JP4595440B2 - Mobile work machine - Google Patents

Description

  The present invention relates to a mobile work machine such as a riding rice transplanter.

In a rice paddy planter, a seedling planting part can be moved up and down at the rear of the traveling vehicle body, and a stand can be installed at the seedling planting part, so that the stand can be changed to a support position protruding downward and a retracted position retracted upward. What was comprised in this is well-known (patent document 1).
Japanese Patent Laid-Open No. 10-327628 (FIG. 5, page 4)

  In the prior art, when the seedling planting part is lowered and supported in a support posture in which the stand protrudes downward, the seedling planting part is lowered at an ascending / descending speed at the time of work, so the impact at the time of grounding is large, There was a problem that the connection part between the stand and the seedling planting part and the stand was damaged.

  In view of this, the present invention intends to solve the above problem by slowing the descending speed of the seedling planting portion when the stand is in a support posture protruding downward. In addition, the stand is also used as a soil hardness / softness detection tool so that the sensitivity can be corrected while reducing the cost.

In order to solve the above problems, the present invention has taken the following technical means.
According to the first aspect of the present invention, a working unit is provided to the traveling vehicle body so as to be movable up and down by an elevating device, and a stand that is pivotable up and down is provided on the working unit, and the stand projects downward to support the working unit. The stand is configured to be switchable between a supported state and a retracted retracted state, and the stand is configured to be fixed with a fixing pin in the supported state and the retracted state, and the stand detects that the stand has been switched to the supported state. sensor and, upon detection of the stand sensors, provided with a speed reduction regulating means for decelerating regulating the lowering speed of the lifting device just before the stand at least down to the ground, from a predetermined position of the upper and lower rotatable stand downwardly times A rotation restricting pin for restricting movement is provided on the frame of the working unit, a hard / soft sensor is attached to the frame of the working unit, and a sensor link is provided on the stand side. An arm is provided, the sensor arm of the soft / soft sensor is connected to the sensor linking arm, and when the stand rotates due to the softness of the field, the softness of the soil is detected by the soft / soft sensor via the sensor linking arm and the sensor arm. A mobile work machine characterized by

According to the above configuration, when working with the mobile work machine, the stand is retracted upward with respect to the working unit, and the ground work is performed while the working unit is raised and lowered by the lifting device. Further, when the working unit is supported by the stand, the working unit is switched to a support state in which the stand protrudes downward while the working unit is raised, and the working unit is lowered by the lifting device. Then, when the stand is switched to the support state, the deceleration restricting means is activated, and the descending speed by the lifting device is decelerated at least immediately before the descending stand is grounded .

  The present invention can alleviate the impact when the working unit is lowered and the stand is grounded, and the working unit and the stand can be prevented from being damaged. In addition, the stand can be used as a soil softness detector, and sensitivity correction can be performed while reducing costs.

Embodiments of the present invention shown in the drawings will be described below.
1 and 2 show an overall side view and a plan view of a fertilizer transplanter equipped with a stand according to the present invention. First, the overall configuration of the fertilizer transplanter will be described.

  This fertilizer planter 1 is provided with a multi-planted seedling planting part 4 on the rear side of the traveling vehicle body 2 via lifting link devices 3, 3, and a fertilizer device 5 on the rear upper side of the traveling vehicle body 2. The main body is provided. In addition, on the left and right sides of the front portion of the traveling vehicle body 2, three left and right preliminary seedling frames 6 are provided. Since the seedling planting unit 4 and the fertilizer application device 5 are known configurations, description thereof is omitted.

  The traveling vehicle body 2 is a four-wheel drive vehicle body including left and right front wheels 7 and 7 and rear wheels 8 and 8 which are traveling propulsion bodies, and as shown in FIG. 3, a mission disposed at the front portion of the vehicle body. Front wheel axle cases 11 and 11 extend from the left and right sides of the case 10 to the left and right sides, and the front wheels 7 and 7 are rotatably supported by front wheel final cases 12 and 12 which are provided at the front ends of the case 10 so as to be capable of turning. Yes. Further, a pair of left and right main frames 13 and 13 are extended rearward on the rear portion of the mission case 10, and rear frames 14 are attached to the rear end portions of the main frames 13 and 13 so as to extend to the left and right sides. Rear wheels 8 and 8 are rotatably supported by rear wheel final cases 15 and 15 which are fixed to the left and right ends of the rear frame 14.

