JP3108663B2 - Transplant 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 work system in which a working device is connected to a traveling machine body by a drive mechanism so as to be able to move up and down freely, and the working device can be switched between an on state for driving the working device and a cutoff state for stopping the working device. The present invention relates to a transplanter including a clutch and a lifting / lowering operation tool for raising / lowering a working device to an arbitrary height.

[0002]

2. Description of the Related Art Conventionally, as the transplanting machine, for example, Japanese Patent Application Laid-Open No. 3-147709,
As disclosed in Japanese Patent Publication No. 285605, a lifting / lowering operation lever as a lifting / lowering operation tool for raising / lowering a working device to an arbitrary height and turning on / off a work clutch is provided near a lateral side of a driver's seat or a steering handle. There is a known one arranged at a nearby position.

The lifting operation lever in these conventional examples is
An operation area for lifting and lowering at an arbitrary position with the work clutch disengaged, a lowering operation position for performing automatic elevating control with the work clutch disengaged, and a state with the work clutch engaged And an operation position for planting work that performs automatic elevation control.

[0004]

In a rice transplanting operation, which is a typical transplanting operation, reciprocal planting for planting while traveling reciprocatingly in a field is a basic operation form, and after a single stroke of planting traveling is completed. Each time the ridge is reached, the headland is turned and the body is turned in the opposite direction, and the planting traveling of the next step adjacent to the planting shoots of the previous step is sequentially shifted. When turning the headland at this ridge, the planting work device is raised to stop the planting operation, and the steering handle is operated to turn the aircraft, and the aircraft is turned while adjusting the distance (strip) to the previous planting shoot. Aircraft control to correct the direction of sowing, so-called alignment, lower the planting work equipment at an appropriate time before the completion of this alignment, and further, after completion of the alignment, the end position of the previous planted shoots Engage and operate the work clutch so that planting is resumed in line with.

[0005] In this case, if the operation of the steering handle is delayed, the steering wheel becomes large and the subsequent alignment is troublesome. Therefore, it is desirable to operate the steering handle as quickly as possible. It is necessary to release the hand from the steering wheel and operate the elevating operation lever in order to perform the operation, and during this time, the operation of the steering handle is neglected.

Therefore, when the lifting operation lever is located on the side of the driver's seat, one hand is released from the steering handle to largely operate the lifting operation lever from the planting operation operation position to the ascending operation position. The time tends to be long, and especially inexperienced workers may operate by raising their eyes on the lift control lever next to the seat, during which the steering handle operation is neglected and the desired aircraft movement locus It is easy to come off, and it tends to be more troublesome for subsequent maneuvers.

When the lifting operation lever is located near the steering handle, there is no need to move the hand largely to the side of the body, and it is somewhat less than when the lifting operation lever is located on the side of the driver's seat. Advantageously, the operation lever must be largely operated from the operating position for planting work to the operating position for raising, and the operation and handle for raising the planting work device to a desired height Performing the operation skillfully and accurately required considerable experience.

[0008] When the setting after the change of the body direction is completed, the planting is started so that the starting position of the planting seedling in the next step is aligned with the end position of the previous planting seedling. When the work clutch is engaged and operated, planting can be started immediately, in other words, the planting work device has been lowered to the working height,
In addition, it is desirable that the plant is not driven, and an operation of lowering the planting work device to the working height before the alignment is completed is required.

In this case, in the conventional example, if the raising / lowering operation lever is operated to the operating position where the planting work device is lowered (automatic vertical control) with the work clutch being disengaged after the raising operation, the planting work device is operated as described above. It is possible to obtain a state in which the vehicle is lowered to the working height and is not driven, but this operation is performed during the turning operation of the fuselage or during the alignment, so the operation of the steering handle is more important. If the raising / lowering operation lever is to be operated quickly, there is a risk that the planting operation device may be operated at once at a planting operation position where the planting operation device is lowered (automatic vertical control) with the work clutch engaged. In such a state, the drive was started before the planting work device was lowered to the working height, and the problem that the seedlings were scattered in the air without being planted in the field was likely to occur. .

The present invention has been made in view of the above points, and simplifies complicated operations required when turning headlands, and is excellent in operability for accurately changing the direction of the airframe and performing alignment. The main purpose is to provide a transplanting machine.

