JP3380664B2 - Work machine - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a working machine,
To prevent abnormal operation of the actuator provided in the work equipment.
Stopping technology. 2. Description of the Related Art An example of a seedling planting device of a rice transplanter is a seedling plant.
The planting device is used to drive the hydraulic cylinder (actuator).
Therefore, while being configured to be able to move up and down freely,
The setting to determine the target attitude of the float
The setting signal from the measuring instrument and the float on the ground
The feedback signal from the sensor that measures the force
Lifting system that operates the control valve for the hydraulic cylinder to match
Control signal from the setting device operated by the artificial operation lever.
From the sensor that measures the height of the aircraft
The hydraulic cylinder so that the feedback signal is balanced.
Control to operate the control valve.
Conventionally, the fact that the hydraulic cylinder was operated in the reverse direction was described above.
Hydraulic series when detected by feedback sensor
It is recommended that the control action be set to stop the operation of the
Is being planned. [0003] In addition, as in the prior art,
If the actuator operates abnormally, such as when the actuator
In the actuator that stops the operation of the tutor, the actuator
After detecting the abnormality after the actual operation, stop the operation
The operator repeatedly tries to operate the actuator.
It may be returned and manipulated. Also, perform such an operation
The actuator will operate little by little each time
And stop, the actuator is operated in the recovery direction.
To take time or trouble
May take some time to notice, so there is room for improvement.
You. It should be noted that such an abnormal operation is caused by a signal system transmitting a control signal.
Due to an error in the control signal system such as a connector connection failure or short circuit
And many occurrences. It is an object of the present invention to operate an object in a reverse direction.
In the event that the
Configuration of a work machine that can easily recognize abnormal conditions
Is to do. [0005] The feature of the present invention is a plurality of features.
Equipped with an electric control device that operates the operation target in the target direction
To determine the operating status of each operating object
Means to operate the object in the opposite direction to the target direction.
When the discrimination means detects the signal indicating
Data that stops the operation of the elephant and identifies the
Data, or a setting system and a
Data that identifies the feedback system is stored in the storage unit.
Specified means for operating the operation target
Data to identify the object of operation, or
Identify the setting system and feedback system that activate the moving object
If the data to be stored is stored in the storage means,
The point of having the operation restriction means to prevent the operation of the operation target
And its operation is as follows. [Operation] According to the above feature, the control device is controlled.
If the target moves in the opposite direction to the target
The determining means grasps the abnormal operation, and based on the grasp result,
The operation stopping means stops the operation of the operation target, and
The data that specifies the operation target or the operation target
Data specifying the setting system and feedback system to be activated
Is stored in the storage means, and after this storage,
Storage means when a situation occurs in which the actuation target is activated
Based on the data stored in the
Is the setting system that activates the target and feedback
The system will be identified and operation control means will prevent operation.
You. In other words, the situation where the operation target operates in the opposite direction is determined.
In the event of a collision, the operation in the reverse direction is temporarily
Based on the data held, it is confirmed that
It really blocks them. Embodiments of the present invention will now be described with reference to the drawings.
It will be described based on. As shown in FIG.
The driven front wheel 1 and the driven rear wheel 2 to be operated
When the engine 4 is mounted on the front of the traveling
The power from the engine 4 is transmitted to the rear of the traveling
Hydrostatic stepless transmission 5 and transmission
A case 6 is arranged, and a driving seat is provided at the center of the traveling body 3.
7 and an actuator for the rear end of the traveling body 3.
Link mechanism 9 driven up and down by lift cylinder 8
At the rear end position around the rolling axis X in a front-rear posture
Connect the seedling planting device A as a working device to change the force freely,
Line markers 10 are provided on both sides of the front of the traveling body 3.
And a rice transplanter as a working machine. [0008] The seedling planting apparatus A is placed on a seedling mounting table 11.
Matted seedlings W rotate in synchronization with the running speed of the aircraft
Cut by the planting arm 13 provided in the rotary case 12
With a system that operates to take out and plant in the field scene S
And equipped with a plurality of leveling floats 14 at the bottom for eight-row planting
And planting seedlings at the rear position of the planting device A.
Fertilizer B which supplies fertilizer under the field scene S in synchronization with the operation
It has. The line marker 10 has a tip at a field.
