JP2022039277A - Agricultural implement - Google Patents

Abstract

To provide an agricultural implement which can determine a posture state of the agricultural implement in a simple structure.SOLUTION: An agricultural implement comprises: a first work body 11; second work bodies 11L, 11R which are arranged at the lateral side of the first work body 11 and can perform posture change; a third work bodies 7L, 7R which are arranged at the second work bodies 11L, 11R and can perform posture change; a controller B which can control a drive unit to change over the posture of the second work bodies 11L, 11R and the third work bodies 7L, 7R; an operation unit A which can transmit command information to the controller B; and a storage part which is included in the controller B to store flag information. The controller B determines, when the operation unit A is operated, the flag information stored in the storage part, and makes the drive unit drive the third work bodies 7L, 7R to be in a stored state. When the flag information indicates the stored state, the drive unit drives the second work bodies 11L, 11R from a deployed state to the stored state, and the flag information of the third work bodies 7L, 7R is generated as the stored state.SELECTED DRAWING: Figure 2

Description

The present invention relates to an agricultural work machine mounted on a tractor. In particular, it relates to a control for allowing the work width to be expanded or contracted in the width direction in the traveling direction.

For example, Patent Document 1 discloses control in the operation of an agricultural work machine capable of changing the machine width or the work width to each of the expanded state and the stored state. This farm work machine has an automatic mode and a manual mode, and it is said that a plurality of operating units of the farm work machine are operated by operating a remote control operation unit. Further, according to Patent Document 1, it is disclosed that in the manual mode, the moving parts of each part operate only when the remote control operation unit is pushed.

Japanese Unexamined Patent Publication No. 2006-166793

When the agricultural work machine described in Patent Document 1 operates the moving part of each part in the manual mode, when the operator mistakenly operates a button of another operating part, the working part may be operated depending on the posture state of the agricultural working machine. Inconvenience may occur when moving. Specifically, when the operating portion of a certain part is operated, it may interfere with each other and damage the aircraft. As a means of judging the posture state of the agricultural work machine, it is conceivable to equip the moving part with sensors, judge the posture state based on the signal from the sensor, and control the movement according to this. It is easily assumed that the price will increase due to the increase in the number of sensors. This is not convenient for the purchaser.

Therefore, the present invention has been made with the above-mentioned problems in mind, and an object of the present invention is to provide an agricultural work machine capable of determining the posture state of the agricultural work machine by a simple configuration.

In order to achieve the above object, one aspect of the present invention is a first working body, a deployable posture located on the side of the first working body, and a retracted posture moved to the upper part of the first working body. It is possible to change the posture of the second work body, which can be changed in posture, and the retracted state stored on the second work body, which is provided in the second work body and is laterally deployed with respect to the second work body. The third working body, the control unit capable of controlling the driving device for changing the postures of the second working body and the third working body, and the control unit are operated by the operator to send command information. The operation unit capable of transmitting and the control unit include a storage unit for storing flag information which is information indicating the posture state of the third work body, and the control unit changes the posture of the second work body. Therefore, when the operation unit is operated by the operator, the flag information stored in the storage unit is determined, and when the flag information stored in the storage unit indicates the expanded state, the driving device stores the third working body. When the flag information stored in the storage unit indicates the stored state, the second working body is driven by the driving device so as to change from the expanded state to the stored state, and the flag information of the third working body is driven. The gist is that it is an agricultural work machine that generates as a stored state.

According to the present invention, it is possible to provide an agricultural work machine capable of determining the posture state of the agricultural work machine by a simple configuration.

It is a front view seen from the rear side in the traveling direction of the agricultural work machine which shows embodiment, and the 2nd working body and 3rd working body show the expanded state. It is a top view of the agricultural work machine which shows embodiment, and the 2nd working body and 3rd working body show the expanded state. It is a side view seen from the left in the traveling direction of the agricultural work machine which shows embodiment, and the 2nd working body and 3rd working body show the expanded state. It is a front view seen from the rear side in the traveling direction of the agricultural work machine which shows embodiment, and the 2nd working body and 3rd working body show the stored state. It is a side view seen from the left side of the traveling direction of the agricultural work machine which shows embodiment, and the 2nd working body and 3rd working body show the stored state. It is explanatory drawing which showed the operation part of the agricultural work machine which shows embodiment. It is explanatory drawing which showed the 2nd drive device of the agricultural work machine which shows embodiment, and shows the state in the state of the ground leveling body deployment state. It is explanatory drawing which showed the 2nd drive device of the agricultural work machine which shows embodiment, and shows the state in the state of the ground leveling body retracted state. It is a side view explaining the 3rd drive device and the 1st rear leveling body of the agricultural work machine which shows embodiment, and shows the state in the fixed state of the 1st rear leveling body. It is a side view explaining the 3rd drive device and the 1st rear leveling body of the agricultural work machine which shows embodiment, and shows the state when the 1st rear leveling body is in a defixed state. It is explanatory drawing which showed the engagement of the 1st gear and the 2nd gear of the agricultural work machine which shows embodiment, and shows the state which the tooth surface is pressed. It is explanatory drawing which showed the engagement of the 1st gear and the 2nd gear of the agricultural work machine which shows embodiment, and shows the state which the tooth surface is not pressed. It is a block diagram of the agricultural work machine which shows embodiment. It is a control flow diagram when the 2nd working body of the agricultural work machine which shows an embodiment is put into the unfolding posture. It is a control flow diagram when the 2nd working body of the agricultural work machine which shows an embodiment is put into a retracted posture. It is a control flow diagram when the 3rd working body of the agricultural work machine which shows an embodiment is put into the unfolding posture. It is a control flow diagram when the 3rd working body of the agricultural work machine which shows an embodiment is put into a retracted posture. It is a control flow diagram when the 1st rear ground leveling body of the agricultural work machine which shows embodiment is put into the fixed release state. It is a control flow diagram when the 1st rear ground leveling body of the agricultural work machine which shows an embodiment is fixed.

An embodiment of the present invention will be described with reference to the drawings. In the description, the left side shown in FIG. 1 will be described as the left side with respect to the traveling direction, the right side as the right side with respect to the traveling direction, the back side as the front side with the traveling direction, and the front side as the rear side with respect to the traveling direction. In the description of the drawings, the same or similar parts may be designated by the same or similar reference numerals, and the description thereof may be omitted. In addition, the drawings used for explanation are schematic, and the relationship with the dimensions of each part may differ from the actual ones. Further, the technical idea of the present invention may be modified in various ways within the technical scope specified by the claims described in the claims.

The outline of the agricultural work machine 1 will be described with reference to FIGS. 1 to 13. The agricultural work machine 1 is attached to a three-point link mechanism which is an elevating link provided at the rear of a tractor (not shown) which is a traveling machine, and is used for soil crushing work and puddling work.

The agricultural work machine 1 includes a first work body 11 and a second work body 11L and a second work body 11R connected to both ends of the first work body 11. The second working body 11L and the second working body 11R rotate around the fulcrum portions 25 provided at both ends of the frame 2 provided in the first working body 11, so that the second working body 11L and the second working body 11R are in the deployed posture and the retracted posture, respectively. The work form can be changed. The unfolded posture is a state in which the second working body 11L and the second working body 11R are unfolded so as to extend the working width of the first working body 11, and the working width is expanded to the left and right with respect to the traveling direction. The retracted posture is a state in which the second working body 11L and the second working body 11R are rotated by the fulcrum portion 25 and folded above the first working body 11 to shorten the working width and the machine body width.

The first working body 11 includes a frame 2 having a mounting portion 20, and by connecting the mounting portion 20 and the three-point link mechanism, the agricultural work machine 1 can be raised and lowered. Further, the agricultural work machine 1 rotationally drives the first soil crushing portion 3 located below the frame 2 by acquiring the power output from the tractor side. The first soil crushing portion 3 has a plurality of claws 32 on a rotor shaft 31 that rotates on a horizontal axis in a direction orthogonal to the traveling direction. The soil can be crushed by rotationally driving the claw 32 as the tractor progresses. Further, when the second working body 11L and the second working body 11R are changed to the deployed state, the second working body 11L and the second working body 11R are also provided in the second crushing portion 3L and the second crushing portion 3R, respectively. The power output from the tractor is transmitted and driven to rotate.

Above the first crushed soil portion 3, the second crushed soil portion 3L, and the second crushed soil portion 3R in the unfolded state, the first cover body 4, the second cover body 4L, and the second cover body 4R covering the upper part of each crushed soil portion are Is provided to prevent the soil from scattering to the surroundings when the soil is crushed. The first leveling body 5, the second leveling body 5L, and the second leveling body provided at the rear ends of the first cover body 4, the second cover body 4L, and the second cover body 4R so as to be rotatable up and down. 5R is provided, and by grounding the soil while rotating up and down, the soil after crushing is leveled and scraped by the first crushed soil part 3, the second crushed soil part 3L and the second crushed soil part 3R. Work.

