JP3685535B2 - Working machine - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
According to the present invention, an operating tool biased to return to a neutral position is operated to a raised position so that a work device connected to a traveling machine body is raised to a set height by driving an actuator, and the operating tool is lowered. The present invention relates to a work machine including a control device that controls a work device coupled to a traveling machine body to be lowered to a set height by driving an actuator by operating the position freely. The present invention relates to a technique for preventing a phenomenon in which a working device moves up and down.
[0002]
[Prior art]
Conventionally, there is a technique disclosed in Japanese Patent Application Laid-Open No. 61-152205 as a technique similar to the work machine configured as described above, and in this conventional example, a control for lowering the work device at the start of the engine is performed. If the control state is set to a control state in which the lowering control is prevented and the work device is held in the neutral position, or the control state is set to raise the work device, the lowering control is canceled. Control action is set as follows. In this conventional example, as described at the beginning, the working device is not lifted or lowered by operating the operating tool that returns to the neutral position.
[0003]
[Problems to be solved by the invention]
In the conventional example, for example, even when the engine is started without noticing that the operating tools have been mistakenly operated when the engine is stopped, the work device is not lowered against the operator's will, and the work device is placed on the ground. Inconveniences such as damage caused by contact with the protrusions of the sheet will not occur.
[0004]
Also, in the case of a work form such as a rice transplanter or a tractor that frequently raises and lowers the work device at the time of work, as described at the beginning, the operation tool biased to return to the neutral position can be operated to the raised position. It is also possible to control the work device to be raised to a predetermined height away from the ground and to lower the work device to a predetermined height at which the work device can be operated by operating the operating tool to the lowered position. Even if an operation tool is provided, if the operation tool is erroneously operated when the engine is started, the working device is moved up and down greatly, and there is room for improvement.
[0005]
An object of the present invention is to rationally configure a working machine that does not raise or lower the working device when the engine is started regardless of the operating position of the operating tool.
[0006]
[Means for Solving the Problems]
As described at the beginning of the first feature of the present invention, An operating tool biased to return to the neutral position near the lower part of the steering handle, and when the lifting lever for controlling the lifting and lowering of the working device is in an automatic position different from the raised position and the lowered position, By operating the operating tool to the raised position, the work device connected to the traveling machine body is raised to the set height by driving the actuator, and the operation tool is operated to the lowered position so that the work apparatus is connected to the traveling machine body. A working machine including a control device that performs control to lower the device to a set height by driving an actuator, comprising: a determination unit that electrically determines an operation position of the operation tool; Only when the determining means determines that the control device is in the neutral position, it is provided with checking means that allows the lifting and lowering control of the working device corresponding to the operation position of the operating tool after the determination, and the control operation of the checking means is When the discriminating means determines that the operating tool is in the ascending position or the descending position when the engine is started, the lifting / lowering control is blocked and thereafter the operating tool is neutral. There was configured to permit the elevation control of the working device corresponding to the operation position of the release to the operating tool of the blocking state only when the judging means that is operated to the location is determined In addition, the restraining means is configured to be executed when the lever is in the automatic position. The operation is as follows.
[0007]
According to a second aspect of the present invention, there is provided a shift lever sensor that detects an operation position of the shift lever, and when the shift lever sensor detects that the shift lever is operated to a reverse position, the traveling body is in a reverse state. The operation is as follows.
[0008]
[Action]
According to the first feature, When the lifting lever that controls the lifting and lowering of the work equipment is in an automatic position different from the ascending position and the descending position, When the discriminating means determines that the operating tool is in the neutral position, the work device can be raised and lowered in response to the operation of the operating tool after the engine is started. When the elevating lever is in the automatic position, and When the operating tool is at a position other than the neutral position, the restraining means prevents the working device from being raised and lowered, so that the phenomenon of raising and lowering the working device as the engine is started is avoided.
[0009]
According to the first feature, When the lifting lever is in the automatic position, When the operating tool is in the ascending position or the descending position when the engine is started, the determining means discriminates this state, and the checking means prevents the working device from being lifted and lowered. When the discriminating means discriminates that the actuator has been operated to the neutral position, the restraining means cancels the blocking state and allows the working device to be raised and lowered in accordance with the operating position of the operating tool.