To lie down on the surface S to form a groove in the field scene S
Between the working position and the non-working position that is separated upward from the field scene S.
It is configured to be interchangeable. Note that the liner in the working posture
Car 10 is linked to the raising operation of seedling planting apparatus A to the raising limit.
To switch to the non-actuated position.
Zu). [0009] As shown in FIG.
4 is swingable around a horizontal axis Y formed at a rear position.
Is supported by the side of the seedling planting device A.
Leveling float at the center position at
4C) is formed integrally with the planting depth adjusting shaft 15.
Swing around the axis Y with respect to the swing end of the arm-shaped member 16.
It is movably supported and has its front part facing downward.
A spring 17 for setting a biasing sensing pressure.
Arm 18 and float sensor that swing together with funnel 14C
The operation arm 19A of the support 19 is linked via the rod 20.
The float posture of the float 14C is
It is configured so that measurement can be performed by the sensor 19. Furthermore, planting depth
A spring for setting a sensing pressure when the adjusting shaft 15 is rotated.
Maintain the position on the spring receiving side to maintain the biasing force of 17.
And the posture of the float 14C is detected by the float sensor 1
9 to operate the float sensor 19 so that it can be detected accurately.
Of the case of the float sensor 19 around the axis of the
A correction link 21 for correcting the posture is provided. Also this
The float sensor 14C moves the seedling planting device A to the height of the field scene S.
At the time of control to automatically raise and lower following changes (hereinafter referred to as automatic
Height of the seedling planting apparatus A with respect to the field scene S
Is fed back to the control system. As shown in FIG. 1, FIG. 2 and FIG.
Elevation control and mission of seedling plant A on right side of seat 7
On / off operation of the planting clutch C built in the case 6
And a lifting lever 24 for performing
The left side of the steering wheel 25 in the
A main shift lever 26 for shifting the stepped transmission 5;
On the left side of the driver's seat 7 is the inside of the transmission case 6
A sub-shift lever 27 for shifting the gear transmission system of
Mandatory on right side of post of steering handle 25
Of the Seedling Planting Apparatus A and the Function of the Line Marker 10
Switching lever 28 for switching to a posture (an example of an operating tool)
The right side of the panel section 29 has a rotation speed of the engine 4.
Is set. The elevating lever 24 is provided as shown in FIG.
Operable along the path formed in the guide 31
The lifting lever 24 is moved forward of the "down" position in the path.
When set to the side, the seedling planting device A is lowered, and the
When it is set to the rear side of the plant, the seedling planting device A is raised,
When set to the "neutral" position, the seedling planting device A
Maintain and set the elevating lever 10 to the "ON" position.
And the planting clutch C and the seedling planting device A
When the center float 14C provided for
Enables automatic elevating control to maintain field height,
When set to the position, the planting clutch C is turned off, and
When the lift lever 24 is set to the "auto" position,
According to the operation of the lever 28, the raising and lowering of the seedling planting apparatus A is permitted.
At the same time, when the seedling planting device A rises, the planting clutch C
It enables automatic cutting operation, and its base end
Is a potentiometer for detecting the operating position of the lever 24.
A vertical lever sensor 32 is provided. The main shift lever 26 is shown in FIGS.
As described above, the neutral position N is sandwiched between the forward position F and the reverse position R.
The main transmission lever is configured so that it can be operated steplessly between
At the base end of 26 is a potentiometer type that measures the operating position
The main transmission lever sensor 33 is provided. In addition,
The speed lever 27 is used for planting seedlings on the rear side as shown in FIG.
"Planting" position to obtain a low traveling speed suitable for
`` Move '' to get a high-speed running speed suitable for traveling on the road with
The position of the auxiliary transmission lever 2
Gear shift switch that detects that the driver has operated the "7" to the "planting" position.
The switch 34 is provided. The switching lever 28 is shown in FIG.
As shown, the spring (shown in FIG.
) And return to the neutral position N.
Ascending position U with its end displaced upward with reference to
And a descent position D of a posture in which the end is displaced downward;
Right with its end displaced backward with reference to this lowered position D
The marker operation position R and the left marker with its end displaced forward
And the switching lever
28 to the lowering position D to move the seedling planting device A to the working height.
