JP2987292B2 - Work machine - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a working machine in which a working machine is connected to a traveling machine body so as to be able to move up and down with an actuator. And a technique for raising the level to a predetermined level.

[0002]

2. Description of the Related Art As described above, Japanese Patent Laid-Open Publication No. Hei 5-
In this conventional example, there is provided a switch for detecting that the traveling speed change lever for setting the traveling direction of the body to forward or reverse is set to the reverse speed change position, When the switch detects that the shift lever has been set to the reverse position, a control system is provided for raising the working device (seedling planting device) connected to the traveling machine body.

[0003]

However, in the structure in which the operating position of the lever is detected by the switch, the mounting position of the switch is changed due to, for example, a screw for mounting the switch being loosened due to vibration during work. In such a case, even if the lever is not set to the reverse position, the switch may detect the lever and start the control to raise the working device. This disadvantage also occurs when a potentiometer is used instead of a switch, and there is room for improvement.

[0004] In particular, for the purpose of easily performing a speed change operation, a continuously variable transmission is provided on the body, and a single operating tool for operating the continuously variable transmission is operated in a continuous range to thereby reduce the forward speed of the body. In the configuration in which the speed change operation system is configured to perform the setting, the stopping of the aircraft, and the setting of the reverse speed of the aircraft, the interval between the stop position of the aircraft and the setting range of the reverse speed of the aircraft is relatively small, so that the above-described operation is performed. Inconvenience is likely to occur.

SUMMARY OF THE INVENTION An object of the present invention is to rationally construct a working machine that reliably raises a working device only when a shift operation for moving the body backward is performed.

[0006]

A feature of the present invention (claim 1) is to connect a working device which is lifted and lowered by a lifting actuator to a rear end of the traveling body, and to control a forward speed and a reverse speed of the traveling body. A continuously variable transmission that adjusts continuously, and an operating tool that operates the continuously variable transmission to adjust forward speed, stop traveling, and adjust reverse speed in a continuous operation range, and A first sensor for detecting the operating position of the operating tool and operating the continuously variable transmission with a shift actuator, and that the operating tool has been operated to a position slightly separated from the traveling stop position to the reverse side of the aircraft. A second sensor for detecting that the operating tool is set in the body reverse range by a signal from the first sensor, and the lifting / lowering actuator when the second sensor detects the operating tool. Operation to have a point comprising a control means for raising the working device to a predetermined level, its effect, and the effect is as follows.

[0007]

According to the above feature (claim 1), when the operating tool is operated from the travel stop position toward the body reverse range, the first sensor detects that the operating tool has reached the body reverse range, and Then, the second sensor detects that the operating tool has been further operated toward the body reversing area, and after each of them is detected, the control means drives the lifting / lowering actuator to raise the working device. Further, since the first sensor is provided for operating the speed change actuator, the first sensor can be used without any special sensor.

That is, since the control for raising the working device is started only when each of the first sensor and the second sensor has reached the detection state, for example, the mounting position of the second sensor deviates from an appropriate position. Even when the operating tool at the travel stop position is detected, the control for automatically raising the working device is not started just by setting the operating tool to the travel stop position, and conversely, the mounting position of the first sensor Does not start automatically when the operating tool is detected when the operating tool is deviated from an appropriate position and the operating tool is set to the traveling stop position. In addition, it is only necessary to provide the first sensor having a simple structure such as a limit switch for performing this determination.

According to a second aspect of the present invention, the operating tool is set in the body retreating area while the first sensor detects that the operating tool is set in the body forward region or the body stopping position. The phenomenon that the second sensor detects is impossible when the respective sensors are arranged at appropriate positions. When this phenomenon occurs, the alarm mechanism is activated to notify the worker. This makes the operator recognize that the detection system of the operating tool is abnormal.

That is, by using the two sensors, it is possible to easily determine that the mounting position of at least one of the sensors is out of an appropriate position based on the relative information from each of the sensors, and to generate an abnormality. Sometimes, the alarm mechanism operates to make the operator aware of this abnormality and prompt inspection and repair of the first sensor and the second sensor.

[0011]

Therefore, by providing one dedicated sensor, it is possible to reliably detect that the operating tool has been set in the rearward movement area of the machine and control the operation device to be raised while the number of parts is small. In addition, there is almost no erroneous control such as raising the working device when the traveling is stopped (Claim 1), and by using two sensors, the occurrence of abnormality can be accurately recognized by the worker (Claim 1). 2) The working machine was rationally configured.

[0012]

Embodiments of the present invention will be described below with reference to the drawings. As shown in FIG. 1, an engine 4 is provided at a front portion of a traveling body 3 provided with a driven front wheel 1 and a driven rear wheel 2 which are steered, and the power from the engine 4 is continuously variable. And a transmission transmission case 6 to which the shifting power from the continuously variable transmission 5 is transmitted, and a driving seat 7 is disposed at the center of the traveling body 3. Then, a seedling planting device A as a working device is connected to a rear end portion of the traveling machine body 3 via a link mechanism 9 driven and raised by a hydraulic cylinder 8 as a lifting / lowering actuator, and a riding type as an example of a working device is provided. Construct rice transplanter.