[0010]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
As shown in FIG. 1, an engine 4 is mounted on the front part of a traveling machine body 3 having a driving type front wheel 1 and a driving type rear wheel 2 that are steered, and at the rear part of the traveling machine body 3. A hydrostatic continuously variable transmission 5 to which power from the engine 4 is transmitted and a transmission case 6 are arranged, and a driving seat 7 is arranged in the center of the traveling machine body 3, and a rear end part of the traveling machine body 3. In contrast, a seedling planting device A as a working device is connected to a rear end position of a link mechanism 9 that is driven up and down by a lift cylinder 8 as an actuator so that the posture can be freely changed around a rolling axis X in a front-and-back direction. Line markers 10 are provided on both sides of the front part of the machine body 3 to constitute a rice transplanter as a work machine.
[0011]
The seedling planting apparatus A is an operation in which the mat-like seedling W placed on the seedling platform 11 is cut out by the planting arm 13 provided in the rotary case 12 that rotates in synchronization with the traveling speed of the machine body and is planted in the field scene S. And a plurality of leveling floats 14 at the bottom, and is configured for eight-row planting, and in the rear position of the seedling planting device A, under the field scene S in synchronization with the seedling planting operation. A fertilizer application device B for supplying fertilizer is provided. It should be noted that the line marker 10 is configured to be switchable between an action posture in which the tip of the line marker 10 lies down into the field scene S and forms a groove in the field scene S and a non-action that is spaced upward from the field scene S. Yes. In addition, the line marker 10 in the action posture is switched to the non-action posture in conjunction with the raising operation up to the raising limit of the seedling planting device A (the operation system is not described in detail).
[0012]
As shown in FIG. 4, the plurality of leveling floats 14 are supported on the seedling planting device A side so as to be swingable around a lateral axis Y formed at the rear position, and of these, the center position in the left-right direction is A leveling float (hereinafter referred to as a center float 14C) is supported so as to be swingable around the axis Y with respect to a swing end of an arm-like member 16 integrally formed with the planting depth adjusting shaft 15, A sensing pressure setting spring 17 for biasing the front part downward is provided, and an arm 18 that swings integrally with the center float 14C and an operation arm 19A of the float sensor 19 are linked via a rod 20. As a result, the float sensor 19 can measure the swinging posture of the float 14C. Further, when the planting depth adjusting shaft 15 is rotated, the position on the spring receiving side is maintained so as to maintain the biasing force of the spring 17 for setting the sensing pressure, and the attitude of the float 14C is determined by the float sensor 19. Is provided with a correction link 21 that corrects the posture of the case of the float sensor 19 around the axis of the operation arm 19A of the float sensor 19 so that it can be accurately detected. Further, the float sensor 14C is configured to control the height of the seedling planting device A with respect to the field scene S during control for automatically raising and lowering the seedling planting device A following the change in the height of the field scene S (hereinafter referred to as automatic lifting control). It has a function to feed back to the control system.
[0013]
As shown in FIGS. 1, 2, and 5, an elevating lever 24 that performs elevating control of the seedling planting device A and on / off operation of the planting clutch C built in the transmission case 6 on the right side portion of the driver seat 7. And a main shift lever 26 for shifting the continuously variable transmission 5 is provided on the left side of the steering handle 25 at the front position of the driver seat 7. A sub-shift lever 27 for shifting the gear transmission system is provided, and the right side of the post portion of the steering handle 25 forcibly raises and lowers the seedling planting device A and switches the line marker 10 to the operating posture. A switching lever 28 (an example of an operation tool) is provided, and an accelerator lever 30 for setting the rotational speed of the engine 4 is provided on the right side of the panel portion 29.
[0014]
The lifting lever 24 is configured to be operable along a path formed in the guide 31 as shown in FIG. 10, and when the lifting lever 24 is set to the front side from the “down” position in the path, the seedling planting device When A is lowered and set to the rear side from the “up” position, the seedling planting device A is raised, and when set to the “neutral” position, the seedling planting device A is maintained at that level, and the lifting lever 10 is When set to the “ON” position, the planting clutch C is engaged and operated, and automatic elevation control is performed to maintain a predetermined height relative to the field while the center float 14C provided in the seedling planting device A is in contact with the ground. When the “cutting” position is set, the planting clutch C is turned off, and when the lifting lever 24 is set to the “automatic” position, the raising and lowering of the seedling planting apparatus A is allowed according to the operation of the switching lever 28 and at the same time When device A is raised Is one that enables automatic cutting operation the planting clutch C, and includes a lift lever sensor 32 of a potentiometer type for detecting the operating position of the lever 24 in its proximal end.
