JP3396918B2 - Riding type agricultural work machine - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a work implement elevation control device .
It relates to the riding type agricultural work machine provided . 2. Description of the Related Art Conventionally, as disclosed in Japanese Utility Model Laid-Open Publication No. 52-90427, a lifter for a working machine by a turning operation using a steering wheel is a well-known technique, and an agricultural working machine for performing automatic turning control. Is common in combines and tractors . That is, the turning operation, to lift the working machine during turning, the turning end automatically working machine riding agricultural machine which directly work continues by lowering the on the periphery
Is knowledge . [0003] The above-mentioned prior art is a technique in which the work implement is stopped only by raising and lowering the working machine by simply operating a turning handle. Since the subsequent lowering speed of the working machine is constant, there is a drawback that the subsequent operation is hindered. [0004] The present invention employs the following technical means to solve the above-mentioned problems. That is, the working machine 21 is attached to the riding traveling vehicle body 1 via the lifting drive mechanism 16.
In a riding type agricultural work machine that is mounted so as to be able to move up and down, the lifting drive mechanism 16 is operated in conjunction with the turning operation of the machine.
The work machine 21 is raised and lowered more automatically, and the work machine 2
The lowering of the working machine 21 is stopped and the lowering speed is reduced by the detection of a sensor that recognizes that there is a ridge below 1.
Work equipment to change the lowering conditions such as the restriction of the lowering height
A riding type agricultural work machine characterized by having a control device is provided . An embodiment of the present invention will be described with reference to a riding type rice transplanter shown in the drawings. Reference numeral 1 denotes a passenger traveling body, which is provided with a pair of front driving wheels 2 for steering on the left and right sides of a front transmission case 2, and a rearwardly extending frame 3 is fixed to a rear portion of the front transmission case 2. Rear end
A transmission case 4 is provided, and the rear transmission case is provided.
A rear wheel drive case 5 is attached to the outside of the case 4
The driving rear wheels 6 and 6 are provided outside the wheel 5. And
An engine 7 is mounted on the frame 3 to rotate a transmission mechanism in each transmission case so that the frame 3 can run on its own. A boarding platform 8 is provided on the upper surface of the frame 3, and the upper part of the engine is inflated upward to form a cover 9. Reference numeral 10 denotes a control frame, which is erected on the front side of the vehicle body, and a panel 11 provided with a control device is mounted on the upper end surface thereof, and a control handle 13 is mounted on the upper side via a steering post 12. Reference numeral 14 denotes a cockpit provided above the cover 9. A support 15 is fixed to the rear transmission case 4 of the vehicle body 1 and has a structure for attaching a link of a lifting mechanism. Reference numeral 16 denotes an elevating drive mechanism, which comprises an upper link rod 17, a lower link rod 18, a rear link frame 19, and a hydraulic cylinder device 20, and pivotally connects the base of the upper and lower link rods to the support column 15, and connects the distal end to the rear link. A hydraulic cylinder device 20 is provided between the upper link rod 17 and the frame 3 of the vehicle body. 20
a indicates a cylinder, and 20b indicates a piston. Reference numeral 21 denotes a rice transplanter as a working machine, which is mounted via the lifting drive mechanism 16. In this rice transplanter, a seedling mounting table 23 is mounted on the upper part of a transmission case 22 also serving as a machine frame so as to move left and right, and the seedling mounting table 2 is mounted on a rear portion thereof.
A transplanting device 24 is provided for dividing the seedlings from No. 3 and transplanting them into paddy fields. When the rice transplanter 21 is mounted on the rear link frame 19 of the lifting drive mechanism 16, the rice transplanter 21 is mounted with a rolling mechanism 25 interposed therebetween so that the rice transplanter 21 can rotate right and left, so that the rice transplanter 21 can adapt to the left and right inclination. Like that. The transmission case 22 is provided with floats 26, 27, 27 for supporting a part of the load of the rice transplanter 21 on the paddy soil surface and leveling the transplanted paddy soil. That is, reference numeral 26 denotes a center float, and 27 denotes a side float. Predetermined intervals for discharging muddy water are provided on the left and right, and the front side of the center float 26 and the operation of the hydraulic cylinder device 20. The rice transplanter 21 is automatically moved up and down by moving the float up and down in conjunction with a switching valve 28 that controls The operation of the rice transplanter 2 will be explained by the fluctuation of the contact pressure applied to the center float 26.