The seedling planting apparatus A is rotated by the power transmitted from the transmission case 11 through the chain case 12 to the seedling mounting table 10 on which the mat-shaped seedlings W are placed, the power transmission case 11 from the traveling machine 3. Rotary case 13,
The rotary case 13 is provided with a pair of planting arms 14 and a plurality of leveling floats 15, each of which is configured for planting a plurality of rows. The planting arm 14 cuts out the seedlings one by one and plants them in a field scene.

On the right side of the driver's seat 7, there is provided a lifting lever 16 for controlling the raising and lowering of the seedling planting device A and performing the on / off operation of the planting clutch. As shown in FIG. Is a first display section B that indicates a work state by lighting of a lamp, a liquid crystal display 18 that displays digital numbers, a plurality of switches 19 for selecting a display mode of the liquid crystal display 18, and an alarm lamp 20 as an alarm mechanism. Are formed, and an accelerator lever 21 of the engine 4 and a shift lever 22 as an operating tool for operating the continuously variable transmission 5 are provided at the right side position of the second display portion C. I have.

The continuously variable transmission 5 is, as shown in FIG.
A variable displacement hydraulic pump 5A driven by power from the engine 4; and a hydraulic motor 5B driven by the supply of pressure oil from the hydraulic pump 5A and transmitting the output to a transmission case 6 for traveling. And a trunnion shaft 23 for adjusting the supply amount of pressure oil from the hydraulic pump 5A.
And an electric cylinder 25 as a speed change actuator for operating a lever 24 of the trunnion shaft 23;
A potentiometer 26 for measuring the operation amount of the trunnion shaft 23 is provided. The electric cylinder 25 has a structure in which a nut-shaped member is screwed onto a screw shaft driven by an electric motor, and the nut member is shifted by forward and reverse rotation of the electric motor (the structure is not shown).

By setting the rotation posture of the trunnion shaft 23 to the traveling stop position indicated by "N" in the figure, the supply of the hydraulic oil from the hydraulic pump 5A is stopped, and the drive of the hydraulic motor 5B is stopped. Is operated from the traveling stop position indicated by "" to the side indicated by "F", the hydraulic motor 5B is driven in the forward direction of the machine by the supply of the pressure oil from the hydraulic pump 5A, and the oil amount accompanying the increase in the operation amount Increase in hydraulic motor 5
The driving speed of B increases. Further, when operating from the travel stop position indicated by "N" to the side indicated by "R", the hydraulic oil is supplied from the hydraulic pump 5A in the direction opposite to the forward movement, and the operation amount is increased. The hydraulic motor 5
The driving speed of B increases.

As shown in FIG.
The boss 27 at the base end is connected to the frame 2 on the traveling body side.
8 is supported so as to be swingable in the front-rear direction around an axis X in a lateral orientation with respect to
The base end of the speed change lever 22 is connected and fixed to a shaft-like member 22A that is swingable in the left-right direction around a shaft center Y facing the front-rear direction. Further, a potentiometer 30 as a first sensor for measuring an operation position by swinging about the axis X is provided at the base end, and an operation in the front-rear direction of an operation path 31A formed in the lever guide 31 shown in FIG. Is the axis X
The operation around the axis Y is permitted by the lateral movement of the intermediate position of the operation path 31A.

The shift lever 22 is moved to the operation path 31A.
When the operation position "N" is set, the trunnion shaft 23 is operated to the posture indicated by "N". When the operation is performed at the position corresponding to the operation position and the operation path 31A is set within the range of “R”, the trunnion shaft
A speed change operation system is configured to drive the electric cylinder 25 while feeding back a signal from the potentiometer 26 so as to operate the position 3 within the range of “R” corresponding to the operation position of the speed change lever 22.

A limit switch 32 serving as a second sensor for detecting that the shift lever 22 has been operated from the traveling stop position "N" to a position slightly separated from the running stop position "R" by contact with the shift lever 22. Is provided on the back side of the lever guide 31. The slightly separated position is a shift position at which the body travels at an extremely low speed (creep state).

The outline of the control system of this rice transplanter is shown in FIG. 2, and a control device 33 for operating the control means D and the alarm means F is provided with a potentiometer 30 operated by the shift lever 22 and a trunnion. A potentiometer 26 for measuring the amount of operation of the shaft 23, a potentiometer 34 for measuring the amount of operation of the lift lever 16, and the limit switch 3
2. A signal input system is provided for each of the connectors 35 interposed in a signal system for transmitting a signal such as the remaining amount of seedlings of the seedling planting device A to the traveling machine body 3, and an electromagnetic valve for the hydraulic cylinder 8 is formed. 36, a relay 37 for controlling the electric cylinder 25,
An output system for controlling each of the liquid crystal display 18 and the alarm lamp 20 is formed.