  An engine 20 is mounted above the middle part of the main frames 13 and 13 in the front-rear direction, the upper side of the engine 20 is covered with an engine cover 21, and a seat 22 is installed above the engine cover 21. A handle post 16 is provided in front of the seat 22, a steering handle 24 is provided above the handle post 16, various operation mechanisms and electrical components are arranged around the handle post 16, and the handle post 16 and the various operation mechanisms are arranged. A hood 23 that can be freely opened and closed is provided so as to cover the electrical components. Around the engine cover 21 and the hood 23, a step 25 is provided for a person to move or work.

  Next, the stand 31 provided in the seedling planting part 4 will be described based on FIGS. 1, 3, and 4. The seedling planting unit 4 is configured, for example, as a multi-row planting, a transmission case 32 that also serves as a frame, a seedling mounting table 34 that carries seedlings and reciprocates left and right and feeds seedlings to predetermined seedling outlets 33,. A seedling planting device 36 for planting seedlings supplied to the seedling outlets 33,..., A seedling feeding device 37 for feeding seedlings placed on the seedling platform 34 toward the seedling outlets 33,. ,..., Etc., are composed of leveling floats 38,.

  The leveling floats 38 are composed of a center float at the center and side floats on both the left and right sides. Each of the floats 38,... Is leveled while the front end moves up and down according to the unevenness of the soil surface, and the vertical movement of the front side of the center float 38 is detected by a float angle sensor (not shown) during planting work. According to the detection result, a hydraulic lifting solenoid valve 44 (shown in FIG. 5) that controls the lifting cylinder 47 is switched to raise and lower the seedling planting portion 4 so that the seedling planting depth is kept constant. ing.

  Then, at the lower part of the front end of the transmission case 32, a base portion of the stand 31 refracted in an L shape in a side view is pivotally supported so as to be vertically rotatable, and as shown in FIG. It is configured so that it can be fixed by a fixing pin 39 in a support posture or a retracted posture rotated upward indicated by a virtual line. Further, a stand sensor 41 is provided in the vicinity of the shaft support portion of the stand 31 so as to be able to detect the support posture rotated downward of the stand 31.

Next, the raising / lowering control of the seedling planting part 4 when the stand 31 is in the supporting posture will be described with reference to FIGS.
FIG. 5 shows a lifting hydraulic circuit that lifts and lowers the seedling planting portion 4. The hydraulic pressure discharged from the hydraulic pump 42 is sent to a high-pressure circuit, and is sent to a lifting cylinder 47 for lifting and lowering links 3 and 3 through a constant flow dividing valve 43, a hydraulic lifting solenoid valve 44, and a lowering lock valve 46. The return hydraulic pressure from the lift cylinder 47 flows from the hydraulic lift solenoid valve 44 to the low pressure circuit, and returns to the hydraulic tank 49 via the flow rate adjustment valve 48 for adjusting the lowering speed.

  The hydraulic elevating solenoid valve 44 is configured to be switchable to five positions of “all amount lowered”, “throttle lowered”, “neutral”, “throttle up”, and “all amount raised”. Further, the lowering lock valve 46 is switched to the “communication” position during normal operation to be in an unlocked state in which hydraulic pressure can be supplied to and discharged from the lifting cylinder 47. For example, when traveling on the road, the lowering lock valve 46 is switched to the “lock” position. This prevents the hydraulic pressure from flowing back and fixes the seedling planting part 4 in the raised state.

  A planting elevating lever sensor 53 for detecting the operation position of the planting elevating lever 52 (shown in FIG. 2) and a stand sensor 41 are connected to the input unit of the control unit 51, and a hydraulic elevating / lowering is provided on the output side of the control unit 51. A solenoid valve 44 is connected.

