JP3657107B2 - Lifting control device for mobile agricultural machine - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a lift control device for a mobile farm machine such as a riding rice transplanter, and more particularly to a lift control device for a mobile farm machine in which a working unit supported by a traveling machine body can be controlled to be lifted and lowered by a fluid pressure actuator based on a control signal.
[0002]
[Prior art]
Conventionally, the raising / lowering control of the planting part supported by the riding rice transplanter has been performed by hydraulic pressure, and the hydraulic control mechanism has a hydraulic / planting lever 17 on the side of the seat 7 as shown in FIG. It is provided, and when the planting part 10 is controlled to move up and down by manual operation of the lever 17, when the lever 17 is operated to the “down” or “planting” position, it acts on the float 14 of the planting part 10. The planting part 10 is automatically lifted and lowered so that the earth pressure is sensed and the proper planting position is obtained.
[0003]
That is, when the hydraulic / planting lever 17 is operated along the lever guide 21 to the “raised”, “fixed”, “lowered”, and “planted” positions (see FIG. 8), the flat cam 30 moves the fulcrum shaft 31. The hydraulic control valve 35 is operated according to the amount of rotation, and a hydraulic cylinder (not shown) is controlled by the hydraulic control valve 35 so as to be supported by the elevating link mechanism 8. Was controlled up and down.
[0004]
Specifically, as shown in FIGS. 9A to 9D, the planting portion 10 is raised by operating the hydraulic / planting lever 17 to the “raised” position (FIG. 9A). The raising and lowering of the planting part 10 is stopped by operating to the “fixed” position, and the planting part 10 is maintained at a predetermined height position (FIG. 9B). 10 is lowered and hydraulic automatic operation is activated (FIG. 9 (c)), and further, when operated to the “planting” position, the planting clutch is engaged and planting by the planting unit 10 is started ( FIG. 9 (d)).
[0005]
At this time, in the automatic hydraulic state where the planting part 10 is lowered, when the soil pressure acts on the float 14 and the front part thereof is lifted, the sensing plate 22, the swing arm 27, and the sensing rod 24 are used. The lever arm 15 swings around the fulcrum 23, moves the hydraulic control valve 35 to the automatic raising position via the plate 49 and the like, and raises the planting portion 10, and conversely, earth pressure acting on the float 14 When the front part is lowered, the hydraulic control valve 35 is moved to the automatic lowering position to lower the planting part 10.
[0006]
In the vicinity of the hydraulic pressure / planting lever 17, a hydraulic sensitivity adjustment lever 20 that adjusts the sensitivity of the vertical operation of the planting unit 10 according to the hardness of the field is provided. The planting clutch is turned on and off by the oil pressure / planting lever 17, and the planting clutch is operated via the clutch rod 47 by operating the oil pressure / planting lever 17. The power is turned on and off.
[0007]
[Problems to be solved by the invention]
However, conventionally, the manual operation of the hydraulic / planting lever 17 disposed on the side of the seat 7 has been performed to raise and lower the planting unit 10 and turn the planting clutch on and off. At the time of operation 17, the operator needs to release one hand from the steering wheel, and the one-handed operation is required. Therefore, detailed operation becomes difficult and improvement in operability is desired.
[0008]
The present invention has been made to solve such a problem. The object of the present invention is to lift and lower the working unit by operating the hand operating means without further changing the manually controlled lifting control mechanism of the conventional structure. It is another object of the present invention to provide a lifting control device for a mobile agricultural machine that can be controlled and can be automatically fixed at a predetermined height when the lift amount of the working unit reaches a predetermined value.
[0009]
[Means for Solving the Problems]
  In order to achieve the object, the invention according to claim 1 is capable of controlling the raising and lowering of the planting part (10) supported by the traveling machine body (5) by the fluid pressure actuator (19) via the control valve (35). In addition, the traveling machine body is steered by the steering wheel (13), and the power transmission to the planting part is connected / disconnected by the planting clutch.