Further, the first leveling body 5, the second leveling body 5L, and the second leveling body 5R rotate up and down at the rear ends of the first cover body 4, the second cover body 4L, and the second cover body 4R, respectively. 1 The first front leveling body 51, the second front leveling body 51L, the second front leveling body 51R, and the first one that rotates up and down at the rear ends of the first front leveling body 51 and the second front leveling bodies 51L, 51R, respectively. It is composed of a rear leveling body 56, a second rear leveling body 56L, and a second rear leveling body 56R. The first front leveling body 51, the second front leveling body 51L, the second front leveling body 51R, the first rear leveling body 56, the second rear leveling body 56L, and the second rear leveling body 56R cooperate with each other. Therefore, the soil and muddy soil after crushing can be leveled.

A third working body 7L and a third working body 7R are arranged in each of the second rear ground leveling body 56L and the second rear ground leveling body 56R in the deployed state. The third working bodies 7L and 7R can expand the leveling width of the second rear leveling body 56L and the second rear leveling body 56R. By expanding the land leveling width, it is possible to level the soil more evenly after crushing the soil. The third working bodies 7L and 7R can be rotated up and down by the rotation fulcrum portion 71 provided at each end of the second rear leveling body 56L and the second rear leveling body 56R, and the ground leveling body deployed state and the ground leveling body. The posture can be changed to the stored state.

A drive device 8 is provided for each of the rotatable second working body 11L, the first working body 11R, the first rear leveling body 56, the third working body 7L, and the third working body 7R, and these driving devices 8 are provided. It can be driven by rotation. The drive device 8 can be remotely controlled via the control unit B by being operated by the operator by the operation unit A. In the embodiment, the operation unit A and the control unit B will be described as being performed wirelessly, but the communication method may be any and may be wired.

The detailed configuration of the agricultural work machine 1 will be described with reference to FIGS. 1 to 13. The frame 2 is a portion forming the skeleton of the first working body 11 of the agricultural work machine 1, and includes a mounting portion 20, an input case 21, a pipe frame 22, a transmission case 23, and a support frame 24.

The mounting portion 20 is provided in the front center portion of the first working body 11, which is the front center portion of the agricultural work machine 1, and is composed of an upper top link pin 201 and a pair of lower link pins 202 located on the lower left and right sides thereof. ing. By connecting the top link pin 201 and the lower link pin 202 to a three-point link mechanism or the like (not shown) on the tractor side, the agricultural work machine 1 is mounted so as to be able to move up and down with respect to the tractor. An input case 21 is provided in the center of the mounting portion 20, and an input shaft 211 is provided toward the front. The input shaft 211 is connected to the PTO shaft of the tractor by a universal joint (not shown) or the like to acquire rotational power output from the tractor. A top mast 212 is projected forward and upward from the upper portion of the input case 21, and the top link pin 201 is provided at the upper end portion thereof. The lower plate 213 is arranged downward from the side of the input case 21, and the lower link pin 202 is attached to the lower plate 213.

The input case 21 is provided with a pipe frame 22 having one end connected to the input case 21 and projecting to the left and right sides. The pipe frames 22 arranged on the left and right sides are composed of round pipes and are arranged coaxially with each other. At the other end of either the left or right side of the pipe frame 22, a vertically long transmission case 23 extending downward and extending downward from the other end of the pipe frame 22 on the other side. A long support frame 24 is located in the vertical direction. The first soil crushing portion 3 is provided so as to cross the lower ends of the transmission case 23 and the support frame 24 below the frame 2.

The first soil crushing portion 3 is a member having a rotor shaft 31 and a claw 32, and is erected and supported below the pipe frame 22 between the lower end portion of the transmission case 23 and the lower end portion of the support frame 24. The rotor shaft 31 is a shaft body that is erected under the transmission case 23 and the support frame 24 and is rotatable. A large number of claws 32 are attached to the rotor shaft 31 at regular intervals in the circumferential direction and the axial direction in a radial direction. The rotor shaft 31 and the claw 32 are integrated to form the soil crushing portion 3. The soil crushing unit 3 acquires the rotational power output from the tractor by the input shaft 211, and transmits the rotational power to the rotor shaft 31 via the input case 21 and the transmission case 23 to drive the rotation. This rotational drive crushes the soil.

The first soil crushing portion 3 receives the power input from the input shaft 211 and drives the rotation. The power input from the input shaft 211 is changed by a gear built in the input case 211, and is inside the transmission case 23 by an output shaft (not shown) passing through the pipe frame 22 projecting to the left and right sides. Is transmitted to. By arranging a transmission member (not shown) such as a chain and a sprocket in the transmission case 23, the power of the tractor is transmitted to the first soil crushing portion 3.

A first cover body 4 is provided on the upper portion of the first soil crushing portion 3 so as to be along the rotation outer circumference of the claw 32 and separated from the rotation outer circumference. The left and right side ends of the first cover body 4 are attached to the transmission case 23 and the support frame 24. By covering the upper part of the crushed soil portion 3 with the first cover body 4 in this way, the cultivated soil scattered from the crushed soil portion 3 side is prevented from being scattered to the upper side.

Here, the second working bodies 11L and 11R for extending the machine width of the agricultural working machine 1 will be described. The first cover body 4 and the first soil crushing portion 3 of the first working body 11 are designated as the second working bodies 11L and 11R on the left and right ends of the first cover body 4 and the first soil crushing portion 3 of the first working body 11. The same member as above is provided. The second working body 11L located on the left side in the traveling direction has a second cover body 4L and a second soil crushing portion 3L, and the second working body 11R located on the right side in the traveling direction has a second working body. The cover body 4R and the second soil crushing portion 3R are arranged respectively. The left second working body 11L and the right second working body 11R have symmetrical structures.

The second soil crushing portions 3L and 3R in the working state where the machine body width is expanded are located in the same straight line on the left side in the traveling direction of the first soil crushing portion 3 located in the center in the working state. The second soil crushing portions 3L and 3R have the second rotor shafts 31L and 31R and the claws 32 as in the first soil crushing portion 3. Claws 32 are arranged radially on the second rotor shafts 31L and 31R at regular intervals in the axial direction, and soil crushing work can be performed by obtaining rotational power. The acquisition of power is obtained through the dog clutch 33 arranged at the end of the first soil crushing portion 3. Alternatively, power is obtained by transmitting power from the transmission shaft transmitted from the input case 21 of the first working body 11 to the side transmission cases (not shown) provided on the second working bodies 11L and 11R.

The second cover bodies 4L and 4R are provided so as to cover the upper side and the side of the second crushed soil portion 3L and 3R. Side covers 42L and 42R are provided on the left and right sides of the second cover bodies 4L and 4R with respect to the traveling direction, respectively. Both ends of the second soil crushing portions 3L and 3R are supported by bearings installed on the side covers 42L and 42R, and the second soil crushing portions 3L and 3R are rotatable between the side covers 42L and 42R. .. The side covers 42L and 42R prevent the mud and soil generated from the second crushed soil portions 3L and 3R from scattering upward and in the width direction with respect to the traveling direction.

The fulcrum frames 41L and 41R are provided above the second cover bodies 4L and 4R and on the first working body 11 side, respectively. The fulcrum frames 41L and 41R are members that protrude toward the first working body 11 and are connected to the fulcrum portion 25. The fulcrum frames 41L and 41R are integrated with the second soil crushing portions 3L and 3R, the second cover bodies 4L and 4R, and the side covers 42L and 42R, and rotate around the fulcrum portion 25 on the upper side. By moving, the second working bodies 11L and 11R can be switched between the working state and the stored state. The first working body 11 further includes a first leveling body 5. Similarly, the second working body 11L includes a second leveling body 5L, and the second working body 11R includes a second leveling body 5R.

At the rear end of the first cover body 4, a first leveling body 5 is provided so as to hang backward and downward. Similarly, the second leveling bodies 5L and 5R are provided so as to hang down from the rear ends of the first cover bodies 4L and 4R of the left and right second working bodies 11L and 11R toward the rear and the bottom. Since the second leveling bodies 5L and 5R are attached to the second cover bodies 4L and 4R, respectively, when the agricultural work machine 1 changes to the working state and the retracted state, the first cover bodies 4L, 4R and the extension on the extension side are extended. Together with the soil crushed portions 3L and 3R on the side, it rotates around the fulcrum portion 25.

The first leveling body 5 includes a first front leveling body 51 and a first rear leveling body 56. The left and right second leveling bodies 5L and 5R also include the second front leveling bodies 51L and 51R and the second rear leveling bodies 56L and 56R. The first front leveling body 51 has a plate 511 whose left and right widths are set to be substantially the same as those of the first cover body 4, and is rotatable up and down by a plurality of hinges 52 arranged at the front end or the upper end. Is. The rotation fulcrum axis of the hinge 52 is oriented to the left and right in the traveling direction and is parallel to the axis of the rotor shaft 31. Therefore, the lower side of the first front leveling body 51 can be rotated so as to move away from or approach the rotation diameter of the claw 32. Like the first front leveling body 51, the second front leveling bodies 51L and 51R also have plates 511L and 511R whose left and right widths are set to be approximately the same as those of the second cover bodies 4L and 4R, and have a front end or a front end. It is rotatable up and down by a plurality of hinges 52L and 52R arranged at the upper end.

Since the first front ground leveling body 51 and the second front ground leveling bodies 51L and 51R are arranged so as to cover the rear of the first soil crushing portion 3 and the second soil crushing portion 3L and 3R, the soil was crushed in each of the crushed portions. Prevents soil from scattering backwards. Further, the first front ground leveling body 51 and the second front ground leveling bodies 51L and 51R during the soil crushing work are rotated up and down to be grounded so that the first soil crushing portion 3 and the second soil crushing portion 3L and 3R are crushed. Level the soil evenly.

