjustment part and sound volume adjustment operation means for controlling it. The sound volume adjustment operation means is arranged in a closed space composed of part of the housing of the remote controller and a lid body.

Description

  The present invention relates to a working machine that is mounted on a traveling machine body and performs a predetermined work while proceeding with traveling of the traveling machine body. In particular, the present invention relates to a remote controller for remotely operating such a work machine.

  Conventionally, in order to reduce the working hours of farm work, automatic work machines have been promoted, and various work machines have been developed. In particular, a work machine that is mounted on the rear of a traveling machine body such as a tractor and can be exchanged according to the type of work can be used for various farming operations by simply replacing the traveling machine body such as a tractor as an attachment. It is possible and greatly contributes to the cost reduction of farm work.

  Among such working machines, there is known an offset working machine that works at positions that are separated (offset) in the side surface direction with respect to the running position of the running machine body. Known offset working machines include a hull coater and a mower. In particular, the wrinkle coater is an automated work for forming a wrinkle on the outer edge of the field, and has been developed in recent years as a work machine that can reduce a great deal of time and labor.

  The wrinkle coater is mounted on the rear part of the traveling machine body, and includes a mounting part having an input shaft to which power from the traveling machine body is input, a power transmission mechanism that transmits power from the input shaft to the work machine, and support of the working part And a working unit that performs a smearing operation using the transmitted power. The working unit is composed of a pre-processing unit that cuts a part of an old paddle and deposits the earth, and a trimming unit that applies the piled soil to the cut old paddle.

  Such a padding machine performs a straight-ahead operation along the travel of the traveling machine body at an offset position behind the traveling machine body, but in a rectangular field, when performing a padding operation along the side of the field, There is a problem that when the leading end portion of the traveling machine body reaches the corner of the field, it is not possible to perform the subsequent wrinkling operation.

  In order to solve this problem, when the traveling machine body reaches the corner of the field, even if the traveling machine body is turned, the work position of the paddy coater can continue the straight running work so that the offset position and the working angle of the working part can be continued. A wrinkle coater capable of continuing the dashing operation with a simple operation by controlling the above has been developed (see Patent Document 1).

  The paddy machine described in Patent Document 1 is configured to emit a timbre buzzer sound according to the work state in order to make the operation easier when the padding operation is performed at the corner of the field. An operator who has boarded the traveling machine body confirms the operation of the working unit with the buzzer sound, and switches the operation method of the traveling machine body with a change in the tone color of the buzzer sound.

  In addition, the above-described coater is improved and a speaker is provided in a remote control holder that holds a remote controller (remote controller) for remotely controlling the coater, so that not only a buzzer sound from the work machine side but also an operator can A wrinkle coater has also been developed so that voice can be heard even inside (see Patent Document 2). According to this wrinkle coater, even if the buzzer sound from the work implement side speaker is difficult to hear due to the quiet performance of the driving cabin, the worker can surely hear it.

Japanese Patent No. 4866471 JP2013-230102A

  These glazing machines are used only when it is necessary to mold the glazing, that is, they are used only once or twice a year. There are cases where the worker forgets how to operate the traveling aircraft and cannot perform the smearing work well. In particular, there are relatively many elderly people among farm workers, and it is often difficult to surely remember detailed operation methods. In such a case, outputting voice guidance in the driving cabin as in the case of a coater described in Patent Document 2 is very useful for an operator who has forgotten the operation method.

  However, in the wrinkle coater described in Patent Document 2, since the remote control holder is provided with a speaker and a volume control knob, an electronic circuit for the remote control and an electronic circuit for the remote control holder are separately required. There was room for improvement. In addition, since the remote controller and the remote controller holder are installed in the cabin as separate parts, there is a concern that a space is taken in a narrow cabin, which hinders operation. Furthermore, if the volume is adjusted during the remote control operation, the volume adjustment knob of the remote control holder must be operated, and there is room for improvement in operability.

  The present invention has been made in view of such a problem, and provides a work machine that is excellent in remote operability and allows an operator to listen to operation guidance at an appropriate volume according to the work environment. Objective.