  The planting of the control valve (35) is performed by raising and lowering the float based on the earth pressure from the rice field when the float (14) of the planting part (10) contacts the rice field and the float (14) comes into contact with the rice field. Switch to an automatic position for raising and lowering the attachment part. Further, when the control valve is in the raised position and the fixed position, the planting clutch is held in the disengaged position and the control valve is in the automatic position. A planting position to be inserted, and an actuating body (40) operable to
  Hand operating means (38) disposed near the steering wheel (13), operable up and down and urged to automatically return to a reference position;
  An electric actuator (41) for operating the operating body based on a signal from the hand operating means;
  When the hand operating means (38) is operated once upward from the reference position in a state where the operating body (40) is in the planting position,An automatic position of the control valve (35) that receives the earth pressure from the rice field when the float (14) is grounded and the planting clutch is in a disengaged state.So, if you move it up one more time,The planting part (10) risesControl means for controlling the electric actuator to be in the raised positionWhen,With
  It exists in the raising / lowering control apparatus of the mobile agricultural machine characterized by this.
[0012]
  Claim2The described invention is characterized in that the electric actuator (41) is arranged in the vicinity of the control valve (35).
[0013]
  Claim3The invention described isplantingA lift amount detection sensor (59) for detecting the lift amount of the portion (10),plantingWhen the lift amount of the part (10) reaches a predetermined value, the operating body (40) is automatically returned to the fixed position for the elevation control.
[Action]
  Based on the above invention specific matters, the mobile agricultural machine (1) was supported by the traveling machine body (5).plantingThe part (10) can be controlled up and down by a fluid pressure actuator (19) via a control valve (35). For this purpose, an operating body (40) capable of operating the control valve (35) is provided. By providing the operating body (40) with a control signal, the control valve (35) can be operated not only by the operation of a manual operation lever as in the prior art but also by a simple operation that only generates a control signal. ) Can be controlled.
[0014]
In addition, the code | symbol in the parenthesis mentioned above is shown in order to refer drawings, Comprising: The structure of this invention is not limited at all.
[0015]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings. Members that are the same as or correspond to those in the conventional example described above are denoted by the same reference numerals.
[0016]
As shown in FIG. 1, the riding rice transplanter 1 has a traveling machine body 5 supported by front wheels 2 and rear wheels 3. The traveling machine body 5 has an engine 6 in a hood 4 at a front portion of the front wheel. A driver's seat 9 having a seat 7 is disposed in the middle of the traveling machine body 5 in the front-rear direction. A manual operation lever 17 is provided on the side of the seat 7, and the manual operation lever 17 is “raised”, “fixed”, and “lowered (automatic)” along the lever guide 21 as in the prior art. , "Planting (automatic)" can be operated at each position.
[0017]
Behind the traveling machine body 5, a planting unit 10 as a working unit is supported through a lifting link mechanism 8 so as to be movable up and down, and a large number of planters, flow baskets 14 and mat seedlings are vertically mounted on the planting unit 10. A seedling stage 12 that can be placed in the direction is provided.
[0018]
The traveling machine body 5 is provided with a hydraulic cylinder device 19 between the lift link mechanism 8 and a control unit disposed in a rear cover 26 below the seat 7 based on the operation of the manual operation lever 17. The hydraulic control valve 35 is controlled via 39, and the hydraulic cylinder device 19 is controlled to expand and contract by the hydraulic control valve 35, so that the planting unit 10 is moved up and down.
[0019]
The operation position of the manual operation lever 17 is detected by a lever position detection potentiometer 50, and the cam 40 is rotated by the cam rotation motor 41 via the control unit 39 in accordance with the detected value. The hydraulic control valve 35 is controlled by operation.
[0020]
As described above, in the present invention, the operating body 40 capable of operating the control valve 35 is provided, and the operating body can be operated by the rotation of the cam rotation motor 41 by the control signal.