[0015]
As shown in FIGS. 2 and 6, the main transmission lever 26 is configured to be steplessly operated between a forward position F and a reverse position R across the neutral position N, and a base end of the main transmission lever 26. Is provided with a potentiometer-type main transmission lever sensor 33 for measuring the operation position. Further, as shown in FIG. 2, the sub-shift lever 27 has a “planting” position for obtaining a low traveling speed suitable for seedling planting work on the rear side and a high speed suitable for movement on the road on the front side. The sub-shift switch 34 is configured to be freely switchable to a “moving” position for obtaining a traveling speed, and detects that the sub-shift lever 27 has been operated to the “planting” position. Further, as shown in FIG. 5, the switching lever 28 is urged so as to return to a neutral position N in a substantially horizontal posture by a spring (not shown), and its end is moved upward with reference to the neutral position N. A raised position U of the posture displaced in the position, a lowered position D of the posture in which the end portion is displaced downward, a right marker operation position R in which the end portion is displaced backward with reference to the lowered position D, It is configured to be freely operable to the left marker operating position L whose end is displaced forward, and after operating the switching lever 28 to the lowered position D to lower the seedling planting device A to the working height, again, When the switching lever 28 is operated to the lowering position D, the planting clutch C is engaged and operated, and at the base end portion, the raising switching lever switch 35 for detecting the operation to the rising position U is detected. And a descent cut to detect that the descent position D has been operated. And a lever switch 35 (discrimination means in the switch 35 is configured). The base end of the switching lever 28 is provided with a switch for detecting that the lever has been operated to the left and right marker operating positions L and R, but this is not shown. As shown in the figure, the accelerator lever 30 can be operated steplessly between a high speed limit position Max and a low speed limit position Min, and a potentiometer type accelerator sensor for measuring the operation position at the base end thereof. 36.
[0016]
As shown in FIG. 6, a potentiometer-type control sensitivity setting device 39 that is rotated by a dial 39A so as to set a control sensitivity for automatic elevation control is provided on the left side of the panel unit 29, and the lower left position is provided. A vehicle speed control switch 40 that is pushed by a knob 40A is provided, and a key switch 38 that is rotated by a key (not shown) and that starts the engine 4 and energizes an electric circuit is provided at the lower right position. A display portion is formed at the center position. As shown in FIG. 8, the control sensitivity setting unit 39 is configured to be operable at seven positions “1” to “7”, and the center float around the axis Y is operated as the value is decreased. The target posture of 14C is changed to the front lowering side, the urging force of the spring 17 for setting the sensing pressure is reduced, and the automatic raising / lowering control with high sensitivity is performed with a low sensing pressure. The target posture of the center float 14C around the axis Y is changed to the front rising side to increase the urging force of the spring 17 for setting the sensing pressure, and function to perform automatic elevation control with low sensitivity and high sensitivity. .
[0017]
As shown in FIGS. 6 and 7, the display unit includes a fuel meter 41 for displaying the remaining amount of fuel at the position of the pointer and a buzzer 42, and the rotation of the engine 4 based on the number of lighting of the five lamps 43 </ b> A. Rotation speed display mechanism 43 indicating the speed, “fertilizer out” lamp 44 that is turned on when the remaining amount of fertilizer in the fertilizer application apparatus B is lowered, and turned on when the remaining amount of the mat-like seedling W placed on the seedling table 11 is lowered. A “seedling out” lamp 45, an “Azegiwa” lamp 46 that lights when each line clutch (not shown) for reducing the number of planting operation strips of the seedling planting device A is turned off, and planting An "planting" lamp 47 that is lit when the clutch C is in the disengaged state, and when the line marker 10 is in the working posture, one of the left and right pair is lit, and any of the line markers 10 is in the working posture If there is no And a marker lamp 48 to light from. In addition, the “auto” lamp 49 that is turned on when the elevating lever 24 is in the “automatic” position, the seedling planting device A is at the working height, the sub-shift lever 27 is in the “planting” position, and the main shift When the lever 26 is in the forward or reverse range and the link mechanism 9 is in a posture other than the upper limit and is in a state in which automatic rolling control is possible, the “rolling” lamp 50 that lights up and the vehicle speed control switch 40 are in the ON state. The “cruise” lamp 51 that is turned on when the accelerator lever 30 is set so that the engine speed is 2000 rpm or more and soft cruise is possible, and the seedling planting is performed by operating the switching lever 28 while the vehicle speed control switch 40 is ON. "Automatic deceleration" lamp that lights up when the attachment device A is raised to the upper limit and the traveling speed is automatically reduced and the planting clutch C reaches the disengaged state And a 2, also in these lower position and a liquid crystal display 53 capable of displaying four digits and letters. Each control operation will be described later.