  A working machine according to an embodiment of the present invention is a working machine that includes a working unit that is mounted on a traveling machine body and that can work according to the movement of the traveling machine body, and a remote controller that controls the working part. The remote controller is provided with a volume adjusting unit. Further, the remote controller is provided with a volume adjustment operation means for controlling the volume adjustment unit.

  The remote controller may be provided with a guidance output unit (typically a speaker) that outputs voice or buzzer sound.

  The sound volume adjusting operation means may be disposed in a housing of the remote controller, for example, in a closed space including a part of the housing of the remote controller and a lid. At that time, the lid may be made of a highly elastic material.

  Since the work machine of the present invention has a volume adjustment function in the remote controller, it is excellent in remote operability, and the operator can appropriately listen to the operation guidance in any work environment. In addition, since the volume adjusting operation means is protected by the protective cover, it is possible to prevent an operator's erroneous operation and to prevent damage due to an accident.

It is a figure showing the whole work implement composition concerning an embodiment of the present invention. It is a figure explaining the structure of the position sensor of the working machine which concerns on embodiment of this invention. It is a block diagram which shows the structure of the control apparatus mounted in the remote controller in the working machine which concerns on embodiment of this invention. It is a front view of the remote controller with which the working machine which concerns on embodiment of this invention is provided. It is a rear view of the remote controller with which the working machine which concerns on embodiment of this invention is provided. It is sectional drawing of the remote controller with which the working machine which concerns on embodiment of this invention is provided. It is a figure which shows the inside of the cover body of the remote controller with which the working machine which concerns on embodiment of this invention is provided.

  Hereinafter, a plastering machine according to an embodiment of the present invention will be described in detail with reference to the drawings. The following embodiments are examples of the embodiments of the present invention, and the present invention is not limited to these embodiments. In addition, the dimensional ratio in the drawing may be different from the actual ratio for convenience of explanation, or a part of the configuration may be omitted from the drawing.

<Overall configuration>
FIG. 1 is an explanatory diagram showing the overall configuration of the glazing machine according to the present embodiment. The hull coater 100 includes a mounting unit 110 that is mounted on a link mechanism (for example, a three-point link mechanism) of the traveling machine body 190, a working unit 120 that performs a smearing operation, and a connecting unit that connects the mounting unit 110 and the working unit 120. 130 as a basic configuration.

  The mounting portion 110 includes lower link connecting portions 111a and 111b and a top link connecting portion 112, and a support member 113 to which the connecting portion 130 is mounted. The mounting unit 110 includes an input shaft (not shown) connected to the PTO shaft of the traveling machine body 190 via a transmission joint such as a universal joint, and the power transmitted to the input shaft is connected to the connecting unit. A mechanism for transmitting to 130 transmission mechanisms is also provided in the support member 113.

  One end of the connecting portion 130 is supported by the support member 113 of the mounting portion 110 and the other end is attached to the working portion 120, and includes a link member 131 and an offset frame 132.

  The link member 131 is a member whose one end is rotatably supported on the mounting portion 110 side and the other end is rotatably supported on the working portion 120 side, and controls the position of the working portion 120.

  The offset frame 132 includes a winding transmission means for transmitting power to the working unit 120 side, and has transmission shafts 132a and 132b provided vertically, so that the offset frame 132 can be rotated around the transmission shaft 132a. The working unit 120 is supported so as to be rotatable around the transmission shaft 132b.

  The offset frame 132 and the link member 131 are arranged in parallel, and these and the support member 123 form a parallel link mechanism. For this reason, the working direction of the working unit 120 does not change with respect to the swing of the connecting unit 130 in the offset angle θ direction, that is, the working unit 120 can be offset while maintaining the work surface with the tan coating.

  In this embodiment, a parallel link mechanism is employed to facilitate control of an offset cylinder 140 and a direction cylinder 141, which will be described later. However, as an embodiment of the present invention, the offset cylinder 140 and the direction cylinder 141 are independent. In the case of an embodiment in which such a parallel link mechanism is not formed, the same control as described below is possible.