, The switching lever 28 is again moved to the lower position D
When the operation is performed, the planting clutch C is operated.
Has been moved to the raised position U at the base end.
Switch 35 for ascending detection and the descending position
D switch lever switch for detecting operation by D
Switch 35. Note that the switching lever 28
The lever is operated to the left and right marker operation positions L and R at the base end.
It has a switch to detect that
Absent. The accelerator lever 30 is high as shown in FIG.
Stepless between the speed limit position Max and the low speed limit position Min
It is configured so that it can be operated
A potentiometer type accelerator sensor 36 for measuring
I have. As shown in FIG. 6, a left side portion of the panel portion 29 is provided.
Dial 3 to set the control sensitivity of the automatic elevating control
Potentiometer type control sensitivity setting that is rotated by 9A
Equipped with a measuring instrument 39, and pushed to the lower left position with the knob 40A.
Equipped with a vehicle speed control switch 40,
Is a start of the engine 4 which is rotated by a key (not shown).
And a key switch 38 for energizing an electric circuit.
A display portion is formed at the center position. The control sensitivity setting device
As shown in FIG. 8, reference numeral 39 denotes a seven-stage position of "1" to "7".
It is configured so that it can be operated freely,
The target attitude of the center float 14C around the axis Y
Change to the down side to increase the biasing force of the spring 17 for setting the sensing pressure.
To perform highly sensitive automatic elevation control at low sensing pressure.
Conversely, the more you operate toward the larger number, the more around the axis Y
The target attitude of the center float 14C to the forward ascending side
To increase the urging force of the spring 17 for setting the sensing pressure,
Function to perform low-sensitivity automatic raising / lowering control at the sensing pressure.
You. As shown in FIG. 6 and FIG.
A fuel meter 41 for displaying the remaining amount of fuel at the position of the pointer;
And a buzzer 42, and five lamps 43A.
A rotation speed display mechanism that indicates the rotation speed of the engine 4 from the number of lights.
43, and lights when the remaining amount of fertilizer in the fertilizer applicator B is low.
The “fertilizer out” lamp 44 and the lamp placed on the seedling rest 11
"Out of seedling" lamp that lights when the remaining amount of seedlings W is low
45 and each for reducing the number of planting actuations of the seedling planting device A
Lights when the clutch (not shown) is turned off
"Azegiwa" lamp 46 and planting clutch C disengaged
With a "planting" lamp 47 that lights up when
When the line marker 10 is in the working posture, a pair of left and right
One of the line markers 10 is turned on, and any line marker 10 is created.
Marker that lights the center position when not in the working posture
A lamp 48 is provided. Also, the lifting lever 24 is
"Auto" lamp 49 that lights up when in the "run" position
The seedling planting device A is at the working height,
Is in the “planting” position, and the main shift lever 26 is in the forward range.
In the reverse range, and the link mechanism 9 is in a position other than the upper limit.
Lights when automatic rolling control is possible
"Rolling" lamp 50 and vehicle speed control switch 4
0 is ON and engine speed is over 2000rpm
The accelerator lever 30 is set so that
"Cruise" lamp illuminates when cruise is possible
51 and the switching lever when the vehicle speed control switch 40 is ON.
Run when the seedling planting device A is raised to the upper limit by operation 28.
The line speed is automatically reduced and the planting clutch C is disengaged.
"Automatic deceleration" lamp 52 that lights up when the
In addition, these lower positions have four-digit numbers and
It has a liquid crystal display 53 that can display
You. The respective control operations will be described later. As shown in FIG. 9, on the right side of the driver's seat 7
The dial 5 is provided on the surface of the control box 56 provided.
Panel display switch 57 operated by 7A, dial
A rolling angle setting device 58 set at 58A and a knob 5
And a rolling switch 59 operated by 9A.
You. As shown in FIG. 2, the power from the engine 4
Through the main clutch D and the transmission shaft 60.
A transmission system for transmitting to the transmission 5 is formed, and this stepless
The transmission case 6 is connected to the rear surface of the transmission 5,
The shifting power from the transmission case 6 is applied to the rear wheels 2.
A transmission system for transmitting to the differential case 61
Of the front wheel 1 through the intermediate transmission shaft 62.