1 when the contact pressure increases, the body 21 rises, and when the contact pressure decreases, the body 21 descends to keep the rice transplanter 21 within a certain range at all times from the topsoil of the paddy field. The uniformity is controlled. Next, the turning control of the riding type rice transplanter will be described in detail. The basic control will be schematically described with reference to a block circuit shown in FIG. 2. A signal from a turning detector A for giving a manual command for a turning command, and a turning permission determining unit B for receiving the command signal and confirming a turning execution permission. And a turning operation tool setting position checking unit B1 and a turning operation state checking unit B2. The controller C of the microcomputer converts the total control including these to an appropriate transmission command signal as appropriate. Is executed, and a command for raising and lowering the rice transplanter and a command for turning the traveling vehicle body are executed. A hard mechanism operated by a command signal issued from the controller C will be described with reference to FIG. The switching valve 28 that controls the hydraulic cylinder device 20 of the lifting drive mechanism 16 includes solenoids SOL1 and SOL2
And the variable throttle valves 29a and 29b can be controlled by step motors 30a and 30b.
Reference numeral 31 denotes a switching valve exclusively for lowering the work implement, which can be switched by a solenoid SLO2. Therefore, the rice transplanter 21 as a working machine can be mechanically switched by the vertical movement of the center float 26, and the solenoid SO can be switched by the command signal from the controller C side.
Switching can be performed by L1 and SOL2. Further, when the solenoid valve is lowered, the solenoid SOL3 of the dedicated switching valve 31 can be switched on and off. In addition, the lifting speed of the working machine can be freely adjusted by adjusting the throttle valves 29a and 29b. If this command signal is executed by a pulse signal, it can be further changed. On the other hand, the driving by the turning command is such that the steering handle 13 is a power steering mechanism, and the turning hydraulic cylinder device 33 is operated by the hydraulic switching flow rate control valve 32. That is, the amount of protrusion of the piston of the cylinder device 33 is determined by the step motor 32a in proportion to the steering angle of the handle, whereby the power can be turned. On the other hand, the signal input to the controller C is a signal on the manual side, which is used when the lifting and lowering operation and the transplant clutch operation of the rice transplanter 21 on the working machine side are performed by a single operating lever 34. , Clutch ON "signal of the operation detection switch SW1, the signal of the detection switch SW2" when the automatic side is selected "for selecting the automatic operation,
More specifically, in the automatic side selection, on / off when executing automatic switching of left and right of a line drawing marker in a field scene as a straight work index, automatic operation speed control, or automatic control of pitching and rolling. Switch. A signal emitted at the time of turning by 180 degrees by the geomagnetic sensor S1 attached to the traveling vehicle body 1, the switches SW3a and SW3b for detecting when the steering handle 13 is turned at a certain angle or more, and the handle 13 in the straight running state are returned to the original state. From a switch SW3c for detecting when the left and right rear wheels of the traveling vehicle body 1 are rotating at the same speed and in the same direction.
4; signals from switches SW5a and SW5b for detecting when the side brakes 35a and 35b are being operated; and manual operation switches SW6a and SW6b from which the operator can issue a command signal for turning left or right from near the cockpit. From the back change position detection switch SW7 and the road travel change position detection switch SW8 by the change lever 36 for switching the traveling speed, a signal from the water depth detection sensor S2 for detecting the state of the field, and the hardness of the field scene. And a signal from the angle sensor S4 for detecting the angle of the link for detecting the lifting height of the work implement. The lifting or lowering control of the rice transplanter 21 as a working machine is controlled as follows by these single or combined signals. In the control example 1, the operation of the operation lever 34 is basically given priority to control the raising and lowering of the rice transplanter 21 as a working machine, and the switch SW2 is turned on and off with a knob dial for automatic selection. ”In any state,
When the controller C selects the back operation position or the high speed traveling position on the road and receives the "ON" signal from the switches SW7 and SW8 to the controller C, or the brake pedal on one side. , While receiving the "ON" signal from the switch SW5 in the turning state in which the switch SW3a is continuously depressed, or during the turning initial time (normally 3 to 5 seconds) in which the steering handle 13 is fully turned to one side. When the "ON" signal is received from the SW 3b, even if the operation lever 34 is operated to the lowering side of the work machine, the command is ignored and the lowering of the rice transplanter is not executed, and the operation of the work machine is not performed. The rice transplanter 21 is stopped and held at the raised position. However, except for the transmission of such a danger signal, the working machine is controlled to move up and down according to the operation command of the operation lever 34. The control example 2 is performed under the condition that the switch SW2 is turned on by the dial for automatic selection to make the pattern of the automatic control state, that is, in the embodiment, the transplanting operation is substantially performed in the field. This is the case. In this case, the following control is executed. During the transplanting operation, a turning operation is performed to turn around near the ridge. The operation is based on one of the following operation modes. (A), the clutch "disengage" by the operation lever 34 and the "lift" of the working machine
When the switch SW1 is turned on by operation.