  When the raising / lowering control of the seedling planting unit 4 is started, it is first determined whether or not the planting lift lever 52 is in the lowered position by the planting lift lever sensor 53 (step S1). If the elevating lever 52 is in the lowered position, then it is determined whether or not the stand sensor 41 is ON (step S2), and it is determined whether or not the stand 31 is in a support posture rotated downward. The

  When the stand sensor 41 is ON, a switching output to the throttle position of the hydraulic lift solenoid valve 44 is output (step S3), and the seedling planting unit 4 is lowered at a low speed. Further, when the stand sensor 41 is not ON, a switching output to the hydraulic pressure raising / lowering solenoid valve 44 to the whole amount lowering position is output (step S4), and the seedling planting unit 4 is lowered quickly.

  Thus, when the stand 31 is in the support posture rotated downward, the seedling planting portion 4 is slowly lowered to soften the impact on the stand 31 and the seedling planting portion 4 and prevent damage.

Next, another control example will be described with reference to FIGS.
The input unit of the control unit 51 includes a planting lift lever sensor 53 for detecting the operation position of the planting lift lever 52 (shown in FIG. 2), a stand sensor 41, and a lift link for detecting the lift position of the lift links 3 and 3. A sensor 54 is connected, and a hydraulic elevating solenoid valve 44 is connected to the output side of the control unit 51.

  When the raising / lowering control of the seedling planting unit 4 is started, it is first determined whether or not the planting lift lever 52 is in the lowered position by the planting lift lever sensor 53 (step S1). If the elevating lever 52 is in the lowered position, then it is determined whether or not the stand sensor 41 is ON (step S2), and it is determined whether or not the stand 31 is in a support posture rotated downward. The

  When the stand sensor 41 is ON, it is determined by the lift link sensor 54 whether or not the lift links 3 and 3 are below the predetermined position (step S3). Then, the hydraulic lift solenoid valve 44 is switched to the throttle down position (step S4), and the seedling planting unit 4 is lowered at a low speed.

  If the detected value of the lift link sensor 54 is not below the predetermined position, and if the stand sensor 41 is not ON, the hydraulic lift lift solenoid valve 44 is output to switch to the fully lowered position (step S5). The seedling planting part 4 is lowered quickly. Thus, the same effect as in the above embodiment is achieved.

Next, another example of lifting control will be described based on FIGS. 10 and 11.
The input portion of the control unit 51 includes a planting lift lever sensor 53 for detecting the operation position of the planting lift lever 52, a lift link sensor 54 for detecting the lift position of the lift links 3 and 3, and a direction angle of the leveling float 38. A float-facing angle sensor 56 for detection is connected, and a hydraulic elevating solenoid valve 44 is connected to the output side of the control unit 51.

  Therefore, when the raising / lowering control of the seedling planting unit 4 is started, it is first determined whether or not the planting lift lever is in the lowered position based on the detection value of the planting lift lever sensor 53 (step S1). If the planting lift lever 52 is in the lowered position, it is next determined whether or not the stand sensor 41 is ON (step S2), and whether or not the stand 31 is in a support posture rotated downward. Is made. When the stand sensor 41 is ON, a switching output for reducing the total amount is output to the hydraulic lift solenoid valve 44 (step S3), and the seedling planting unit 4 is quickly lowered.

  Next, it is determined whether or not the center float 38 is in a hanging state based on the detection value of the float angle sensor 56 (step S4). If the center float 38 is in the hanging state, then there is no change in the detection value of the lift link center 53. It is determined whether or not (step S5). Then, if there is no change in the detected value, a switching output to the neutral position is output to the hydraulic lift solenoid valve 44 (step S6), and the descent of the seedling planting unit 4 is stopped.

  Therefore, when the stand 31 is in the grounded state, the hydraulic pressure of the lift cylinder 47 is stopped, and a part of the load of the seedling planting part 4 is also received by the lift cylinder 47, so that the load on the stand 31 is reduced and the stand 31 is reduced. 31 can be prevented from being damaged.

Next, another embodiment of the stand 31 will be described with reference to FIG.
A base portion of the stand 31 refracted in an L-shape when viewed from the side is pivotally supported at the lower front end of the transmission case 32 so as to be pivotable up and down, and the stand 31 is pivotally supported on the transmission case 32 as shown in FIG. The base stand 31a and the tip stand 31b refracted into an L-shape are divided, and the end of the tip stand 31b is slidably fitted to the cylindrical body of the base stand 31a and pressed in the extending direction by the spring 57. Rush. Thus, when the stand 31 is grounded, it is buffered by the spring 57, so that the impact of the stand 31 can be weakened and damage can be prevented.