A first rear leveling body 56 is attached to the rear end of the first front leveling body 51 so as to be rotatable up and down. Similarly, the second rear leveling bodies 56L and 56R are rotatably attached to the rear ends of the second front leveling bodies 51L and 51R. The first rear leveling body 56 and the second front leveling bodies 51L and 51R are long members in the width direction with respect to the traveling direction, and the rotation fulcrum 562, 562L and 562R are used as the first front leveling body 51 and the second front leveling body 51L. , 51R can be rotated in the vertical direction by being provided at the rear end portion. During the puddling work, the first rear ground leveling body 56, which has become almost horizontal, comes into contact with the crushed soil surface after passing through the first front ground leveling body 51 and presses the first front ground leveling body 51 and the second front ground leveling body 51. The crushed soil surface that could not be sufficiently leveled and leveled by the leveling bodies 51L and 51R is leveled with even higher accuracy, and the surface after leveling is finished to be leveled.

As shown in FIGS. 1 and 2, the second rear ground leveling body 56L and the second rear ground leveling body 56R are rotatable by the rotation fulcrum portions 71L and 71R on the lateral sides in the width direction with respect to the traveling direction, respectively. 3 Working body 7L and 3rd working body 7R are provided. The rotation fulcrum portions 71L and 71R have an axis directed in the traveling direction at the outer end portion in the width direction with respect to the traveling direction of the second rear ground leveling body 56L and the second rear ground leveling body 56R. The third working body 7L and the third working body 7R are laterally rotatable in the left-right direction on the side of the second rear leveling body 56L and the second rear leveling body 56R. The third working bodies 7L and 7R are sometimes called extended ground leveling bodies.

The third working bodies 7L and 7R can increase or decrease the leveling width of the second rear leveling body 56L and the second rear leveling body 56R by the rotational operation. It is possible to change the posture to the state where the ground leveling width is expanded by the third working bodies 7L and 7R, or the state where the ground leveling body is retracted when the ground leveling width is reduced.

The third working body 7L and the third working body 7R shown by the solid lines in FIGS. 1 and 2 show the ground leveling body unfolded state. The ground leveling body deployment state is a state in which the third working bodies 7L and 7R are positioned laterally in the width direction with respect to the traveling direction of the second rear leveling bodies 56L and 56R. In the deployed state of the ground leveling body, the ground leveling width of the second rear ground leveling body 56L and the second rear ground leveling body 56R is further expanded in the left-right direction, and the soil after crushing can be more widely and uniformly leveled.

The third working body 7L and the third working body 7R shown by the two-dot chain line of FIGS. 1 and 2 show the ground leveling body retracted state. In the ground leveling body retracted state, the third working body 7L and the third working body 7R rotate with the rotation fulcrum portion 71 as a fulcrum, and are located above the second rear leveling body 56L and the second rear leveling body 56R. Therefore, the ground leveling width has been shortened. By setting the third working bodies 7L and 7R in the ground leveling body retracted state, it is possible to prevent lateral protrusion and avoid collision with other objects when the third working bodies 7L and 7R are not in use.

The agricultural work machine 1 is a drive device 8 for changing the postures of the second working body 11L, 11R and the third working body 7L, 7R, and rotating the first rear leveling body 56 and the second rear leveling body 56L, 56R up and down. Is provided. The drive device 8 receives and processes a signal as command information transmitted by the operation of the operation unit A arranged close to the operator by the control unit B provided in the agricultural work machine 1, and then the drive device 8 Drive and control each actuator prepared for. Along with this control, the second working body 11L, 11R, the third working body, the first rear leveling body 56, and the second rear leveling body 56L, 56R can be operated.

The drive device 8 is composed of a first drive device 81, a second drive device 84, and a third drive device 87. Each movable part provided in the agricultural work machine 1 is driven to operate. The first drive device 81 causes the second working bodies 11L and 11R to rotate to change their postures in the deployed posture and the retracted posture. The second drive device 84 is a device that drives the third working bodies 7L and 7R to change the posture to the leveled body deployed state or the leveled body retracted state. The third drive device 87 is a device that drives the first rear ground leveling body 56 and the second rear ground leveling bodies 56L, 56R to rotate in the vertical direction.

The first drive device 81 is composed of a cylinder that can be expanded and contracted in the longitudinal direction by fluid pressure, and one end portion is attached to each of the left and right end portions of the frame 2. The other end of the first drive device 81 is attached to the left fulcrum frame 41L, and the second working body 11L can be rotated by the expansion / contraction operation of the first drive device 81. Similarly, the other end of the other first drive device 81 can be attached to the right fulcrum frame 41R, and the second working body 11R can be rotated by the expansion / contraction operation of the first drive device 81. In the case of this embodiment, the shortening operation of the first drive device 81 causes the second working bodies 11L and 11R to be in the deployed posture as shown in FIGS. 1 to 3. Further, as shown in FIGS. 4 to 5, the second working bodies 11L and 11R are put into the retracted posture by the extension operation of the first driving device 81.

The operation of the first drive device 81 is performed by operating the button A1 corresponding to the operation of the first drive device 81 arranged in the operation unit A. Each first drive device 81 has a button A1a that performs a shortening operation and a button A1b that performs an extension operation, and can be expanded and contracted by operating a button corresponding to each. Further, by operating the switching button A2, it is possible to switch between an individual mode in which each first drive device 81 is individually expanded and contracted on the left and right, and a simultaneous mode in which the two first drive devices 81 are simultaneously expanded and contracted. be.

The second drive device 84 is provided on the second working bodies 11L and 11R, and causes the third working bodies 7L and 7R to change their postures to the ground leveling body deployed state or the ground leveling body retracted state. In the case of the embodiment, the second drive device 84 is provided on the left end portion of the second cover body 4L in the traveling direction and on the right end portion of the second cover body 4R. The second drive device 84 is provided coaxially with a motor 841 capable of outputting rotational power, which is an actuator, a pinion gear 842 attached to the motor 841, a fan-shaped gear 843 that meshes with the pinion gear 842, and a rotation shaft 843a of the gear 843. It has an L-shaped arm 844 that rotates integrally with the gear 843, and a wire 845 that connects the arm 844 and the third working bodies 7L and 7R. The pinion gear 842 may be referred to as a first gear 842, and the gear 843 may be referred to as a second gear 843.

The motor 841 is capable of forward and reverse rotation, and the rotational power can be rotated so that the arm 844 swings in the left-right direction via the pinion gear 842 and the gear 843.
By connecting the tip of the arm 844 that swings to the left and right and the third working bodies 7L and 7R with a wire 845, the third working bodies 7L and 7R can rotate about the rotation fulcrum portions 71L and 71R. .. The postures of the third working bodies 7L and 7R, which are extended ground leveling bodies, can be changed to the ground leveling body deployed state or the ground leveling body retracted state by the operation of the second drive device 84. The third working bodies 7L and 7R shown by the solid lines in FIGS. 1 and 2 represent the ground leveling body deployed state, and the third working bodies 7L and 7R shown by the two-dot chain line represent the ground leveling body retracted state. Further, the third working bodies 7L and 7R shown by the broken lines in FIGS. 4 and 5 are in the ground leveling body stored state.

The operation of the second drive device 84 is performed by operating the button A3 corresponding to the operation of the second drive device 84 arranged in the operation unit A. The second drive device 84 has a button A3a for putting the third working bodies 7L and 7R into the ground leveling body deployed state and a button A3b for putting the third working body 7L and 7R into the ground leveling body retracted state. It is possible to change the posture of the three working bodies 7L and 7R. Further, an individual mode in which the second drive devices 84 arranged on the left and right second work bodies 11L and 11R are operated individually on the left and right by operating the changeover button A2, and two first drive devices 81. It is possible to switch to each of the simultaneous modes that expand and contract at the same time.

The third drive device 87 is provided on the first cover body 4, and rotates the first rear leveling body 56 and the second rear leveling bodies 56L and 56R in the vertical direction. The third drive device 87 in the embodiment is equipped with an input case 21 and a top mast 212 located on the first cover body 4. When the second working bodies 11L and 11R shown in FIGS. 4 and 5 are in the retracted posture, only the first rear leveling body 56 can rotate up and down. When the second working bodies 11L and 11R shown in FIGS. 1 to 3 are in the deployed posture, the left-right end portions of the second rear-leveling bodies 56L and 56R are with the left-right end portions of the first rear-leveling body 56, respectively. By connecting, the rotational movement of the first rear ground leveling body 56 is transmitted to the second rear ground leveling bodies 56L and 56R, and the second rear ground leveling bodies 56L and 56R are integrated with the first rear ground leveling body 56 and rotate. Can work.

The third drive device 87 includes a motor 871 which is an actuator capable of outputting rotational power in the first rotation direction and the second rotation direction, a pinion gear 872 attached to the motor 871, and a fan-shaped gear 873 that meshes with the pinion gear 872. An engaging member 874 having an L-shaped engaging groove 874a and rotating with the rotation of the gear 873, and one end side engaging with the engaging groove 874a with the rotation of the engaging member 874. It has an engaging rod 875 that can be fitted. The first rear leveling body 56 includes a link mechanism 561 that connects the first rear leveling body 56 to the frame 2 or the input case 21 and has a bendable portion 561a in the middle portion. The other end side of the engaging rod 875 is connected in the vicinity of the bent portion 561a. The pinion gear 872 may be referred to as a first gear 872, and the gear 873 may be referred to as a second gear 873.