  The working unit 120 forms a new paddle by applying a pre-processing unit 121 that cuts a part of an old paddle and performing a filling work, and applying the soil piled forward by the pre-processing unit 121 to the cut out old paddle. And a power transmission mechanism that distributes the power transmitted to the power transmission shaft 132b to the pre-processing unit 121 and the power control unit 122, which are mounted on a support case (not shown). Yes.

  Here, the pretreatment unit 121 can employ a rotary tillage type pretreatment mechanism in which a rotary claw is mounted on a drive shaft, and a heaven treatment mechanism (top) that scrapes off the old cocoon heaven (upper surface) as necessary. A field processing rotor) may be added. The trimming unit 122 may employ a trimming drum including a cylindrical drum 122a that molds the upper surface of the rod and a conical umbrella-shaped drum 122b that molds the side surface of the rod.

  The plastering machine 100 having such a basic configuration includes an offset cylinder 140 as a work position adjusting mechanism for adjusting the work position (offset position) of the work unit 120, and the work direction (rotation direction) of the work unit 120. ) Is provided with a direction cylinder 141 as a work direction adjusting mechanism.

  In addition, an angle sensor 150 is provided as work direction detection means for detecting the work direction of the work unit 120. The angle sensor 150 does not detect a change in the direction of the working unit 120 relative to the connecting unit 130, but detects a change in the working direction with respect to the field scene of the working unit 120 alone, for example, a gyro sensor or the like. Can be adopted. In the present embodiment, the angle sensor 150 is disposed around the transmission shaft 132 b in the offset frame 132.

  Further, a position sensor 151 is provided as a work position detecting means for detecting the work position of the work unit 120. The position sensor 151 is disposed behind the cylindrical drum 122a through a mounting arm 152 from a support case (not shown).

  As shown in FIG. 2, the position sensor 151 has a built-in potentiometer for detecting the rotational displacement of the rotating shaft, and one end of a sensor rod 151a is fixed to the rotating shaft. The sensor rod 151a is a rod-shaped member whose sensitivity can be adjusted by adjusting the length. A contact portion 151b is formed at the tip of the sensor rod 151a, and the contact portion 151b is urged to be in contact with the side surface of a new rod. Has been. Then, when the sensor rod 151a swings to the a side in the figure with respect to the reference position, it is detected that the working unit 120 has moved to the left in the traveling direction (the direction in which the working unit 120 moves away from the heel) with respect to the reference. When the sensor rod 151a swings to the b side in the figure, it is detected that the working unit 120 has moved to the right in the traveling direction (the direction in which the working unit 120 approaches the heel) with respect to the reference.

  As shown in FIG. 1, the plastering machine 100 configured in this way receives a detection value from the angle sensor 150, a detection value from the position sensor 151, and a detection value from a posture sensor 153 described later to the remote controller 180. Sent. The detection value of each sensor may be transmitted to the remote controller 180 by wired communication or may be transmitted by wireless communication. Expansion / contraction control of the offset cylinder 140 and the direction cylinder 141 is performed based on detection values from the angle sensor 150 and the position sensor 151.

<Configuration of remote controller>
FIG. 3 is a block diagram illustrating a configuration of the control device 160 mounted on the remote controller 180 included in the glazing machine 100. As shown in FIG. 3, the control device 160 includes a storage unit 161, a comparison operation unit 163, and a signal output unit 162 as main parts. The storage unit 161 stores a work position reference value Xo (161a) and a work direction reference value Ao (161b), and the comparison operation unit 163 is provided with comparison means 163a and 163b.

  The work position reference value Xo (161a) and the work direction reference value Ao (161b) stored in the storage unit 161 are respectively in a normal mode (a control mode set when the work implement 100 performs a straight-ahead work). It is updated as needed based on the detection values of the angle sensor 150 and the position sensor 151. Note that an average value of detection values transmitted as needed may be set as a reference value, or may be always replaced with a new detection value.

  In addition, a setting signal switching unit 165 is provided between the storage unit 161 and the comparison calculation unit 163, and a signal input from the storage unit 161 to the comparison calculation unit 163 can be switched according to the control mode of the work machine 100. It has become. That is, when the automatic cornering control switch 166 is turned on, the work position reference value Xo (161a) and the work direction reference value Ao (161b) at that time are input to the comparison calculation unit 163. The automatic cornering control switch 166 may be a manual switch by operating the remote controller 180 of the work machine 100, or when the automatic switch or the angle sensor 150 linked with the steering operation of the traveling machine body 190 becomes a predetermined value or more. It may be an automatic switch that turns on.