[0021]
As shown in FIG. 1, a steering wheel 13 is provided at the front of the driver seat 9, and a hand operating lever 38 as a hand operating means is provided above the steering shaft 13 a of the steering wheel 13. .
[0022]
As shown in FIG. 2, the hand operating lever 38 can be operated up and down along the steering shaft 13a, and is urged by a resilient member (not shown) to automatically return to the reference position when the hand is released. ing. The hand operating lever 38 includes a fixed position as a reference position, a raised position displaced upward from the fixed position, a lowered position displaced downward from the fixed position, and a hand operating lever again after starting to descend. Switching operation to the planting position in which 38 is displaced downward is freely performed.
[0023]
On the other hand, the operation of the hand operation lever 38 is performed only when the manual operation lever 17 is operated to the “planting” position in order to prevent erroneous operation of the planting part 10. Ten up-and-down control is possible.
[0024]
  The hand control lever 38 has been described as being automatically returned to the reference position.Reference exampleFor example, as shown in FIG. 3, it is also possible to adopt a configuration in which the slide operation can be performed along the steering column at each position of “raising”, “fixing”, “lowering (automatic)”, and “planting”. In this case, the operation position of the hand operating lever 38 is detected by the control unit 39, and the planting unit 10 is controlled to move up and down according to the lever operating position based on this detection.
[0025]
Next, as shown in FIG. 4, an operating body 40 is disposed together with the hydraulic control valve 35 in the rear cover 26 below the seat 7, and the hydraulic control valve 35 is operated by the operating body 40. The operating body 40 meshes with the small gear 42, a cam rotation motor 41 disposed in the vicinity of the hydraulic control valve 35, a small gear 42 that rotates integrally with the motor shaft of the cam rotation motor 41. The flat plate cam 30 has a gear portion 30 a and is rotatable about a fulcrum shaft 31. A cam position potentiometer 43 that detects the rotation angle of the fulcrum shaft 31 is attached to the fulcrum shaft 31 of the flat cam 30.
[0026]
A valve operation plate 36 is fixed to the operation shaft 35a of the hydraulic control valve 35, and hydraulic hoses 32 and 33 are connected to the hydraulic cylinder 19 and a hydraulic pump (not shown) from the hydraulic control valve 35. The flat plate cam 30, the hydraulic control valve 35 and the valve operation plate 36 are arranged so as to overlap in a side view.
[0027]
As shown in FIG. 5, the flat cam 30 has the gear portion 30a partially formed on the peripheral edge of the cam, a large concave portion a, a small convex portion b, a land portion c, and an interchangeable concave portion f. The large recess a is formed of a cam surface that abuts on a roller 45 that is rotatably supported at the tip of the cam arm 44. The accommodation recess f is formed in a recess for receiving the pin 36a implanted in the valve operation plate 36, and allows movement of the pin 36a in the recess f to constitute an accommodation mechanism (automatic range). , One side surface f of the recess f₁ The pin 36a is brought into contact with and moved together (manual operation).
[0028]
The cam arm 44 is supported so as to be rotatable about a support shaft 46, and the other end of the cam arm 44 is connected to a planting clutch (not shown) via a rod 47. Thereby, the said large recessed part a performs on / off operation of a planting clutch.
[0029]
As shown in FIG. 4, the operating shaft 35a of the hydraulic control valve 35 is rotatably supported by an interlocking arm 48 that interlocks with the float 14. The tip of the interlocking arm 48 has a plate 49 and a sector shape. The gear 52 is connected. The sector gear 52 is swingable about a fulcrum 23. The fulcrum 23 is provided with a potentiometer 57 for detecting the amount of rotation of the sector gear 52. The amount of rotation of the hydraulic control valve 35 is as follows. Detected by potentiometer 57. A small gear 56 driven by a valve rotation motor 55 is engaged with the sector gear 52, and the plate 49 connected to the sector gear 52, the interlocking arm 48, and the valve operation plate 36 are interposed therebetween. Thus, the hydraulic control valve 35 is controlled.