  Moreover, you may comprise as shown in FIG. The lower end of the base stand 31a and the end of the tip stand 31b are pivotally connected by a connecting shaft 58, and a damper 59 is interposed between the base stand 31a and the tip stand 31b. Thus, when the stand 31 is grounded, it is buffered by the damper 59 and can be prevented from being damaged. Further, the stand 31 itself may be made of a spring material.

  Further, when the stand 31 is rotated upward, a part of the stand 31 is configured to approach the inner side surfaces of the left and right rear wheels 8 and 8 so that the mud of the rear wheels 8 and 8 is dropped by the stand 31. You may comprise.

Next, the sensitivity correction apparatus for the seedling planting unit 4 using the stand 31 will be described with reference to FIGS.
A rotation shaft 60 is mounted on the frame 4a of the seedling planting portion 4, and the base portion of the stand 31 is pivotally supported on the rotation shaft 60 so as to be vertically rotatable. Then, while rotating the stand 31 upward, a rotation restricting pin 61 is attached to the frame 4a to restrict the rotation of the stand 31 from a predetermined position downward, and the stand 31 is diverted to a hard / soft detector in the field. In a hard place, the stand 31 shown in FIG. 13 rotates counterclockwise, and in a soft place, the stand 31 rotates clockwise to detect the hardness of the soil. In addition, you may attach a detection board to the soft / soft detection part which the stand 31 grounds.

  The frame 4a is provided with a hard / soft sensor 63 so that the sensor arm 63a of the hard / soft sensor 63 and the sensor connecting arm 66 on the stand 31 side can be connected. Thus, when the stand 31 rotates due to the softness of the field, the sensor arm 63a rotates via the sensor connecting arm 66, and the hardness of the soil is detected by the hardness sensor 63.

A float angle sensor 56 and a soft / soft sensor 63 are connected to the input side of the control unit 51, and a hydraulic lifting solenoid valve 44 is connected to the output side of the control unit 51.
Thus, the soft / soft control is started with the stand 31 being in the soft / soft detection state of the field. Then, first, the hardness of the soil is determined based on the detected value of the hardness sensor 63 (step S1). If the soil is hard and the subsidence amount is small, the control target value of the float orientation sensor 56 is corrected to the insensitive side of the uphill (step S2), and if the soil is soft and the subsidence amount is large, the float The control target value of the heading angle sensor 56 is corrected to the sensitive side of the forward drop (step S3). If the soil is a standard softness, the control target value of the float heading angle sensor 56 is corrected to the standard sensitivity. Is not done.

  Next, the detection value of the float direction angle sensor is compared with the control target value (step S4). If the detection value of the float direction angle sensor 56 is lower than the control target value before the float, the hydraulic elevating solenoid valve 44 is used. (Step S5), and the center float 38 is lowered and adjusted. If the detected value of the float direction angle sensor 56 is greater than the control target value, the throttle lift output is output to the hydraulic lift solenoid valve 44 (step S6), and the center float 38 is raised and adjusted. If the detected value of the float angle sensor 56 is within the range of the control target value, a neutral output is output to the hydraulic lift solenoid valve 44 (step S7), and the center float 38 is raised to the same height and the raising / lowering is stopped.

As described above, the sensitivity of the float 38 can be corrected while the cost is reduced by using the stand 31 as a soil hardness / softness detector.
In addition, as shown in FIG. 17, a hardness / softness detection unit 76 that is narrower than the stand grounding surface is attached to the lower end of the stand 31. In a supporting posture in which the stand 31 protrudes obliquely downward and the stand 31 rotates downward, the hardness / softness detection unit 76 may be configured to retreat upward from the grounding unit of the stand 31.