[0018]
As shown in FIG. 9, a panel display switch 57 operated by a dial 57A, a rolling angle setting device 58 set by the dial 58A, and a knob 59A are provided on the surface of the control box 56 provided on the right side of the driver seat 7. And a rolling switch 59 to be operated.
[0019]
As shown in FIG. 2, a transmission system for transmitting the power from the engine 4 to the continuously variable transmission 5 via the main clutch D and the transmission shaft 60 is formed, and on the rear surface of the continuously variable transmission 5. The transmission case 6 is connected to form a transmission system for transmitting the transmission power from the transmission case 6 to the differential case portion 61 for the rear wheel 2, and the transmission transmission power for traveling is transmitted to the front wheel 1 via the intermediate transmission shaft 62. A transmission system for transmitting to the differential case 63 is formed. A rotation speed sensor 64 for measuring the rotation speed of the engine 4 is provided in the vicinity of the output shaft of the engine 4, and the main clutch D is turned off by a depression operation of the main clutch pedal 65 provided for the step, and the depression force is reduced. The clutch is configured to return to the engaged state when it is released, and is provided with main clutch switches 66 and 66 for detecting on / off and detecting disengagement so as to determine the state of the main clutch D from the operation position of the main clutch pedal 65. .
[0020]
In addition, the speed change arm 67A of the trunnion shaft 67 for the speed change operation of the continuously variable transmission 5 and the electric speed change motor 68 are linked together via the sector gear 85 and the operation rod 86. A potentiometer type shift sensor 69 for measuring the shift state of the transmission 5 is provided, and the planting clutch C is configured to be freely turned on and off by an electric clutch motor 70, and enters a nearby position for detecting the state and detecting the cut state. And the link mechanism 9 is composed of an upper link 9T on the upper side and a lower link 9L on the lower side, and the height of the seedling planting device A is determined from the swinging posture of the top link 9T. A potentiometer type link sensor 80 for measurement is provided at the base end.
[0021]
As shown in FIG. 4, the seedling planting apparatus A rolls around the axis X with respect to the support portion formed at the lower end of the vertical link 9V connected to the rear end of the top link 9T and the rear end of the lower link 9L. An electric rolling motor 74 that is supported freely and that drives a screw shaft 73 rotatably supported on the frame 72 at the upper position of the vertical link 9V in the forward and reverse directions is provided. An operation rod 77 and an operation spring 78 are interposed between the nut member 75 to be screwed and the vertical frame 76 disposed on the side of the seedling planting apparatus A on the side opposite to the seedling placement surface, and the nut member 75 is moved in the left-right direction. The seedling planting apparatus A is configured to be freely rollable by movement. Further, a rolling sensor 79 having a potentiometer for measuring the posture of the weight is provided so as to detect the rolling posture of the seedling planting device A around the axis X.
[0022]
As shown in FIG. 1, a control device 81 having a microprocessor (not shown) is disposed below the driver seat 7, and the control system of the control device 81 is configured as shown in FIG. 11. In this control system, an input system for inputting signals from the switches and sensors to the control device 81 is formed, and an electromagnetic lift valve 82 for controlling the lift cylinder 8, the clutch motor 70, An output system for the rolling motor 74, the speed change motor 68, and the panel display system is formed, and an input / output system for an EEPROM type memory 83 that holds correction values of sensors is formed. The control operation will be described below. To do.
[0023]
As shown in FIG. 12, the main control operation is set, and in this control operation, initialization is performed after the key switch 38 is turned on (step # 01), then a forced lift routine (step # 100), and manual lift Routine (# 200 step), automatic lifting / lowering routine (# 300 step), backup routine (# 400 step), manual shift routine (# 500 step), automatic deceleration routine (# 600 step), soft start routine (# 700 step) The soft cruise routine (# 800 step) and the rolling control routine (# 900 step) are repeated until the respective controls are reset (# 02 step).