[0030]
On the other hand, a swing arm 27 that is rotatable about a fulcrum shaft 25 is provided at the rear portion of the lift link mechanism 8, and this swing arm 27 is connected to the front portion of the float 14 via the sensing plate 22. Has been. The swing arm 27 and the sensing plate 22 are connected to each other through a pin 28 fitted in the long hole 22 a of the sensing plate 22. The vertical movement of the float 14 based on the fluctuation of the earth pressure acting on the float 14 is detected by the float position potentiometer 58, and a valve rotation motor 55 described later is rotated based on the detected value. Is controlled so that the hydraulic cylinder device 19 expands and contracts.
[0031]
In FIG. 5, a linkage pin 36 b is implanted in the valve operation plate 36, and the linkage pin 36 b comes into contact with the interlocking arm 48 and can be interlocked with the interlocking arm 48. A spring 54 is stretched between the linkage pin 36 b and the pin 53 planted in the sector gear 52, and the tension of the spring 54 is in contact with one side of the interlocking arm 48. It is transmitted to the valve operation plate 36 through the pin 36b. Further, a spring 37 is stretched between the machine frame and the pin 53, and the hydraulic control valve 35 is pressed and urged in one direction by the spring 37.
[0032]
The planting part 10 is supported by a rolling shaft 11 installed on a link support frame 64 at the rear end part of the lifting link mechanism 8 so as to be freely rollable in the left-right direction. A hydraulic fixing lever 18 is provided to prevent the planting part 10 from descending during traveling and seedling replenishment at the beginning of work.
[0033]
FIG. 6 is a control block diagram according to the present embodiment. In FIG. 6, the control unit 39 includes a lever position detection potentiometer 50 for detecting the operation position of the manual operation lever 17, and a hand operation lever 38. In addition to the input of the signal from the changeover switch 51 for detecting the operation, the float position detecting potentiometer 58, the hydraulic control valve potentiometer 57, the hydraulic pressure sensing switching volume 60, the throttle position potentiometer 61, the flat cam position potentiometer 43, and the lifter angle potentiometer 59, signals from the reverse shift detection switch 62 and the float interlocking switch 63 are input.
[0034]
In addition, the valve rotation motor 55 and the cam rotation motor 41 are controlled via the control unit 39 based on the input signal.
[0035]
As described above, the hand operating lever 38 is electrically connected to the cam rotation motor 41 via the control unit 39, and when the hand operating lever 38 is operated, the operation content is determined by the changeover switch 51. The flat cam 30 is rotated by the cam rotation motor 41 by the control signal from the changeover switch 51, and the hydraulic control valve 35 is controlled via the valve operation plate 36.
[0036]
That is, when the hand operating lever 38 is operated, the flat cam 30 is driven by the cam rotation motor 41, and the rotation amount around the fulcrum shaft 31 of the flat cam 30 is detected by the potentiometer 43. By the rotation of the flat cam 30, the hydraulic control valve 35 is rotated through the pin 36a, whereby the hydraulic cylinder device 19 is expanded and contracted, and the planting unit 10 is controlled to be raised and lowered.
[0037]
  Also shown in FIG.Reference exampleThe operation of the hand operation lever 38 starts when the flat cam 30 is in the “planting” position and, for example, when the hand operation lever 38 is held up for a certain time or more, the flat cam 30 reaches the “raising” position. On the other hand, when the hand operating lever 38 is operated to be lowered from the “raised” position of the flat cam 30, the flat cam 30 is brought into the “fixed” position, and when lowered again, the flat cam 30 is brought into the “lower (automatic)” position. When the lowering operation is performed again, the flat plate cam 30 enters the “planting (automatic)” position and the planting clutch is engaged.