  Moreover, you may comprise so that the float 38 may be diverted to a stand like FIG. That is, the upper part of the planting depth frame 68 is pivotally supported on the front lower part of the transmission case 32 of the seedling planting part 4 so as to be pivotable up and down, and the float 38 is pin-connected to the lower end part of the planting depth frame 68. . At the time of planting, the planting depth frame 68 is rotated upward and protrudes obliquely downward on the rear side, and the planting surface is leveled by the float 38. Further, when the seedling planting part 4 is lowered and supported by the float 38, the planting depth frame 68 is rotated in a substantially vertical direction, and the seedling planting part 4 is moved by the float 38 and the planting depth frame 68. To support.

  Thus, since the planting depth frame 68 is arranged along the vertical direction to support the seedling planting portion 4, the planting depth frame 68 is difficult to bend, and the float 38 and the planting depth frame 68 provide the function of the stand. Can fulfill.

Next, the raising / lowering control of the seedling planting part 4 is demonstrated based on FIG.19 and FIG.20.
A brake pedal sensor 72 for detecting an operation position of a brake pedal 71 (shown in FIG. 2) and a front / rear inclination angle sensor 73 for detecting a front / rear inclination angle of the traveling vehicle body 2 are connected to the input section of the control section 51 for control. A hydraulic elevating solenoid valve 44 is provided on the output side of the unit 51.

  Thus, when the raising / lowering control of the seedling planting unit 4 is started, first, it is determined whether or not the traveling vehicle body 2 is moved forward by a predetermined angle or more based on the detection value of the front / rear inclination angle sensor 73 (step S1). Then, when the traveling vehicle body 2 is ascending forward by a predetermined angle or more, it is next determined whether or not the brake pedal sensor 72 is in the brake operating state (step S2). When the brake pedal sensor 72 is turned on and the brake is in operation, a command for raising the total amount is output to the hydraulic lifting solenoid valve 44 (step S3), the seedling planting unit 4 is raised, and the seedling planting unit 4 When the predetermined height is reached, a neutral command is output to the hydraulic lift solenoid valve 44, and the seedling planting unit 4 is stopped at the predetermined lift position.

  Thus, for example, the planting operation may be performed while traveling the traveling vehicle body 2 toward the bank just before the planting operation is finished. In such a case, the traveling vehicle body 2 is moved forward because the farming scene on the bank is moving forward. If it becomes like this, the malfunction that the rear-end part of the float 38 of the seedling planting part 4 will be buried in a muddy surface will generate | occur | produce. In particular, since the groove 38 for discharging fertilizer is provided in the float 38 in the fertilizer application device 5, when the float 38 is buried in the mud surface, the groove is clogged with mud and the fertilizer can be discharged properly. There is a risk of disappearing. However, the above problem can be solved by controlling the raising of the seedling planting unit 4 as described above.

The whole side view of a fertilizer transplanter. The whole top view of a fertilizer transplanter. The top view which abbreviate | omitted some fertilizer transplanters. Equipment for planting seedlings. Hydraulic circuit diagram. Control block diagram. flowchart. Control block diagram. flowchart. Control block diagram. flowchart. The side view of a stand. The side view of a stand. (1) Rear view when used as a stand softness sensor. (2) Rear view of the stand. Control block diagram. flowchart. The side view of a stand. The side view of a seedling planting part. Control block diagram. flowchart.

1 working machine (fertilizer transplanter)
2 traveling chassis 4 working section (seed planting section)
3 Lifting device (lifting link)
31 Stand 51 Deceleration control means (control unit)
51 Lowering output stop means (control unit)

Claims (1)

It provided a working unit vertically movable by an elevating device against the vehicle body, wherein the working unit provided with a vertically rotatable stand, retracting the supporting state and upwardly supporting the working portion protrudes to the stand downward The stand is configured to be fixed with a fixing pin between the support state and the storage state, and a stand sensor that detects that the stand is switched to the support state , and the stand sensor the detection, provided with a speed reduction regulating means for decelerating regulating the lowering speed of the lifting device just before the stand at least down to the ground, rotation restriction for restricting the rotation of the predetermined positions of the upper and lower rotatable stand downward Pins are provided on the working part frame, a soft and soft sensor is attached to the working part frame, and a sensor connecting arm is provided on the stand side. A movement characterized by connecting the sensor arm of the sensor and the sensor linking arm and detecting the softness of the soil by the softness sensor via the sensor linking arm and the sensor arm when the stand rotates due to the softness of the field. Work machine .

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