  When the automatic squaring control switch 166 is turned on, the detection value of the position sensor 151 and the work position reference value Xo are compared by the comparison means 163a, and the offset cylinder 140 is driven from the work position adjustment output unit 162a so as to eliminate the difference. A control signal to be controlled is output. The detection value of the angle sensor 150 and the work direction reference value Ao are compared by the comparison unit 163b, and a control signal for driving and controlling the direction cylinder 141 is output from the work direction adjustment output unit 162b so as to eliminate the difference.

  Furthermore, the control device 160 is provided with an attitude determination unit 164. The posture determination unit 164 determines the posture of the working unit 120 with respect to the traveling machine body 190 based on the detection value from the posture sensor 153.

  As shown in FIG. 1, the attitude sensor 153 passes through the axis of the transmission shaft 132a and crosses the line perpendicular to the traveling direction of the traveling machine body 190, X passes through the axes of the transmission shafts 132a and 132b, and the axis of the transmission shaft 132b. Assuming that the center axis of rotation of the straightening section 122 passing through the center is Z, the swing is provided on the transmission shaft 132a and detects the swing angle α (angle formed by the straight lines X and Y) of the offset frame 132 with respect to the support member 113. An angle sensor 153a and a rotation angle sensor 153b that is provided on the transmission shaft 132b and detects a rotation angle β (an angle formed by the straight lines Y and Z) of the working unit 120 with respect to the support member 113 are included. The swing angle sensor 153a and the rotation angle sensor 153b are potentiometers, and the detection values from these sensors are sent to the attitude determination unit 164 shown in FIG.

  In the posture determination unit 164, predicted values of the posture sensor 153 configured by the swing angle sensor 153a and the rotation angle sensor 153b corresponding to a plurality of postures of the working unit 120 are stored in advance. Specifically, the posture determination unit 164 includes a posture sensor 153 corresponding to the posture of the working unit 120 when the tip of the traveling machine body 190 reaches the corner of the farm field when the working unit 120 moves straight along the fence. Prediction value (hereinafter, referred to as “D1”) and prediction of the posture sensor 153 corresponding to the posture of the working unit 120 when the traveling machine body 190 reaches a position immediately before the position where it turns and stops at the corner of the field. A posture sensor 153 corresponding to the value (hereinafter referred to as “D2”) and the posture of the working unit 120 from the position immediately before the position where the traveling machine body 190 turns and stops at the corner of the field to the stop position. Predicted value (hereinafter referred to as “D3”) and a predicted value of the posture sensor 153 corresponding to the posture of the working unit 120 when the traveling machine body 190 reaches the stop position where it turns and stops at the corner of the field. (Hereafter referred to as “D4” ) And the predicted value of the attitude sensor 153 corresponding to the attitude of the working unit 120 when the working unit 120 performs the work up to the end of the ridge in the state where the traveling machine body 190 is stopped at the corner of the field (hereinafter referred to as the predicted value) , "D5") is stored.

  The posture determination unit 164 compares the detected value indicating the posture of the working unit 120 input from the posture sensor 153 with each of the predicted values D1 to D5 described above. An attitude signal indicating the attitude of the unit 120 is output. The output attitude signal is input to the guidance selection unit 167.

  The guidance selection unit 167 stores a plurality of types of operation guidance (operation guidance) related to the operation method of the traveling machine body 190 and the remote controller 180 in accordance with the attitude signal. Then, according to the predicted values D1 to D5 when the working unit 120 assumes the above-described various postures, an appropriate operation method that matches the work timing is selected as the operation guide by sound.

  For example, when operation guidance by voice is selected, when notifying the timing when the traveling machine body 190 has reached the stop position (when the detected value of the attitude sensor matches D4), “Please stop” When the voice guidance is output and the operation guidance by the buzzer sound is selected, when notifying the timing when the traveling machine body 190 reaches the stop position, guidance such as a change in the tone color of the buzzer sound is output.