The link mechanism 561 can move up and down in conjunction with the up and down rotation of the first rear leveling body 56. Therefore, the engaging rod 875 connected to the link mechanism 561 can also be moved in the longitudinal direction. In the state of being engaged with the engaging groove 874a of the engaging member 874, the movement of the engaging rod 875 in the longitudinal direction is prevented, so that the movement of the bent portion 561a is also prevented. As a result, the first rear leveling body 56 is in a fixed state so that it cannot rotate up and down. When the engaging member 874 is rotated by the motor 871 to release the engagement state of the engaging member 874 with the engaging groove 874a, a part of the engaging groove 874a is opened. In the case of the embodiment, the front side of the engaging member 874 of the engaging groove 874a is opened, and the engaging rod 875 can move to the front side in the traveling direction in the longitudinal direction. As a result, the first rear leveling body 56 can freely rotate upward from the position where the vertical rotation is fixed.

The operation of the third drive device 84 is performed by operating the button A4 corresponding to the operation of the third drive device 87 arranged in the operation unit A. The third drive device 87 has a button A4a for fixing the first rear leveling body 56 and a button A4b for fixing the first rear leveling body 56, and the corresponding buttons are operated. It is possible to fix or release the rotation of the first rear leveling body 56.

With the above configuration, the agricultural work machine 1 can be in the deployed posture or the retracted posture by rotating the second working bodies 11L and 11R in the left-right direction with respect to the first working body 11. Further, the third working bodies 7L and 7R can be put into the ground leveling body expanded state or the ground leveling body retracted state by rotating in the left-right direction with respect to the second working bodies 11L and 11R. Further, the first rear leveling body 56 can be in a fixed state in which it cannot rotate up and down with respect to the first front leveling body 51, or in a fixed state in which it can rotate up and down.

When the second working bodies 11L and 11R are changed from the deployed posture to the retracted posture, or when the second working bodies 11L and 11R are changed from the retracted posture to the retracted posture, it is desirable that the third working bodies 7L and 7R are in the ground leveling body retracted state. As shown in FIG. 4, the second working bodies 11L and 11R in the retracted posture are close to each other. If the second working bodies 11L and 11R and the third working bodies 7L and 7R are operated in this state, they may interfere with each other. Appropriate control must be performed to prevent these.

Further, the second rear leveling bodies 56L and 56R connected to the first rear leveling body 56 are properly connected to each other if they are not in the same vertical rotation position when viewed from a direction orthogonal to the traveling direction. May not be.

In order to operate properly, the control unit B correctly recognizes the positions of the second working bodies 11L, 11R, the third working bodies 7L, 7R, and the first rear leveling body 56, and operates only when they are in the proper positions. I need to let you. For this recognition, command information for operating the drive device is transmitted from the operation unit by a button operation performed by the operator, and flag information is generated and read in the control unit B based on the command information received by the control unit B. Do by.

The operation flow when the second working bodies 11L and 11R are changed from the retracted posture to the deployed posture will be described with reference to FIG. The description describes a case where only the second working body 11L is changed from the retracted posture to the deployed posture. Operating only the second working body 11R and operating the second working body 11L and the second working body 11R at the same time is the same process as the operation of only the second working body 11L, and is omitted because they overlap. When the second working body 11L is set to the deployed posture, the flag information F1 indicating whether or not the second working body 11L stored in the storage unit B1 configured in the control unit B is deployed is stored or used. And generate it.

In step S1, the operator operates the expansion button A1a of the operation unit A. The operation unit A transmits a command signal for deploying the second working body 11L, and the control unit receives this command signal. The control unit that has received the command signal executes step S2 and controls the second working body 11L to start the deploying operation. That is, the first drive device 81 is operated by the control unit, and the second working body 11L starts to rotate.

Next, the process proceeds to step S3, and it is determined whether or not the expansion flag of the second working body 11L is turned off. That is, the flag information of the second working body 11L stored in the storage unit B1 is read and determined. If it is determined that the flag information of the second working body 11L stored in the storage unit B1 is OFF, the process proceeds to the next step S4. That is, it is determined that the state of the second working body 11L at the time when the worker starts the operation is the retracted posture, and the process proceeds to step S4. On the other hand, if it is determined that the expansion flag is not OFF, the process proceeds to step S6 described later. That is, according to the flag information F1 of the second working body 11L stored in the storage unit B1 at the time when the worker starts the operation, it is assumed that the second working body 11L is in a posture other than the retracted posture, and the steps S4 and the step. The process proceeds to step S6, ignoring S5.

In step S4, it is determined whether or not the operation time of the unfolding operation button A1a of the second working body 11L by the operator is continuously operated for a time longer than a preset time. That is, it is determined whether or not the operation of the button A1a in step S1 is continuously performed. If the operation time of the button A1a has elapsed more than the set time, the process proceeds to the next step S5. If the operation time of the unfolding operation button A1a of the second working body 11L is not continuously operated for more than a preset time, step S5 is ignored and the process proceeds to step S6 described later.

In step S5, the control unit B generates the expansion flag, which is the flag information F1 of the second working body 11L, as ON. After generating the flag information F1, the process proceeds to step S6. In step S6, it is determined whether or not the operation for deploying the second working body 11L is ongoing. That is, as in step S4, it is determined whether or not the operation of the button A1a is continuously performed again. When the operation for deploying the second working body 11L is ongoing, that is, when the operation of the button A1a is continuously performed and it is determined that the control unit B is continuously receiving the command signal, the operation is continued again. Returning to step S2, the above control steps are sequentially repeated. If the operation of the button A1a is not continuously performed, that is, if the operation of the button A1a is not performed and it is determined that the control unit B has not received the command signal, the process proceeds to the next step S7.

In step S7, based on the determination that the button A1a is not operated in step S6, the control unit B stops the operation of the first drive device 81, and the operation of the second working body 11L is stopped.

Next, the process proceeds to step S8, and the expansion flag, which is the flag information F1 of the current second working unit 11L, is stored. In this case, in step S5, the flag information F1 generated with the expansion flag turned ON is stored in the storage unit B1, and the control step ends.

In the stage of shifting from the retracted posture to the deployed posture by the above control flow, the control unit determines the postures of the second working bodies 11L and 11R of the agricultural work machine 1 according to the operation time (operation time) of the operation unit. Therefore, it is not necessary to add a special member to the working machine side. That is, if the existing operation unit A is provided, the posture of the second work body 11L can be determined based on the operation time, so that the agricultural work machine 1 can be simply configured. Further, since it can be configured without adding a device and a member for posture determination, it can be provided to a consumer without making it expensive.

Since the operation of each part is configured to operate only when the operator is operating the operation part A, if an abnormality or the like suddenly occurs in the work machine and the members constituting the work machine, the operation is simply stopped. The operation stops at. Therefore, if an abnormality or the like occurs, the configuration is such that the operator can immediately respond if the operation is stopped. Further, although not shown, if the operator stops the operation of the operation unit A in the middle of the control flow of FIG. 14, at that stage, the process proceeds to step S7, the first control device 81 is stopped, and the first control device 81 is stopped. The flag information F1 at that stage is stored in the storage unit B1.

The flag information F1 when the second working bodies 11L and 11R are changed to the deployed posture has a configuration in which the flag information F1 is generated according to the operation time from the start of the operation in the operation unit B. Therefore, when the operation unit is accidentally and momentarily pressed, the control unit does not switch the flag information F1, and the erroneous generation of the flag information F1 due to the erroneous operation can be prevented by an extremely simple method. ..

Further, among the steps for determining the operation time for operating the operation unit A, the operation elapsed time of the button A1a, which is the first step, is determined, and the flag information F1 is generated. Next, it is a control step to store the flag information after stopping the operation of the button A1a after determining the operation time for operating the operation unit A. Therefore, it is possible to prevent the flag information F1 from being stored due to an erroneous operation, and it is possible to prevent an erroneous determination by the control unit.

When the second working bodies 11L and 11R change from the retracted posture to the deployed posture, the second working bodies 11L and 11R are stored in order to judge the posture of the second working bodies 11L and 11R by the flag information F1 for posture determination. It is possible to prevent malfunction due to erroneous operation of the operation unit of the third working body 7L, 7R at the time.

The control flow when the second working bodies 11L and 11R are changed from the deployed posture to the retracted posture will be described with reference to FIG. In addition, the description describes the case where only the second working body 11L is changed from the unfolded posture to the stored unfolded posture. Operating only the second working body 11R and operating the second working body 11L and the second working body 11R at the same time is the same process as the operation of only the second working body 11L, and is omitted because they overlap. When the second work body 11L is set to the retracted posture, the second work body flag information indicating whether or not the second work body 11L stored in the storage unit B1 configured in the control unit B is deployed is used. A certain flag information F1 and a flag information F2 which is a third working body flag information indicating whether or not the third working body 7L is deployed are stored or used and generated.