[0011]

[Means for Solving the Problems]

[Structure] The invention according to claim 1 is an operation in which a working device is connected to a traveling machine body by a drive mechanism so as to be able to move up and down, and the working device can be switched between an on state for driving the working device and a cutoff state for stopping the working device. A transplanter equipped with a clutch and an elevating operation device for elevating and lowering a working device to an arbitrary height, wherein the elevating operation device is provided at a position near a driver's seat, and an operation position of the elevating operation device is provided. And a control unit for controlling the drive mechanism by determining an operation position of the lifting / lowering operation tool based on a signal from the sensor, and performing a forced lifting / lowering operation different from the lifting / lowering operation tool. The working device is mounted at a predetermined height by switching the working clutch from the engaged state to the disengaged state with the forcible lifting / lowering operating tool. A forcible lifting operation for raising, a lowering operation for lowering the working device while maintaining the work clutch in the disengaged state,
When the work device is configured to perform the operation of engaging the work clutch after the operation of descending, and when it is determined that the elevating operation tool is set to a specific operation position by a signal from the sensor. Only the control operation of the control means is set so as to permit the lifting / lowering control of the working device based on the operation of the forcible lifting / lowering operation tool and the switching control of the work clutch.

According to a second aspect of the present invention, in the first aspect of the present invention, the elevating operation tool is configured as a lever that can be swingably operated, and the sensor is configured as a potentiometer.

According to the configuration of the first aspect, when the transplantation travel of one stroke is completed and the vehicle reaches the ridge, the hand holding the steering handle is slightly moved to operate the forced lifting operation tool near the handle. Then, the working device rises to a predetermined height set in advance and stops, and the work clutch is automatically disengaged to stop the transplanting operation. Therefore, it is not necessary for the worker to operate the forcible elevating operation device for only a moment, and to concentrate on the operation of the steering handle, without having to determine the elevating stop position of the working device each time the headland turns and perform the elevating operation. Can be. At this time, since the forcible lifting / lowering operation tool is located near the steering handle, it is not necessary to largely change the line of sight even when looking at the forcibly lifting / lowering operation tool, and it is possible to steer while monitoring the traveling direction of the aircraft well.

[0014] Further, after the working device is raised for turning the headland, the working device can be lowered from the raised position by operating the forcible lifting / lowering operation tool again only for a moment. The operation of the operating tool does not take much time, and the driver can operate while observing the traveling direction of the aircraft.

In addition, since the lowering operation by the operation of the forcible lifting / lowering operating tool is performed in a state where the driving of the working device is cut off, it is possible to prevent the lowering of the working device to the working position and the engagement of the work clutch at the same time. .

When the working device is lifted by the forcible lifting / lowering operating tool and then lowered, the working device is lowered from the set height while the drive is stopped, and after the working device is lowered. By operating the forcible lifting / lowering operation tool at any time, the work clutch is engaged and transplantation is restarted. Therefore, for example, an operation in which the working device is temporarily lowered to the working height without being driven, and then the working clutch is quickly engaged so that the end of the previous implanted line and the beginning of the current implanted line are aligned. However, it can be easily performed using a forced lifting operation tool.

The lifting operation and the switching to the working clutch engagement state using the forced lifting operation tool can be executed only when the lifting operation tool near the driver's seat is set to a specific operation position. For this reason, when the lifting / lowering operating tool is removed from the specific operation position and the working device is raised / lowered to an arbitrary height, the above-described lifting / lowering operation is performed even if the forced lifting / lowering operating tool is operated. There is no.

Here, the sensor for measuring the operation position of the lifting / lowering operation tool near the driver's seat is used to determine the operation position of the lifting / lowering operation tool in order to control the elevation of the working device to an arbitrary height. It is also used to determine whether the elevating operation tool is set to a specific operation position, and a dedicated detection unit for judging that the elevating operation tool is set to a specific operation position is unnecessary.

According to the configuration of the second aspect, the operation position of the lifting / lowering operation tool near the driver's seat can be continuously measured by the sensor including the potentiometer.

[Effects of the Invention] According to the first aspect of the invention, the following effects can be expected.

(A) In addition to the lifting / lowering operation tool capable of stopping the working device at an arbitrary height, the working device is forcibly raised to a preset height with the operation of disengaging the working clutch. A forced lifting / lowering operating tool that can perform an operation, a lowering operation of lowering the working device while maintaining the working clutch in the disengaged state, and an operation of engaging the working clutch in the lowering state is provided at a position near the steering handle. Operation time for raising and lowering the work equipment during ground turning, and
The operation time for switching the work clutch to the engaged state can be made extremely short, and it is possible to concentrate on the steering wheel operation without being distracted by the elevating operation and monitoring the progress of the aircraft well. It is now possible to easily change the direction of the vehicle on a desired trajectory and perform accurate alignment by properly operating the trajectory.

(B) A lifting / lowering operation mode in which the working device can be raised / lowered quickly in a very short time by using a forced lifting / lowering operation tool near the steering handle, or a lifting / lowering operation near the driver's seat, which requires some trouble. Elevating operation that can be lifted and stopped to an arbitrary height using a tool, or can be performed in any of the elevating operation form, so that the elevating operation according to work conditions and running conditions etc. A desired elevating operation can be performed by selecting a mode, and the operability is excellent.