  Further, a switching instruction signal from the voice / buzzer sound switching unit 168 is input to the guidance selection unit 167. The voice / buzzer sound switching unit 168 receives an operation signal from the operation unit 169 according to the operation of the operator. According to the operator's input via the operation unit 169, the operation guidance by voice and the operation guidance by buzzer sound can be switched in a toggle manner.

  The operator's operation is preferably a specific operation for intentionally switching between operation guidance by voice and operation guidance by buzzer sound, and is preferably a special operation that is not normally performed. For example, it is desirable to perform an operation of simultaneously pressing two or more buttons to which different functions are assigned.

  Of course, the remote controller 180 may be provided with a dedicated button for switching between operation guidance by voice and operation guidance by buzzer sound.

  The guidance selection unit 167 selects a signal for outputting operation guidance by voice and a signal for outputting operation guidance by buzzer sound according to the switching instruction signal from the voice / buzzer sound switching unit 168, and outputs guidance. Output to the unit 170. The guidance output unit 170 may be a speaker provided in the remote controller 180, or may be an output terminal to audio output means such as an external speaker.

  When there is an instruction from the voice / buzzer sound switching unit 168, when the voice is switched to the buzzer sound, a buzzer sound indicating that the setting has been changed is output from the guidance output unit 170, and the buzzer sound is switched to the voice. When switched, a voice or buzzer sound indicating that the setting has been changed is output from the guidance output unit 170.

  As described above, the guidance selection unit 167 determines the preference of the worker and the work unit 120 based on the posture signal input from the posture determination unit 164 and the switching instruction signal input from the voice / buzzer sound switching unit 168. It is possible to output an appropriate operation guide according to the posture.

  The output of the guidance selection unit 167 is output into the driving cabin via a guidance output unit 170 such as a speaker provided in the remote controller 180, and alerts the operator as an operation guidance by voice or an operation guidance by buzzer sound. . At this time, the volume of the sound or buzzer sound output from the guidance output unit 170 can be controlled by the volume adjustment unit 171 provided in the remote controller 180.

  The volume adjustment unit 171 is a circuit for adjusting the volume of the sound or buzzer sound output from the guidance output unit 170, and can be adjusted to an arbitrary volume by operating the volume adjustment operation unit 172. As the volume adjustment operation means 172, a rotary knob, a slide knob, a push button, or the like can be used. In this embodiment, a rotary knob is exemplified. Of course, the volume can be adjusted by other known means.

  Here, the external view of the remote controller 180 provided in the work machine 100 of the present embodiment is shown in FIGS. 4 and 5, and the cross-sectional view is shown in FIG.

  FIG. 4 is a front view of the remote controller 180. An operation unit 182 and a speaker 183 are provided on the front-side casing 181 a of the remote controller 180. The operation unit 182 is provided with various switches for operating the work machine 100. The operator operates the various switches to adjust the offset position of the work unit 120, rotate the work unit 120, Remote operation such as switching of the control mode can be performed. The speaker 183 outputs an operation guide by voice or an operation guide by buzzer sound in accordance with an operation input of the worker given to the work machine 100 via the operation unit 182. The operation unit 182 and the speaker 183 correspond to the operation unit 169 and the guidance output unit 170 in FIG. 3, respectively.

  5 and 6 are a rear view and a sectional view of the remote controller 180, respectively. A guidance display label 184 and a lid body 185 are provided on the rear casing 181 b of the remote controller 180. In the closed space 186 formed by the lid 185 and the casing 181b, as shown in FIG. 7, fine adjustment operation means (fine adjustment knob) 173 for position of the adjusting drum 122b and volume adjustment operation means (volume adjustment) A knob 172 can be provided. By providing the volume adjustment operation means 172 in the closed space 186 as described above, it is possible to prevent an erroneous operation in which the volume adjustment operation means is erroneously moved when the operator holds and operates the remote controller 180. it can.

  Further, in the remote controller 180 of this embodiment, since a member made of a highly elastic material (preferably rubber or resin) is used as the lid 185, there is an unexpected accident such as dropping the remote controller 180. Damage can be prevented. In addition, when a highly elastic material is used, there are advantages such as easy opening and closing and improved waterproofness. Of course, it is not necessary to limit to a highly elastic material, and other materials may be used as long as the material functions as a protective cover.