[0024]
As shown in the flowchart of FIG. 13, the operation of the forced raising / lowering routine (# 100 step) determines the flag when the raising / lowering lever 24 is in the “automatic” position based on the signal from the raising / lowering lever sensor 32. Is “0” immediately after the engine 4 is started, the position of the switching lever 28 is determined based on the signal from the switching lever switch 35 for ascending and descending, and is in the neutral position N. After rewriting only the flag to “1”, the position of the switching lever 28 is discriminated and the seedling planting apparatus A can be forcibly moved up and down (steps # 101 to # 104). In this process, when the flag is “0” and the switching lever 28 is not in the neutral position N, that is, when it is in the raised position U or the lowered position D, the operator switches the key switch 38 ON simultaneously. Contrary to the intention, the raising and lowering operation is prevented for the purpose of avoiding the phenomenon of raising the seedling planting device A to the upper limit or lowering it to the working height. The check means E is composed of steps # 102 to # 104 that allow the switching lever 28 to move the seedling planting device A up and down. In this check means E, the lift lever 24 is not set to the “automatic” position when the engine 4 is started, and when the lift lever 24 is set to the “automatic” position for the purpose of moving up and down by the switching lever 28, Even when the switching lever 28 is in the raised position U or the lowered position D, it has a function of avoiding the lifting operation against the operator's will.
[0025]
Next, when the flag is in the “1” state, when the switching lever 28 is operated to the raised position U, the clutch is applied when the seedling planting device A is not at the upper limit based on the signal from the link sensor 80. The planting clutch C is turned off by the motor 70 and the raising / lowering valve 82 is operated to raise the seedling planting device A to the upper limit (steps # 105 to # 108), and the switching lever 28 is lowered. When operated to the position D, the raising / lowering valve 82 is operated, and based on the signal from the float sensor 19, the seedling planting device A is continuously lowered until the seedling planting device A reaches the working height. Is reached, the planting clutch C is engaged and operated by driving the clutch motor 70 (steps # 109 to # 112). The working height refers to a state in which the center float 14C is grounded and the value of the float sensor 19 is changed by a predetermined value or more compared to the signal value of the float sensor 19 when the seedling planting apparatus A is at the upper limit.
[0026]
As shown in the flowchart of FIG. 14, the manual lift routine (step # 200) is activated when the lift lever 24 is determined to be in the “ON” position based on a signal from the lift lever sensor 32. Only when the clutch C is in a disengaged state based on this signal, the clutch motor 70 engages and operates the clutch C (steps # 201 to # 203), and the working height is not reached based on the signal from the float sensor 19 In this case, the raising / lowering valve 82 is operated until the seedling planting apparatus A reaches the working height to lower the seedling planting apparatus A (steps # 204 and # 205).
[0027]
Next, when it is determined from the signal from the lift lever sensor 32 that the lift lever 24 is in the “down” position, the clutch is engaged only when the clutch C is in the engaged state based on the signal from the clutch switch 71. The clutch C is turned off by the motor 70 (steps # 206 to # 208), and thereafter the seedling planting apparatus A performs the work when it is not at the work height based on the signal from the float sensor 19 as described above. The raising / lowering valve 82 is operated until the height is reached, and the seedling planting apparatus A is lowered (steps # 204 and # 205).
[0028]
Next, when it is determined from the signal from the lift lever sensor 32 that the lift lever 24 is in the “neutral” position, the clutch is engaged only when the clutch C is in the engaged state based on the signal from the clutch switch 71. The clutch C is disengaged by the motor 70 (steps # 209 to # 211), and no other control is performed.
[0029]
Next, when it is determined from the signal from the lift lever sensor 32 that the lift lever 24 is in the “up” position, the clutch is engaged only when the clutch C is in the engaged state based on the signal from the clutch switch 71. The clutch C is turned off by the motor 70 (steps # 212 to # 214). When the seedling planting apparatus A is not at the upper limit based on the signal from the link sensor 80, the lift valve 82 is operated to operate the seedling planting. Control to raise the attachment device A to the upper limit is performed (steps # 215 and # 216).
[0030]
As shown in the flowchart of FIG. 15, the automatic elevating / lowering routine (# 300 step) can be operated when it is determined that the seedling planting device A is at the working height based on the signal from the float sensor 19. In this case, if the posture of the center float 14C measured by the float sensor 19 is within the dead zone set with reference to the target posture set by the control sensitivity setting device 39, the control operation is not performed. When the position of the center float 14C exists outside the dead zone, the center float 14C is lowered based on the position of the center float 14C. In the case of the front rising, the control operation for performing the ascending operation is performed (steps # 301 to # 307).