(C) When the raised working device is lowered by operation of the forcible lifting / lowering operating tool, the working clutch can be kept in the disengaged state, so that the working device is lowered and driven. This makes it easier to avoid problems such as scattering seedlings in the air.

(D) When the working device is in the lowered state, the working clutch can be quickly engaged and operated at an arbitrary timing by the forcible raising / lowering operating tool. The operation of resuming transplantation in accordance with the end of the transplanted strip is facilitated, which is effective for performing a transplant operation with good alignment of the striped end.

(E) The forced lifting operation device capable of ascending and descending quickly can not always be used, and the driver himself consciously sets the lifting operation device near the driver's seat to a specific operation position. Therefore, it is possible to use the forced lifting operation tool for the first time, so that it is possible to avoid inadvertently touching the forced lifting operation tool to raise and lower the working device, which is excellent in operability. .

(F) Moreover, in order to provide a state in which the lifting operation and the switching of the work clutch can be performed by using the forced lifting operation tool, instead of using a dedicated switching means such as another switch, one lifting operation is performed. Is performed based on the operation position setting of the elevating operation tool, which makes it possible to avoid confusion of the operations by the two operation tools that are responsible for elevating and lowering, and it is easier to handle.

(G) A sensor for measuring the operation position of the lifting / lowering operating tool for controlling the lifting / lowering of the working device to an arbitrary height, and a lifting / lowering operating tool for determining the function of the forcible lifting / lowering operating tool. It can be used also as a sensor for determining whether or not it is set to the operation position, which is effective in simplifying the structure and reducing costs.

According to the second aspect of the present invention, since the sensor is constituted by a potentiometer, the number of signal lines for transmitting signals from the sensor is reduced as compared with the case of using a rotary encoder or a number of switches. It is inexpensive, and is practically effective.

[0029]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 4 shows a riding rice transplanter as a transplanter. This rice transplanter is constructed by connecting a seedling planting device 2 (an example of a working device) to a rear part of a riding type traveling machine body so as to be able to move up and down via a parallel quadruple link mechanism 1 and to freely roll left and right around a longitudinal axis. is there. The seedling planting apparatus 2 takes the seedling rest 5 which reciprocates sideways with a constant stroke and the seedlings for planting one plant at a time from the lower end of the seedling rest 5 in the planting transmission case 4 which is also used as a frame, and implants them in the field. It is provided with a plurality of planting mechanisms 6, three ground floats 7 arranged in parallel on the left and right, and the like, and is configured to move up and down by expansion and contraction driving of a hydraulic cylinder 10 (an example of a driving mechanism). The hydraulic control valve V for the hydraulic cylinder 10 is configured to be of an electromagnetic type, and the electromagnetic control valve V is configured to be driven and controlled by a control device 13 (an example of control means) having a microcomputer. That is, as shown in FIG.
4, the output of the potentiometer PM1 [an example of a sensor] based on the swinging operation of the elevating lever 16 [an example of the elevating operation tool] arranged on the side of the driver's seat 15 artificially raises, lowers and neutrally stops. And a control panel 17 near the steering handle.
The lifting operation and the lowering operation can be realized by the push-operation type lifting operation switch SW1 (an example of a compulsory lifting operation tool) provided in the above.

In the planting operation state, the raising and lowering control means for maintaining the height of the seedling planting device 2 above the ground at a predetermined value is controlled by the control device 13.
Is provided in the form of a control program. That is, the ground float 7 at the center in the left and right directions is supported so as to be able to swing up and down around the rear fulcrum, and the relative position of the ground float 7 on the front side of the ground float 7 with the change of the ground height of the seedling planting device 2 is changed. The vertical movement is detected by the potentiometer PM2, and the control device 13 controls the electromagnetic control valve V of the hydraulic cylinder 10 so that the output value of the potentiometer PM2 falls within a predetermined setting range, and moves the seedling planting device 2 to a predetermined ground height. Keep it up. When the raising and lowering operation switch SW1 is actuated to move the seedling planting device 2 up to the maximum rising position, the seedling planting device 2 travels through the limit switch SW2 which detects that the seedling planting device 2 has risen to near the maximum rising position. Attached to the rear wheel fender portion 21 of the fuselage, the middle portion of the link mechanism 1 is brought into contact with the ascending operation to detect and operate.
The ascending-side drive of the hydraulic cylinder 10 is automatically stopped based on the detection operation of the limit switch SW2. The power from the traveling machine body is configured to be intermittently supplied to the seedling planting device 2 via the planting clutch 22 (an example of a work clutch) and a transmission shaft 23, and the planting clutch 2 is provided.
Reference numeral 2 denotes an on / off operation by an electric motor M with a speed reduction mechanism.