[0038]
In this way, when the hand operating lever 38 is operated, the flat cam 30 is rotated by the cam rotating motor 41, the hydraulic control valve 35 is operated via the valve operating plate 36, and the planting unit 10 is operated by the hydraulic cylinder device 19. The elevating and lowering of the planting clutch is performed. In the automatic hydraulic pressure sensing, the movement of the float 14 is detected by a float position detection potentiometer 58 provided at the rear part of the lifting / lowering link mechanism 8, and the hydraulic control valve 35 is operated by the valve rotation motor 55 to respond to the field conditions. The planting part 10 is held at an appropriate position, and the planting depth and planting posture are automatically controlled.
[0039]
By the way, when the planting part 10 is in the “down” position by the operation of the hand operating lever 38, if the hand operating lever 38 is further lowered again before the planting part 10 contacts the surface, the planting part in the air There is a possibility that 10 rotates and seedlings are released.
[0040]
Therefore, in the present embodiment, as a condition for operating the planting unit 10 to the “planting” position by the hand operation lever 38, the planting unit 10 is in the “down” position and the float 14 is in a grounded state. It is a condition.
[0041]
Further, as described above, if the float 14 is grounded so that the planting clutch is engaged by operating the hand operating lever 38, the planting unit 10 is fixed in the air for maintenance or the like. The planting part 10 cannot be operated as it is.
[0042]
Therefore, in the present embodiment, the float interlock switch 63 that can release the condition that the float 14 is grounded from the condition for engaging and disengaging the planting clutch by operating the hand control lever 38 is provided. When the float interlocking switch 63 is on, the planting clutch can be turned on by operating the hand operating lever 38 even if the float 14 is not grounded.
[0043]
On the other hand, the vertical movement of the float 14 is detected by the float position potentiometer 58, and the valve rotation motor 55 is driven in accordance with the detected value. Further, the valve rotation motor 55 passes through the small gear 56 and the sector gear 52. The hydraulic control valve 35 is controlled. Thus, the vertical movement of the float 14 is detected by the potentiometer 58, and the hydraulic control valve 35 is rotated so that the planting unit 10 is controlled to move up and down so as to be in a position corresponding to the float position. Thus, by detecting the vertical movement of the float 14 with the potentiometer 58, the ground pressure of the float 14 can be lowered, and it is possible to cope with the super soft field.
[0044]
Further, in the present embodiment, as shown in FIG. 1, a potentiometer 59 for detecting the lifter angle of the lift link mechanism 8 is provided at the link base of the lift link mechanism 8, and this lifter angle is set to an upper limit value or set. When the predetermined height is reached, the flat cam 30 is automatically returned to the fixed position for the elevation control.
[0045]
That is, for example, when the operator reaches the upper limit value based on the raising operation of the hand operation lever 38, the hydraulic control valve 35 must be operated without forcibly returning the position of the flat cam 30 to the “fixed” position. If the pressure continues to rise, a problem remains in terms of operability (for example, the relief valve is activated).
[0046]
Therefore, when the planting unit 10 is raised by raising the hand operation lever 38, the lifter angle of the lift link mechanism 8 is detected by the potentiometer 59, and when the lifter angle detects the upper limit value, The cam rotation motor 41 is forcibly rotated so that the flat cam 30 is automatically returned to the fixed position (auto return) to stop the raising of the planting unit 10.
[0047]
Further, a hydraulic pressure sensing switching volume 60 that changes the positional relationship of the hydraulic control valve 35 with respect to the vertical position of the float 14 is provided in the driving operation unit. This hydraulic pressure sensing switching volume 60 changes the hydraulic pressure sensing point with respect to changes in the field hardness, and serves to suppress the influence of the planting depth due to the field hardness.