In step S11, the operator operates the storage button A1b of the operation unit A. In response to the operation by the operation unit A, the operation unit A transmits a command signal. After receiving the command signal, the control unit B executes step S12 to indicate the leveled body expanded state or the leveled body stored state of the third work body 7L, which is an extended leveling body, stored in the storage unit B1. It is determined whether or not the flag information F2 is ON. When the deployment flag information of the extended leveling body is ON, it means that the third working bodies 7L and 7R, which are the extended leveling bodies, are in the leveling body deployed state. When the extended ground leveling body is in the ground leveling body expanded state, it is determined as YES because the flag information F2 is ON, and when the extended ground leveling body is in the ground leveling body storage state, it is determined that the flag information F2 is not ON.

In step S12, the expansion flag of the third working body 7LR, which is an extended ground leveling body, stored in the storage unit B1 is not ON, that is, the flag information F2 indicating that the third working body 7LR is in the ground leveling body storage state is If it is determined that the storage is performed, the next steps S13 and S14 are omitted, and the process proceeds to step S15 described later to continue the control flow. In step S12, when the extended leveling body is in the leveling body deployment state, it is determined that the flag information F2 is ON indicating expansion, and the process proceeds to the next step S13. In step S13, the control unit retracts and operates the third working body 7L, which is an extended leveling body in the deployed state of the leveling body. In the retracting operation, the second driving device 84 of the driving devices 8 is driven to operate the third working body 7L in the ground leveling body retracted state. Next, the process proceeds to step S14, and the expansion flag information F2 of the extended leveling body 7L is turned off. That is, the flag information F2 is generated assuming that the third working body 7L, which is an extended ground leveling body, is in the ground leveling body stored state. After that, the process proceeds to step S15.

In step S15, the second working body 11L is retracted and operated. That is, the first drive device 81 is operated in order to change the second working body 11L from the deployed posture to the retracted posture. Then, the process proceeds to step S16, and the expansion flag of the second working body is turned off. That is, the information indicating that the flag information F1 which is the expansion information of the second working body 11L is stored is generated. After generation, the process proceeds to step S17.

In step S17, it is determined by the control unit B whether or not the operation of storing the second working body is ongoing. That is, it is determined whether or not the operator continues to operate the storage button A1b from step S1 and the control unit B continues to receive the command information. If it is determined that the operator continues to operate the storage button A1b from step S1, the process returns to step S12 and the control flow is repeated again. That is, as long as the storage button A1b for putting the second work body 11L in the storage posture is continuously operated, the first drive device 81 can continue to operate. If the operation is not ongoing, the control unit B does not receive the command signal, so the control unit B determines that the operation unit A has not been operated, and shifts to step S18. In step S18, the control unit B stops the operation of the first drive device 81.

After step S18, the process proceeds to step S19, the flag information F2 of the current second working body 11L is stored in the storage unit B1, and the control flow ends. That is, the control unit stores the flag information F2 of the second working body 11L as indicating storage. By step S19, the control unit B can determine that the second working body 11L is stored.

When the operation unit A is operated so as to store the second work body 11L, the posture state of the second work body 11L is determined by the flag information stored in the storage unit B1 of the control unit B, and the determination is made. The posture of the third working body 7L can be automatically changed to the ground leveling body retracted state. Therefore, since the worker can change the posture of the second working body 11L without worrying about the posture state of the third working body 7L, the burden on the worker's operation is reduced.

When the operator stops this operation after operating the operation unit A so as to store the second work body 11L, the control unit determines that the second work body 11L is in the retracted posture. Therefore, it is not necessary to add a special member to the agricultural work machine 1, and the main body of the agricultural work machine 1 can be configured simply and inexpensively. When the second working body is changed from the deployed posture to the retracted posture, each operation of the second working body 11L and the third working body 7L is configured to operate only when the operator is operating the operation unit A. There is. Even if an abnormality occurs in the agricultural work machine 1, the operator can immediately stop the operation of the operation unit A to stop the operation of the movable unit.

The configuration is such that the flag information F1 and F2 generated in the storage unit B1 are stored when the operator stops the operation of storing the second work body 11L in the operation unit A. It is determined that the second working body 11L is in the retracted posture except in the state where the second working body 11L is located on the side of the first working body 11 in which the second working body 11L is in the completely deployed posture. This makes it possible to prevent the formation of an incomplete unfolded posture. At the start of the operation of the operation unit A from the deployed posture of the second working body 11L to the retracted posture, the posture of the third working body 7L is also determined. Therefore, it is possible to prevent the third working body 7L, which is an extended leveling body, from storing the second working body in the deployed state, and to prevent damage to the agricultural work machine 1.

As described above, the operation from the unfolded posture to the retracted posture of only the second working body 11L has been mentioned, but similarly, when only the second working body 11R, which is the right working body, operates, the third working body 7R This is performed with the operation of and the generation of flag information F1 and F2. Further, when the second working body 11L and the second working body 11R are operated in the retracted posture at the same time, the operation of both the third working body 7L and the third working body 7R and the generation of the flag information F1 and F2 are performed. ..

The control flow when the third working bodies 7L and 7R are changed from the ground leveling body storage state to the ground leveling body deployment state will be described with reference to FIG. The description describes a case where the third working body 7L, which is the working body on the left side, is changed from the ground leveling body storage state to the ground leveling body deployment state. The operation of only the third working body 11R, which is the working body on the right side, and the simultaneous operation of the third working body 7L and the third working body 7R are the same processes as the operation of only the third working body 7L described. Yes, it is omitted because it overlaps. When the third working body 7L is put into the ground leveling body deployed state, the flag information F1 indicating whether or not the second working body 11L stored in the storage unit B1 configured in the control unit B is deployed, and , The flag information F2 indicating whether or not the third working body 7L is expanded is stored or used and generated.

First, in step S21, the operator performs an operation of deploying the extended ground leveling body which is the third working body 7L. That is, the operator operates the expansion button A3a that causes the third working body 7L of the operation unit A to be expanded. Then, the operation unit A transmits a command signal for operating the second drive device 84 so as to drive the extended ground leveling body to the deployment side. The control unit B that has received the command signal executes step S22.

In step S22, the control unit B determines whether or not the flag information F1 indicating the current state of the second working body 11L stored in the storage unit B1 is expanded. When it is determined that the flag information F1 is expanded, that is, the second working body 11L is in the deployed posture, the process proceeds to step S23. When it is determined that the flag information F1 is not expanded, that is, the second working body 11L is in the retracted posture, the process proceeds to step S30 described later.

In step S23, the control unit B expands the flag information of the extended leveling body. That is, the control unit B generates the flag information F2 indicating the leveled body deployment state by the third working body 7L.

Next, the process proceeds to step S24, the unfolding operation is started in the direction of deploying the third working body 7L, which is an extended leveling body, and the process proceeds to step S25.

In step S25, it is determined whether or not it is within the deployment operation time of the extended leveling body. That is, it is determined whether or not the operation elapsed time from the start of the button A3a operation of the operation unit A is within the designated time. The unfolding operation time is preferably 1.0 to 2.8 seconds, and is 1.9 seconds in the embodiment. If it is not within the expansion operation time, that is, if the elapsed time from the start of the operation of the button A3a has elapsed more than the set expansion operation time, the process proceeds to step S26. On the other hand, if it is within the expansion operation time, that is, the elapsed time from the start of the operation of the button A3a is less than the set expansion operation time, the process returns to step S24 and the control is repeated.

In step S26, the control unit B stops the unfolding operation of the extended leveling body. That is, the operation of the motor 841 of the second drive device 84 is stopped. At this point, the tooth surface on the rotation direction side of the pinion gear 842, which is the first gear, is in a pressed state at the tooth surface of the gear 843, which is the second gear, and the pressing point P, as shown in FIG. A gap called a backlash 85 is formed on the tooth surface side opposite to the rotation direction on the symmetrical side of the tooth surface of the pinion gear 842 that presses against the tooth surface of the gear 843.

After that, the process proceeds to step S27, and it is determined whether the waiting time has elapsed. The waiting time is a time elapsed after the operation of the motor 841 is stopped in step S26, and is set in advance. The waiting time is preferably 0.1 to 0.2 seconds, and 0.15 seconds is adopted in the embodiment. If the control unit B determines that the waiting time has elapsed, the process proceeds to step S28. If the control unit B determines that the waiting time has not elapsed, the process returns to step S26 and the control is repeated again.

In step S28, the control unit B causes a reverse operation, which is a direction in which the extended ground leveling body is put into the retracted state. That is, the motor 841 of the second drive device 84 is rotated in the direction opposite to the direction rotated in step S24. After that, in step S29, it is determined whether or not it is within the reversal operation time of the extended leveling body. The reverse rotation operation time is preferably 0.005 to 0.015 seconds, which is a very short time, and 0.01 seconds is adopted in the case of the embodiment. In the reverse rotation operation, the tooth surface of the first gear 842 operates within a range that does not get over the tooth surface of the second gear 843, and the second gear 843 does not rotate. In addition, by setting the waiting time, it is possible to prevent a sudden increase in the electromotive force during the reverse operation. If the control unit B determines that the reverse expansion operation time is not within the set reverse expansion operation time, that is, the reverse rotation expansion operation time has elapsed, the process proceeds to step S30. If the control unit B determines that the reverse rotation operation time has not elapsed, the process returns to step S28 again and the control is repeated.