A transmission system for transmitting to the case 63 is formed. In addition, engine
The engine 4 at a position near the output shaft of the engine 4
The main clutch D is provided with a
Depress the main clutch pedal 65 in the
It is operated and returns to the entering state by releasing the stepping force
The operation position of the main clutch pedal 65 is
To detect the state of main clutch D
Main clutch switches 66, 66 for detection are provided.
You. Also, a gear for gear shifting operation of the continuously variable transmission 5 is provided.
The shift arm 67A of the on-axis 67 and the electric shift motor 6
8 and the sector gear 85 and the operating rod 86
From the position of the sector gear 85 to the speed change state of the continuously variable transmission 5.
Equipped with a potentiometer type shift sensor 69
The planting clutch C is engaged by an electric clutch motor 70.
It is configured so that it can be cut off freely and enters the nearby position.
Clutch switches 71 for detecting the state and the disengagement state,
71, and the link mechanism 9 is provided with a top link 9T on the upper part.
It is composed of the lower link 9L at the bottom and the top
Measure the height of seedling planting device A from the swinging posture of link 9T
A potentiometer type link sensor 80 is provided at the base end.
I have. After the top link 9T, as shown in FIG.
Vertical link 9V connected to the end and the rear end of lower link 9L
Seedling plant A is mounted on the support section formed at the lower end of the shaft.
Rollable around the core X
It is rotatable with respect to the frame 72 above the link 9V.
Motor-driven motor that drives the screw shaft 73
And a screwing motor 74, which is screwed to the screw shaft 73.
The nut member 75 and the seedling placement device A are disposed on the side opposite to the seedling placement surface.
An operation rod 77 and an operation bar
By moving the nut member 75 in the left-right direction with the screw 78 interposed
The seedling planting apparatus A is configured to be freely rollable. Also, axis
Detect the rolling posture of seedling plant A around core X
With a potentiometer for measuring the attitude of the weight
A cooling sensor 79 is provided. As shown in FIG. 1, the position below the driver's seat 7
Control device 8 equipped with a microprocessor (not shown)
1 is arranged, and the control system of the control device 81 is shown in FIG.
In this control system, the control device 81
Signals from the switches and sensors are input
The input system is formed, and the lift cylinder 8
Electromagnetic lift valve 82 for controlling the
Motor 70, the rolling motor 74, the speed change motor 6
8. An output system for the panel display system is formed;
EEPROM type memory 8 for holding correction values of sensors
An input / output system for 3 (an example of storage means) is formed.
The control system of
If the situation is grasped, stop the operation and
A setting system (such as a setting device) related to
The feedback system (link sensor, etc.)
Identify tutor or driver, control valve, etc.
After writing to the memory 83 and stopping the engine 4 once
Also setting system and feedback written to memory 83
When trying to control the actuation target with the system
Is set in advance to prevent its operation,
The control operation of the lifting / lowering system of the device A will be described below as an example.
I will tell. As shown in the flowchart of FIG.
When a signal is generated indicating that the moving object has operated in the opposite direction
A determination routine for performing the processing is configured.
In the routine, it is as if an operating tool such as a lever was operated
And actuators such as electric motors and lift cylinders 8
If the condition for operating is satisfied, the operation mode (setting
System, feedback system, actuator, etc.)
Is stored in a register (in the microprocessor of the control device 81).
Is set) and the actuator is actuated.
After the output signal is output, the feedback signal
To determine the operation direction (# 101 to # 107 switches).
Tep). Next, when the operation direction is reverse,
Memory that stores the code for specifying the setting system and the feedback system
83, and a stop command for stopping the control operation.
Mode (# 108, # 109 steps)
Step) Perform the operation. This operation is performed when the actuator is activated.
Is set to operate in parallel to
Code that specifies the system and feedback system (control mode
Is written in the memory 83
Pre-operates the actuator in its control mode.
Block and if a stop code is set in a register
Control routine set to suspend control mode operation
Have been. Also, in this control operation, steps # 102 to # 107 are executed.
The determination means E is constituted by the steps, and the
The setting means F is configured. The manual lifting / lowering routine is shown in the flowchart of FIG.
As shown in FIG.