[0048]
For example, the data relationship between the potentiometer 58 that detects the position of the float 14 and the potentiometer 57 that detects the position of the hydraulic control valve 35 is:
D_V = A x D_F + B
(However, D_V Is the position data of the hydraulic control valve 35, a is a coefficient, D_F Is the data of the potentiometer 58 for detecting the float position)
However, in this case, since there is no adjustment mechanism corresponding to the change in the hardness of the field, the planting is shallow in the field with a high field hardness, and the planting is deep in the soft field.
[0049]
Therefore, in this embodiment,
D_V = A x (D_F + D_D + B
(However, D_V Is the position data of the hydraulic control valve 35, a is a coefficient, D_F Is the data of the potentiometer 58 for detecting the float position, D_D Is the position data of the hydraulic pressure sensing switching volume 60)
The position data can be obtained as
[0050]
Further, a potentiometer 61 for detecting the throttle opening (engine speed) is disposed in the bonnet 4. Then, by changing the relationship between the position of the float 14 and the hydraulic control valve 35, the relationship between the position of the float 14 and the hydraulic control valve 35 due to a change in the discharge pressure of the hydraulic pump is corrected, and hunting of the hydraulic lift is suppressed. I have to.
[0051]
That is, when the throttle opening (engine speed) is increased, the discharge amount of the hydraulic pump increases, the consistency between the position of the float 14 and the position of the hydraulic control valve 35 cannot be obtained, and hunting may occur.
[0052]
Therefore, in this embodiment,
D_V = A x (D_F + D_D + D_T + B
(However, D_V Is the position data of the hydraulic control valve 35, a is a coefficient, D_F Is the data of the potentiometer 58 for detecting the float position, D_D Is the position data of the hydraulic pressure sensing switch volume 60, D_T Is a correction value obtained from the data of the potentiometer 61 for detecting the throttle opening)
The position data is obtained from the position and the position of the hydraulic control valve 35 is corrected.
[0053]
A main speed change lever (not shown) is disposed in the vicinity of the steering wheel 13, and a detection switch 62 for detecting that the main speed change lever has been shifted backward is provided on the step surface below the steering wheel 13. Is provided. When the float 14 is grounded and the planting unit 10 is in the “down” position or the “planting” position, when the detection switch 62 is turned on, the planting unit 10 is forcibly set to the upper limit. Raise to position.
[0054]
That is, for example during planting work, the planting part 10 must be raised when reversing at the heel and turning, but when the main transmission lever is shifted backward, it automatically reaches the upper limit position. The workability is improved by raising it. The amount of ascent of the planting part 10 is detected by the potentiometer 59 that detects the lifter angle of the elevating link mechanism 8.
[0055]
Next, the operation of the present embodiment will be described.
[0056]
To operate the riding rice transplanter 1, the operator can operate the manual operation lever 17 to the planting position while sitting on the seat 7. In this state, the operator can perform the cam rotation via the control unit 39. The dynamic motor 41 rotates and the flat cam 30 moves to the planting position. At this time, as shown in FIG. 5, in the flat cam 30, the roller 45 of the cam arm 44 is fitted into the clutch operating portion 30b, and the pin 36a of the valve operating plate 36 is located in the interchange recess f constituting the interchange mechanism. Then, the cam arm 44 rotates in the direction of loosening a spring (not shown) via the clutch rod 47, and the planting clutch is connected by the built-in spring.
[0057]
In this case, the pin 36 a is in an accommodation position where it does not contact both side surfaces of the accommodation recess f, and the valve operating plate 36 can freely rotate without being restrained by the flat cam 30. In this state, the vertical movement based on the sensing of the earth pressure of the float 14 is detected by the float position potentiometer 58 via the swing arm 27, and the valve rotation motor 55 is rotated according to the detected value. . As a result, the rotational force of the motor is transmitted to the interlocking arm 48 via the small gear 56, the sector gear 52, and the plate 49, and further via the pin 36b that is in contact with one side of the arm 48 based on the spring 54. This is transmitted to the valve operation plate 36.