When the process proceeds to step S30, the control unit B stops the operation of the extended leveling body. That is, the motor 841 reversing operation of the second driving device 84 that drives the third working body 7L is stopped. At the end of step S30, as shown in FIG. 12, the tooth surface of the pinion gear 842, which is the first gear, is released from the tooth surface of the gear 843, which is the second gear, in a pressed state, and has a distance smaller than that of the backlash 85. A gap 85a is generated. On the tooth surface side opposite to the rotation direction on the symmetrical side of the tooth surface of the pinion gear 842 that presses against the tooth surface of the gear 843, a gap 85b having a distance smaller than that of the backlash 85 is generated.

When step S30 is completed, the process proceeds to step S31, the flag information F2 of the third working body 7L and the flag information F1 of the second working body 11L, which are the current flag information, are stored in the storage unit B1, respectively, and the control flow is terminated. do. In the example of the description, when the flag information F1 is determined to be deployed in step S23, the flag information F1 indicating the deployed posture of the second working body 11L and the flag information indicating the deployed posture of the third working body 11L generated in step S23 are shown. Memorize F2. Further, when it is determined in step S23 that the flag information F1 is not expanded, the second working body 11L and the third working body 7R move to step S30 while being stored, so that a flag indicating the storage posture of the second working body 11L is performed. Information F1 and flag information F2 indicating the storage posture of the third working body 11L are stored in the storage unit B1, respectively.

The control flow when the third working bodies 7L and 7R are changed from the leveled body deployed state to the leveled body stored state will be described with reference to FIG. In the same manner as described above, the description describes the case where the third working body 7L, which is the left working body, is changed from the ground leveling body deployment state to the ground leveling body storage state. The operation of only the third working body 11R, which is the working body on the right side, and the simultaneous operation of the third working body 7L and the third working body 7R are omitted. When the third working body 7L is put into the ground leveling body deployed state, the flag information F1 indicating whether or not the second working body 11L stored in the storage unit B1 configured in the control unit B is deployed, and , The flag information F2 indicating whether or not the third working body 7L is expanded is stored or used and generated.

First, in step S41, the operator performs an operation of storing the extended ground leveling body which is the third working body 7L. That is, the operator operates the storage button A3b that causes the third working body 7L of the operation unit A to be in the stored state. Then, the operation unit A transmits a command signal for operating the second drive device 84 so as to drive the extended ground leveling body to the storage side. The control unit B that has received the command signal executes step S42.

In step S42, the control unit B retracts and operates the extended leveling body 7L. That is, in order to put the third working body 7L in the ground leveling body storage state, the motor 841 of the second drive device 84 is rotated in the direction in which the third working body 7L is stored. Next, the process proceeds to step S43, and it is determined whether or not the control unit B is within the extended ground leveling body storage operation time. That is, in step S41, it is determined whether or not the operation time elapsed since the operator operates the storage button A3b is within the range of the predetermined extended ground leveling body storage operation time. If the operation time is within the extended ground leveling body storage operation time, the process returns to step S42 and the control is repeated. When the control unit B determines that the operation time has exceeded the extended ground leveling body storage operation time, the process proceeds to the next step S44.

In step S44, the control unit B stops the retracting operation of the extended leveling body. That is, the motor 841 of the second drive device 84 is stopped to rotate in the direction in which the third working body 7L is stored. At this point, the tooth surface on the rotation direction side of the pinion gear 842, which is the first gear, is in a pressed state at the tooth surface of the gear 843, which is the second gear, and the pressing point P, as shown in FIG. A gap called a backlash 85 is formed on the tooth surface side opposite to the rotation direction on the symmetrical side of the tooth surface of the pinion gear 842 that presses against the tooth surface of the gear 843.

Next, the process proceeds to step S45, and it is determined whether the waiting time has elapsed. The waiting time is a time elapsed after the operation of the motor 841 is stopped in step S44, and is set in advance. The waiting time is preferably 0.1 to 0.2 seconds, and 0.15 seconds is adopted in the embodiment. If the control unit B determines that the waiting time has not elapsed, the process returns to step S44 and the control is repeated again. If the control unit B determines that the waiting time has elapsed, the process proceeds to step S46.

In step S46, the control unit B operates in the reverse direction, which is the direction in which the extended ground leveling body 7L is expanded. That is, the motor 841 of the second drive device 84 is rotated in the direction opposite to the direction rotated in step S42.

After that, the process proceeds to step S47, and it is determined whether or not it is within the reverse operation time of the extended leveling 7L body. The reverse rotation operation time is preferably 0.005 to 0.015 seconds, which is a very short time, and 0.01 seconds is adopted in the case of the embodiment. Therefore, in the reverse rotation operation, the tooth surface of the first gear 842 operates within a range that does not get over the tooth surface of the second gear 843, and the second gear 843 does not rotate. In addition, the setting of the waiting time prevents a sudden increase in the electromotive force during the reverse operation.

If the reverse rotation operation time is not within the set reverse rotation expansion operation time, that is, if the control unit B determines that the reverse rotation operation time has elapsed, the process proceeds to step S48. On the other hand, when the control unit B determines that the reverse rotation operation time has not elapsed, the process returns to step S46 again and the control is repeated.

When the process proceeds to step S48, the control unit B stops the operation of the extended leveling body 7L. That is, the motor 841 reversing operation of the second driving device 84 that drives the third working body 7L is stopped. When step S48 is completed, as shown in FIG. 12, the tooth surface of the pinion gear 842, which is the first gear, is released from the tooth surface of the gear 843, which is the second gear, in a pressed state, and has a distance smaller than that of the backlash 85. A gap 85a is generated. On the tooth surface side opposite to the rotation direction on the symmetrical side of the tooth surface of the pinion gear 842 that presses against the tooth surface of the gear 843, a gap 85b having a distance smaller than that of the backlash 85 is generated.

When step S48 is completed, the process proceeds to step S49. In step S49, the control unit stores the flag information F2 of the extended leveling body 7L. That is, the third working body, which is an extended leveling body, generates flag information F2, which is information indicating the leveling body storage state, as storage.

When step S49 is completed, the process proceeds to step S50, the flag information F2 of the third working body 7L and the flag information F1 of the second working body 11L, which are the current flag information, are stored in the storage unit B1, respectively, and the control flow is terminated. ..

When the third working bodies 7L and 7R are changed from the ground leveling body deployed state to the ground leveling body retracted state, the motor 841 operates the third working bodies 7L and 7R from the ground leveling body deployed state to the ground leveling body retracted state, and then reverses. Then, the flag information F2 indicating the posture of the third working body 11L is generated. After generation, the flag information F2 is stored in the storage unit B1. Further, unlike the case where the third working bodies 7L and 7R are changed from the ground leveling body storage state to the ground leveling body expansion state, the storage operation is performed without determining the state of the flag information F1 and F2 accompanying the start of control.

As described above, the operation to the unfolded posture or the retracted posture of only the third working body 7L is mentioned, but when only the second working body 11R which is the right working body operates in the same manner, the second working body 11R This is performed with the generation of the flag information F1 indicating the posture and the flag information F2 indicating the posture of the third working body 7R. Further, when the third working body 7L and the third working body 7R are simultaneously operated in the ground leveling body retracted state or the ground leveling body deployed state, at least one of the second working bodies 11L and 11R and the third working body 7L and 7R is included. This is performed with the generation of operation and flag information F1 and F2.

When the third working bodies 7L and 7R are deployed, the third working bodies 7L and 7R can be deployed according to the flag information F1 indicating the posture state of the second working body stored in the storage unit B1. Therefore, it is possible to prevent the third working bodies 7L and 7R from being deployed while at least one of the second working bodies 11L and 11R is in the retracted state. Therefore, the third working bodies 7L and 7R cannot deploy the third working bodies 7L and 7R unless the condition that the second working bodies 11L and 11L are in the deployed posture is satisfied. Therefore, it is possible to prevent the farm work machine 1 from being self-destructed by an unexpected operation of the third work bodies 7L and 7R while the second work bodies 11L and 11R are in the retracted state.

When the third working bodies 7L and 7R are stored, the second working bodies 11L and 11L can be stored regardless of the posture state. As described above, the leveled body unfolded state of the third working bodies 7L and 7R is a form that can occur only when the second working bodies 11L and 11R are unfolded. When the second working bodies 11L and 11R are in the deployed posture, the third working bodies 7L and 7R in the ground leveling body retracted state are located at the left and right ends of the agricultural work machine 1 and are centered on the rotation fulcrum portions 71L and 71R. Even if it rotates, it does not reflect on the interference that accompanies self-destruction with other members. Therefore, when the third working bodies 7L and 7R are stored, the flow for determining the posture of the second working body can be omitted and the operation can be performed quickly. That is, the control flow related to the posture change of the third working bodies 7L and 7R can be simply configured.

After the third working bodies 7L and 7R are deployed and stored, the drive device 8 is automatically stopped, and then the flag information indicating the current posture is stored. Therefore, it is not necessary to add a special member to the agricultural work machine 1. .. That is, the main body of the agricultural work machine can be configured simply and at low cost.