[0031]
In this lifting / lowering operation, the duty ratio of the PWM-modulated control current is adjusted so that the seedling planting device A is moved up and down at a higher speed as the deviation is larger, that is, the posture of the center float 14C is farther from the dead zone. The operation for increasing the opening of the control valve 82 by adjusting the current supplied to the lift valve 82 is performed.
[0032]
As shown in the flowchart of FIG. 16, the operation of the backup routine (# 400 step) is based on the signal from the lift lever sensor 32 to determine that the lift lever 24 is in the “automatic” position. When it is determined that the main speed change lever 26 has been operated to the reverse position R based on the signal from, the lift valve 82 is operated based on the signal from the link sensor 80 when the seedling planting device A is not at the upper limit. Control which raises this seedling planting apparatus A to an upper limit is performed (# 401- # 407 steps). Note that the buzzer 42 is actuated as will be described later when the vehicle body 3 is moved backward.
[0033]
As shown in the flowchart of FIG. 17, the operation of the manual shift routine (# 500 step) indicates that the engine speed as an operating condition is 700 rpm / second or more and that the main clutch is in the engaged state. And based on the signal from the main clutch switch 66, this is possible when it is determined that the vehicle speed control switch 40 is in the OFF state (steps # 501 and # 502). Based on the signal from the shift lever sensor 33, the buzzer 42 is operated when the main shift lever 26 is at the reverse position R, and the buzzer 42 is not operated when it is at a position other than the reverse position R (# 503 to # 506). Step), while the signal from the speed change sensor 69 is fed back, the speed is changed so that the traveling speed corresponding to the operation position of the main speed change lever 26 is obtained. It has become one that operates the stepless speed change device 5 drives the over motor 68 (# 507, # 508 steps).
[0034]
As shown in the flowchart of FIG. 18, the operation of the automatic deceleration routine (# 600 step) is performed at an engine speed of 700 rpm / second or more as an operating condition, and the main transmission lever 26 is in the forward position F or the reverse position. It becomes possible when it is determined based on the signals from the rotation speed sensor 64 and the main speed change lever sensor 33 that the vehicle speed control switch 40 is in the ON state (steps # 601 and # 602). When it is determined that the planting clutch C is in the disengaged state based on a signal from the clutch switch 71, the automatic deceleration lamp 52 is turned on and the speed change motor is driven until the traveling speed reaches the deceleration target. 68 is driven to decelerate the continuously variable transmission 5 (steps # 603 to # 606).
[0035]
Next, when it is determined that the automatic deceleration operation is possible and the planting clutch C is in the engaged state based on the signal from the clutch switch 71, the automatic deceleration lamp 52 is turned off and the traveling speed is set to the main shift lever. The speed change motor 68 is driven until the speed set at 26 is reached, and the continuously variable transmission 5 is operated to increase the speed (steps # 607 to # 610). This control operation is performed by automatically decelerating the traveling speed in conjunction with the disengagement operation of the planting clutch C when the seedling planting device A is activated by the operation of the switching lever 28 to the ascending position U. After this deceleration, the switching lever 28 is operated to the lowered position D, the seedling planting device A is lowered at the working height, and is again operated to the lowered position D for planting. At the same time as the clutch C reaches the engaged state, the speed increase is started and the traveling speed set by the main transmission lever 26 is restored to enable a reasonable work.
[0036]
As shown in the flowchart of FIG. 19, the operation of the soft start routine (# 700 step) is performed at an engine speed of 700 rpm / second or more as an operating condition, and the main speed change lever 26 is in the forward position F or the reverse position. R can be determined based on the signals from the rotational speed sensor 64 and the main shift lever sensor 33 (step # 701). If it is possible, based on the signal from the main clutch switch 66. When it is determined that the main clutch D has reached the disengaged state, the transmission motor 68 is driven until the traveling speed reaches the deceleration target to cause the continuously variable transmission 5 to decelerate (steps # 702 to # 704). In addition, when it is determined that the main clutch D has reached the engaged state based on the signal from the main clutch switch 66, the traveling speed is changed to the main shift speed. It is accelerated actuating the continuously variable transmission 5 drives the shift motor 68 until it reaches the speed set at over 26 (# 705～ # 707 steps).