In this rice transplanter, when a speed change operation for moving the traveling body 3 backward is performed, the seedling planting apparatus A is automatically turned on.
The control device 33 operates so as to increase to the upper limit. That is, the automatic ascending routine shown in FIG. 3 is set in the form of a subroutine. At the time of a shift operation, the operating position of the shift lever 22 is obtained based on a signal from the potentiometer 30 of the shift lever 22 (step # 101). When the shift operation is performed in this manner, a shift operation is performed in which the signal from the shift potentiometer is set as a control target and the electric cylinder is operated while feeding back the signal from the potentiometer on the continuously variable transmission device side (this shift control). The operation will not be described in detail. Step # 102) The signal from the potentiometer 30 is used to move the shift lever 22 to the vehicle reverse position "R".
If the limit switch 32 is ON, the signal from the limit switch 32 is input, and when the limit switch 32 is ON, the seedling plant A is raised to the upper limit (# 103 to # 106). Steps).

Next, a signal from the limit switch 32 is input even when the speed change lever 22 is in a position other than the fuselage reverse position "R" by a signal from the potentiometer 30, and the limit switch 32 is ON. Then, the warning lamp 20 is turned on, and an error code is output to the liquid crystal display 18 (# 107 to # 110 steps). The error code is output to the liquid crystal display 18 by operating the switch 19 of the second display section C.

In this flowchart, # 103-
In step # 106, control means D is formed, and in step # 103,
The alarm means E is formed in steps # 107 to # 110.

As described above, the liquid crystal display 18 outputs not only the error code but also the data representing the current time, the integrated working time, the number of revolutions of the engine 4 and the state of the sensor by the selection operation of the switch 19. 1
The connector 3 is configured to be able to output in hexadecimal.
Even when 5 is in the separated state, the alarm lamp 20 is turned on, the state is reached in which this error code can be output to the liquid crystal display 18, and the operation of the switch 19 allows the error code to be confirmed.

As described above, in the present invention, the control for raising the seedling plant A is started only when the potentiometer 30 as the first sensor and the limit switch 32 as the second sensor have reached the detection state. Even if the position of the sensor deviates from an appropriate position and the position of the shift lever 22 is erroneously detected, the raising control of the seedling planting apparatus A is not started, and the use of two sensors respectively Based on the relative information from the sensors, it can be easily determined that the mounting position of at least one of the sensors is out of the proper position. When an abnormality occurs, the alarm lamp 20 is operated to notify the operator of the occurrence of the abnormality. Can be recognized.

[Alternative Embodiment] The present invention is not limited to the above-described embodiment.
For example, the first sensor is constituted by a rotary encoder,
It is also possible to configure the second sensor with a non-contact type sensor such as an optical sensor.
It is also possible to configure a hardware circuit using a comparator or the like. Further, the present invention can be applied to a working machine other than a rice transplanter, such as an agricultural tractor provided with a rotary tillage device.

In the claims, reference numerals are provided for convenience of comparison with the drawings, but the present invention is not limited to the configuration shown in the attached drawings.

[Brief description of the drawings]

FIG. 1 is an overall side view of a rice transplanter.

FIG. 2 is a block circuit diagram of a control system.

FIG. 3 is a flowchart of a control operation.

FIG. 4 is a plan view of an operation path of a shift lever.

FIG. 5 is a rear view of a support structure of the shift lever.

FIG. 6 is a schematic diagram of an operation system of the continuously variable transmission.

FIG. 7 is a plan view of a panel near a steering handle.

[Explanation of symbols]

 Reference Signs List 3 traveling body 5 continuously variable transmission 8 lifting actuator 20 alarm mechanism 22 operating tool 25 transmission actuator 30 first sensor 32 second sensor A work device D control means E alarm means

Claims (2)

(57) [Claims] 1. A working device (A) which is lifted and lowered by a lifting actuator (8) is connected to a rear end of the traveling body (3), and a forward speed and a reverse speed of the traveling body (3) are steplessly adjusted. A continuously variable transmission (5) to be adjusted; and operating the continuously variable transmission (5) to adjust the forward speed, stop traveling,
An operation tool (22) for adjusting the reverse speed in a continuous operation range is provided. The operation position of the operation tool (22) is detected, and the continuously variable transmission (5) is operated by a speed change actuator (25). A first sensor (30) for performing
A second sensor (32) is provided for detecting that the operation tool (22) has been operated to a position slightly separated from the traveling stop position toward the vehicle rearward side, and the operation tool (22) is operated by a signal from the first sensor (30). (22) detects that it is set to the body reverse range and operates the lifting / lowering actuator (8) when the second sensor (32) detects the operating tool (22); (8) A working machine comprising control means (D) for raising the pressure to a predetermined level. 2. A state in which the operating tool (22) is set in a body forward region or a traveling stop position is detected by the first sensor (30), and the second sensor (32) detects the operating tool (32). The work machine according to claim 1, further comprising alarm means (E) for operating an alarm mechanism (20) when detecting (22).