The operation of the third work body when the posture of the third work body is changed is configured to operate only when the operator is operating the operation unit. Therefore, if an abnormality occurs, the operation is simply stopped. The operation stops at. Even if an abnormality occurs, the worker can immediately respond.

Although not shown, when the operator stops the operation of the operation unit A during the control to bring the third working bodies 7L and 7R shown in FIG. 16 into the ground leveling body deployed state, the driving device 8 is stopped at that point. The configuration is such that the flag state at this point is stored. That is, when the operation of the operation unit A is stopped, the control unit B determines that the command signal has stopped, forcibly shifts to step S30, executes step S31, and ends the control. This is because the worker intends to change the posture of the third work body 7L, 7R by recognizing that the ground leveling body is in the deployed state when the operation of deploying the third work body 7L, 7R is performed even a little. Can be recognized as. Therefore, it is possible to suppress the posture change of the second working body 11L, 11R in the middle state where the third working body 7L, 7R changes the posture.

On the other hand, when the operation of the operation unit is stopped during the storage operation of the third work body 7L, 7R from the ground leveling body deployment state to the ground leveling body storage state, the flag information F2 of the third work body 7L, 7R is generated as the storage state. Without doing so, the drive device 8 is stopped. That is, if the operator stops the operation of the operation unit A during the control to put the third working bodies 7L and 7R in the ground leveling body retracted state shown in FIG. 17, the control flow is stopped at that point. In other words, when the control flow is stopped, the operation of the drive device 8 is stopped, but the flag information F2 at this time is not generated and the flag information F2 is not stored in the storage unit B1.

In order to make the ground leveling body stored state and the control unit B recognize, the third working bodies 7L and 7R are not recognized as being stored unless a procedure according to a predetermined control flow is taken. Therefore, it is possible to urge the operator to reliably store the third working bodies 7L and 7R. After that, even if the second working bodies 11L and 11R are operated, the extended ground leveling bodies 7L and 7R are in the ground leveling body storage state, and the control unit B recognizes the ground leveling body storage state by the flag information F2. There is no risk that each part of the agricultural work machine 1 will operate in the wrong posture and be damaged.

After changing the posture of the third working bodies 7L and 7R, which are extended ground leveling bodies, the first gear 842 returns to a position where the pressure for engaging with the second gear 843 is not applied, that is, it is smaller than the backlash 85, which is a play gap between the tooth surfaces. The series of operations is completed by rotating in the opposite direction by the distance. As a result, after the posture is changed, the pressure between the paired tooth surfaces is not generated, so that the tooth surfaces can be prevented from sticking due to rust or the like due to being left for a long period of time.

Since the meshing pressure on the tooth surface is not applied after the posture is changed, no load is applied to the output shaft of the motor 841 to which the first gear 842 is connected, and the motor 841 is not damaged. In particular, since the output shaft of the motor 841 is not left under a load for a long period of non-use time, the motor 841 can be used while being prevented from being damaged for a long period of time.

Since the sticking between the tooth surfaces and the damage of the motor 841 can be suppressed, the operator can reduce the maintenance work and the cost related to the replacement of parts can be reduced, which is economical.

A control flow in the case of changing from the fixed state in which the rotation of the first rear ground leveling body 56 is restricted to the rotatable release state will be described with reference to FIG. When the first rear leveling body 56 is changed from the fixed state to the defixed state, the first rear leveling body 56 stored in the storage unit B1 configured in the control unit B indicates the fixed state or the defixed state. The flag information F3, which is the leveling body flag information, is stored or used and generated. In addition, the fixed state of the first rear ground leveling body 56 may be referred to as a soil gathering posture or a soil gathering state. Further, the de-fixed state of the first rear ground leveling body 56 may be referred to as a substitute scratching posture or a substitute scratching state.

First, in step S61, the operator performs an operation of putting the first rear ground leveling body 56 into a scratching state. That is, the operator operates the button A4b that causes the first rear working body 56 of the operation unit A to be released from the fixed state. Then, the operation unit A transmits a command signal for operating the third drive device 87 so as to drive the first rear working body 56 to be in the defixed state. The control unit B that has received the command signal executes step S62.

In step S62, control is performed to move to the scratching posture. That is, the control unit B rotates the motor 871 of the third drive device 87 to rotate the engaging member 874 in the direction of disengaging the engaging rod 875 from the engaging groove 874a of the engaging member 874. Let me.

Next, the process proceeds to step S63, and the control unit B determines whether or not it is within the puddling operation time. That is, the control unit B determines whether the operation elapsed time from the start of the operation of the button A4b of the operation unit A is within the designated time. The puddling operation time is preferably 1.0 to 2.8 seconds, and is 1.9 seconds in the embodiment. If it is within the substitute scratching operation time, that is, the elapsed time from the start of the operation of the button A3b is less than the set substitute scratching operation time, the process returns to step S62 and the control is repeated. If it is not within the substitute scratching operation time, that is, if the elapsed time from the start of the operation of the button A3b has elapsed more than the set substitute scratching operation time, the process proceeds to step S64.

In step S64, the puddling operation is stopped. That is, the control unit B stops the operation of the motor 871 of the third control device 87. At this point, the tooth surface of the pinion gear 872, which is the first gear, on the rotation direction side is in a pressed state at the tooth surface of the gear 843, which is the second gear, and the pressing point P, as shown in FIG. A gap called a backlash 88 is formed on the tooth surface side opposite to the rotation direction on the symmetrical side of the tooth surface of the pinion gear 872 that presses against the tooth surface of the gear 873.

After that, the process proceeds to step S65, and it is determined whether the waiting time has elapsed. The waiting time is a time elapsed after the operation of the motor 871 is stopped in step S64, and is set in advance. The waiting time is preferably 0.1 to 0.2 seconds, and 0.15 seconds is adopted in the embodiment. If the control unit B determines that the waiting time has not elapsed, the process returns to step S64 and the control is repeated again. If the control unit B determines that the waiting time has elapsed, the process proceeds to step S66.

In step S66, the control unit B causes the first rear leveling body 56 to perform a soil gathering operation in a fixed state. That is, the motor 871 of the third drive device 87 is rotated in the direction opposite to the direction rotated in step S62.

Next, the process proceeds to step S67, and the control unit B determines whether or not it is within the reverse operation time of the motor 871. The reverse rotation operation time is preferably 0.005 to 0.015 seconds, which is a very short time, and 0.01 seconds is adopted in the case of the embodiment. In the reverse rotation operation, the tooth surface of the first gear 872 operates within a range that does not get over the tooth surface of the second gear 873, and the second gear 873 does not rotate. In addition, by setting the waiting time, it is possible to prevent a sudden increase in the electromotive force during the reverse operation. If the control unit B determines that the reverse rotation operation time has not elapsed, the process returns to step S66 and the control is repeated. If the control unit B determines that the reverse expansion operation time is not within the set reverse expansion operation time, that is, the reverse rotation expansion operation time has elapsed, the process proceeds to step S68. By setting the waiting time, the sudden increase in the electromotive force during the reverse operation is prevented.

In step S68, the control unit B stops the soil gathering operation. That is, the control unit B stops the reverse operation of the motor 871 of the third control device 87. At the end of step S68, as shown in FIG. 12, the tooth surface of the pinion gear 872, which is the first gear, is released from the pressed state with the tooth surface of the gear 873, which is the second gear, and has a distance smaller than that of the backlash 88. A gap 88a is generated. On the tooth surface side opposite to the rotation direction on the symmetrical side of the tooth surface of the pinion gear 872 that presses against the tooth surface of the gear 873, a gap 88b having a distance smaller than that of the backlash 85 is generated.

Next, the process proceeds to step S69, and the control unit B turns on the puddling flag. That is, the control unit B generates the flag information F3 of the first rear leveling body 56 as a scratching state. After that, the process proceeds to step S70, the flag information F3 indicating the current posture of the first rear leveling body 56 is stored in the storage unit B1, and the control ends.

A control flow in the case where the first rear ground leveling body 56 is changed from the rotatable defixed state to the fixed state in which the rotation is restricted will be described with reference to FIG. When the first rear leveling body 56 is changed from the fixed state to the defixed state, the first rear leveling body 56 stored in the storage unit B1 configured in the control unit B indicates the fixed state or the defixed state. Flag information F3 is stored or used and generated.

In step S81, the worker performs the soil gathering operation. That is, the operator operates the button A4a for fixing the first rear working body 56 of the operation unit A. Then, the operation unit A transmits a command signal for operating the third drive device 87 so as to drive the first rear working body 56 to be in a fixed state. The control unit B that has received the command signal executes step S82.

In step S82, the control unit B turns off the puddling flag. That is, the control unit B generates a flag in which the flag information F3, which is information indicating the posture of the first rear leveling body 56, is set as a soil gathering flag, which is a flag different from the puddling flag.

Next, the process proceeds to step S83, and the control unit B causes the soil gathering operation. That is, the control unit B rotates the motor 871 of the third control device 87 to rotate the engaging member 874 in the direction in which the engaging rod 875 engages with the engaging groove 874a of the engaging member 874.