[0037]
This control operation is performed, for example, when the main clutch D is disengaged when operating the sub-shift lever 27, and when the main clutch D is engaged after the shift operation of the sub-shift lever 27 is completed and the main clutch D is operated. Even when the speed change lever 26 is set at a relatively high speed position, it is possible to start running without generating a shock.
[0038]
As shown in the flowchart of FIG. 20, the operation of the soft cruise routine (# 800 step) is performed at an engine speed of 700 rpm / second or more as an operating condition, and the main transmission lever 26 is in the forward position F or the reverse position. It is possible to determine that the set position of the accelerator lever 30 is 2000 revolutions / second or more based on signals from the rotational speed sensor 64, the main transmission lever sensor 33, and the accelerator sensor 36 (step # 801). ) When the vehicle speed control switch 40 is set to the ON state, the set value (As) of the accelerator lever 30 based on the signal from the accelerator sensor 36 and the engine speed (Er) based on the signal from the speed sensor 64 The difference (D) between the set value (As) and the rotational speed (Er) is obtained from The speed change motor 68 is driven until the traveling speed reaches the minimum speed to decelerate the continuously variable transmission 5. When the difference (D) is smaller than 500, the traveling speed reaches the speed set by the main transmission lever 26. The speed change motor 68 is driven to increase the speed of the continuously variable transmission 5, and if none of the conditions is met, the speed change operation is not performed (steps # 802 to # 807). Since the rice transplanter travels in a highly viscous field, the load on the engine 4 is likely to fluctuate. When the engine speed is greatly reduced, the load on the engine 4 is reduced by reducing the running speed in this way. In addition to avoiding engine stop, when the load is reduced, the rotational speed of the engine 4 is restored and the work efficiency is not reduced.
[0039]
The operation of the rolling control routine (step # 900) can be performed only when the signal from the rolling sensor 79 is in the normal range as shown in the flowchart of FIG. 21, and the rolling switch 59 is operated if possible. If the switch 59 is operated, the seedling planting apparatus A is tilted to the side where the switch 59 is operated (steps # 901 to # 904). As a condition for operating automatic rolling, the main transmission lever 26 is in the forward movement position F or the reverse movement position R, the auxiliary transmission lever 27 is in the “planting” position, and the seedling planting device A is at the working height. Is determined based on signals from the main transmission lever sensor 33, the sub transmission lever sensor 34, and the float sensor 19, and only when the condition is satisfied, Rolling control is possible, and if possible, the rolling posture of the seedling planting apparatus A to be measured by the rolling sensor 79 is outside the dead zone set based on the target rolling posture set by the rolling setting device 58. In this case, the control operation is not performed, and when the seedling planting apparatus A is within the dead zone, control is performed to drive the rolling motor 74 so that the seedling planting apparatus A is directed to the target posture (# 905- #). 909 step).
[0040]
Further, in this control system, when the panel display switch 57 is set to the “engine rotation” position shown in FIG. 9, the current engine speed is displayed on the liquid crystal display 53 based on the signal from the speed sensor 64, and “ When set to the “hour meter” position, the integrated value of the operation time of the rice transplanter measured by a timer (not shown) is displayed (each control operation is not described in detail). Further, when the panel display switch 57 is set to the “self-diagnosis” position, it is possible to determine the states of a plurality of sensors configured in a potentiometer type and to rewrite the correction values written in the memory 83. The control operation will be described below.
[0041]
As shown in the flowchart of FIG. 22, this control operation is performed within the time set for 10 seconds after the key switch 38 is turned on with the panel display switch 57 set in the “self-diagnosis” position shown in FIG. The rolling angle setting device 58 can be held at the lower left position, the horizontal position, and the lower right position for a set time, and the fact that this is possible is displayed on the liquid crystal display 53 with the value of “CH01” and at the same time the rotation speed is displayed. All the lamps 43A of the mechanism 43 are recognized by blinking (steps # 1001 to # 1003).