  The guidance display label 184 displays an operation method of the operation unit 182 corresponding to the work, and here, guidance display is performed for four works. Of course, this is only an example, and the mode of guidance display can be changed as appropriate.

  The first guidance display 184a shows an operation for executing control for storing the offset position of the adjusting drum 122b shown in FIG. 1 in a storage unit (not shown) in the control device 160. This is executed by pressing the power button 182a to turn off the power once and then simultaneously pressing the work button 182b and the power button 182a.

  The second guidance display 184b indicates an operation for executing a control for continuously reproducing voice guidance. This control is performed by pressing the power button 182a to turn off the power once, and then the automatic cornering button 182c and the power button 182a. It is executed by pressing and simultaneously. The continuous reproduction of the voice guidance is a function that allows the user to confirm the voice guidance by passing through the procedure for performing the automatic cornering control from the beginning to the end.

  The third guidance display 184c indicates an operation for executing control for switching between operation guidance by voice (voice guidance) and operation guidance by buzzer sound (buzzer). This control is performed by pressing the power button 182a. After the power is turned off once, it is executed by simultaneously pressing the drum turning left button 182d and the power button 182a.

  The fourth guidance display 184d indicates an operation for executing a control for switching between the normal mode and the low speed mode. This control is performed by pressing the power button 182a to turn off the power once and then turning the right button for turning the drum. This is executed by simultaneously pressing the button 182e and the power button 182a. Here, the “low speed mode” is a control mode for changing the setting of the control parameter of the work machine 100 when the vehicle speed of the traveling machine body 190 becomes lower than a certain speed, and executing the fill control suitable for the low speed. It is.

  Each of these guidance displays is merely an example, and the present invention is not limited to this. However, by assigning an operation that is not a normal operation such as pressing the power button and another button at the same time, it is possible to prevent malfunction during normal operation. In this embodiment, since it is dangerous to concentrate on the operation of the remote controller during work, this embodiment is configured to perform various operations after the power is turned off once.

  As described above, the working machine according to the present embodiment is equipped with the control device 160 including the volume controller 171 and the guidance output unit (speaker) 170 in the remote controller 180. As a result, it is possible to provide a work machine that is excellent in remote operability and that allows the operator to listen to the operation guidance at an appropriate volume according to the work environment.

DESCRIPTION OF SYMBOLS 100 ... Work machine, 110 ... Mounting part, 120 ... Working part, 130 ... Connection part, 180 ... Remote controller, 190 ... Traveling machine body, 111a, 111b ... Lower link connection part, 112 ... Top link connection part, 113 ... Support member 121 ... Pre-processing unit 122 ... Trimming unit 122a ... Cylindrical drum 122b ... Conical umbrella drum 123 ... Support member 131 ... Link member 132 ... Offset frame 132a, 132b ... Transmission shaft 140 ... Offset Cylinder, 141 ... Direction cylinder, 150 ... Angle sensor, 151 ... Position sensor, 153a ... Swing angle sensor, 153b ... Rotation angle sensor, 170 ... Guidance output unit, 171 ... Volume adjustment unit, 172 ... Volume adjustment operation means, 182 ... operation unit, 183 ... speaker, 184 ... guidance display label, 185 ... lid, 186 ... closed space

Claims (6)

A working machine equipped with a working unit that is mounted on the traveling machine body and that can work according to the movement of the traveling machine body, and a remote controller that controls the working part,
A work machine in which the remote controller is provided with a volume control unit.   The work machine according to claim 1, wherein the remote controller is provided with volume adjustment operation means for controlling the volume adjustment unit.   The work machine according to claim 2, wherein the volume adjustment operation unit is disposed in a housing of the remote controller.   The work machine according to claim 2, wherein the volume adjustment operation unit is disposed in a closed space including a part of a casing of the remote controller and a lid.   The work machine according to claim 4, wherein the lid is made of a highly elastic material.   The work machine according to claim 1, wherein the remote controller is provided with a guidance output unit that outputs a sound or a buzzer sound.

Images