Next, the process proceeds to step S84, and the control unit B determines whether or not it is within the soil gathering operation time. That is, the control unit B determines whether the operation elapsed time from the start of the operation of the button A4a of the operation unit A is within the designated time. The soil gathering operation time is preferably 1.0 to 2.8 seconds, and is 1.9 seconds in the embodiment. If it is within the soil gathering operation time, that is, if the elapsed time from the start of the operation of the button A3a is less than the set soil gathering operation time, the process returns to step S83 and the control is repeated. If it is not within the soil gathering operation time, that is, if the elapsed time from the start of the operation of the button A3a has elapsed more than the set puddling operation time, the process proceeds to step S85.

In step S85, the soil gathering operation is stopped. That is, the control unit B stops the operation of the motor 871 of the third control device 87. At this point, the tooth surface of the pinion gear 872, which is the first gear, on the rotation direction side is in a pressed state at the tooth surface of the gear 843, which is the second gear, and the pressing point P, as shown in FIG. A gap called a backlash 88 is formed on the tooth surface side opposite to the rotation direction on the symmetrical side of the tooth surface of the pinion gear 872 that presses against the tooth surface of the gear 873.

After that, the process proceeds to step S86, and it is determined whether the waiting time has elapsed. The waiting time is a time elapsed after the operation of the motor 871 is stopped in step S85, and is set in advance. The waiting time is preferably 0.1 to 0.2 seconds, and 0.15 seconds is adopted in the embodiment. If the control unit B determines that the waiting time has not elapsed, the process returns to step S85 and the control is repeated again. If the control unit B determines that the waiting time has elapsed, the process proceeds to step S87.

In step S87, the control unit B causes the first rear leveling body 56 to perform a substitute scratching operation in the direction of releasing the fixing. That is, the control unit B rotates the motor 871 of the third drive device 87 in the direction opposite to the direction rotated in step S83.

Next, the process proceeds to step S88, and the control unit B determines whether or not it is within the reverse operation time of the motor 871. The reverse rotation operation time is preferably 0.005 to 0.015 seconds, which is a very short time, and 0.01 seconds is adopted in the case of the embodiment. In the reverse rotation operation, the tooth surface of the first gear 872 operates within a range that does not get over the tooth surface of the second gear 873, and the second gear 873 does not rotate. In addition, the setting of the waiting time prevents a sudden increase in the electromotive force during the reverse operation. If the control unit B determines that the reverse rotation operation time has not elapsed, the process returns to step S87 and the control is repeated. If the control unit B determines that the reverse rotation expansion operation time is not within the set reverse rotation expansion operation time, that is, the reverse rotation expansion operation time has elapsed, the process proceeds to step S89.

In step S89, the control unit B stops the puddling operation. That is, the control unit B stops the reverse operation of the motor 871 of the third control device 87. When step S89 is completed, as shown in FIG. 12, the tooth surface of the pinion gear 872, which is the first gear, is released from being pressed against the tooth surface of the gear 873, which is the second gear, and has a distance smaller than that of the backlash 88. A gap 88a is generated. On the tooth surface side opposite to the rotation direction on the symmetrical side of the tooth surface of the pinion gear 872 that presses against the tooth surface of the gear 873, a gap 88b having a distance smaller than that of the backlash 85 is generated.

Next, the process proceeds to step S90, and the control unit B stores the flag information F3 indicating the posture state of the current first rear leveling body 56 in the storage unit B1, and the control ends.

According to the control flow related to the operation of the first rear-leveling body 56 described above, the control unit B can determine the fixed state and the de-fixed state, which are the posture states of the first rear-leveling body 56. Although not shown, this flag information F3 can be expected to be used for other control devices, mechanisms, and the like.

The flag information F3 is generated after the operator operates the operation unit A and the third drive device 87 actually operates when the first rear leveling body 56 is in the defixed state. On the other hand, when the first rear leveling body 56 is set to the fixed state, it is done immediately after the operator operates the operation unit A. With this control configuration, the rotatable engaging member 874 can be recognized as a fixed state at positions other than the fixed release state shown in FIG.

Since most of the agricultural work machines 1 of the present invention that perform the puddling work are performed in the defixed state, the control procedure shown in FIG. 18 is performed in order to ensure that the work is performed after the posture is changed. It is configured to step on. That is, since the procedure of operating the third drive device 87 to put the first rear leveling body 56 in the defixed state and then generating and storing the flag information F3 for defixing is adopted, the posture determination is reliable. Expected to improve sex.

When the posture is changed from the fixed release state shown in FIG. 10 to the fixed state shown in FIG. 9 by the rotational movement of the engaging member 874, the position of the engaging member 874 other than the position of the fixed release state shown in FIG. 10 is , All are controlled so that it can be judged as a fixed state. As a result, the control is not complicated, and the posture of the first rear leveling body 56 can be discriminated only by the operation of the operation unit A, so that the configuration of the control unit B can be simplified.

Although not shown, if the operation of the operation unit A is stopped during the control to bring the fixed release state to the state shown in FIG. 18, the third drive device 87 is stopped without generating the flag indicating the flag information F3. Let me. That is, when the operator stops the operation of the operation unit A, the control flow is stopped at that point. When the control flow is stopped, the operation of the third drive device 87 is stopped, but the flag information at this point is not generated and stored. In order for the control unit B to recognize the posture of the first rear leveling body 56 as the defixed state, which is the scratching state, it is not recognized as the defixed state unless a procedure according to a predetermined control flow is taken. .. Therefore, it is possible to urge the operator to surely make the posture of the first rear ground leveling body 56 into the defixed state.

Although not shown, when the operator stops the operation of the operation unit A in the middle of the control to make the fixed state shown in FIG. 19, the third drive device 87 is stopped at that time, and the flag state at this time is stored. It has a structure. That is, when the operation of the operation unit A is stopped, the control unit B determines that the command signal has stopped, forcibly shifts to step S90, executes step S31, and ends the control. This is because if the operation of fixing the posture of the first rear ground leveling body 56 is performed even a little, the operator recognizes that the first rear ground leveling body 56 is in the fixed state, and the operator intends to change the posture of the first rear ground leveling body 56. It can be recognized as something.

Similar to the second drive device 84, the third drive device 87 returns to a position where the pressure at which the first gear 842 meshes with the second gear 843 is not applied after the posture of the first rear leveling body 56 is changed, that is, between the tooth surfaces. The series of operations is completed by rotating in the reverse direction by a distance smaller than the backlash 88, which is the play gap of. As a result, after the posture is changed, the pressure between the paired tooth surfaces is not generated, so that the tooth surfaces can be prevented from sticking due to rust or the like due to being left for a long period of time.

Since the meshing pressure on the tooth surface is not applied after the posture of the first rear leveling body 56 is changed, no load is applied to the output shaft of the motor 871 to which the first gear 872 is connected, and the motor 871 is not damaged. In particular, since the output shaft of the motor 871 is not left under a load for a long period of non-use time, the motor 871 can be used while being prevented from being damaged for a long period of time.

Since the sticking between the tooth surfaces and the damage of the motor 871 can be suppressed, the maintenance work by the operator can be reduced and the cost related to the replacement of parts can be reduced, which is economical.

Although the present invention has been described in accordance with the above embodiments, the statements and drawings that form part of this disclosure are not intended to limit the invention. Modifications of embodiments, examples and operational techniques based on this disclosure are possible within the scope of the claims.

1 Agricultural work machine, 11 1st work body, 11L 2nd work body, 11R 2nd work body, 5 1st leveling body, 5L 2nd leveling body, 5R 2nd leveling body, 51 1st front leveling body, 51L 2nd Front terrain, 51R 2nd terrain, 56 1st rear terrain, 561 link mechanism, 561a bend, 56L 2nd rear terrain, 56R 2nd rear terrain, 7L 3rd work, 7R 3rd work Body, 8 drive, 81 1st drive, 84 2nd drive, 841 motor, 842 pinion gear, 843 gear, 87 3rd drive, 871 motor, 872 pinion gear, 873 gear, 874 engagement member, 874a engagement Groove, 875 engagement rod, A operation unit, B control unit, B1 storage unit

Claims (2)

The first working body and
A second work body whose posture can be changed to each of a deployed posture which is located on the side of the first work body and can be worked and a retracted posture which is moved to the upper part of the first work body.
A third working body that can be provided on the second working body and can change its posture to each of the laterally deployed posture with respect to the second working body and the stored state stored on the second working body.
A control unit capable of controlling a drive device for changing the postures of the second working body and the third working body, and a control unit.
An operation unit capable of transmitting command information to the control unit by being operated by an operator, and an operation unit.
The control unit includes a storage unit that stores flag information, which is information indicating the posture state of the third work body.
When the operation unit is operated by an operator in order to change the posture of the second working body, the control unit determines the flag information stored in the storage unit and stores the flag information in the storage unit. When the flag information indicates the expanded state, the driving device drives the third working body to be in the stored state, and when the flag information stored in the storage unit indicates the stored state, the second working body is driven. Is driven by the drive device so as to change from the expanded state to the stored state, and the flag information of the third working body is generated as the stored state.
Agricultural work machine characterized by that. The second working body operates the operation unit so that the second working body is moved from the expanded state to the retracted state by the worker, and when the third working body operates, the flag information of the third working body is used. Is generated, flag information of the second work body is generated when the second work body operates, and when the operation of the operation unit is stopped, flag information of the second work body and the third work body at the present time is generated. Is stored in the storage unit.
The agricultural work machine according to claim 1, wherein the agricultural work machine is characterized by the above.

Images