[0058]
Therefore, when the traveling machine body 5 sinks and the earth pressure acting on the float 14 increases and the front part of the float 14 moves upward, the hydraulic control valve 35 is under-wrapped via the valve operation plate 36 by the valve rotation motor 55. The raising operation is performed in the region to supply hydraulic pressure to the hydraulic cylinder device 19 to raise the planting unit 10. On the other hand, when the front portion of the float 14 moves downward, the hydraulic pressure control valve 35 is lowered in the underlap region via the valve operation plate 36 by the valve rotation motor 55, and the hydraulic pressure of the hydraulic cylinder device 19 is drained. The planting part 10 is lowered.
[0059]
When the float 14 is in a predetermined contact posture, the hydraulic control valve 35 holds the planting part 10 in that position in the underlap region. Therefore, the riding rice transplanter 1 has a planting clutch connected to the planting unit 10 in a state where the planting unit 10 is grounded to the rice field and automatically controlled to a predetermined working position based on the earth pressure acting on the float 14. Is driven, the seedling stage 12 is reciprocated left and right, and the planter is rotated so that the seedlings are planted on the rice field at a certain depth.
[0060]
By the way, in the present embodiment, the operation by the hand operation lever 38 is possible only when the manual operation lever 17 is in the planting position (the flat plate cam 30 is in the planting position). When the hand control lever 38 shown in FIG. 2 is operated once upward, the flat cam 30 is in the “lower (automatic)” position where the planting clutch is disengaged, and when operated further upward, the flat cam 30 is “raised”. Become position.
[0061]
For this reason, the case where the planting part 10 is operated with the hand operation lever 38 shown in FIG. 2 in the state which operated the manual operation lever 17 to the "planting" position is demonstrated below.
[0062]
In a state where the hand operating lever 38 is operated once upward and the flat cam 30 is moved to the “lower (automatic)” position, the roller 45 of the cam arm 44 gets over the small convex portion b and in the vicinity of the small convex portion b. The pin 36a of the valve operation plate 36 is still located in the interchangeable recess f. Then, the cam arm 44 rotates clockwise, and the planting clutch is disengaged via the clutch rod 47. Further, the valve operation plate 36 is in a position where it can freely move as in the “planting” position, and the planting unit 10 is in the lowered position where the float 14 is landed on the paddy field.
[0063]
Next, when the hand control lever 38 is operated once more upward and the flat cam 30 is moved to the “raised” position, the concave portion c of the flat cam 30 is set.₂ The roller 45 is fitted into the inner surface of the recess f and the side surface f of the recess f is₁ In this state, the valve operating plate 36 is rotated integrally with the flat plate cam 30, and the hydraulic control valve 35 is rotated and operated to the “raised” position. Therefore, the hydraulic control valve 35 supplies pressure oil to the hydraulic cylinder device 19 and moves up the planting unit 10. At this time, the cam arm 44 has a roller 45 with a recess c.₂ To keep the planting clutch in the disengaged position.
[0064]
Then, as the planting portion 10 is raised, the lifting link mechanism 8 is rotated upward by a predetermined amount. When the lifter angle reaches a predetermined value, the lifter angle is detected by the potentiometer 59, and the cam rotation motor 41 is The flat cam 30 is automatically returned to the fixed position by being forcibly rotated. Thereby, for example, when the riding rice transplanter 1 reaches the headland in the field and the operator operates the flat cam 30 to the raised position by the hand operation lever 38 to raise the planting unit 10, the planting unit 10 has a predetermined amount. In the raised state, the above-described auto return device functions, and the flat cam 30 is automatically returned to the fixed position and held.
[0065]
【The invention's effect】
As described above, according to the first aspect of the present invention, since the operating body capable of operating the control valve can be operated by the control signal, the control valve can be operated by a simple operation only to generate the control signal. Can be controlled.
[0066]
  In addition,When the operating body has an electric actuator, when the control signal is issued, the electric actuator is driven and controlled, and the control valve can be automatically controlled by the electric actuator.