As shown in FIG. 2, the wiring connection between the control device 13 and each of the operation switches and actuators as described above is performed by forming an electric circuit configuration in the control device 13 on a printed wiring board 24, The connection of the wiring to the switches is configured to be connected to each switch through a multi-pole connector 25. Further, on the printed wiring board 24, electric components such as a relay 26 for turning on and off the electric motor M and a fuse 27 are also mounted.

The raising and lowering operation by the raising and lowering operation switch SW1 is allowed only when the raising and lowering lever 16 is operated to the planting position or the lowering position, and the seedling planting device 2 is lowered to the ground. In the state, the seedling planting device 2 is operated by operating the lifting operation switch SW1.
Control means A for raising seedlings; lowering control means B for lowering seedling planting apparatus 2 based on operation of raising / lowering operation switch SW1 from the state where seedling planting apparatus 2 is in the raised position; And a clutch operating means C for disengaging and operating the planting clutch 22 based on the operation of the raising / lowering operation switch SW1 after the operation of the lowering control means B in accordance with the operation of. It is. Each of the above means is provided in the control device 13 in the form of a control program, and the control device 13 executes control as follows.

As shown in FIG. 3, when the zone is determined from the output level of the potentiometer PM1 linked to the elevating lever 16 and it is in the ascending position, the hydraulic control valve V is switched and controlled by the hydraulic cylinder 10 to switch the limit switch. The seedling planting device 2 is raised to the maximum raising position while judging by the detection by the SW2 [Steps 1 and 2]. If the hydraulic cylinder 10 is at the neutral position, the hydraulic cylinder 10 is stopped to maintain that state [steps 3 and 4]. When the raising / lowering operation switch SW1 is operated when the raising / lowering lever 16 is at the planting position or the lowering position, the electric motor M is switched to control the planting clutch 22 to be disengaged and the seedling planting device 2 to be operated. (Steps 5 to 5)
8]. Next, when the lifting operation switch SW1 is operated,
The seedling planting apparatus 2 is operated to descend on the ground, and an alarm lamp 28 for notifying the operator that the planting clutch 22 is not yet engaged is turned on [Steps 9-1.
1]. Thereafter, when the raising / lowering operation switch SW1 is operated again, the electric motor M is controlled to be switched, the planting clutch 22 is engaged and operated to set the planting work state, and the alarm lamp 28 is turned off [steps 12 to 14]. . Step 8 constitutes the upward control means A, step 11 constitutes the downward control means B, and steps 7 and 13 constitute the clutch operating means C.

[0034] In the claims, reference numerals are provided to facilitate comparison with the drawings, but the present invention is not limited to the configuration of the attached drawings by the entry.

[Brief description of the drawings]

FIG. 1 is a control block diagram.

FIG. 2 is a plan view showing a wiring connection state;

FIG. 3 is a control flowchart.

FIG. 4 is an overall side view of the rice transplanter.

[Explanation of symbols]

 2 Working Device 10 Drive Mechanism 13 Control Means 15 Driver Seat 16 Lifting Tool 22 Work Clutch PM1 Potentiometer SW1 Forced Lifting Tool

Claims (2)

(57) [Claims] 1. A work device (2) is connected to a traveling body by a drive mechanism (10) so as to be able to move up and down, and a cut-in state in which the work device (2) is stopped and a work device (2) is stopped. Equipped with a work clutch (22) that can be switched between
As well as raising and lowering the working device (2) to any height
A transplanting machine provided with a lifting operation tool (16) for performing the operation , wherein the lifting operation tool (16) is provided at a position near a driver seat (15), and the operation position of the lifting operation tool (16) is electrically controlled. a sensor for measuring, a control means for controlling the drive mechanism to determine the operating position of the elevating operation member based on the signal from the sensor (16) (10) (13), the lift operating member (16 ) And a separate lifting / lowering operation tool (SW
1) near the steering handle,
The work clutch is moved by the lifting / lowering operation tool (SW1).
Operation with switching from the on state of (22) to the off state
To raise the work equipment (2) to a preset height
Braking operation and disengaging the work clutch (22)
A lowering operation for lowering the working device (2) while maintaining
The working clutch after the working device (2) has been lowered
(22) and the lifting operation tool (16) according to a signal from the sensor.
The lifting and lowering control of the working device (2) based on the operation of the forcible lifting / lowering operating tool (SW1) and the working clutch (22) only when it is determined that is set to a specific operating position.
A transplantation machine in which the control operation of the control means (13) is set so as to allow the switching control of (1). 2. The transplanter according to claim 1, wherein the lifting / lowering operation tool (16) is configured as a lever type that can be swingably operated, and the sensor is configured as a potentiometer (PM1).