(B) The case where the brake SW on the turning side is continuously depressed and the switch SW5 on that side is turned on. (C) The steering wheel 13 is kept fully turned to the turning side, and the switches SW3a and SW3 are turned during the turning initial time (normally 3 to 5 seconds).
When b is turned on. (D) When the turning direction switch SW6 is turned on by the turning operation tool, the cancellation of the operation command by the turning operation tool is performed by repeating the same operation within a short time, for example, for one second. It is configured to be possible. By performing the above operations, the control
When a signal is transmitted to the controller C, the controller transmits the next command signal for the operating section, and the operation is performed. In the case of the above (a), the solenoid SOL1 is
When the rice transplanter 21 is excited, the switching valve 28 is switched to the ascending side,
Raise the work machine. Then, in conjunction with the operation of the operation lever 34, the traveling vehicle body 1 is turned by a normal turning operation by the steering handle 13. In this case, the geomagnetic sensor S1 for detecting the completion of the turning is determined by the terrestrial magnetism sensor S1 detecting that the turning of the vehicle near 180 degrees is completed. Is sent to the controller C, the switching valve 28 is switched by the solenoid SOL2 so that the rice transplanter 21 is automatically lowered. When the float 26 is set on the surface of the paddy field, the lowering state is stopped and reset. The ordinary turning operation by the steering handle 13 means a case where the turning control is not performed by a signal sent to the controller C in the other items (b) and below. This is a so-called meaning in an embodiment having no control mechanism. In the case of item (b), the rice transplanter 21 is raised by the solenoid SOL1 at the same time as the clutch operating motor 41 is rotated so that the transmission clutch 40 for the working machine is automatically "disengaged". The switching valve 28 is switched. At this time, the switching flow valve 32 is operated, and the hydraulic cylinder device 3
By 3, the steering handle 13 is turned to the turning side, and is automatically turned. Then, release the operation of the brake pedal,
When the switch SW5 is turned off, the solenoid SOL
2, the SOL 3 is excited, the rice transplanter 21 is automatically lowered, and the rotation of the steering handle 13 is also returned. At this time, when the steering handle 13 is manually operated, the steering is performed prior to the automatic turning. Therefore, only the turning operation of depressing one clutch petal is required. The reset after the descent is performed when the float 26 is grounded. This reset can also be executed at the descent angle of the lifting link when not a rice transplanter. By this reset, the clutch in the "disengaged" state is also turned "on" and the operation is automatically resumed. In the case of item (c), the clutch operating motor 41 is rotated so that the transmission clutch 40 for the working machine is automatically "disengaged", and at the same time, the rice transplanter 21 is raised by the solenoid SOL1. The switching valve 28 is switched. Thereafter, the time is counted by the timer at the same time as the rising command signal of the rice transplanter 21. After a certain time, a signal is issued from the controller C to lower the rice transplanter 21 and the rice transplanter 21 descends almost at the end of the turn. Work is started. The reset is the same as in the case of (b). In this embodiment, the operation of raising the rice transplanter 21 and disengaging the clutch 40 for transmission of the rice transplanter is separately performed by the operation lever 34. Switch SW3 by returning work
If c is turned off, the solenoids SOL2 and SOL3
To generate a signal for lowering the rice transplanter 21 by exciting the rice transplanter 21. Further, as described above, the clutch operating motor 41 is rotated so that the transmission clutch 40 for the working machine is automatically "disengaged", and at the same time, the solenoid SOL is operated.
At 1, the switching valve 28 is switched so that the rice transplanter 21 is raised. Thereafter, when the steering wheel 13 is returned so that the front wheels are in a straight running state, the switch 3c detects this and sends a signal to the controller C. As a result, the solenoid SOL
2, a command signal to excite SOL3 is sent to rice transplanter 2
1 is lowered. At the same time, a reverse rotation signal of the motor 41 is issued, the clutch 40 is turned on, and the operation is resumed. In the case of (d), the clutch operating motor 4 is set so that the transmission clutch 40 for the working machine is automatically "disengaged".