[0067]
  Also,By making the operating body controllable by operating the hand operating means, by operating the hand operating means arranged in the driving operation sectionplantingThe part is controlled to be raised and lowered, and operability can be improved.
[0068]
  Claim2According to the described invention, by arranging the electric actuator in the vicinity of the control valve, there is no play in the engagement relationship between the electric actuator and the control valve, and the control accuracy can be improved.
[0069]
  Claim3According to the described invention, when the lift amount of the working unit reaches a predetermined value, the operating body is automatically returned to the fixed position of the lifting control,plantingPart can be automatically stopped at a predetermined position,plantingIt is possible to improve the operability when the part is controlled to move up and down.
[Brief description of the drawings]
FIG. 1 is a side view schematically showing a riding rice transplanter to which the present invention is applied.
FIG. 2 is a side view of a hand control lever attached to a steering shaft.
[Fig. 3]According to reference examplesIt is a figure which shows the operation position of a hand control lever.
FIG. 4 is a side view showing an overall configuration of a hydraulic control mechanism in the riding rice transplanter.
FIG. 5 is an enlarged view of a main part of the above.
FIG. 6 is a configuration block diagram of a control system.
FIG. 7 is a side view showing an overall configuration of a hydraulic control mechanism in a conventional passenger rice transplanter.
FIG. 8 is a diagram illustrating an operation position of a conventional manual operation lever.
FIGS. 9A to 9D are diagrams illustrating operation positions of a control mechanism by a conventional manual operation lever. FIGS.
[Explanation of symbols]
1 Passenger rice transplanter
5 traveling aircraft
7 seats
8 Lifting link mechanism
10 planting department
14 Float
15 Hydraulic pressure sensing operation system
17 Manual operation lever
19 Hydraulic cylinder device
30 Flat plate cam
30a Gear part
31 fulcrum shaft
35 Hydraulic control valve
35a Operation axis
36 Valve operation plate
36a pin
36b Linking pin
38 Hand control lever
39 Control unit
40 Actuator
41 Cam rotation motor
43 Cam position potentiometer
50 Lever position detection potentiometer
51 selector switch
52 Fan Gear
55 Valve rotation motor
57 Hydraulic control valve potentiometer
58 Float position potentiometer
59 Lifter Angle Potentiometer

Claims (3)

The planting part supported by the traveling machine body can be controlled up and down by a fluid pressure actuator via a control valve, and the traveling machine body is steered by a steering wheel, and power to the planting part by a planting clutch. In the lifting and lowering control device of a mobile agricultural machine that connects and disconnects transmission,
The control valve is in a raised position, a fixed position, and an automatic position in which the float of the planting part touches the surface of the field and the planting part moves up and down by the vertical movement of the float based on earth pressure from the field. Switch to the planting position where the planting clutch can be inserted with the planting clutch held in the disengaged position and the control valve in the automatic position when the control valve is raised and fixed. An actuator to obtain,
A hand operating means arranged near the steering wheel, operable up and down and urged to automatically return to a reference position;
An electric actuator for operating the operating body based on a signal from the hand operating means;
When the hand operating means is operated once upward from the reference position in a state where the operating body is in the planting position, the float is grounded and the automatic position of the control valve that receives earth pressure from the rice field and the as planting clutch is oFF state, when further manipulated upward once more, so that the raised position where the planting unit is raised, and a control means for controlling said electric actuator,
A lift control apparatus for a mobile agricultural machine. The electric actuator is disposed in the vicinity of the control valve.
The lifting control device for a mobile agricultural machine according to claim 1. A lift amount detection sensor for detecting the lift amount of the planting portion is provided, and when the lift amount of the planting portion reaches a predetermined value, the operating body is automatically returned to a fixed position for lifting control. did,
The lifting control device for a mobile agricultural machine according to claim 1 or 2.

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