Otherwise, if the lift lever 24 is in the “in” position,
The clutch C based on the signal from the switch 71
Only when the clutch is in the off state, the clutch motor 70
Switch C, and the elevating lever 24 is in the "down" position.
In the position, the signal from the clutch switch 71
Only when the clutch C is in the engaged state based on
Planting clutch for disengaging the clutch C with the latch motor 70
Switch C (steps # 201 to # 203).
H). Next, referring to the contents of the register,
There is no stop code corresponding to the control mode and the memory 8
Mode corresponding to the current control mode by referring to the contents of 3
If the code does not exist, the
If the working height is not based on the signal,
Operate the elevating valve 82 until the working height is reached and plant seedlings.
The device A is lowered (Steps # 204 to # 207). Next, the signal from the lift lever sensor 32 is
If it is determined that the lifting lever 24 is in the “neutral” position,
Based on a signal from the clutch switch 71, the clutch
Only when C is in the engaged state, the clutch motor 70
The operation process of the planting clutch C for disengaging the clutch C
(# 208, # 209 steps), then move up and down
By the discrimination of the signal from the lever sensor 32, the elevating lever 24
If it is in the “up” position, the clutch switch 71
When the clutch C is engaged based on these signals
The clutch C is disengaged by the clutch motor 70 only when
The operation of the planting clutch C is performed, and the contents of the register are
For reference, the stop code corresponding to the current control mode exists.
Is not available, refer to the contents of the memory and respond to the current control mode.
If there is no corresponding mode code (# 210 to # 210)
# 213 step), based on the signal from the link sensor 80
When the seedling planting device A is not at the upper limit,
To raise the seedling planting device A to the upper limit.
(Steps # 214 and # 215). As a result of referring to the contents of the register,
If a stop code corresponding to the control mode of
As a result of referring to the contents of the
When a corresponding mode code exists (# 204, # 20)
5, # 212, # 213 steps) and lowering operation
When the seedling planting device A falls to the working height,
If seedling planting device A rises to the upper limit due to
Move the lube 82 to the neutral position to stop the raising and lowering of the seedling plant A.
It stops (# 216 step). In addition,
The work height is a float cell when the seedling planting device A is at the upper limit.
Compared to the signal value of the sensor 19, the center float 14C
As a result, the value of the float sensor 19 changes by a predetermined amount or more.
The state which did. In this control operation, # 204, # 204
The operation restricting means G is combined with the steps 213 and # 216.
Has been established. In the operation of the forced elevating routine, the ascent control is
As shown in the flowchart of FIG.
The lift lever 24 is set to “automatic” based on a signal from the
When in the position, the signal from the selector lever switch 35
Switch lever 28 has been moved to raised position U based on
If it is determined that the
There is no stop code corresponding to the current control mode.
Refers to the contents of the memory 83 and corresponds to the current control mode.
Only when the mode code does not exist, the link sensor 7
When seedling planting device A is not at the upper limit based on signal from 1
Is operated by disengaging the planting clutch C with the clutch motor 70.
After performing the operation processing of the planting clutch, the elevating valve 82
To raise the seedling planting device A to the upper limit.
(# 301 to # 307 steps)
Stop according to the current control mode as a result of referring to the contents
If the code exists, as a result of referring to the contents of the memory,
If the mode code corresponding to the current control mode exists
(# 303, # 304 step)
When the planting device A has risen to the upper limit, the valve 82 is
It should be operated in the upright position to stop raising the seedling planting device A.
(Step # 308). In addition, this control operation
The operation restricting means includes steps # 304 and # 308.
G is configured. The lowering control of the operation of the forcible raising / lowering routine is as follows.
As shown in the flowchart of FIG.
The lift lever 24 is set to “automatic” based on a signal from the
When in the position, the signal from the selector lever switch 35
The switching lever 28 is moved to the lower position D based on
If it is determined that the current
There is no stop code corresponding to the current control mode.
The mode corresponding to the current control mode is referred to
Only when no code is present, lift valve 82
Operate the seedling based on the signal from the float sensor 19
Lower the seedling planting device A until the planting device A reaches the working height
(# 401 to # 406 steps).
Up). As a result of referring to the register contents,
If a stop code corresponding to the control mode exists,
As a result of referring to the contents of
If a mode code exists (# 403, # 404
Tep) and the seedling planting device A is lowered to the working height by the lowering operation.