[0042]
Next, the control sensitivity setting unit 39 selects a sensor to be discriminated. In this selection, as shown in FIG. 8, “1” corresponds to the rolling sensor 79, “2” corresponds to the float sensor 19, “3” corresponds to the main shift lever sensor 33, and “4” corresponds to the speed change. Corresponding to the sensor 69, “5” corresponds to the link sensor 80, “6” corresponds to the accelerator sensor 36, and when the sensor is selected by the control sensitivity setting device 39, the liquid crystal display 53 is selected. The correction value of the sensor is displayed (Steps # 1004 and # 1005). In addition, for example, when rewriting the correction value of the rolling sensor 79, the rolling posture of the seedling planting apparatus A is set to be horizontal in advance, and the rolling switch 59 is set to “lower left” or By operating to the “bottom right” side, the correction value is written in the memory 83, the characters “PASS” are displayed on the liquid crystal display 53, and the operator is made aware that the correction value has been written. (Steps # 1006 to # 1008). The correction value can be written freely by operating the control sensitivity setting unit 39 until the key switch 38 is turned OFF (step # 1009).
[0043]
【The invention's effect】
Therefore, a work machine that does not raise or lower the work device when starting the engine regardless of the operation position of the operating tool is rationally configured. Since the operation tool is operated at a neutral position where the elevator is not lifted, it is easy to release the restraint.
[0044]
In addition, although the code | symbol is written in order to make contrast with drawing convenient for the term of a claim, this invention is not limited to the structure of an accompanying drawing by this entry.
[Brief description of the drawings]
[Fig. 1] Whole side view of rice transplanter
[Fig. 2] Side view showing the outline of the transmission system of rice transplanter
FIG. 3 is a side view showing the arrangement of the float sensor.
FIG. 4 is a front view showing a low link structure of a seedling planting apparatus.
FIG. 5 is a side view showing the arrangement of members in the vicinity of the steering handle.
FIG. 6 is a plan view of the panel section.
FIG. 7 is an enlarged plan view of a display unit.
FIG. 8 is an enlarged plan view showing the operation position relationship of the control sensitivity setting device.
FIG. 9 is a plan view of the control box.
FIG. 10 is a plan view of the operating path of the lifting lever
FIG. 11 is a block circuit diagram of a control system.
FIG. 12 is a flowchart showing a main control operation.
FIG. 13 is a flowchart of a forced elevating routine.
FIG. 14 is a flowchart of a manual lifting routine.
FIG. 15 is a flowchart of an automatic lifting / lowering routine.
FIG. 16 is a flowchart of a backup routine.
FIG. 17 is a flowchart of a manual shift routine.
FIG. 18 is a flowchart of an automatic deceleration routine.
FIG. 19 is a flowchart of a soft start routine.
FIG. 20 is a flowchart of a soft cruise routine.
FIG. 21 is a flowchart of a rolling control routine.
FIG. 22 is a flowchart of self-diagnosis control operation.
[Explanation of symbols]
3 traveling aircraft
4 engine
8 Actuator
28 Operation tools
35 discrimination means
81 Control device
A working device
E Checking means
D Lowering position
N Neutral position
U ascending position

Claims (2)

An operating tool (28) biased to return to the neutral position (N) is provided near the lower portion of the steering handle (25), and the lifting lever (24) for controlling the lifting and lowering of the working device (A) is in the raised position or lowered. The actuator (8) is driven by operating the operation tool (28) connected to the traveling machine body (3) by operating the operating tool (28) to the raised position (U) when the automatic tool is in an automatic position different from the position. The working device (A) connected to the traveling machine body (3) is set by driving the actuator (8) by raising the operating tool (28) to the set height and operating the operating tool (28) to the lowered position (D). A working machine including a control device (81) for performing control to descend to a height,
A determination means (35) for electrically determining the operation position of the operation tool (28) is provided, and the operation tool (28) is in the neutral position (N) when the engine (4) provided in the fuselage is started. Only when the discriminating means (35) discriminates, there is provided a checking means (E) that allows the lifting / lowering control of the work device (A) corresponding to the operating position of the operating tool (28) after this discrimination. The control operation of E) is performed when the determination means (35) determines that the operating tool is in the raised position (U) or the lowered position (D) when the engine (4) is started. After that, the blocking state is released only when the determining means (35) determines that the operating tool (28) has been operated to the neutral position (N), and the operating tool (28) is moved to the operating position. Set to allow lifting control of the corresponding work device (A) That together, wherein when the lifting lever (24) is in the automatic position, the working machine said restraining means (E) are constituted to have executed. A shift lever sensor (33) for detecting an operation position of the shift lever (26) is provided, and when the shift lever sensor (33) detects that the shift lever (26) is operated to the reverse position (R), 2. The control for switching the traveling body to a reverse state.
The working machine described.

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