1 is rotated and at the same time the rice transplanter 2 is
The switching valve 28 is switched so that 1 rises. At this time, the switching flow valve 32 is operated, the steering handle 13 is turned to the turning side by the hydraulic cylinder device 33, and the turning side clutch is connected to the solenoid SOL4.
a, the clutch is disengaged at SOL 4b, and the clutch is braked in conjunction with the clutch for automatic turning operation. Then, when a turning end signal, for example, a count-up signal from a timer is sent, the side clutch is automatically connected, and the clutch 40 of the rice transplanter 21 is automatically turned on to resume work. You. The turning automatic control of the above example is performed. In addition to this, the signal of the lowering command of the rice transplanter 21 is the same at the same speed at the right and left rear axles to which the side clutch is "connected". It may be executed by a signal from the sensor S5 for detecting the directional rotation. Further, in the case of the traveling body 1 having a rear wheel differential mechanism, the power transmission torque to the left and right axles becomes the same. The detection may be performed by a signal from the sensor S6 for detecting the fact. In describing the control operation in the above example,
Although the descending side control of the rice transplanter 21 has been mainly described with reference to the switching example of the switching valve 31 by excitation of the solenoid 3, the control may be executed by switching the main switching valve 28 by operating the solenoid SOL2. Further, it is needless to say that a configuration may be adopted in which both switching valves are simultaneously switched. The lifting speed is controlled by the variable throttle valves 29a and 29b.
The command signals for the forward and reverse rotation type operation motors 30a and 30b are issued by a water depth detection sensor S2 or a field surface hardness detection sensor S3 in a paddy field. That is, when the water depth is deep or the field is soft, the control may be performed such that the descending side is performed slowly. Also, as in the present invention,
In the case where a signal is transmitted to the controller C by a sensor that recognizes that there is a concrete ridge below the rice transplanter 21, for example, the rice transplanter 21 is instructed to descend by a signal from another. Even if there is, safety control can be performed so as not to execute this. It is also effective to control the speed of descending from a certain height by a signal from the angle sensor S4 for detecting the angle of the link for detecting the lifting height of the rice transplanter. In a riding type agricultural machine, it is extremely dangerous if the engine 8 stalls when traveling uphill or when lowering the volume of a vehicle on a truck or the like. In such a case, a sensor S7 for detecting engine stall is provided, and the solenoid SOL4 is operated so that the left and right side brake cylinders 35 are simultaneously operated by a signal from the sensor.
If the a and 4b are excited, the automatic braking is performed and unexpected rolling and falling can be prevented. According to the present invention, the turning of the machine body by the work machine elevating and lowering control device at the time of turning near the shore during work is performed.
The working machine 21 automatically moves up and down in conjunction with the operation,
Operation can be simplified and operability is improved. In addition, work equipment
When the lowering device automatically controls the lowering of the work equipment at the end of turning , it recognizes that there is a ridge below the work equipment 21
Sensors - is detected when Ri is determined as dangerous yo, discontinuation of its descent, the limit of the reduction or lowering the height of the lowering speed
And the like, the lowering condition is changed.
Is damaged by interference with the ridge or the attitude of the aircraft changes
Can be prevented, and extremely safe turning can be performed.

[Brief description of the drawings] FIG. 1 is a side view of a riding rice transplanter according to one embodiment. FIG. 2 is a basic circuit diagram of a block; FIG. 3 is a control circuit diagram [Explanation of symbols] 1 Passenger car body 16 lifting drive mechanism 21 work machine (rice transplanter)

──────────────────────────────────────────────────続 き Continued on the front page (58) Field surveyed (Int.Cl. ⁷ , DB name) A01C 11/02 A01B 63/08 A01B 63/10

Claims (1)

(1) Claims 1. In a riding type agricultural work machine in which a working machine 21 is mounted on a riding traveling vehicle body 1 via a lifting drive mechanism 16 so as to be able to move up and down, the working machine 21 moves up and down in conjunction with a turning operation of the machine body. Drive mechanism 16
Automatically raises and lowers work machine 21 by operating
At the same time, it recognizes that there is a ridge under the work machine 21.
Sensor - discontinuation of lowering of the working machine 21 by detecting the falling condition limits such deceleration or descent height lowering speed-varying
Th power, characterized in that a working machine lifting controller for further
For farming machine .