When it descends, the valve 82 is operated to the neutral position to plant seedlings.
The lowering of the attachment device A is stopped (# 407).
Steps). In this control operation, # 404, # 40
The operation regulating means G is constituted by combining the seven steps. [0028] In this example of raising and lowering, seedling planting is performed.
The link sensor 8 detects that the device A has been moved up and down in the reverse direction.
When it is determined based on the feedback signal from 0
Is the control mode, that is,
Descending lever sensor 32, link sensor 80 and elevating valve 8
2 and the switch lever switch
Combination of the hutch 35, the link sensor 80, and the elevating valve 82
Is located in the microprocessor of the control device 81.
By setting it on a star (not shown),
When the control action corresponding to the combination of
The combination of the EEPROM type memory 83
Is written, after stopping the engine 4
Also try to control the same control mode
The operation is stopped before the device A moves up and down.
You. In this way, whether or not the operation is possible is determined by the control mode.
Even if the seedling planting device A is moved up and down,
Depending on the location, it is impossible to move up and down with the lift lever 24.
In some cases, it is possible to move up and down by the switching lever 28. As a result, when the operation is stopped, the operator generates an abnormality.
Can be easily recognized and the actuator
It does not operate as required. Also, this abnormal operation
If it is damaged, the wiring of the connector etc.
Failure, sensor failure, control valve failure, electric motor
It is difficult for an operator to judge whether the driver is out of order.
Therefore, this failure is determined using dedicated equipment
And can be written to the memory 83
Mode codes can also be erased using dedicated equipment.
ing. [Another Embodiment] The present invention relates to the above embodiment.
In addition, for example, when the actuator operates in the opposite direction
In this case, regardless of the control mode of the actuator,
Control action to prevent actuator operation after time
It is also possible to set the operation. Accordingly, it is assumed that the operation target has been operated in the reverse direction.
If it is determined, the operation target
Movements are reliably stopped, making it easier for workers to generate abnormal conditions.
Acknowledgment and abnormal operation without unnecessary operation
Since the work equipment that can suppress the expansion of the state was rationally configured
is there. In the claims, reference is made to the drawings.
Signs are provided for convenience.
It is not limited to the configuration of the attached drawings.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is an overall side view of a rice transplanter. FIG. 2 is a side view schematically showing a transmission system of the rice transplanter. FIG. 3 is a side view showing an arrangement of a float sensor. FIG. 5 is a front view showing a rolling structure of the attachment device. FIG. 5 is a side view showing a member arrangement in the vicinity of a steering handle. FIG. 6 is a plan view of a panel portion. FIG. 7 is an enlarged plan view of a display portion. FIG. 9 is a plan view of a control box. FIG. 10 is a plan view of an operation path of an elevating lever. FIG. 11 is a block circuit diagram of a control system. FIG. 12 is a flowchart of a determination routine. 13: Flow chart of a manual lifting / lowering routine [FIG. 14] Flow chart of a lifting operation in a forced lifting / lowering routine [FIG. 15] Flow chart of a lowering operation in a forced lifting / lowering routine [Description of reference numerals] 81 Control device 83 Storage means E Another means F specifying means G operating regulating means

──────────────────────────────────────────────────の Continued on the front page (51) Int.Cl. ⁷ identification code FI G05B 23/02 302 G05B 23/02 302J (58) Field surveyed (Int.Cl. ⁷ , DB name) A01C 11/02 A01B 63 / 10 G05B 9/02 G05B 23/02

Claims (1)

(57) Claims 1. An electric control device (81) for operating a plurality of operation targets in a target direction, and a determination means (E) for grasping the operation status of each operation target. ), When a signal indicating that the operation target has operated in the direction opposite to the target direction is detected by the determination means (E), the operation of the operation target is stopped, and data for specifying the operation target is obtained. Alternatively, a storage device (83) for storing data for specifying a setting system and a feedback system for operating the operation target is provided, and the operation target is specified in a situation where the operation target is operated. If the data to be operated or the data for specifying the setting system and the feedback system for operating the operation object is stored in the storage means (81), the operation restricting means for preventing the operation of the operation object is prevented. Working machine is equipped with a (G).