JP3283343B2 - Work vehicle control mechanism - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a traveling machine, in which a ground mechanism is connected to a traveling body by a drive mechanism so as to be able to move up and down freely, and a shift operation tool for a traveling transmission in the traveling body is switched to a reverse side. The present invention relates to a control mechanism for a working vehicle, comprising: a reverse traveling state detecting means for detecting that the vehicle is moving; and a reverse traveling upward controlling means for forcibly operating the drive mechanism in accordance with the detection operation of the reverse traveling state detecting means.

[0002]

2. Description of the Related Art Conventionally, a control mechanism for a working vehicle described above has been configured to simply raise a drive mechanism when a shift operation of the speed change operation tool to a reverse side is detected.

[0003]

The above construction automatically raises the ground work equipment greatly when the aircraft is moving backward, so that even if the lifting operation is forgotten, it may collide with an external object such as a furrow. Although we tried to reduce it,
Since the traveling transmission generally changes the gearshift state without a time delay during which the switching operation of the gearshift operation device is performed, the vehicle is caused to travel backward immediately after the gearshift operation device is switched to the reverse side. When the ascending speed by the drive mechanism is slow, the aircraft travels backward while the ground working device does not rise to a sufficiently high level that is less likely to collide with foreign objects, and the ground working device There is a risk of contact with objects, and there is still room for improvement. An object of the present invention is to eliminate the above disadvantages.

[0004]

According to a feature of the present invention, there is provided a control mechanism for a work vehicle as described at the beginning, wherein the control device for a work vehicle includes a ground height detecting means for detecting a ground height of the ground work device, and the speed change device. Is configured to be switched by an actuator based on the operation of the speed change operation tool, and in the forced ascent operation of the ground working device by the reverse ascending control means, while the detected height by the ground height detecting means is lower than a set value, The present invention is characterized in that an actuator control means is provided for restraining a reverse shift operation by the actuator and allowing the reverse shift operation by the actuator when the detected height exceeds the set value.

[0005]

When the gearshift operating device is operated to the reverse position and the ground working device is at the ground contact state or at a low level close thereto, the reverse gearshift operation by the actuator is restrained, so that the aircraft cannot travel backward. In a state where the ground working device is at a low position, it is possible to avoid the possibility of accidentally moving backward and colliding with an external object. Then, after the ground work device has risen to the set value or more, or when the ground work device has risen at the set value or more at the time of the switching operation to the reverse position of the speed change operation tool, there is a possibility of collision with an external object. , The reverse speed change operation by the actuator is executed, and the vehicle can travel in the reverse direction.

[0006]

Therefore, even if the forced ascending speed by the drive mechanism is slow when the body is moving backward, the body moves backward after the ground working device has risen to a level where the possibility of contact with foreign objects is small. Thus, it is possible to reliably avoid the possibility of damage to the ground working device when the aircraft is moving backward.

[0007]

Embodiments will be described below with reference to the drawings. FIG.
2 shows a riding type rice transplanter which is an example of a working vehicle. In this rice transplanter, a seedling planting device 2 [ground work device] is connected to a rear portion of the riding type traveling body via a link mechanism 1 so as to be able to move up and down.
The seedling planting apparatus 2 is configured to be driven up and down by a hydraulic cylinder CY (an example of a driving mechanism). As shown in FIG. 1, the traveling transmission 3 in the traveling aircraft
A first level change mechanism 4 that can be switched between stages; a forward traveling clutch 5 and a reverse traveling clutch 6;
A switching operation of the operating lever 7 is configured to be switchable between a low-speed position Lo for planting work and a high-speed position Hi for traveling on the road, and a switching operation of the second operating lever 8 (an example of a shift operating device) causes an operation switch FS for forward movement. By operating the reverse operation switch RS, it is possible to freely switch between the forward traveling state and the reverse traveling state. Each of the clutches 5, 6
Are each constituted by a multi-plate friction type clutch, and press and operate the hydraulic pistons 9 and 10 which are urged and disengaged by hydraulic pressure to operate the clutches. The hydraulic oil for the hydraulic pistons 9 and 10 is controlled by an electromagnetic control valve. V1 and V2.

[0008] During the planting operation, the hydraulic cylinder CY is set so that the ground height of the seedling planting apparatus 2 is maintained at a set value.
The switching of the electromagnetic hydraulic control valve V3 is controlled by a control device 11 having a microcomputer. That is, the vertical movement amount based on the contact pressure fluctuation of the contact float 12 provided on the seedling plant 2 so as to be able to swing up and down around the rear fulcrum X is detected by the potentiometer type float sensor 13. The switching of the electromagnetic control valve V3 is controlled so as to match the value set by the potentiometer type setting device 14. or,
A raising and lowering switch SW1 is provided, which can alternately switch the seedling planting device 2 between a ground contact lowering state and a state in which the seedling transplanter 2 is raised to a maximum raising position. In other words, when the seedling planting device 2 is lifted up and turned around a ridge or the like, the raising / lowering switch SW
1 is operated, the seedling planting apparatus 2 is forcibly raised, and when the switch is operated again, the seedling planting apparatus 2 is switched to the ground-down state. The detection of the reaching of the ascending position is configured such that the intermediate portion of the link mechanism 1 is detected by contacting a limit switch type link switch SW2 provided at the rear of the machine body.

[0010] As the body traveling transmission 3 is switched to the reverse side, the hydraulic cylinder CY is forcibly raised with the reverse upward control means A, and the reverse upward control means A is provided.
In the forced ascent operation of the seedling planting device 2 by the above, while the ground height of the seedling planting device 2 is lower than the set value, the reverse shifting operation by the reverse hydraulic clutch 6 is suppressed, and the ground height of the seedling planting device 2 is lowered. The control device 11 is provided with an actuator control means B in the form of a control program in such a manner that the reverse shift operation is permitted when the speed exceeds the set value. Hereinafter, a control procedure of the control device 11 will be described. As shown in FIGS. 2 and 3, when the reverse operation switch RS (an example of the reverse state detecting means) is turned on and set to the reverse state, if the seedling planting apparatus 2 cannot reach the maximum ascending position, the link is established. The seedling planting device 2 is forcibly raised until the switch SW2 is turned on (steps 1 to 4). If the seedling planting apparatus 2 is at the maximum ascending position, the reverse hydraulic clutch 10 (an example of an actuator) is quickly operated to engage the reverse clutch 6 (step 5). During the forcible raising operation of the seedling planting apparatus 2, after the seedling planting apparatus 2 has risen to or above the set level at which the seedling planting apparatus 2 rises above the ground, as determined from the detection value of the float sensor 13 (an example of the ground height detecting means) If the engine speed detected by the engine speed sensor 15 is equal to or greater than the set value, the reverse hydraulic piston 10 is quickly operated to engage the reverse clutch 6 [step 6].
~ 8]. If the engine speed is equal to or less than the set value, the hydraulic oil flow from the hydraulic pump P is small, and the hydraulic cylinder C
Since the ascending speed by Y is low, in this case, the hydraulic piston 10 is pushed with a gentle boosting characteristic based on a preset characteristic, so that the reverse clutch 6 is slowly operated to engage. Switching control of the control valve V2 is performed [step 9]. In this manner, the on-coming operation of the reverse clutch 6 is suppressed until the seedling planting device 2 rises above the set level. When the seedling planting device 2 rises to the maximum ascending position and the link switch SW2 is turned on to stop at the ascending position, the seedling planting device 2 descends due to an operation leak and the link switch When the switch SW2 is turned off, a time T from the time of the on-operation to the time of the off-operation is calculated. The oil alarm lamp 16 is turned on, and the limit switch SW3
If it is determined from the detection result that the high / low switching mechanism 4 has not been operated to the low speed position Lo, it is dangerous to reverse the vehicle in the high speed state, so that the shift warning lamp 17 is turned on [steps 10 to 16]. Steps 1, 3, 4, 1
0 constitutes the reverse climb control means A, and the steps 6 to 9 constitute the actuator control means B.

[Alternative Embodiment] The actuator for shifting may be another actuator such as an electric motor, and the means for detecting the height of the ground of the ground working device may be an ultrasonic type or an optical non-contact type instead of the float sensor. A type sensor may be used.

[0011] In the claims, reference numerals are provided to facilitate 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 a control block diagram

FIG. 2 is a control flowchart.

FIG. 3 is a control flowchart.

FIG. 4 is a side view of the rice transplanter.

[Explanation of symbols]

 Reference Signs List 2 ground work device 3 speed change device 8 speed change operation tool 10 actuator 13 ground height detection means A reverse rise control means B actuator control means CY drive mechanism RS reverse movement state detection means

Claims (1)

(57) [Claims] 1. A ground work device (2) is connected to a traveling body by a drive mechanism (CY) so as to be able to drive up and down freely, and a shift operation tool (8) for a traveling transmission (3) in the traveling body is moved backward. The reverse state detecting means (RS) for detecting that the switching operation has been performed to the side, and the reverse state detecting means (R)
A control mechanism for a work vehicle, comprising: a reverse ascending control means (A) for forcibly operating the drive mechanism (CY) in accordance with the detection operation of S). A ground height detecting means (13) for detecting a height, wherein the transmission (3) is switched by an actuator (10) based on an operation of a shift operating tool (8); In the forced ascent operation of the ground working device (2) according to (A), while the height detected by the ground height detecting means (13) is lower than a set value, the reverse shift operation by the actuator (10) is suppressed. A control mechanism for a work vehicle, comprising: an actuator control means (B) for controlling a reverse shift operation by the actuator (10) when the detected height exceeds the set value.